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Safety Notice PLEASE READ AND FOLLOW ALL INSTRUCTIONS CAREFULLY AND CONSULT ALL RELEVANT NATIONAL AND INTERNATIONAL SAFETY REGULATIONS FOR YOUR APPLICATION. ◼ Caution To avoid violating the warranty and to minimize the chances of getting electrically shocked, please do not disassemble the device. The device must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the device.
◼ Safety Precautions In all circumstances, if you suspect that the device malfunctions or is damaged, stop using it immediately to avoid potential hazards and injuries. Contact an authorized Hesai Technology service provider for more information on device disposal. Handling This device contains metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, burning, piercing, and squeezing may cause damage to the device.
Contents 1 Introduction ............................................................................................................ 1 6.1 6.2 Command Description ......................................................................................... 41 1.1 Operating Principle ................................................................................................. 1 1.2 LiDAR Structure ........................................................................................................
1 Introduction This manual describes the specifications, installation, and data output format of Pandar40P. This manual is under constant revision. Please contact Hesai for the latest version. 1.1 Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the object. 2) Diffuse reflection of the laser occurs upon contact with the target object. The beams are detected by the optical sensor.
1.2 LiDAR Structure 40 pairs of laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 Coordinate System (Isometric View) Figure 1.4 Rotation Direction (Top View) The LiDAR’s coordinate system is shown above. The Z-axis is the axis of rotation. The origin is shown as a red dot in Figure 1.6 on the next page. After geometric transforms, all the measurements are relative to the origin.
1.3 Channel Distribution The vertical resolution is • 0.33° between Channel 6 and Channel 30 • 1° between Channel 5 and Channel 6, Channel 30 and Channel 38 • not evenly distributed in the remaining channels, as detailed in Appendix I Figure 1.5 Channel Vertical Distribution Figure 1.
1.4 Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 905 nm Channel 40 Laser Class Class 1 Eye Safe Range 0.3 to 200 m (at 10% reflectivity) Ingress Protection IP6K7 Range Accuracy ±5 cm (0.3 to 1 m) ±2 cm (1 to 200 m) Dimensions Height: 116.7 mm Top/Bottom Diameter: 116.00 / 115.00 mm FOV (Horizontal) 360° Operating Voltage DC 9 to 48 V Resolution (Horizontal) 0.2° (10 Hz), 0.
2 Setup 2.1 Mechanical Installation Figure 2.1 Isometric View Figure 2.
◼ Quick Installation Figure 2.
◼ Stable Installation Figure 2.
2.2 Interfaces Lemo Contact is the default communication connector. (Another option is the Phoenix Contact, detailed in Appendix IV.) Lemo part number: FGG.2T.316.CLAC75Z (male, on the LiDAR) From the eye to the interface Figure 2.5 Lemo Connector (Male) Table 2.
2.3 Connection Box (Optional) Users may connect the LiDAR directly or using the connection box. The connection box comes equipped with a power port, a GPS port, and a standard Ethernet port. The cable length between the connector and the connection box is 1.7 m by default. Lemo part number: PHG.2T.316.CLLC75Z (female, on the connection box) Figure 2.
2.3.1 Connection Box Interfaces Figure 2.7 Connection Box Table 2.2 Connection Box Interfaces Port # Port Name Description a Standard Ethernet Port RJ45, 100 Mbps Ethernet b Power Port Use DC-005 DC power adapter Input voltage ranges from 9 V to 48 V.
2.3.2 Connection Figure 2.8 LiDAR Connection When Using the Connecting Box NOTE Refer to Appendix III when PTP protocol is used.
2.4 Get Ready to Use The LiDAR does not have a power switch. It starts operating once connected to power and the Ethernet. • • • • To receive data on your PC, set the PC’s IP address to 192.168.1.100 and subnet mask to 255.255.255.0 For Ubuntu-16.04: For Windows: Use the ifconfig command in the terminal: ~$ sudo ifconfig enp0s20f0u2 192.168.1.
3 Data Structure 100 Mbps Ethernet UDP/IP is used for data output. The output data includes Point Cloud Data Packets and GPS Data Packets. Each data packet consists of an Ethernet header and UDP data. Figure 3.1 Data Structure with UDP Sequence OFF The UDP sequence feature is OFF by default. When UDP sequence is ON, the Additional Information in the UDP data changes from 22 bytes to 26 bytes.
3.1 Point Cloud Data Packet 3.1.1 Ethernet Header Each LiDAR has a unique MAC address. The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form. Table 3.
3.1.2 UDP Data All the multi-byte values are unsigned and in little endian format. Ranging Data Table 3.2 Point Could UDP Data – Ranging Data Ranging Data: 1240 bytes (10 blocks) Block 1 Block 2 Block 3 … Block 10 0xFFEE 0xFFEE 0xFFEE … 0xFFEE Azimuth 1 Azimuth 2 Azimuth 3 … Azimuth 10 Channel 1 Channel 1 Channel 1 … Channel 1 Channel 2 Channel 2 Channel 2 … Channel 2 … … … … … Channel 40 Channel 40 Channel 40 … Channel 40 Table 3.
Additional Information Table 3.4 Point Cloud UDP Data – Additional Information Additional Information: 22/26 bytes when UDP sequence is OFF/ON Reserved 5 bytes - High Temperature Shutdown Flag 1 byte 0x01 for high temperature; 0x00 for normal operation • When high temperature is detected, the shutdown flag will be set to 0x01, and the system will shut down after 60 s.
3.2 GPS Data Packet GPS Data Packets are triggered every second. All the multi-byte values are unsigned and in little endian format. Before NMEA messages are available from the external GPS module Each rising edge of the LiDAR’s internal 1 Hz signal triggers a GPS Data Packet. The time and date in the GPS Data Packets are unreal, starting from 00 01 01 00 00 00 (year, month, day, hour, minute, second) and increasing with the internal 1 Hz signal.
3.2.1 Ethernet Header The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF and in broadcast form. Table 3.
3.2.2 UDP Data Table 3.
GPRMC Data Format $GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Can be in hhmmss (hour, minute, second) format <02> Location Status A (hex = 41) for Valid Position V (hex = 56) for Invalid Position NUL (hex = 0) for GPS being unlocked UTC Date Date information Can be in ddmmyy (day, month, year) format … <09> … The LiDAR’s GPS data interface is compatible with a variety of GPRMC formats, as long a
GPGGA Data Format $GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Can be in hhmmss (hour, minute, second) format GPS Fix Quality 0 = invalid … <06> 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix 6 = estimated (dead reckoning) … The LiDAR’s GPS data interface is compatible with a variety of GPGGA formats, as long as: <01> is the hour, minute, and second information For example, the following two format
Example of UDP Data Analysis in GPS Data Packets Figure 3.
4 Web Control Web control is used for setting parameters, checking device info, and upgrading. To access web control 1) Connect the LiDAR to your PC using an Ethernet cable 2) Set the IP address according to Section 2.4 Get Ready to Use 3) Enter this URL into your web browser: 192.168.1.201/index.html NOTE Use Google Chrome or Firefox instead of IE. Turn off VPN.
4.
4.2 Settings 1. Control IP VLAN Tagging can be used when the receiving host also supports VLAN function. • Check the VLAN checkbox and input a VLAN ID (range: 1~4094) for the LiDAR unit. • Set the VLAN ID of the receiving host to be the same. 2. Destination IP Mode Destination IP Broadcast (default) 255.255.255.255 Multicast 239.0.0.0~239.255.255.255 Unicast Same as the PC’s IP address 3.
(continued) Sync Angle 0~360 degrees By default, the LiDAR’s zero-degree position (defined in Section 1.2) is not in sync with PPS. If syncing is needed, check the check box and input a sync angle. Noise Filtering Reflectivity Mapping Trigger Method Standby Mode Noise points mitigation in rain and fog Linear / Nonlinear Mapping By default, the 1-byte reflectivity data in the Point Cloud Data Packet linearly represents target reflectivity from 0 to 255%.
5. Clock Source and PTP Parameters Clock Source GPS / PTP In the PTP mode, LiDARs do not output GPS Data Packets, as detailed in Appendix III PTP Protocol. When GPS is selected as the clock source: GPS Mode GPRMC / GPGGA Format of the data received from the external GPS module. Both the NMEA sentence and the GPS positioning status are put into the GPS Data Packet. See Section 3.2.2 for details.
4.3 Azimuth FOV For Azimuth FOV Setting, users can select one of the three modes. Figure 4.4 Azimuth FOV Page of Web Control 4.3.1 For all channels A continuous angle range, specified by a start angle and an end angle, will be applied to all the channels. Outside the specified angle range, there will be no laser firing or data generated. NOTE Click “Save” to apply your settings. Figure 4.
4.3.2 For each channel Users can configure one continuous angle range for each channel. Outside the specified range for each channel, there will be no laser firing or data generated in that channel. By default, the status button for each channel is green, indicating that angle range configuration is active. To deactivate the angle range configuration for one channel, click the corresponding button to make it gray. Thus the angle range for this channel becomes [0°，360°].
4.3.3 Multi-section FOV Users can configure up to ten continuous angle ranges (i.e. sections) for each channel. By default, the status button for each channel is green, indicating that multi-section configuration is active. To deactivate the multi-section configuration for one channel, click the corresponding button to make it gray. Thus the angle range for this channel becomes [0°，360°]. Click the “Enable/Disable All” button to activate/deactivate the angle range configuration for all channels.
4.4 Operation Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed. Figure 4.
4.5 Upgrade Click the Upload button and select an upgrade file (provided by Hesai). Reboot the LiDAR when the upgrade is complete. Below shows the software and firmware versions described in this manual. NOTE A software reboot is triggered by clicking the Restart button on the top right corner. Afterwards, the start-up counts in the Operation Statistics page increments by 1. Figure 4.
5 PandarView PandarView is a software that records and displays the point cloud data from Hesai LiDARs, available in 64-bit Windows 7/8/10 and Ubuntu-16.04. 5.1 Installation Copy the installation files from the USB disk included in the LiDAR’s protective case, or download these files from Hesai’s official website: www.hesaitech.com/en/download NOTE Separate Python installation is required only for older PandarView versions.
5.2 Use Set the PC’s IP address according to Section 2.4 Use. ◼ Check Live Data Click on and select your LiDAR model to begin receiving data over ◼ Open a PCAP File Click on Ethernet. file to open. ◼ ◼ Record a PCAP File Click on to pop up the “Choose Output File” window. Click on “Save” to begin recording a PCAP file. Click on again to stop recording. to pop up the “Choose Open File” window. Select a PCAP Import a Correction File Each LiDAR comes with a correction file (.
◼ Play a PCAP File Button Description Jump to the beginning of the file While paused, jump to the previous frame While playing, rewind. May click again to adjust the rewind speed (2x, 3x, 1/2x, 1/4x, and 1x) / After loading a point cloud file, click to play the file While playing, click to pause While paused, jump to the next frame. While playing, forward. May click again to adjust the forward speed (2x, 3x, 1/2x, 1/4x, and 1x) Jump to the end of the file Save a single frame to .
5.3 Features ◼ Viewpoint Selection Users can select from the right view, front view, and top view. ◼ 3D Projection and Distance Measurement Both perspective projection (default) and orthographic projection are supported. The distance measurement ruler is available only under orthographic projection. After clicking on , drag your mouse while holding the Ctrl key to make a measurement in units of meters. Click on ◼ Mouse Shortcuts ◼ again to quit.
◼ Return Mode Users can select from Block 1 Return (i.e. Last Return), Block 2 Return (i.e. Strongest Return), and Dual Return. ◼ ◼ UDP Port Enter the UDP port number, and click “Set” to apply it. Channel Selection Click on to show/hide point cloud data from the selected laser channels. Check/Uncheck the boxes on the left to show/hide each channel. Check the “Enable/Disable all” option at the bottom of the table to show/hide all channels.
◼ Point Selection and Data Table Click on Click on and drag the mouse over the point cloud to highlight an area of points. to view the data of the highlighted points, as shown below. Some of the data fields are defined below: To cancel the selection, click on Field points azimuth Description The XYZ coordinates of each point Rotor’s current reference angle azimuth_calib Azimuth + horizontal angle offset again and click on any place outside the selected area.
◼ Color Schemes. Click on to show the color legend at the lower right corner. Click on to open or close the Color Editor. The default color scheme is intensity based. Users can choose from other colors schemes based on azimuth, azimuth_calib, distance, elevation, laser_id, or timestamp.
6 Communication Protocol To ensure real-time communication, Hesai’s TCP protocol uses binary format and has disabled Nagle’s algorithm. 6.1 Packet Structure A client can send command messages to the server (LiDAR). Each command message includes a fixed 8-byte header and a variable command-specific payload. The header describes the command type and payload length. Table 6.
6.2 Command Description Table 6.
◼ PTC_COMMAND_PTP_DIAGNOSTICS Command message payload 1-byte PTP Query Type Table 6.4 PTP Query Type PTP Query Type Value PTP STATUS 0x1 PTP TLV PORT_DATA_SET 0x2 PTP TLV TIME_STATUS_NP 0x3 PTP TLV GRANDMASTER_SETTINGS_NP 0x4 Feedback message payload a. PTP STATUS Table 6.
b. PTP TLV PORT_DATA_SET Per IEEE-1588 standard management TLV PORT_DATA_SET Table 6.6 PTP TLV PORT_DATA_SET Field Length Description portIdentity 10 bytes Port identity Including 8-bytes clock identity and 2-byte port number portState 1 byte Same as ptp_state in the PTP STATUS message logMinDelayReqInterval 1 byte Minimum permitted mean time interval between Delay_Req messages Specified as a power of two in seconds Default: 0 (representing 1 second).
c. LinuxPTP TLV TIME_STATUS_NP (0xc000) LinuxPTP specific TLV Table 6.
◼ PTC_COMMAND_GET_INVENTORY_INFO Command message payload None Feedback message payload Table 6.9 PTC_COMMAND_GET_INVENTORY_INFO Field Length Description sn 18 bytes Serial number of the device date_of_manufacture 16 bytes Date of manufacture in ASCII (yyyy-mm-dd) mac 6 bytes MAC address of the device sw_ver 16 bytes Software version in ASCII (xx.xx.
Feedback message payload Table 6.10 PTC_COMMAND_GET_CONFIG_INFO (continued on the next page) Field Length Description ipaddr 4 bytes IP address of the device Default 192.168.1.201 mask 4 bytes Subnet mask of the device Default 255.255.255.0 gateway 4 bytes Gateway of the device Default 192.168.1.1 dest_ipaddr 4 bytes Destination IP address of Point Cloud Data Packets Default 255.255.255.
Table 6.
Feedback message payload Table 6.11 PTC_COMMAND_GET_LIDAR_STATUS Field Length Description system_uptime 4 bytes System uptime in seconds motor_speed 2 bytes Real-time motor speed, in units of rpm temperature 4 * 8 bytes Real-time temperature array (unit: 0.
7 Sensor Maintenance Storage Store the device in a dry, well ventilated environment. The ambient temperature should be between -40°C and +85°C, and the humidity below 85%. Please check the specifications page in this user manual for product IP rating, and avoid any ingress beyond that rating. Transport Package the device in shock-proof materials to avoid damage during transport. Cleaning If the device’s enclosure is stained with dirt, fingerprints, or oil, perform the follow cleaning steps.
8 Troubleshooting Table 8.
Table 8.1 Troubleshooting (Continued) Symptoms Abnormal point cloud (misaligned points, flashing points, or incomplete FOV) GPS cannot be locked Points to Check 1) Make sure the LiDAR’s enclosure is clean. If not, refer to Chapter 7 Sensor Maintenance for the cleaning method 2) Make sure the LiDAR’s calibration file is imported. (Pandar40P automatically imports the calibration file, while Pandar40 requires manual importing) 3) Check for packet loss.
Appendix I Channel Distribution Each channel’s horizontal angle = rotor’s current reference angle + horizontal angle offset Define clockwise in the top view as positive. Each channel’s vertical angle is a constant. 0° represents the horizontal direction. Define upward as positive. Table 1.1 Pandar40P Channel Distribution (To Be Continued) Channel # in UDP Data Horizontal Angle Offset (Azimuth) Vertical Angle (Elevation) Instrument Range (in meters) Range (in meters) with Reflectivity 01 (Top Beam) -1.
Table 1.1 Pandar40P Channel Distribution (Continued) Channel # in UDP Data Horizontal Angle Offset (Azimuth) Vertical Angle (Elevation) Instrument Range (in meters) Range (in meters) with Reflectivity 20 -5.208 -2.67 230 200@20% 21 -1.042 -3.00 230 200@20% 22 3.125 -3.33 230 200@20% 23 -5.208 -3.67 230 200@20% 24 -1.042 -4.00 230 200@20% 25 3.125 -4.33 230 200@20% 26 -5.208 -4.67 230 200@20% 27 -1.042 -5.00 130 200@20% 28 3.125 -5.33 130 200@20% 29 -5.
Appendix II ◼ Absolute Time and Laser Firing Time Absolute Time of Point Cloud Data Packets The absolute packing time of a Point Cloud Data Packet is the sum of UTC time and μs time. • UTC time can be retrieved either from the current Point Cloud Data Packet (6 bytes, year, month, date, hour, minute, second), or from the previous GPS Data Packet (6 bytes of Date and 6 bytes of time).
Single Return Mode The ranging data generated by one round of firing is stored in one block. The calculation of each Block's end time is as follows: Table II.2 End Time of Each Block – Single Return Block End Time (μs) Block 10 t0 - 28.58 Block N t0 - 28.58 - 55.56 * (10 - N) Block 3 t0 - 28.58 - 55.56 * 7 Block 2 t0 - 28.58 - 55.56 * 8 Block 1 t0 - 28.58 - 55.
Having acquired the end time of each block, the laser firing time of each channel can be calculated as follows. For example, assume that the end time of Block 6 is t6, then: Table II.4 Laser Firing Time of Each Channel Firing Sequence Laser ID Firing Time (μs) Firing Sequence Laser ID Firing Time (μs) 1 4 t6 - 3.62 11 3 t6 - 16.04 2 40 t6 - 3.62 (same as above) 12 39 t6 - 16.04 (same as above) 3 36 t6 - 4.92 13 35 t6 - 17.35 4 28 t6 - 6.23 14 25 t6 - 18.65 5 12 t6 - 8.
Appendix III PTP Protocol The Precision Time Protocol (PTP), also known as the IEEE 1588 standard, is used to synchronize clocks across a computer network. It can achieve submicrosecond clock accuracy and is suitable for measurement and control systems. ◼ LiDAR Connection When Using PTP Figure III.
◼ Absolute Packing Time When Using PTP To use PTP as the clock source, users need to connect a PTP master device to get the absolute time. If a PTP clock source is selected, the LiDAR will not transmit GPS Data Packets, but only Point Cloud Data Packets with 4-byte μs timestamps and 6-byte UTC time. The sum of the μs timestamp and the UTC time is the absolute packing time of this data packet. NOTE • The PTP master device is a third-party product and is not included with the LiDAR.
Appendix IV Phoenix Contact Phoenix Contact can be used as the LiDAR’s communication connector, in place of the default Lemo Contact in Section 2.2 Interfaces. Phoenix part number: SACC-M12MS-8CON-PG 9-SH - 1511857 (male, on the LiDAR), SACC-M12FS-8CON-PG 9-SH – 1511860 (female, on the connecting box) From the eye to the interface Figure IV.1 Phoenix Connector (Male) Table IV.
Appendix V Nonlinear Reflectivity Mapping By default, the 1-byte reflectivity data in the Point Cloud Data Packet linearly represents target reflectivity from 0 to 255%. Alternatively, users can choose the Nonlinear Mapping mode on the Settings page of web control (see Section 4.2 Settings). Actual Reflectivity % The nonlinear relationship is detailed below. Reflectivity Index (0~255) Figure V.
Table V.1 Nonlinear Reflectivity Mapping (To Be Continued) Reflectivity Index (0~255) Reflectivity (%) Reflectivity Index (0~255) Reflectivity (%) Reflectivity Index (0~255) Reflectivity (%) Reflectivity Index (0~255) Reflectivity (%) 0 0 65 6.9 130 26.83 195 60.25 1 0.01 66 7.1 131 27.25 196 60.75 2 0.02 67 7.3 132 27.75 197 61.25 3 0.03 68 7.5 133 28.17 198 61.75 4 0.04 69 7.7 134 28.5 199 62.5 5 0.05 70 7.9 135 28.83 200 63.25 6 0.08 71 8.
Table V.1 Nonlinear Reflectivity Mapping (To Be Continued) Reflectivity Index (0~255) Reflectivity (%) Reflectivity Index (0~255) Reflectivity (%) Reflectivity Index (0~255) Reflectivity (%) Reflectivity Index (0~255) Reflectivity (%) 25 1.05 90 12.87 155 38.25 220 76.5 26 1.15 91 13.17 156 38.75 221 77.25 27 1.25 92 13.5 157 39.17 222 77.75 28 1.35 93 13.83 158 39.5 223 78.5 29 1.45 94 14.17 159 39.83 224 79.25 30 1.55 95 14.5 160 40.5 225 79.
Table V.1 Nonlinear Reflectivity Mapping (Continued) Reflectivity Index (0~255) Reflectivity (%) Reflectivity Index (0~255) Reflectivity (%) Reflectivity Index (0~255) Reflectivity (%) Reflectivity Index (0~255) Reflectivity (%) 50 4.08 115 21.17 180 51.25 245 94.5 51 4.25 116 21.5 181 51.75 246 95.5 52 4.42 117 21.83 182 52.25 247 96.25 53 4.58 118 22.17 183 52.75 248 96.75 54 4.75 119 22.5 184 53.5 249 97.5 55 4.92 120 22.83 185 54.25 250 98.5 56 5.
Appendix VI ◼ FCC Declaration Certification Info ◼ IC Statement This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions: (1) this device may not cause interference, and (2) this device must accept any interference, including interference that may cause undesired operation of the device. Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence.
Appendix VII ◼ Support and Contact Technical Support For any question not addressed in this manual, please contact us at: service@hesaitech.com www.hesaitech.com https://github.com/HesaiTechnology NOTE Please leave your questions under the corresponding GitHub projects. ◼ Legal Notice Copyright 2019 by Hesai Technology. All rights reserved. Use or reproduction of this manual in parts or its entirety without the authorization of Hesai is prohibited.
Hesai Photonics Technology Co., Ltd Phone: 400-805-1233 Website: www.hesaitech.com Address: Building L2, Hongqiao World Center, Shanghai Business Email: info@hesaitech.com Service Email: service@hesaitech.
