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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 on your own accord. 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 1.1 Operating Principle ................................................................................................. 1 1.2 LiDAR Structure ........................................................................................................ 2 2 Troubleshooting .................................................................................................. 38 1.
1 Introduction This manual describes the specifications, installation, and data output format of PandarQT, a 64-channel mechanical LiDAR. 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 64 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 transform, all the measurements are relative to the origin.
1.3 Channel Distribution The vertical resolution is unevenly distributed across all channels. Figure 1.5 Channel Vertical Distribution Figure 1.
1.4 Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Laser Class Class 1 Eye Safe Channel 64 Waterproof Grade IPX7 Range 0.1 to 20 m (at 10% reflectivity) Weight 0.4 kg Range Accuracy ±5 cm (0.1 to 0.5 m) ±2.5 cm (0.5 to 15 m) ±10 cm (15 to 30 m) Dimensions Height: 75.0 mm Diameter: 80.2 mm FOV (Horizontal) 360° Operating Voltage 9~65 VDC Resolution (Horizontal) 0.6° Power Consumption 7W FOV (Vertical) 104.6° (-52.3° to +52.
2 Setup 2.1 Mechanical Installation Figure 2.1 Isometric View Figure 2.
Installation Figure 2.
2.2 Interfaces PandarQT by default uses a 4-pin M8 male socket (with needles inside), which includes power wires and 100BASE-T1 twist-pairs. Another option is an 8pin male socket with the same size. The use of 4-pin M8 sockets is strongly recommended. Figure 2.4 Connector Dimensions Connector 4-pin 8-pin Figure 2.
The 4-pin male socket (recommended): Pin # Description 1 VIN 2 GND 3 Ethernet_TRX+ 4 Ethernet_TRX- The 8-pin male socket (optional, not recommended): Pin # Description 1 VIN 2 Ethernet_TRX- 3 Ethernet_TRX+ 4 GPS_RX 5 GPS_PPS 6 Sync_N 7 Sync_P 8 GND Cables The optional cable for connecting QT to the connection box is 2 m in length. Contact Hesai if you need customized cables for connecting the LiDARs to your control units directly.
2.3 Connecting Box (Optional) This device converts automotive 100BASE-T1 to 100BASE-TX typical Ethernet, as well as providing a power port with 5.5 mm X 2.1 mm socket and a GPS port. Users may connect the LiDAR directly or use the connecting box. The cable length from the connector to the connecting box is 2 m by default. NOTE The GPS port only supports 8-pin cables. Figure 2.
2.3.1 Connecting Box Interfaces Table 2.
2.3.2 Connection Figure 2.7 LiDAR Connection When Using the Connecting Box NOTE Refer to Appendix I when PTP protocol is used.
2.4 Use The Pandar family LiDARs do not have a power switch. They start operating once wired and powered up. • • • • 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 Fast 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 Tail in the UDP data changes from 22 bytes to 26 bytes.
3.1 3.1.1 Point Cloud Data Packet 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. Ethernet Header: 42 bytes Ethernet II MAC 12 bytes Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx) Ethernet Data Packet Type 2 bytes 0x08, 0x00 Internet Protocol 20 bytes Shown in Figure 3.
3.1.2 UDP Data All the multi-byte values are unsigned and in little endian format. Header Header: 8 bytes 0xEEFF 2 bytes SOP (start of packet), 0xEE first Laser N 1 byte 0x40 (64 channels) Block N 1 byte 0x6 (6 blocks per packet) Reserved 1 byte - Dis Unit 1 byte 4 mm Reserved 1 byte - Reserved 1 byte Table 3.
Each Block in the Body: 194 bytes Azimuth 2 bytes Current reference angle of the rotor Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8]. Azimuth Angle = [Azimuth_H, Azimuth_L] / 100° = Azimuth / 100° Channel XX 3 bytes 2-byte distance data Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8] Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4 Maximum Distance Value = (2 ^ 16 – 1) * 4 mm = 262.
Example of UDP Data Analysis Take PandarQT’s Channel 5 in Block 3 of the UDP Data as an example: 1) Vertical angle of Channel 5 is 43.877°, according to the calibration file included with each LiDAR. 1. Horizontal angle is the current reference angle of the rotor (Azimuth of Block 3) plus the horizontal angle offset (7.388°, according to the calibration file included with each LiDAR). Define clockwise in the top view as the horizontal angles’ positive direction 2.
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 $GPRMC 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.
Table 3.
3.2.2 UDP Data Table 3.
Date Field Data (ASCII Code) Characters Meaning Year 0x39 0x31 '9', '1' 19 Month 0x32 0x30 '2', '0' 02 Day 0x36 0x32 '6', '2' 26 Field Data (ASCII Code) Characters Meaning Second 0x33 0x35 '3', '5' 53 Minute 0x34 0x35 '4', '5' 54 Hour 0x31 0x31 '1', '1' 11 (UTC) Time μs Time 4 bytes, in units of μs, using the same clock source as the GPS Timestamp in Point Cloud Data Packets Reset to 0 at the rising edge of each PPS signal GPRMC Data Format The standard $GPRMC data format: $
<10> Declination (000.0 to 180.0 degrees) <11> Declination Direction, E (east) or W (west) <12> Mode (only on version NMEA0183 3.00, A = Automatic Positioning, D = Differential, E = Estimation, N = Invalid Data) The LiDAR’s GPS data interface is compatible with a variety of formats. as long as: <01> is the hour, minute, and second information <09> is the date information. For example, the following two formats are both acceptable: $GPRMC,072242,A,3027.3680,N,11423.6975,E,000.0,316.7,160617,004.
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 Set the IP address according to Section 2.4 Use 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 2. Settings Spin Rate 600 rpm / 1200 rpm Destination IP See “Control IP” above (GPS) Sync Angle If set as 0, the LiDAR’s zero-degree position is in sync with PPS Dual Return Type Last / Strongest / Dual Return Clock Source GPS / PTP (In the PTP mode, LiDARs will not output GPS UDP Packets but only Point Cloud UDP Packets. See Appendix I PTP Protocol for more details.) UDP Sequence ON / OFF (With the UDP sequence ON, UPD packets are labeled with a sequence number.
4.3 Angle Range Users can set azimuth angle range in the “Angle Range” tab. There are two methods to set angle range: LiDAR based angle range method and laser based angle range method. Figure 4.3 Angle Range Page LiDAR Based If LiDAR based angle range method is selected, the start and end angles that users enter will be applied to all 64 channels. In other words, all 64 channels will have the same angle range. There will be no laser firing or data generated outside the specified angle range.
Laser Based If laser based angle range method is selected, users will see the table as in Figure 4.4. The start and end angles of each laser can be configured individually. Figure 4.4 Angle Range Page-Laser Based Users can edit the start and end angles by first exporting the angle range configuration file and then upload the edited configuration file. Please click “Save” to apply your settings. NOTE 1) Use LiDAR Based Method if the same angle range is expected on all 64 channels.
4.4 Device Info Software version, hardware version, and firmware version are shown in the “Device Info” tab. Figure 4.
4.5 Time Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed in the “Time Statistics” tab. Figure 4.
4.6 Firmware Upgrade Please ask Hesai for the latest upgrade file if needed. Click the “Upload” tab and select the upgrade file. Reboot the LiDAR when the upgrade is complete. 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 explosion-proof box, 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. Table 5.
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 Ethernet. Open a PCAP File Click on to pop up the “Choose Open File” window. Select a PCAP 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. Import a Correction File Each LiDAR comes with a correction file (.
Play a PCAP File Table 5.2 Play Buttons 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, and click “Set” to apply it. Channel Selection Click on to show/hide point cloud data from 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 the 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 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 in the device’s user manual for the 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.
7 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 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 II FCC Statement FCC ID: 2ASO2PANDARQT This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules.
Appendix III 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.
