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Contents Safety Notice ................................................................................................................. 1 1 2 3 4 Introduction ............................................................................................................ 1 4.5 5 Upgrade .......................................................................................................................34 PandarView .......................................................................................
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.
1 Introduction This manual describes the specifications, installation, and data output format of PandarQT. 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 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, as shown in Figure 1.5. Figure 1.5 Channel Vertical Distribution Figure 1.6 Laser Firing Position Each channel also has an intrinsic horizontal angle offset, recorded in this LiDAR unit’s calibration file. Users can obtain the calibration file by sending the TCP command PTC_COMMAND_GET_LIDAR_CALIBRATION, as described in Section 6.2.1.
1.4 Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Laser Class Class 1 Eye Safe Channel 64 Ingress Protection IP67 Range 0.1 to 30 m (at 20% reflectivity) Dimensions Height: 75.0 mm Range Accuracy ±2 cm (Typical) FOV (Horizontal) 360° Operating Voltage DC 9 to 55 V Resolution (Horizontal) 0.6° (with 0.15° gap) Power Consumption 8W FOV (Vertical) 104.2° (-52.1° to +52.
2 Setup 2.1 Mechanical Installation Figure 2.1 Isometric View Figure 2.
◼ Recommended Installation ◼ Side Installation 6
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 2.3 Connector Dimensions Connector 4-pin 8-pin Figure 2.
The 4-pin male socket (recommended): Pin # Description Voltage 1 VIN 12 V 2 GND 0 3 Ethernet_TRX+ -1 V to 1 V 4 Ethernet_TRX- -1 V to 1 V Pin # Description Voltage 1 VIN 12 V 2 Ethernet_TX+ -1 V to 1 V 3 Ethernet_TX- -1 V to 1 V 4 Ethernet_RX+ -1 V to 1 V 5 Ethernet_RX- -1 V to 1 V 6 GPS PPS 3.
2.3 Connection Box (Optional) This device converts automotive 100BASE-T1 to 100BASE-TX typical Ethernet, as well as providing a power port and a GPS port. Users may connect the LiDAR directly or using the connection box. The cable length between the connector and the connection box is 2 m by default.
2.3.1 Connection Box Interfaces Port # Port Name Description a Standard Ethernet Port RJ45, 100BASE-TX Ethernet b Power Port DC power adapter with voltage ranging from 12 V to 48 V DC Recommended minimum power output: 18 W Port size: Φ6.
2.3.2 Connection NOTE Refer to Appendix I 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 UDP/IP Ethernet (Automotive 100BASE-T1, Slave Mode) is used for data output. The output data includes Point Cloud Data Packets and GPS Data Packets. All the multi-byte values are unsigned and in little endian format.
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.
3.1.
◼ Body Body: 1032 bytes (4 blocks) Block 1 Block 2 Block 3 Block 4 Azimuth 1 Azimuth 2 Azimuth 3 Azimuth 4 Channel 1 Channel 1 Channel 1 Channel 1 Channel 2 Channel 2 Channel 2 Channel 2 … … … … Channel 64 Channel 64 Channel 64 Channel 64 Under the Dual Return mode, the ranging data from each firing is stored in two adjacent blocks, and the azimuth changes every two blocks.
◼ Tail Tail: 24 bytes Field Bytes Description Reserved 6 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.
3.1.3 Point Cloud Data Analysis The analysis of point cloud UDP data consists of three steps. ◼ Analyze the vertical angle, horizontal angle, and distance of a data point Take PandarQT’s Channel 5 in Block 2 as an example: 1) Vertical angle of Channel 5 is -43.465°, according to the calibration file included with each LiDAR NOTE Users can obtain the calibration file by sending the TCP command PTC_COMMAND_GET_LIDAR_CALIBRATION, as described in Section 6.2.1.
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.
3.2.
◼ 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 lo
◼ 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 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix 6 = estimated (dead reckoning) … <06> … 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
3.2.3 GPS Data Analysis 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 Google Chrome or Firefox is recommended.
4.1 Home Spin Rate of the motor (revs per minute) = frame rate (Hz) * 60 PTP Status Free Run Tracking Locked Frozen (Holdover) No PTP master is selected; only the LiDAR’s clock is used Slave is trying to sync with the selected PTP Master, but the offset is more than 1 μs Offset between the Slave and the Master is below 1 μ s LiDAR has lost connection to the PTP master and is attempting to recover it.
4.2 Settings 1. IP Settings Source IP (IPv4 Address) is 192.168.1.201 by default. Destination IP depends on the mode of communication: Mode Destination IP Broadcast (default) 255.255.255.255 Multicast Unicast 239.0.0.0~239.255.255.255 Same as the PC’s IP address 2. LiDAR Functions Return Mode UDP Sequence Last / Strongest / Dual Return OFF / ON #1 / ON #2 OFF by default. When UDP Sequence is ON, UDP packets are labeled with a sequence number. See Section 3.1 for changes in data structure.
(continued) Trigger Method Angle-Based / Time-Based In the angle-based trigger mode, lasers fire every 0.6 deg at 10 Hz. In the time-based mode, lasers fire every 166.66 us. Standby Mode Whether to stop the motor from running and lasers from firing 3. Reset All Settings By clicking the “Reset All Settings” button on the top-right corner, all configurable parameters in the Settings page and the Azimuth FOV page will be reset to their default values.
(Continued) 4. Clock Source and PTP Parameters Clock Source GPS / PTP In the PTP mode, LiDARs do not output GPS Data Packets, as detailed in Appendix I PTP Protocol. NOTE 4-pin connectors only support PTP as the clock source. When PTP is selected as the clock source: Profile 1588v2 (default) or 802.
4.3 Azimuth FOV For Azimuth FOV Setting, users can select one of the three modes. 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.
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. The “Status” button for each channel is gray by default, indicating that the angle range is [0°，360°]. To activate the angle range configuration for each channel, click the corresponding button to make it green.
4.3.3 Multi-section FOV Users can configure up to five continuous angle ranges (i.e. sections) for each channel. Outside the specified range for each channel, there will be no laser firing or data generated in that channel. The Status button for each channel is gray by default, indicating that the angle range is [0°，360°]. To activate the angle range configuration for each channel, click the corresponding button to make it green.
4.4 Operation Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed.
4.5 Upgrade Click the “Upload” button, select an upgrade file (provided by Hesai), and confirm your choice in the pop-up window. When the upgrade is complete, the LiDAR will automatically reboot, and the past versions will be logged in the Upgrade Log. Below shows the software and firmware versions described in this manual.
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 System Windows Ubuntu-16.04 Installation Files Installation Steps PandarView_Windows_V1.6.9.msi python-2.7.13.
5.2 Use Set the PC’s IP address according to Section 2.4 Use. ◼ Check Live Data ◼ Open a PCAP File Click on Click on and select your LiDAR model to begin receiving data over to pop up the “Choose Open File” window. Select a PCAP Ethernet. file to open. ◼ Record a PCAP File ◼ Import a Correction File Click on Each LiDAR contains a correction file in .CSV format. When opening a PCAP file in PandarView, the correction file is automatically uploaded. to pop up the “Choose Output File” window.
◼ 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 ◼ 3D Projection and Distance Measurement Users can select from the right view, front view, and top view. Both perspective projection (default) and orthographic projection are supported. The distance 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 ◼ UDP Port Users can select from Block 1 Return (i.e. Last Return), Block 2 Return (i.e. Strongest Return), and Dual Return. 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 and drag the mouse over the point cloud to highlight an area of points. Click on 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 Description points The XYZ coordinates of each point azimuth 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 Frequently Used Commands Command Command Code Payload Length Function PTC_COMMAND_GET_LIDAR_CALIBRATION 0x5 0 To retrieve the LiDAR’s calibration file PTC_COMMAND_PTP_DIAGNOSTICS 0x6 1 byte To retrieve PTP diagnostics for a specified PTP Query Type PTC_COMMAND_GET_INVENTORY_INFO 0x7 0 To retrieve inventory info PTC_COMMAND_GET_CONFIG_INFO 0x8 0 To retrieve configuration parameters PTC_COMMAND_GET_LIDAR_STATUS 0x9 0 To retrieve status info such as temperature and system uptime 6.
6.2.2 PTC_COMMAND_PTP_DIAGNOSTICS Command message payload 1-byte 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.
b. PTP TLV PORT_DATA_SET Per IEEE-1588 standard management 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.
6.2.3 PTC_COMMAND_GET_INVENTORY_INFO Command message payload None Feedback message payload 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 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 Points to Check ▪ Abnormal point cloud (misaligned points, flashing points, or incomplete FOV) GPS cannot be locked Make sure the LiDAR’s enclosure is clean. If not, refer to Chapter 7 Sensor Maintenance for the cleaning method ▪ Make sure the LiDAR’s calibration file is imported. (Pandar40P automatically imports the calibration file, while Pandar40 requires manual importing) ▪ Check for packet loss.
Appendix I Absolute Time and Laser Firing Time I.1 Absolute Time of Point Cloud Data Packets The absolute packing time of a Point Cloud Data Packet is the sum of date, time (accurate to the second) and μs time. ▪ Date and 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 start time is as follows: Block Start Time (μs) Block 1 t0 Block 2 t0 + 166.67 Block 3 t0 + 333.33 Block 4 t0 + 500.00 ◼ Dual Return Mode The ranging data generated by one round of firing is stored in two adjacent blocks, and these two blocks share the same firing time. Block 4 in the former packet and Block 1 in the latter packet are also considered adjacent.
I.2.2 Laser Firing Time of Each Channel Assuming that the start time of Block n is tn, the laser firing time can be calculated as follows, with the timing uncertainty Δt ≤ 10 μs. Table II.1 Laser Firing Time of Each Channel (To Be Continued) Firing Sequence Laser ID Firing Time (μs) Firing Sequence Laser ID Firing Time (μs) 1 1 tn + 25.71 + Δt + 2.31 17 17 tn + 25.71 + Δt + 36.61 2 2 tn + 25.71 + Δt + 4.37 18 18 tn + 25.71 + Δt + 38.67 3 3 tn + 25.71 + Δt + 6.43 19 19 tn + 25.
Table II.1 Laser Firing Time of Each Channel (Continued) Firing Sequence Laser ID Firing Time (μs) Firing Sequence Laser ID Firing Time (μs) 33 33 tn + 25.71 + Δt + 70.90 49 49 Tn + 25.71 + Δt + 105.20 34 34 tn + 25.71 + Δt + 72.97 50 50 Tn + 25.71 + Δt + 107.26 35 35 tn + 25.71 + Δt + 75.02 51 51 Tn + 25.71 + Δt + 109.32 36 36 tn + 25.71 + Δt + 77.08 52 52 Tn + 25.71 + Δt + 111.38 37 37 tn + 25.71 + Δt + 79.14 53 53 Tn + 25.71 + Δt + 113.43 38 38 tn + 25.71 + Δt + 81.
Appendix II PTP Protocol The Precision Time Protocol (PTP), also known as the IEEE 1588v2 standard, is used to synchronize clocks across a computer network. It can achieve submicrosecond clock accuracy and is suitable for measurement and control systems.
◼ 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 Date & Time fields. The sum of the μs timestamp and the Date & 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 III Certification Info ◼ FCC Declaration ◼ IC Statement FCC ID: 2ASO2PANDARQTV2 This device complies with Industry Canada licence-exempt RSS standard(s). FCC Warning 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.
Appendix IV 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 2020 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 Centre, Shanghai, China Business Email: info@hesaitech.com Service Email: service@hesaitech.
