Hesai PandarQT User manual
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www.hesaitech.com
Q01-en-2002A1
PandarQT
64-Channel Short-Range
Mechanical LiDAR
User Manual
Contents
1Introduction........................................................................................... 4
1.1 Operating Principle........................................................................ 4
1.2 LiDAR Structure .............................................................................. 5
1.3 Channel Distribution...................................................................... 6
1.4 Specifications................................................................................. 7
2Setup...................................................................................................... 8
2.1 Mechanical Installation.................................................................. 8
2.2 Interfaces ...................................................................................... 10
2.3 Connection Box (Optional) .......................................................... 13
2.4 Get Ready to Use .......................................................................... 16
3Data Structure...................................................................................... 17
3.1 Point Cloud Data Packet .............................................................. 18
3.2 GPS Data Packet........................................................................... 23
4Web Control ......................................................................................... 24
4.1 Home ............................................................................................ 25
4.2 Settings......................................................................................... 26
4.3 Azimuth FOV .................................................................................29
4.4 Operation Statistics......................................................................32
4.5 Upgrade ........................................................................................33
5PandarView.......................................................................................... 34
5.1 Installation....................................................................................34
5.2 Use.................................................................................................35
5.3 Features ........................................................................................37
6Communication Protocol .................................................................... 41
7Sensor Maintenance ............................................................................ 42
8Troubleshooting .................................................................................. 44
9Absolute Time and Laser Firing Time .................................................. 46
10 PTP Protocol................................................................................. 50
11 Certification Info........................................................................... 52
12 Support and Contact.................................................................... 53
1
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. For repairs and
maintenance inquiries, please contact an authorized Hesai Technology service provider.
■ Laser Safety Notice - Laser Class 1
This device satisfies the requirements of
· IEC 60825-1:2014
· 21 CFR 1040.10 and 1040.11 except for deviations (IEC 60825-1 Ed.3) pursuant to Laser Notice No.56, dated May 8, 2019
NEVER LOOK INTO THE TRANSMITTING LASER THROUGH A MAGNIFYING DEVICE (MICROSCOPE, EYE LOUPE, MAGNIFYING GLASS, ETC.)
2
■ 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.
In case of dropping the device, STOP using the device immediately and contact Hesai technical support.
Enclosure
This device contains high-speed rotating parts. To avoid potential injuries, DO NOT operate the device if the enclosure is loose or damaged.
To ensure optimal performance, do not touch the device's enclosure with bare hands. If the enclosure is already stained, please refer to the
Sensor Maintenance chapter in user manuals for the cleaning method.
Eye Safety
Although the device meets Class 1 eye safety standards, DO NOT look into the transmitting laser through a magnifying device (microscope, eye
loupe, magnifying glass, etc.). For maximum self-protection, avoid looking directly at the device when it is in operation.
Repair
DO NOT open and repair the device without direct guidance from Hesai Technology. Disassembling the device may cause degraded
performance, failure in water resistance, or potential injuries to the operator.
Power Supply
Use only the cables and power adapters provided by Hesai Technology. Only the power adapters that meet the device's power requirements
and applicable safety standards can be used. Using damaged cables, adapters or supplying power in a humid environment can result in fire,
electric shock, personal injuries, product damage, or property loss.
3
Prolonged Exposure to Hot Surface
Prolonged exposure to the device's hot surface may cause discomfort or injury. If the device has been powered and operating for a long time,
avoid skin contact with the device and its power adapter.
Vibration
Strong vibration may cause damage to the device and should be avoided. If you need the mechanical vibration and shock limits of this product,
please contact Hesai technical support.
Radio Frequency Interference
Please observe the signs and notices on the device that prohibit or restrict the use of electronic devices. Although the device is designed, tested,
and manufactured to comply with the regulations on RF radiation, the radiation from the device may still influence other electronic devices.
Medical Device Interference
Some components in the device can emit electromagnetic fields, which may interfere with medical devices such as cochlear implants, heart
pacemakers and defibrillators. Consult your physician and medical device manufacturers for specific information regarding your medical device
and whether you need to keep a safe distance from the device. If you suspect that the device is interfering with your medical device, stop using
the device immediately.
Explosive Atmosphere and Other Air Conditions
Do not use the device in any area where potentially explosive atmospheres are present, such as high concentrations of flammable chemicals,
vapors or particulates (including particles, dust, and metal powder) in the air. Exposing the device to high concentrations of industrial
chemicals, including liquefied gases that are easily vaporized (such as helium), can damage or weaken the device's function. Please observe all
the signs and instructions on the device.
Light Interference
Some precision optical instruments may be interfered by the laser light emitted from the device.
4
1Introduction
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.
3) Distance to object can be accurately measured by calculating the time between emission and receipt by the sensor.
Figure 1.1 ToF Formula
5
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 Default Rotation Direction
(Top View)
The LiDAR's coordinate system is shown above. The Z-axis is the axis of rotation.
By default, the LiDAR rotates in the clockwise direction in the top view. Users can also choose the counterclockwise direction in Web Control,
see Section 4.2 (Settings).
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.
When the horizontal center of the emitter-receiver array passes the zero-degree position illustrated in Figure 1.4, the azimuth data in the
corresponding UDP data block will be 0°.
6
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 (Unit: mm)
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 Hesai TCP API
Protocol (Chapter 6).
7
1.4 Specifications
SENSOR
MECHANICAL/ELECTRICAL/OPERATIONAL
Scanning Method
Mechanical Rotation
Laser Class
Class 1 Eye Safe
Channel
64
Ingress Protection
IP67 & IP69K
Range
0.1 to 30 m (at 20% reflectivity)
Dimensions
Height: 76.0 mm
Range Accuracy
±3 cm (typical)
Diameter: 80.2 mm
Range Precision
2 cm (typical)
Operating Voltage
DC 9 to 55 V
FOV (Horizontal)
360°
Power Consumption
8 W
Resolution (Horizontal)
0.6° (with 0.15° gap)
Operating Temperature
-20℃ to 65℃
FOV (Vertical)
104.2° (-52.1° to +52.1°)
Weight
0.47 kg
Resolution (Vertical)
Finest at 1.45° (with min. gap 0.15°)
DATA I/O
Frame Rate
10 Hz
Data Transmission
UDP/IP Ethernet (Automotive 100BASE-T1)
Returns
Single Return (First)
Slave Mode
Single Return (Last)
Data Outputs
Distance, Azimuth Angle
Dual Return (First & Last)
Data Points Generated
Single Return Mode: 384,000 pts/s
CERTIFICATIONS
Dual Return Mode: 768,000 pts/s
RoHS, REACH, WEEE
Clock Source
PTP / GPS
CE, FCC, FDA, IC
PTP Clock Accuracy
≤1 μs (typical)
PTP Clock Drift
≤1 μs/s
NOTE Specifications are subject to change without notice.
NOTE Range accuracy as the average range error across all channels may vary with range, temperature and target reflectivity.
NOTE 4-pin connectors only support PTP as the clock source.
8
2Setup
2.1 Mechanical Installation
Figure 2.1 Isometric View (Unit: mm)
Figure 2.2 Mounting Base (Unit: mm)
9
■ Recommended Installation
Figure 2.3 Recommended Installation
■ Side Installation
Figure 2.4 Side Installation
10
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 8-pin male socket with the same size. The use of 4-pin M8 sockets is strongly recommended.
Figure 2.5 Connector Dimensions (Unit: mm)
Connector
4-pin
8-pin
Figure 2.6 Connector Options (Male socket, on the LiDAR)
11
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
The 8-pin male socket (optional, not recommended):
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
3.3 V/5 V
7
GPS DATA
-13 V to +13 V
8
GND
0
12
2.2.1 Extension Cable
The cable length is 2 m by default.
Contact Hesai if you need customized cables for connecting the LiDARs to your control units directly. The maximum allowable diameter of
power wires is 0.643 mm, 22 AWG.
When choosing cables, please check their voltage drop to ensure a minimum of 9 V DC input to the LiDARs.
TYPE
Diameter (mm)
Resistance/meter (Ohm)
Max Voltage Drop over 1 m cable (V)
Max Voltage Drop over 6 m cable (V)
22 AWG
0.643
0.0643
0.2431
1.4588
2.2.2 Connecting the Extension Cable
With a 4-pin male socket on the LiDAR, the far end of the extension cable is a Molex 501646 plug.
Matching sockets include Molex 501645, Molex 503091, and Molex 501876.
Apart from using a socket, users can also cut the plug and connect the wires by themselves.
Figure 2.7 Connecting the Extension Cable
13
2.3 Connection Box (Optional)
Users may connect the LiDAR directly or using the connection box.
This device converts automotive 100BASE-T1 to 100BASE-TX typical Ethernet, as well as providing a power port and a GPS port.
Figure 2.8 Connection Box - Connection (Unit: mm)
14
2.3.1 Connection Box Interfaces
Figure 2.9 Connection Box (Front)
Figure 2.10 Connection Box (Back)
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: Φ6.3 mm (external), Φ2 mm (internal)
c
GPS Port
Connector type: JST SM06B-SRSS-TB
Recommended connector for the external GPS module: JST SHR-06V-S-B
Voltage standard: RS232 Baud rate: 9600 bps NOTE Only support 8-pin cables
The GPS port pin numbers are 1 to 6 from left to right, defined as follows:
Pin #
Direction
Pin Description
Requirements
1
Input
PPS (pulse-per-second) signal for synchronization
TTL level 3.3 V/5 V
Recommended pulse width: ≥1 ms
Cycle: 1 s (from rising edge to rising edge)
2
Output
Power for the external GPS module
5 V
3
Output
Ground for the external GPS module
-
4
Input
Receiving serial data from the external GPS module
RS232 level
5
Output
Ground for the external GPS module
-
6
Output
Transmitting serial data to the external GPS module
RS232 level
16
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 192.168.1.100
(replace enp0s20f0u2 with the local network port name)
Open the Network Sharing Center, click on "Ethernet"
In the "Ethernet Status" interface, click on "Properties"
Double-click on "Internet Protocol Version 4 (TCP/IPv4)"
Configure the IP address to 192.168.1.100 and subnet mask to 255.255.255.0
To record and display point cloud data, see Chapter 5 (PandarView)
To set parameters, check device info, or upgrade firmware, see Chapter 4 (Web Control)
The SDK (Software Development Kits) download links can be found at www.hesaitech.com/en/download
17
3Data Structure
UDP/IP Ethernet (Automotive 100BASE-T1, Slave Mode) is used for data output.
Output data includes Point Cloud Data Packets and GPS Data Packets.
All the multi-byte values are unsigned and in little endian format.
Figure 3.1 Data Structure
NOTE The LiDAR does not output GPS Data Packets when a PTP clock source is selected.
LiDAR Data
Point Cloud Data Packet: 1114 bytes
Ethernet Header: 42 bytes
UDP Data: 1072 bytes
Pre-Header: 6 bytes
Header: 6 bytes
Body: 1032 bytes
Tail: 24 bytes
Additional Info: 4 bytes
GPS Data Packet
18
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, and the destination IP is 0xFF FF FF FF (broadcast).
Point Cloud Ethernet Header: 42 bytes
Field
Bytes
Description
Ethernet II MAC
12
Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF)
Source: (xx:xx:xx:xx:xx:xx)
Ethernet Data Packet Type
2
0x08, 0x00
Internet Protocol
20
Shown in the figure below
UDP Port Number
4
UDP source port (0x2710, representing 10000)
Destination port (0x0940, representing 2368)
UDP Length
2
0x0438, representing 1080 bytes (8 bytes more than the size of the Point Cloud UDP Data, shown in
Figure 3.1)
UDP Checksum
2
-
Figure 3.2 Point Cloud Ethernet Header - Internet Protocol
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