Hesai Pandar40P User manual

Pandar40P
40-Channel
Mechanical LiDAR
User’s Manual
HESAI Wechat
www.hesaitech.com
402-en-1803A1

Caution
Please read and follow all instructions carefully and consult all relevant national and international safety regulations for your
application.
The device satisfies the requirements of:
IEC 60825-1:2014;
21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No.50, dated June 24, 2007;
GB7247.1-2012
DISCLAIMER The information contained within this user’s manual and the functions offered are intended to provide information about
products. All reasonable efforts have been made to ensure the accuracy of the information. However, Hesai cannot be held responsible for
any errors. Hesai does not warrant the accuracy and reserves the right to make changes to the catalog and its functions at any time without
notice.
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. For repairs and maintenance inquiries, please contact an authorized Hesai Technologies service personnel.
Laser Safety Notice – Laser Class 1
Safety Notice
Use of controls or adjustments or performance of
procedures other than those specified herein may result in
hazardous radiation exposure
CAUTION

Contents
1.1
1
Operational Principles 01-03
1.2 Specifications 04
Introduction
2.1 Mechanical Installation (Metric System) 05-07
2.2 Interface 08
2.3 Connecting Box (Optional Component) 09-11
2.4 Get Ready to Use 12
Installation Guide
2
3.1 Point Cloud Data Packet Ethernet Header/UDP Data 13-16
3.2 GPS Data Packet Ethernet Header/UDP Data 17-20
LiDAR Data Structure
3
4.1 Open Web Control 21
4.2 Setting 22
4.3 Angle Range 23-24
4.4 Device Info 25
4.5 Firmware Upgrade 26
Web Control
4
27-29
Appendix I
Pandar40P Channel Distribution
30-33
Appendix II
Point Cloud Data Packet Absolute Time and
Laser Firing Time Calculations
34-35
Appendix III
PTP Protocol
36-43
Appendix IV
Communication Protocol
44-45
Appendix V
Data Structure with UDP Sequence On
46
Appendix VI
Phoenix Contact
55-56
Appendix VIII
Support and Contact
47-54
Appendix VII
PandarView

1.1 Operational Principles
1.1.1 Distance Measurement: Time of Flight (ToF)
A laser diode emits a beam of ultrashort pulse laser on to the object.
Diffuse reflection of the laser occurs upon contact with the target object. Reflected beams are detected by the optical sensor.
Distance to object can be accurately measured by calculating the time between emission and receipt by the sensor.
1.
2.
3.
Figure 1.1 ToF Formula
d= ct
1
2
d：Distance
c：Speed of light
t：Laser beam travel time
Pandar40P is a 40-channel mechanical LiDAR. It creates 3D imaging by 360° mechanical rotating through 40 laser diodes inside the housing.
Pandar40P’s unique channel distribution makes it more suitable for autonomous driving applications.
In addition to the specifications of Pandar40P, this manual also describes the mechanical installation, data outputs format, and GPS
timestamp synchronization.
This manual is undergoing constant revision and improvement, please ask Hesai for the latest version of the user’s manual.
Introduction1
-01-

Laser Receiver
Laser Emitter
Shell
Z
XY
90° 270°
180°
0°
1.1.2 Structure Description
40 pairs of laser emitters and receivers are attached to a rotating motor inside the LiDAR housing that perform horizontal scans in 360
degrees.
Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 LiDAR Coordinate System and Rotation Direction
NOTE
1) Figure 1.3 shows the coordinate system and the z axis is along the rotation center of the LiDAR. The origin of the coordinate system is
shown as a red dot in Figure 1.5 (side view of the LiDAR). All the LiDAR measurement data are relative to the origin after geometry
transformation according to LiDAR’s optical and mechanical design.
2) Because of the intrinsic angle offset of each laser channel, the zero degree is defined as the azimuth angle in the corresponding block in
UDP packet when channel 12 passes y axis defined in Figure 1.3.
-02-

Figure 1.5 Laser Firing Position
1.1.3 Pandar40P Channel Vertical Distribution
The vertical angular resolution is 0.33° between Channel 6 and Channel 30;
The vertical angular resolution is 1° between Channel 5 and Channel 6, Channel 30 and Channel 38;
The vertical angular resolution of the remaining channels is not evenly distributed.
Please see Appendix I for detailed channel distribution.
Channel 1
Channel 6
Channel 12
Channel 30
Channel 40
+ 15°
+ 2°
0°
- 6°
Channel 38 - 14°
- 25°
Figure 1.4 Channel Vertical Distribution
103.935 mm
229.784 mm
-03-

Specifications
1.2
Scanning Method Mechanical Rotating
Channel 40
Wavelength 905 nm
Measurement Range 0.3 m to 200 m (at 10% reflectivity)
Data Points Generated Single Return Mode: 720,000 points per second
Dual Return Mode: 1,440,000 points per second
Frame Rate （Configurable） 10 Hz，20 Hz
Returns (Configurable) Single and Dual Returns (Strongest, Last)
Laser Class Class 1 Eye Safe
Measurement Accuracy ±5 cm (0.3 m to 0.5 m)，±2 cm (0.5 m to 200 m)
FOV (Horizontal) 360°(default)
Angular Resolution (Horizontal)
*Specifications are subject to change without notice.
Table 1.1 Prototype Specifications of Pandar40P
0.2° (10 Hz), 0.4° (20 Hz)
Clock Source GPS/PTP
PTP Clock Accuracy ≤1 μs
PTP Clock Drift ≤1 μs/s
Weight 1.52 kg
FOV (Vertical) 40° (-25° to +15°)
0.33° (-6° to +2°);
1° (+2° to +3°, -14° to -6°);
2° (+3° to +5°);
3° (+5° to +11°);
4° (+11° to +15°);
5° (-19° to -14°); 6° (-25° to -19°)
Angular Resolution (Vertical)
Data Transmission Method UDP/IP Ethernet (100 Mbps)
Data Outputs UDP: distance, azimuth angle, intensity
Power Consumption 18 W
Enclosure Level IP67
Operating Voltage 9 V to 48 V
Operating Temperature -40℃ to +65℃
Dimensions Height: 116.7 mm; Top Diameter: 116.00
mm; Bottom Diameter: 115.00 mm
-04-

Figure 2.2 Pandar40P Mounting Base
2Installation Guide
Mechanical Installation (Metric System)2.1
88.90 mm
3×M6 7 mm(MOUNT)
φ 98 mm
M6 7 mm(MOUNT)
2×φ4 mm 6 mm
For φ4 mm PINS
Figure 2.1 Pandar40P Side View
116.70 mm
φ116.00 mm
φ115.00 mm
-05-

M6 screw
7~9 mm over mounting base
2xΦ4PINS
5~6 mm over mounting base
Figure 2.3 Diagram of Quick Installation
Quick Installation
-06-

M6 screw
7~9 mm over mounting base
3xM6 screw
5~6 mm over mounting base
2xΦ4PINS
5~6 mm over mounting base
Figure 2.4 Diagram of Stable Installation
Stable Installation
-07-