Hesai PandarQT User manual

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PandarQT
64-Channel Short-Range
Mechanical LiDAR
User Manual

Doc Version: Q01-en-2101A1
Contents
Safety Notice................................................................................................1
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)..........................................................12
2.4 Get Ready to Use..........................................................................15
3Data Structure........................................................................................16
3.1 Point Cloud Data Packet..............................................................17
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 Check Live Data ............................................................................35
5.3 Record Point Cloud Data..............................................................36
5.4 Play Point Cloud Data..................................................................37
5.5 Features........................................................................................39
6Communication Protocol......................................................................45
7Sensor Maintenance..............................................................................46
8Troubleshooting....................................................................................48
Appendix I Channel Distribution...............................................................51
Appendix II Absolute Time and Laser Firing Time....................................54
Appendix III PTP Protocol..........................................................................58
Appendix IV Power Supply Requirements ................................................60
Appendix V Certification Info..................................................................61
Appendix VI Support and Contact.............................................................62

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SafetyNotice
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 product. The
product must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the product. 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.)

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■ Safety Precautions
In all circumstances, if you suspect that the product 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 product disposal.
Handling
This product contains metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, burning, piercing,
and squeezing may cause damage to the product.
In case the product is dropped, STOP using the product immediately and contact Hesai technical support.
Cover Lens
This product contains high-speed rotating parts. To avoid potential injuries, DO NOT operate the product if the cover lens is loose or damaged.
To ensure optimal performance, do not touch the product's cover lens with bare hands. If the cover lens is already stained, please refer to the
cleaning method in the Sensor Maintenance chapter of user manuals.
Eye Safety
Although the product meets Class 1 eye safety standards, DO NOT look into the transmitting laser through a magnifying product (microscope,
eye loupe, magnifying glass, etc.). For maximum self-protection, avoid looking directly at the product when it is in operation.
Repair
DO NOT open and repair the product without direct guidance from Hesai Technology. Disassembling the product 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. Using off-spec or damaged cables or adapters, or supplying power in a
humid environment can result in fire, electric shock, personal injuries, product damage, or property loss.

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Hot Surface
During or after a period of operation, DO NOT touch the product's cover lens with your skin. Such direct contact with the hot surface can result
in discomfort or even burns. If you incorporate this LiDAR product into your product(s), you should also communicate the hot surface risks to
the intended users of your product(s).
Vibration
Strong vibration may cause damage to the product 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 product that prohibit or restrict the use of electronic devices. Although the product is designed,
tested, and manufactured to comply with the regulations on RF radiation, the radiation from the product may still influence electronic devices.
Medical Device Interference
Some components in the product 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(s) and whether you need to keep a safe distance from the product. If you suspect that the product is interfering with your medical device,
stop using the product immediately.
Explosive Atmosphere and Other Air Conditions
Do not use the product 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 product to high concentrations of industrial
chemicals, including liquefied gases that are easily vaporized (such as helium), can damage or weaken the product's function. Please observe
all the signs and instructions on the product.
Light Interference
Some precision optical instruments may be interfered by the laser light emitted from the product.

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1Introduction
This manual describes the specifications, installation, and data format of PandarQT.
This manual is under constant revision. To obtain the latest version, please visit the Download page of Hesai's official website, or contact Hesai
technical support.
1.1 Operating Principle
Distance Measurement: Time of Flight (ToF)
1) A laser diode emits a beam of ultrashort laser pulses onto the target object.
2) The laser pulses are diffusely reflected after hitting the target object. The returning beam is detected by an optical sensor.
3) Distance to the object can be accurately measured by calculating the time between laser emission and receipt.
  

d: distance
c: speed of light
t: travel time of the laser beam
Figure 1.1 Distance Measurement Using Time of Flight

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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 illustrated in Figure 1.3. Z-axis is the axis of rotation.
By default, the LiDAR rotates clockwise in the top view. To select counterclockwise rotation, see Section 4.2 (Web Control - Settings).
The origin is shown as a red dot in Figure 1.6 on the next page. All measurements are relative to the origin.
When the horizontal center of the emitter-receiver array passes the zero-degree position in Figure 1.4, the azimuth data in the corresponding
UDP data block will be 0°.

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1.3 Channel Distribution
The vertical resolution is unevenly distributed across all channels, as illustrated in Figure 1.5 and detailed in Appendix I (Channel Distribution).
Figure 1.5 Channel Vertical Distribution
Figure 1.6 Laser Firing Position (Unit: mm)
Each channel has an intrinsic angle offset, both horizontally and vertically. The offsetted angles are recorded in this LiDAR unit's calibration file.
NOTE The calibration file provides the elevation and azimuth of each channel's incident beam, relative to the center of the entrance pupil
(shown as a yellow dot in Figure 1.6).
In case you need to obtain the file again:
· Send this TCP command PTC_COMMAND_GET_LIDAR_CALIBRATION , as described in Hesai TCP API Protocol (Chapter 6).
· Or contact a sales representative or technical support engineer from Hesai.

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1.4 Specifications
SENSOR
MECHANICAL/ELECTRICAL/OPERATIONAL
Scanning Method
Mechanical Rotation
Wavelength
885 nm
Channel
64
Ingress Protection
IP67 & IP69K
Instrument Range
0.1 to 60 m
Dimensions
Height: 76.0 mm Diameter: 80.2 mm
Range Capability
0.1 to 20 m (at 10% reflectivity)
Rated Voltage Range
DC 12 to 48 V
Range Accuracy
±3 cm (typical)
Power Consumption
8 W
Range Precision
2 cm (typical)
Operating Temperature
-20℃ to 65℃
FOV (Horizontal)
360°
Weight
0.47 kg
Resolution (Horizontal)
0.6°
DATA I/O
FOV (Vertical)
104.2° (-52.1° to +52.1°)
Data Transmission
UDP/IP Ethernet (Automotive 100BASE-T1)
Resolution (Vertical)
Finest at 1.45°
Slave Mode
Frame Rate
10 Hz
Measurements
Distance, Azimuth Angle
Returns
Single Return (First, Last)
Data Points Generated
Single Return: 384,000 points/sec
Dual Return (First & Last)
Dual Return: 768,000 points/sec
CERTIFICATIONS
Point Cloud Data Rate
Single Return: 13.37 Mbps
Class 1 Laser Product
Dual Return: 26.74 Mbps
CE, FCC, FDA, IC, KCC, RCM, UKCA
Clock Source
PTP
NOTE Specifications are subject to change. Please refer to the
latest version.
PTP Clock Accuracy
≤1 μs (typical)
PTP Clock Drift
≤1 μs/s
NOTE Range capability: test data of the middle 48 channels (Channels 9~56), measured under 100 klux ambient intensity, with PoD > 90%.
NOTE Range accuracy (difference between the average of multiple measurements and the true value, measured under the same conditions)
and range precision (standard deviation of multiple measurements, measured under the same conditions) may vary with range, temperature,
and target reflectivity.

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2Setup
2.1 Mechanical Installation
Figure 2.1 Isometric View (Unit: mm)
Figure 2.2 Mounting Base (Unit: mm)

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■ Recommended Installation
Figure 2.3 Recommended Installation
■ Side Installation
Figure 2.4 Side Installation

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2.2 Interfaces
PandarQT uses a 4-pin M8 male socket (with pins inside), which includes power wires and a 100BASE-T1 twisted-pair.
Figure 2.5 Connector Dimensions (Unit: mm)
Figure 2.6 Connector
Figure 2.7 Connector Pinout (4-pin)
Pin definition is listed below:
Pin #
Signal
Voltage
1
VIN
12 to 48 V
2
GND
0 V
3
Ethernet_TRX+
-1 to 1 V
4
Ethernet_TRX-
-1 to 1 V
NOTE Please plug and unplug the connector with care. Do not pull, twist, or squeeze it with excessive force.

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■ Extension Cable (Optional)
The default length is 6, 10, or 15 m.
Contact Hesai if you need customized cables for connecting the LiDARs to your control units directly.
Refer to Appendix IV (Power Supply Requirements) for wire gauge and cable length selection.
Figure 2.8 Extension Cable and Connector Size

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2.3 Connection Box (Optional)
Users may connect the LiDAR directly or using the connection box.
The connection box converts automotive 100BASE-T1 to 100BASE-TX typical Ethernet, as well as providing a power port.
Figure 2.9 Connection Box - Connection (Unit: mm)

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2.3.1 Connection Box Interfaces
Figure 2.10 Connection Box (Front)
Figure 2.11 Connection Box (Back)
Port #
Port Name
Description
a
Standard Ethernet Port
RJ45, 100BASE-TX Ethernet
b
Power Port
Connects to a DC power adapter
Connector part number: PJ-057AH
External power supply:
· 24 W at least
· Rated input voltage: 12 to 48 V
· Allowable input voltage: 9 to 55 V
c
Reserved
-

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2.3.2 Connection
Figure 2.12 Connection Box - Connection
NOTE Refer to Appendix III when PTP protocol is used.

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2.4 Get Ready to Use
Before operating the LiDAR, strip away the protective cover outside the cover lens.
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:
For Windows:
Input this ifconfig command in the terminal:
~$ sudo ifconfig enp0s20f0u2 192.168.1.100
(replace enp0s20f0u2 with the local Ethernet port name)
Open the Network Sharing Center, click on "Ethernet"
In the "Ethernet Status" box, 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/software, see Chapter 4 (Web Control)
To obtain the SDKs (Software Development Kits) for your product model,
· please find the download link at: www.hesaitech.com/en/download (Product Documentation → select product model)
· or visit Hesai's official GitHub page: https://github.com/HesaiTechnology

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3DataStructure
The LiDAR outputs Point Cloud Data Packets using 100BASE-T1 Automotive Ethernet UDP/IP.
All the multi-byte values are unsigned and in little endian format.
Figure 3.1 Data Structure
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

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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 255.255.255.255 (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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3.1.2 UDP Data
■ Pre-Header
Pre-Header: 6 bytes
Field
Bytes
Description
0xEE
1
SOP (start of packet)
0xFF
1
SOP (start of packet)
Protocol Version Major
1
To distinguish between product models
0x03 for PandarQT
Protocol Version Minor
1
For each product model, to indicate the current protocol version
Currently 0x01 for PandarQT
Reserved
2
-
■ Header
Header: 6 bytes
Field
Bytes
Description
Laser Num
1
0x40 (64 channels)
Block Num
1
0x04 (4 blocks per packet)
First Block Return
1
Reserved
Dis Unit
1
0x04 (4 mm)
Return Number
1
Number of returns that each channel generates
0x01 - one return 0x02 - two returns
UDP Seq
1
[7:1] is reserved
Least significant bit [0] shows whether this packet includes a UDP sequence number field
1 - UDP sequence ON