Hesai PandarQT User manual

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www.hesaitech.com
Q01-en-2001A1
PandarQT
64-Channel Short-Range
Mechanical LiDAR
User Manual

Contents
Safety Notice................................................................................................................. 1
1 Introduction ............................................................................................................ 1
1.1 Operating Principle....................................................................................................1
1.2 LiDAR Structure...........................................................................................................2
1.3 Channel Distribution..................................................................................................3
1.4 Specifications ............................................................................................................... 4
2 Setup......................................................................................................................... 5
2.1 Mechanical Installation .............................................................................................5
2.2 Interfaces .......................................................................................................................7
2.3 Connection Box (Optional)...................................................................................... 9
2.4 Get Ready to Use......................................................................................................12
3 Data Structure ......................................................................................................13
3.1 Point Cloud Data Packet ........................................................................................14
3.2 GPS Data Packet .......................................................................................................19
4 Web Control .........................................................................................................25
4.1 Home ............................................................................................................................26
4.2 Settings ........................................................................................................................27
4.3 Azimuth FOV..............................................................................................................30
4.4 Operation Statistics..................................................................................................33
4.5 Upgrade.......................................................................................................................34
5 PandarView........................................................................................................... 35
5.1 Installation...................................................................................................................35
5.2 Use.................................................................................................................................36
5.3 Features........................................................................................................................38
6 Communication Protocol .................................................................................. 42
6.1 Packet Structure ........................................................................................................42
6.2 Frequently Used Commands ................................................................................43
7 Sensor Maintenance ........................................................................................... 51
8 Troubleshooting .................................................................................................. 52
Appendix I Absolute Time and Laser Firing Time .......................................... 54
I.1 Absolute Time of Point Cloud Data Packets.....................................................54
I.2 Laser Firing Time ........................................................................................................54
Appendix II PTP Protocol...................................................................................... 58
Appendix III Certification Info............................................................................. 60
Appendix IV Support and Contact ..................................................................... 61

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.
Enclosure
This device contains high-speed rotating parts. To avoid potential injuries,
DO NOT operate the device if the enclosure is loose or damaged.
Repair
DO NOT open and repair the device without direct guidance from Hesai
Technology. Disassembling the LiDAR 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
the 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.
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.
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 LiDAR. If you suspect
that the LiDAR is interfering with your medical device, stop using the LiDAR
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.
Eye Safety
Although the device meets Class 1 eye safety standards, operators should
still avoid looking directly at the LiDAR for maximum self-protection.

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.
3) Distance to object can be accurately measured by calculating the time between emission and receipt by the sensor.
Figure 1.1 ToF Formula

2
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.
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°.

3
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.

4
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)
Diameter: 80.2 mm
FOV (Horizontal)
360°
Operating Voltage
DC 9 to 55 V
Resolution (Horizontal)
0.6°(with 0.15°gap)
Power Consumption
8 W
FOV (Vertical)
104.2° (-52.1° to +52.1°)
Operating Temperature
-20℃ to 65℃
Resolution (Vertical)
Finest at 1.5° (with min. gap 0.3°)
Weight
0.4 kg
Frame Rate
10 Hz
DATA I/O
Returns
Single Return (First)
Data Transmission
UDP/IP Ethernet (Automotive 100BASE-T1)
Dual Return (First & Second)
Slave Mode
Data Outputs
Distance, Azimuth Angle
CERTIFICATIONS
Background Illumination
RoHS, REACH, WEEE
Data Points Generated
Single Return Mode: 384,000 pts/s
CE, FCC, FDA, IC
Dual Return Mode: 768,000 pts/s
Clock Source
PTP / GPS
PTP Clock Accuracy
≤1 μs
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.
NOTE Output of background Illumination data is not yet supported.

5
2 Setup
2.1 Mechanical Installation
Figure 2.1 Isometric View
Figure 2.2 Mounting Base

6
◼Recommended Installation
◼Side Installation

7
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 2.3 Connector Dimensions
Connector
4-pin
8-pin
Figure 2.4 Connector Options (Male socket, on the LiDAR)

8
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
Cables
The optional cable for connecting the LiDAR 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. The maximum allowable diameter of power wires is
0.511 mm, 24 AWG.
When choosing cables, please check their voltage drop and power consumption 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)
Average Power Consumption
over 1 m cable (W)
Average Power Consumption
over 6 m cable (W)
24AWG
0.511
0.0894
0.1788
1.0728
0.064368
0.386208

9
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.

10
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: Φ6.3 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
Pulse width: 1 ms or longer is recommended
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

11
2.3.2 Connection
NOTE Refer to Appendix I when PTP protocol is used.

12
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

13
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.
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
GPS Data Packet
554 bytes
Ethernet Header
42 bytes
UDP Data
512 bytes

14
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.
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)
UDP Checksum
2
-
Figure 3.2 Point Cloud Ethernet Header –Internet Protocol

15
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
Major version number of the protocol: to distinguish between product models
0x03 for PandarQT
Protocol Version Minor
1
Minor version number of the protocol: 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)
Echo Count
1
The type of return of the first block in this data packet
0x00 –in the Single Return mode
0x01 –last return in the Dual Return mode
0x02 –strongest return in the Dual Return mode
Dis Unit
1
0x04 (4 mm)
Echo Num
1
Return mode
0x01 –Single Return 0x02 –Dual Return
UDP Seq
1
Whether the packet includes a UDP sequence number field
0x00 –UDP sequence OFF (default) 0x01 –UDP sequence ON

16
◼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.
Block size = Size of Azimuth + 64 * Size of Channel X = 258 bytes
Each Block in the Body: 258 bytes
Field
Bytes
Description
Azimuth
2
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 X
4
2-byte Distance
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 = 262.14 m
1-byte Reflectivity
Reflectivity, in percentage (0 to 255%)
NOTE PandarQT does not support this output yet.
1-byte Background
Illumination
Relative brightness of the receiving FOV
Synchronized to the point cloud, but not related to the emitting laser pulse or distance
NOTE PandarQT does not support this output yet.