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3

Data Structure

The LiDAR outputs Point Cloud Data Packets and GPS Data Packets using 100 Mbps Ethernet UDP/IP.

Unless otherwise specified, all the multi-byte fields are unsigned values in little endian format.

Figure 3.1 Data Structure with UDP Sequence OFF

UDP sequence is OFF by default . When UDP sequence is ON, the Additional Information in the UDP data changes from 22 bytes to 26 bytes.

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Summary of Contents for Pandar40P

Page 1: ...www hesaitech com HESAI Wechat Pandar40P 40 Channel Mechanical LiDAR User Manual...

Page 2: ...ucture 25 3 1 Point Cloud Data Packet 26 3 2 GPS Data Packet 32 4 Web Control 38 4 1 Home 39 4 2 Settings 40 4 3 Azimuth FOV 47 4 4 Operation Statistics 50 4 5 Upgrade 51 5 Communication Protocol 53 6...

Page 3: ...warnings If you incorporate this LiDAR product into your product s you are required to provide this user manual or the means to access this user manual to the intended users of your product s Access t...

Page 4: ...2 Legends Warnings instructions that must be followed to ensure safe and proper use of the product Notes additional information that may be helpful...

Page 5: ...3 Safety Notice Special Warnings Laser Safety Hot Surface During or after a period of operation do NOT touch the product s enclosure with your skin...

Page 6: ...agreed to in writing by Hesai Technology do NOT disassemble the product Operating Environment Radio Frequency Interference Before using the product make sure to read all the signs and notices on the...

Page 7: ...ake sure to avoid any ingress beyond that rating Operating Temperature Please check the product s user manual for its operating temperature refer to the Specifications section Make sure not to exceed...

Page 8: ...ly Installation and Operation Power Supply You are recommended to use only the cables and power adapters provided by Hesai Technology If you are to design configure or select the power supply system i...

Page 9: ...the product enclosure is broken stop using it immediately and contact Hesai technical support The product contains high speed rotating parts To avoid potential injuries do NOT operate the product if...

Page 10: ...oftware Before using a custom version of firmware and software please thoroughly understand the differences in functions and performance between this custom version and the standard version Make sure...

Page 11: ...uct s user manual refer to the About this Manual section Repair Unless expressly agreed to in writing by Hesai Technology do NOT by yourself or entrust any third party to disassemble repair modify or...

Page 12: ...m of ultrashort laser pulses onto the target object 2 The laser pulses are reflected after hitting the target object The returning beam is detected by an optical sensor 3 Distance to the object can be...

Page 13: ...Rotation Direction Top View The LiDAR s coordinate system is illustrated in Figure 1 3 Z axis is the axis of rotation The origin is shown as a red dot in Figure 1 6 on the next page All measurements...

Page 14: ...ition Unit mm Each channel has an intrinsic angle offset both horizontally and vertically The offsetted angles are recorded in this LiDAR unit s angle correction file which is provided when shipping t...

Page 15: ...L OPERATIONAL Wavelength 905 nm Laser Class Class 1 Eye Safe Ingress Protection IP6K7 Dimensions Height 116 7 mm Top Bottom 118 0 116 0 mm Rated Voltage Range DC 9 to 48 V Power Consumption 18 W typic...

Page 16: ...l channels May vary with range temperature and target reflectivity Power consumption Not including accessories such as the connection box PTP Clock Drift Defined as the drift at a constant temperature...

Page 17: ...15 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm...

Page 18: ...16 Figure 2 2 Bottom View Unit mm...

Page 19: ...17 Quick Installation Figure 2 3 Quick Installation...

Page 20: ...18 Stable Installation Figure 2 4 Stable Installation...

Page 21: ...Ground Return BLACK 0 V 7 Ethernet TX ORANGE 1 to 1 V 14 Ground Return GRAY WHITE 0 V 8 Ethernet TX ORANGE WHITE 1 to 1 V 15 PURPLE 9 GPS Serial Data WHITE 13 to 13 V 16 PURPLE WHITE 10 GPS PPS YELLO...

Page 22: ...so can loosen the connectors shells or even damage the contacts In case a connector s shell is accidentally pulled off stop using the connector and contact Hesai technical support DO NOT attempt to as...

Page 23: ...21 2 3 Connection Box Optional Users may connect the LiDAR directly or using the connection box Lemo part number PHG 2T 316 CLLC75Z female socket on the connection box Figure 2 7 Connection Box Unit m...

Page 24: ...al GPS module JST SHR 06V S B Voltage standard RS232 Baud rate 9600 bps The GPS port pin numbers are 1 to 6 from left to right defined as follows Pin Direction Pin Description Requirements 1 Input PPS...

Page 25: ...23 2 3 2 Connection Figure 2 10 Connection Box Connection Refer to Appendix III PTP Protocol when PTP protocol is used...

Page 26: ...l 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 1...

Page 27: ...bps Ethernet UDP IP Unless otherwise specified all the multi byte fields are unsigned values in little endian format Figure 3 1 Data Structure with UDP Sequence OFF UDP sequence is OFF by default When...

Page 28: ...xFF 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 re...

Page 29: ...meaningless 0xFF first Azimuth 2 Current reference angle of the rotor Unit 0 01 Channel X 3 2 byte Distance Distance Value Distance 4 mm 1 byte Reflectivity Range 0 to 255 The mapping from this field...

Page 30: ...the shutdown flag will be reset to 0x00 and the system will automatically return to normal operation Reserved 2 Motor Speed 2 Unit RPM Timestamp 4 The s time part of the absolute time of this data pa...

Page 31: ...29 Field Bytes Description UDP Sequence 4 Added only when UDP sequence is ON Label the sequence number of Point Cloud UDP packets 0 to 0xFF FF FF FF...

Page 32: ...angle current reference angle of the rotor horizontal angle offset firing time angular offset Current reference angle of the rotor is the Azimuth field of Block 2 Horizontal angle offset 1 042 for Cha...

Page 33: ...31 Continued Draw the data point in a spherical or rectangular coordinate system Obtain the real time point cloud data by analyzing and drawing every data point in a frame...

Page 34: ...act the actual date and time from NMEA messages GPRMC or GPGGA and stamp them into both Point Cloud Data Packets and GPS Data Packets Point Cloud Data Packets 6 byte Date Time year month day hour minu...

Page 35: ...roadcast 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 represents...

Page 36: ...MEA sentence that contains date and time ASCII code valid till 2 bytes after the asterisk The LiDAR can receive either GPRMC or GPGGA see Chapter 4 Web Control Settings Reserved 404 404 bytes of 0xDF...

Page 37: ...hex 0 for GPS being unlocked 09 UTC Date Date information Typically in ddmmyy day month year format The LiDAR s GPS data interface is compatible with a variety of GPRMC formats as long as 01 is the h...

Page 38: ...lid 1 GPS fix SPS 2 DGPS fix 3 PPS fix 6 estimated dead reckoning 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 F...

Page 39: ...0x32 0 2 20 Month 0x34 0x30 4 0 04 Day 0x37 0x30 7 0 07 Time Field Data ASCII Code Characters Meaning Second 0x38 0x35 8 5 58 Minute 0x37 0x30 7 0 07 Hour 0x34 0x30 4 0 04 s Time 4 bytes in units of...

Page 40: ...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 br...

Page 41: ...2 seconds PTP Status Free Run No PTP master is selected Tracking Slave is trying to sync with the selected PTP Master but the absolute offset is over 1 s Locked Absolute offset between Slave and Mast...

Page 42: ...ve after clicking the Save button at the bottom 1 Reset All Settings By clicking the Reset All Settings button on the top right corner all configurable parameters on web control will be reset to facto...

Page 43: ...the receiving host s VLAN ID Notes Once configured the VLAN ID does not change during firmware upgrades Warnings If the LiDAR s VLAN ID differs from the receiving host s users will lose access to web...

Page 44: ...rpm Return Mode Last Strongest Dual Return UDP Sequence OFF ON 1 ON 2 Point Cloud UDP packets can be labeled with a sequence number see Section 3 1 ON 1 UDP sequence increments only within the user sp...

Page 45: ...arget the return signal can result in a false point located between both targets Such points can be mitigated Retro Multi Reflection Filtering To mitigate the false positive points at twice the distan...

Page 46: ...output GPS Data Packets see Appendix III PTP Protocol When GPS is selected as the clock source GPS Mode GPRMC GPGGA Format of the NMEA data received from the external GPS module see Section 3 2 2 GPS...

Page 47: ...Transport UDP IP or L2 UDP IP available only for 1588v2 profile L2 available for all profiles PTP Domain Number Integer from 0 to 127 Domain attribute of the local clock When using the 1588v2 profile...

Page 48: ...46 Continued When using the 802 1AS or 802 1AS Automotive profile Switch Type TSN Non TSN TSN Time Sensitive Network Peer to Peer delay mechanism Non TSN End to End delay mechanism...

Page 49: ...V 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 channels The LiDAR outputs valid da...

Page 50: ...hin its specified range 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 correspondin...

Page 51: ...iguration for each channel click the corresponding button to make it green Click the Enable Disable All button to activate deactivate the angle range configuration for all channels 4 3 4 Note Click Sa...

Page 52: ...50 4 4 Operation Statistics The LiDAR s operation time in aggregate and in different temperature ranges are listed as well as the internal temperature...

Page 53: ...LiDAR s cover lens 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 t...

Page 54: ...mware again until the Upgrade page displays the correct version number after reboot Software upgrade If the current version is earlier than 2 9 1 please first upgrade to 2 9 1 and then upgrade to high...

Page 55: ...53 5 Communication Protocol To receive Hesai LiDAR s PTC Pandar TCP Commands and HTTP API Protocols please contact Hesai technical support...

Page 56: ...ore using a lint free wipe If the wipe is stained use another 1 Thoroughly wash your hands or wear a pair of powder free PVC gloves 2 To remove dust blow dry air onto the cover lens or use a piece of...

Page 57: ...made in Step 3 and gently wipe the cover lens back and forth along its curved surface 5 Should another cleaning agent be applied to remove certain stains repeat Steps 3 and 4 6 Spray the cover lens wi...

Page 58: ...uirements in Section 1 4 Specifications and 2 3 Connection Box web control can be accessed see cannot open web control on the next page Power on again to check if the symptom persists Motor is running...

Page 59: ...C s Users may use WireShark to check the LiDAR s IP that broadcasts data packets Afterwards restart PC or connect the LiDAR to another PC power on again to check if the symptom persists Abnormal packe...

Page 60: ...on Statistics page of web control Afterwards check for packet loss If no packet is missing while the point cloud flashes please update PandarView to the latest version see the Download page of Hesai s...

Page 61: ...tal Angle Azimuth Offsets and Vertical Angles Elevation in the table next page are design values The accurate values are in this LiDAR s unit s angle correction file see Section 1 3 Channel Distributi...

Page 62: ...130 200 20 04 1 042 5 00 130 200 20 05 1 042 3 00 230 200 20 06 1 042 2 00 230 200 20 07 3 125 1 67 230 200 20 08 5 208 1 33 230 200 20 09 1 042 1 00 230 200 10 10 3 125 0 67 230 200 10 11 5 208 0 33...

Page 63: ...0 24 1 042 4 00 230 200 20 25 3 125 4 33 230 200 20 26 5 208 4 67 230 200 20 27 1 042 5 00 130 200 20 28 3 125 5 33 130 200 20 29 5 208 5 67 130 200 20 30 1 042 6 00 130 200 20 31 1 042 7 00 130 200 2...

Page 64: ...Point Cloud Data Packet contains 10 data blocks as detailed in Section 3 1 2 Point Cloud UDP Data Every time the LiDAR sends a command to trigger a round of firing the measurements are stored in one...

Page 65: ...quence Channel t n s 1 8 54 67 17 14 27 16 2 20 52 7 18 26 25 19 3 15 50 73 19 21 23 89 4 27 48 76 20 31 21 92 5 7 47 46 21 13 20 62 6 19 45 49 21 9 20 62 6 5 45 49 22 25 18 65 7 33 43 52 23 35 17 35...

Page 66: ...64 Appendix III PTP Protocol The Precision Time Protocol PTP is used to synchronize clocks across a computer network It can achieve sub microsecond clock accuracy LiDAR Connection When Using PTP...

Page 67: ...tput GPS Data Packets The timestamps and Date Time fields in Point Cloud Data Packets strictly follow the PTP master device Certain PTP master devices may have a specified offset from the Date Time ou...

Page 68: ...1511857 male on the LiDAR SACC M12FS 8CON PG 9 SH 1511860 female on the connecting box From the eye to the interface Pin Signal Color Voltage 1 Ethernet RX Blue 1 V to 1 V 2 Ethernet RX Light Blue Bl...

Page 69: ...ud Data Packets linearly represents target reflectivity from 0 to 255 Alternatively users may choose the Nonlinear Mapping mode see Chapter 4 Web Control Settings The nonlinear relationship is detaile...

Page 70: ...3 0 87 43 3 07 63 6 5 4 0 04 24 0 95 44 3 21 64 6 7 5 0 05 25 1 05 45 3 36 65 6 9 6 0 08 26 1 15 46 3 5 66 7 1 7 0 11 27 1 25 47 3 64 67 7 3 8 0 13 28 1 35 48 3 79 68 7 5 9 0 15 29 1 45 49 3 93 69 7 7...

Page 71: ...24 5 144 32 75 85 11 62 105 17 5 125 24 83 145 33 25 86 11 87 106 17 83 126 25 25 146 33 75 87 12 12 107 18 17 127 25 75 147 34 25 88 12 37 108 18 5 128 26 17 148 34 75 89 12 62 109 18 83 129 26 5 149...

Page 72: ...5 224 79 25 165 43 25 185 54 25 205 66 25 225 79 75 166 43 75 186 54 75 206 66 75 226 80 5 167 44 25 187 55 25 207 67 5 227 81 25 168 44 75 188 55 75 208 68 25 228 81 75 169 45 25 189 56 5 209 68 75 2...

Page 73: ...near Reflectivity Mapping Continued Reflectivity Index 0 255 Reflectivity 240 90 5 241 91 5 242 92 5 243 93 25 244 93 75 245 94 5 246 95 5 247 96 25 248 96 75 249 97 5 250 98 5 251 99 5 252 132 253 19...

Page 74: ...anges from time to time in the contents hereof without obligation to notify any person of such revision or changes HESAI and HESAI logo are registered trademarks of Hesai Technology All other trademar...

Page 75: ...Technology Co Ltd Phone 86 400 805 1233 Website www hesaitech com Address Building L2 Hongqiao World Centre Shanghai China Business Email info hesaitech com Service Email service hesaitech com HESAI W...

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