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Appendix IV

Nonlinear Reflectivity Mapping

By default, the 1-byte reflectivity data in Point Cloud 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 detailed below.

Reflectivity Index (0~255)

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Summary of Contents for Pandar64

Page 1: ...www hesaitech com HESAI Wechat Pandar64 64 Channel Mechanical LiDAR User Manual ...

Page 2: ...onal 23 2 4 Get Ready to Use 28 3 Data Structure 29 3 1 Point Cloud Data Packet 30 3 2 GPS Data Packet 37 4 Web Control 43 4 1 Home 44 4 2 Settings 46 4 3 Azimuth FOV 54 4 4 Operation Statistics 58 4 5 Upgrade 59 5 Communication Protocol 60 6 Sensor Maintenance 61 7 Troubleshooting 63 Appendix I Channel Distribution 67 Appendix II Absolute Time of Point Cloud Data 72 Appendix III Phoenix Contact 7...

Page 3: ... you are required to provide this user manual or the means to access this user manual to the intended users of your product s This lidar product is intended as a component of an end product It shall be evaluated in end product according to relevant standards Access to This Manual To obtain the latest version Visit the Download page of Hesai s official website https www hesaitech com en download Or...

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 Hot parts Burned fingers when handling the parts Wait one half hour after switching off before handling parts ...

Page 6: ...y 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 product enclosure including the bottom plate Although the product is designed tested and manufactured to comply with the regulations on RF radiation such as FCC CE EMC or KCC the radiation from the p...

Page 7: ...Make 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 the operating temperature range Recommended Storage Conditions Store the product in a dry well ventilated place The recommended ambient temperature is 23 5 C and the humidity between 30 and 70 Light ...

Page 8: ...ely 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 including cables for the product make sure to comply with the electrical specifications in the product s user manual refer to the Specifications section and the Power Supply Requirements section for t...

Page 9: ... If 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 the enclosure is loose Before operating the product make sure it is properly and securely mounted The mounting should prevent the product from leaving its mounting position in case of external forc...

Page 10: ...oftware Before using a custom version of firmware and software please thoroughly understand the differences in functions and in performance between this custom version and the standard version Make sure to strictly follow all the instructions and safety precautions provided for that custom version If the product does not function as anticipated stop using the product immediately and contact Hesai ...

Page 11: ...duct 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 retrofit the product Such a breach can result in product damage including but not limited to water resistance failure property loss and or personal injuries shall constitute a breach of warranty ...

Page 12: ...am 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 accurately measured by calculating the time between laser emission and receipt d ct 2 d distance c speed of light t travel time of the laser beam Figure 1 1 Distance Measurement Using Time of Flight...

Page 13: ...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 are relative to the origin Lidar azimuthal position is defined in Figure 1 4 Y axis corresponds to 0 Each laser channel has an intrinsic azimuth offset Channel 18 is selected to define the lidar s azimuthal position For example when Channel 18 passes the 90 position the lidar is at the 9...

Page 14: ... 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 angle correction file which is provided when shipping the unit In case you need to obtain the file again Send this PTC command PTC_COMMAND_GET_LIDAR_CALIBRATION as described in Hesai TCP API Protocol Chapter 5 Or export the file using PandarVie...

Page 15: ...ase refer to the latest version Continued on the next page MECHANICAL ELECTRICAL OPERATIONAL Wavelength 905 nm Laser Class Class 1 Eye Safe Ingress Protection IP6K7 Dimensions Height 116 7 mm Top Bottom Φ118 0 116 0 mm Rated Voltage Range DC 9 to 48 V Power Consumption 22 W typical Operating Temperature 20 to 65 Storage Temperature 40 to 85 Weight 1 52 kg DATA I O Data Transmission UDP IP Ethernet...

Page 16: ...nge temperature and target reflectivity Power consumption Not including accessories such as the connection box The external power supply should be able to provide at least 22 W PTP Clock Drift Defined as the drift at a constant temperature after the lidar slave clock loses connection to the PTP master ...

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 2 1 1 Quick Installation Figure 2 3 Quick Installation ...

Page 20: ... 18 2 1 2 Stable Installation Figure 2 4 Stable Installation ...

Page 21: ... fit area LOCTITE 263 Threadlocker is recommended To ensure curing in place wait for at least 12 hours before operating the lidar Screw Torque The base material of the threaded holes is aluminum alloy instead of steel Refer to the following table for the appropriate screw torque Thread Size Recommended Screw Torque M3 0 5 0 6 Nm M4 1 1 5 Nm M5 2 2 5 Nm M6 3 5 4 Nm Thread service life 25 times Each...

Page 22: ...ACK 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 Index PURPLE 0 to 3 3 V 9 GPS Serial Data WHITE 13 to 13 V 16 Encoder PURPLE WHITE 0 to 3 3 V 10 GPS PPS YELLOW TTL 3 3 5 V For the GPS PPS signal pulse width is recommended to be over 1 ms and the cycle is 1 s rising edge to rising edge Before connecting or disconnecting an external GPS si...

Page 23: ...PPS pulse width t1 1 ms 10 to 100 ms recommended Timing relationship NMEA signal starts after the PPS rising edge of the current second and ends after the PPS falling edge of the current second as shown by the gray arrows in figure above NMEA signal ends before the PPS rising edge of the next second t2 100 ms NMEA PPS 1 0 t1 t2 t3 ...

Page 24: ... 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 assemble the connector s shell and cable collet DO NOT connect a connector without its shell Doing so may damage the lidar s circuits Figure 2 6 Lemo Connection Disconnection Cables OD outside diameter...

Page 25: ... 23 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 mm ...

Page 26: ...bers 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 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 le...

Page 27: ... to 3 3 V Signal type pulse Max current output level 12 mA Pin Description for the trigger port Pin Direction Pin Description 1 Input GND to ground the external trigger signal 2 Output Encoder Trigger signal outputs one pulse when the lidar rotates 0 05 Pulse width 7 μs 600 RPM 3 5 μs 1200 RPM 3 Output Index Trigger signal outputs one pulse when Channel 18 passes the lidar s 180 position see Figur...

Page 28: ... 26 2 3 2 Connection Figure 2 10 Connection Box Connection with GPS ...

Page 29: ... 27 Figure 2 11 Connection Box Connection with PTP ...

Page 30: ...al 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 PandarView User Manual To set parameters check device info or upgrade firmware software see Chapter 4 Web Cont...

Page 31: ...oud Data Packets and GPS Data Packets using 100 Mbps Ethernet UDP IP 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 ...

Page 32: ...F 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 0x08 0x00 Internet Protocol 20 Shown in Figure 3 2 UDP Port Number 4 UDP source port 0x2710 representing 10000 Destination port 0x0940 representing 2368 UDP Length 2 0x04B2 when UDP sequence is OFF representing 1202 bytes 8 bytes more than the size of the Point Cloud UDP Data shown in Figure 3 1 0x04B6 when UDP sequence is ON representing...

Page 33: ... Azimuth 3 Azimuth 6 Channel 1 Channel 1 Channel 1 Channel 1 Channel 2 Channel 2 Channel 2 Channel 1 Channel 64 Channel 64 Channel 64 Channel 64 Under the Dual Return mode the measurements from each round of firing are stored in two adjacent blocks The odd number block is the last return and the even number block is the strongest return If the last and strongest returns coincide the second stronge...

Page 34: ...n Azimuth 2 Current reference angle of the rotor Unit 0 01 Channel X 3 2 byte Distance Distance Value Distance Dis Unit Dis Unit is specified in the Header in this section 1 byte Reflectivity Range 0 to 255 The mapping from this field to target reflectivity can be selected in Section 4 2 Web Control Settings ...

Page 35: ... be reset to 0x00 and the system will automatically return to normal operation Reserved 2 Motor Speed 2 Unit rpm Timestamp 4 The μs time part of the absolute time of this data packet defined in Appendix II in units of 1 μs Range 0 to 1000000 μs 1 s Return Mode Information 1 0x37 for Strongest Return mode 0x38 for Last Return mode 0x39 for Dual Return mode Last Strongest Factory Information 1 0x42 ...

Page 36: ... 34 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 37: ...ve see Figure 1 5 Channel counts from 1 top to bottom Analyze the horizontal angle of a data point Y axis is the 0 position define clockwise in the top view as positive see Figure 1 4 Horizontal angle Rotor reference angle during the current round of firing In the Azimuth field of Block 2 Horizontal angle offset of the channel The designed offset for Channel 5 is 1 042 according to Appendix I Chan...

Page 38: ... a data point Actual distance in real world millimeters distance measurement Distance Unit Distance measurement Distance field of Channel 5 in Block 2 Distance Unit 4 mm Draw the data point in a polar or rectangular coordinate system Obtain the real time point cloud data by analyzing and drawing every data point in each frame z x y Data point Distance Vertical angle Horizontal angle ...

Page 39: ... the clock source see Section 4 2 Web Control Settings GPS Data Packets are triggered every second When PTP is selected as the clock source the LiDAR does not output GPS Data Packet All the multi byte values are unsigned and in little endian format ...

Page 40: ...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 represents 10000 Destination port 0x277E represents 10110 UDP Length 2 0x208 representing 520 bytes 8 bytes more than the size of the GPS UDP Data shown in Figure 3 1 UDP Checksum 2 Figure 3 3 GPS Ethernet Hea...

Page 41: ...e 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 GPS Positioning Status 1 ASCII code obtained from GPRMC or GPGGA When GPRMC is selected When GPGGA is selected Output A V or NUL A hex 41 Active V hex 56 Void NUL hex 0 GPS being unlocked Output 0 to 9 as defined by the GPS device manufacturer Common...

Page 42: ...L 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 hour minute and second information 09 is the date information For example the following two formats are both acceptable GPRMC 072242 A 3027 3680 N 11423 6975 E 000 0 316 7 160617 004 1 W 67 GPRMC 0658...

Page 43: ...alid 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 For example the following two formats are both acceptable GPGGA 123519 4807 038 N 01131 000 E 1 08 0 9 545 4 M 46 9 M 47 GPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 6 27 M 08 AAAA 60 ...

Page 44: ... 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 μs Time 4 bytes in units of μs using the same clock source as the GPS Timestamp in Point Cloud Data Packets Reset to 0 at the rising edge of each PPS signal ...

Page 45: ...g 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 browser 192 168 1 201 Google Chrome and Mozilla Firefox are recommended ...

Page 46: ...g Model Pandar64 S N PA64XXXXXXXXXXXXXX MAC Address XX XX XX XX XX XX Software Version 2 10 8 Sensor Firmware Version 4 3 44b Controller Firmware Version 5 32 Button Description Device Log Click to download a JSON file that contains the lidar status device info all configurable parameters and the upgrade log ...

Page 47: ...fter receiving a valid NMEA message Unlock Not receiving a valid NMEA message for over 2 s PTP PTP status Free Run No PTP master is selected Tracking Attempting to sync with the selected PTP Master but the absolute offset exceeds the user specified limit in Section 4 2 Settings Locked Absolute offset is within the user specified limit Frozen Holdover Attempting to recover the connection to the PTP...

Page 48: ...5 255 0 IPv4 Gateway 192 168 1 1 VLAN 0 Settings Destination IP 255 255 255 255 Lidar Destination Port 2368 Spin Rate 600 rpm Return Mode Dual Return UDP Sequence OFF Sync Angle 0 Trigger Method Time Based Clock Source GPS GPS Mode GPRMC GPS Destination Port 10110 Continued on the next page ...

Page 49: ...ity Mapping Linear Mapping Standby Mode In Operation Standby Save Button Description Reset All Settings Reset all the configurable parameters to factory defaults including Section 4 2 Settings Section 4 3 Azimuth FOV Save Save and execute all the settings on this page Exception Standby Mode takes effect immediately ...

Page 50: ...LAN is disabled PTP connection will automatically recover Warnings If the lidar s VLAN ID differs from the receiving host s users will lose access to web control To minimize such risks the VLAN ID is zero invalid value by default When checking the checkbox users will be alerted to input a valid VLAN ID When unchecking the checkbox the VLAN ID will default to zero Destination IP Any address except ...

Page 51: ...d azimuth FOV in Section 4 3 ON 2 Increments at all times Sync Angle 0 to 360 Phase lock angle To activate this function check the checkbox and input an azimuth At every full second the lidar will rotate to that azimuthal position Lidar azimuthal position is defined in Section 1 2 Lidar Structure Definition of full second When GPS is locked the rising edge of the GPS PPS signal When PTP is trackin...

Page 52: ...tial points when a beam partially hits on a front target s edge and further hits on a rear target the return signal can result in a false point located between both targets Retro Multi Reflection Filtering OFF default ON To mitigate the false positives at twice the distance of a retroflector Reflectivity Mapping Linear default Nonlinear Mapping 1 2 Linear The Reflectivity field in Point Cloud Data...

Page 53: ...10 Clock Source PTP Profile 1588v2 Time Offset for Lidar Lock 1 PTP Network Transport UDP IP PTP Domain Number 0 PTP logAnnounceInterval 1 PTP logSyncInterval 1 PTP logMinDelayReqInterval 0 Parameter Options Description Clock Source GPS default PTP External source of absolute time ...

Page 54: ...eter Options Description Profile 1588v2 default 802 1AS 802 1AS Automotive IEEE timing and synchronization standard Time Offset for Lidar Lock 1 to 100 μs integer Default 1 Specify the upper limit of the absolute offset between Slave and Master when the lidar is in PTP Locked status See Section 4 1 Home PTP Network Transport UDP IP default L2 Netword transport protocol UDP IP Available only for 15...

Page 55: ...between Sync messages Default 1 log second 2 seconds PTP logMinDelayReqInterval 7 to 3 Default 0 Minimum permitted mean time between Delay_Req messages Default 0 log second 1 second When using the 802 1AS or 802 1AS Automotive profile Parameter Options Description Switch Type TSN default Non TSN TSN Time Sensitive Network using Peer to Peer delay mechanism Non TSN Using End to End delay mechanism ...

Page 56: ...nfiguration mode of the azimuth FOV The lidar outputs valid data only within the specified azimuth FOV ranges Note The angles in degrees are accurate to the first decimal place If the Start Angle is larger than the End Angle then the actual range is the union of Start Angle 360 and 0 End Angle For instance when the angle range is set to be 270 90 the actual azimuth FOV is 270 360 0 90 ...

Page 57: ... 55 4 3 1 For all channels Input a Start Angle and an End Angle to form a continuous angle range This range applies to all channels ...

Page 58: ...thin 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 corresponding button to make it green Click the Enable Disable All button to activate deactivate the angle range configuration for all channels ...

Page 59: ...ta only within its specified ranges 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 corresponding button to make it green Click the Enable Disable All button to activate deactivate the angle range configuration for all channels ...

Page 60: ...g parameters are shown in real time Start Up Counts 510 Internal Temperature 32 10 System Uptime 0 h 5 min Total Operation Time 559 h 43 min Internal Temperature Operation Time 40 0 h 1 min 40 to 20 0 h 46 min 100 to 120 1 h 44 min 120 0 h 0 min ...

Page 61: ...de Click the Upload button select an upgrade file and confirm your choice in the pop up window When the upgrade is complete the lidar will automatically reboot and the past versions will be logged in the Upgrade Log Button Description Restart Software reboot Afterwards the Start Up Counts in the Operation Statistics page increments by 1 Parameter Current Value Software Version 2 10 8 Firmware of S...

Page 62: ... 60 5 Communication Protocol To receive Hesai lidar s PTC Pandar TCP Commands and HTTP API Protocols please contact Hesai technical support ...

Page 63: ...fore 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 lint free wipe to lightly brush across the dusty area To remove persistent stains move on to the next step 3 Spray the cover lens with warm neutral solvent using a spray bottle Solvent type 99 isopro...

Page 64: ... 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 with clean water and gently wipe off the remaining liquid with another piece of lint free wipe ...

Page 65: ...ltage and current satisfy the requirements in Section 2 3 Connection Box Power on again to check if the symptom persists Motor is not running Verify that power adapter is properly connected and in good condition if a connection box is used the connection box is intact input voltage and current satisfy the requirements in Section 1 4 Specifications and 2 3 Connection Box web control can be accessed...

Page 66: ...laser light This can be checked by using an infrared camera an infrared sensor card or a phone camera without infrared filter Power on again to check if the symptom persists Can receive data on Wireshark but not on PandarView Verify that the Lidar Destination Port is set correctly on the Settings page of web control PC s firewall is disabled or that PandarView is added to the firewall exceptions i...

Page 67: ...on again to check if the symptom persists Abnormal packet size missing packets Verify that horizontal FOV is properly set on the Azimuth FOV page of web control motor s spin rate is steady on the Home page of web control Lidar s internal temperature is between 20 and 95 on the Operation Statistics page of web control Ethernet is not overloaded no switch is connected into the network The data trans...

Page 68: ...eb control Afterwards check for packet loss If no packet is missing and yet the point cloud flashes please update PandarView to the latest version see the Download page of Hesai s official website or contact Hesai technical support and restart the PC If the point cloud is still abnormal Try connecting the lidar to another PC Power on again to check if the symptom persists GPS cannot be locked Veri...

Page 69: ...ntal 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 Distribution and Section 3 1 3 Point Cloud Data Analysis ...

Page 70: ...00 20 04 1 042 5 057 130 200 20 05 1 042 3 040 130 200 20 06 1 042 2 028 130 200 20 07 1 042 1 860 130 200 20 08 3 125 1 688 230 200 20 09 5 208 1 522 130 200 20 10 5 208 1 351 230 200 20 11 3 125 1 184 230 200 20 12 1 042 1 013 230 200 10 13 1 042 0 846 230 200 10 14 3 125 0 675 230 200 10 15 5 208 0 508 230 200 10 16 5 208 0 337 230 200 10 17 3 125 0 169 230 200 10 18 Horizontal Beam 1 042 0 000...

Page 71: ...0 200 10 24 1 042 1 013 230 200 10 25 1 042 1 184 230 200 10 26 3 125 1 351 230 200 10 27 5 208 1 522 230 200 10 28 5 208 1 688 230 200 10 29 3 125 1 860 230 200 10 30 1 042 2 028 230 200 10 31 1 042 2 198 230 200 20 32 3 125 2 365 230 200 20 33 5 208 2 536 230 200 20 34 5 208 2 700 230 200 20 35 3 125 2 873 230 200 20 36 1 042 3 040 230 200 20 37 1 042 3 210 230 200 20 38 3 125 3 375 230 200 20 3...

Page 72: ... 200 20 44 3 125 4 385 130 200 20 45 5 208 4 558 130 200 20 46 5 208 4 720 130 200 20 47 3 125 4 892 130 200 20 48 1 042 5 057 130 200 20 49 1 042 5 229 130 200 20 50 3 125 5 391 130 200 20 51 5 208 5 565 130 200 20 52 5 208 5 726 130 200 20 53 3 125 5 898 130 200 20 54 1 042 6 061 130 200 20 55 1 042 7 063 130 200 20 56 1 042 8 059 130 200 20 57 1 042 9 060 130 200 20 58 1 042 9 885 130 200 20 59...

Page 73: ... UDP Data Horizontal Angle Offset Azimuth Vertical Angle Elevation Instrument Range in meters Range in meters with Reflectivity 61 1 042 12 974 130 200 20 62 1 042 13 930 130 200 20 63 1 042 18 889 130 200 20 64 Bottom Beam 1 042 24 897 130 200 20 ...

Page 74: ...quirements of PPS and NMEA are shown in Section 2 2 1 Pin Description Each rising edge of the lidar s internal 1 Hz signal triggers a GPS Data Packet The data format is detailed in Section 3 2 GPS Data Packet The absolute time is updated as follows NMEA status Date Time accurate to the second Lidar behavior Unlocked Virtual Starts counting from a virtual UTC time such as 2000 01 01 00 00 00 using ...

Page 75: ...al is not aligned with the GPS second Locked Synchronized The rising edge of the lidar s internal 1 Hz signal is aligned with the rising edge of the PPS signal i e the start of each GPS second Lost Drifting Counts using the internal 1 Hz signal Will gradually drift from the actual GPS second ...

Page 76: ... 00 00 00 using the lidar s internal 1 Hz signal Tracking or Locked Synchronized Extract the actual date and time from the PTP Master s messages Frozen Drifting Starts counting from the last synchronized time using the lidar s internal 1 Hz signal Will gradually drift from the actual GPS time Notes PTP is a Plug Play protocol the lidar works as a PTP slave device and requires no additional setup T...

Page 77: ...is the time when the lidar sends the command that triggers a round of firing that will be stored in the last block This absolute time is output to the Date Time field and the Timestamp field in Point Cloud Data Packets Δt or Δα Point Cloud Data Packet t0 t1 t2 tT t3 absolute time of the Point Cloud Data Packet Block 1 Block 2 Block 3 Block 4 Block M 1 Block M A round of firing Last Ch 1 Ch 2 Ch N ...

Page 78: ...Block 2 t0 42 58 55 56 4 Block 1 t0 42 58 55 56 5 Firing Time Offset of Each Channel Assume that the end time of Block m is T m m 1 2 6 then the laser firing time of Channel n in Block m is t m n T m Δt n n 1 2 64 The lookup table of the firing time offsets Δt n is shown below Firing Sequence Channel Δt n μs Firing Sequence Channel Δt n μs 1 12 54 668 6 14 44 828 1 40 54 668 6 29 44 828 2 18 52 7 ...

Page 79: ...1 052 24 62 14 052 14 21 29 084 25 53 12 748 14 36 29 084 25 64 12 748 15 27 27 116 26 7 11 444 15 42 27 116 26 56 11 444 16 24 25 148 27 43 10 14 16 33 25 148 27 59 10 14 17 1 23 18 28 49 8 836 17 44 23 18 28 63 8 836 18 2 21 876 29 9 7 532 18 46 21 876 29 55 7 532 19 3 20 572 30 39 6 228 19 52 20 572 30 57 6 228 20 4 19 268 31 45 4 924 20 50 19 268 31 60 4 924 21 5 17 964 32 51 3 62 21 48 17 964...

Page 80: ...SH 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 Blue White 1 V to 1 V 3 Ethernet TX Orange 1 V to 1 V 4 Ethernet TX Light Orange Orange White 1 V to 1 V 5 GPS Serial Data White 13 V to 13 V 6 GPS PPS Yellow 3 3 V 5 V 7 12 V Red 12 V 8 Ground Return...

Page 81: ...oud 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 detailed below Reflectivity Index 0 255 0 50 100 150 200 250 0 50 100 150 200 250 300 Actual Reflectivity ...

Page 82: ...23 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 10 0 19 30 1 55 50 4 08 70 7 9 11 0 23 31 1 65 51 4 25 71 8 12 12 0 26 32 1 75 52 4 42 72 8 37 13 0 29 33 1 85 53 4 58 73 8 62 14 0 34 34 1 95 54 4 75 74 8 87 15 0 39 35 2 06 55 4 92 75 9 1 16 0 44 ...

Page 83: ... 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 35 25 90 12 87 110 19 17 130 26 83 150 35 75 91 13 17 111 19 5 131 27 25 151 36 25 92 13 5 112 19 83 132 27 75 152 36 75 93 13 83 113 20 25 133 28 17 153 37 25 94 14 17 114 20 75 134 28 5 154 37 75 ...

Page 84: ...75 224 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 75 229 82 5 170 45 75 190 57 25 210 69 5 230 83 5 171 46 25 191 57 75 211 70 25 231 84 25 172 46 75 192 58 25 212 70 75 232 84 75 173 47 25 193 58 75 213 71 5 233 85 5 174 47 75 194 59 5 214 72 25 234 86...

Page 85: ...inear 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 5 252 132 253 196 254 242 ...

Page 86: ...notify any person of such revision or changes HESAI and HESAI logo are registered trademarks of Hesai Technology All other trademarks service marks and company names in this manual or on Hesai s official website are properties of their respective owners The software included in this product contains copyright that is registered under Hesai Technology Any third party is not permitted except as expr...

Page 87: ... 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 Wechat ...

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