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4.3 Azimuth FOV

For Azimuth FOV 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 the channels.
Outside the specified angle range, there will be no laser firing or data generated.

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Summary of Contents for PandarQT

Page 1: ...HESAI WeChat www hesaitech com Q01 en 2001A1 PandarQT 64 Channel Short Range Mechanical LiDAR User Manual ...

Page 2: ...9 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 ...

Page 3: ...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 ...

Page 4: ...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 Interfer...

Page 5: ... 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 ...

Page 6: ...rection 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 blo...

Page 7: ...e 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 ...

Page 8: ...g 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 ...

Page 9: ...5 2 Setup 2 1 Mechanical Installation Figure 2 1 Isometric View Figure 2 2 Mounting Base ...

Page 10: ...6 Recommended Installation Side Installation ...

Page 11: ... 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 ...

Page 12: ...r 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 Volta...

Page 13: ...ts 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 ...

Page 14: ...d 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 exter...

Page 15: ...11 2 3 2 Connection NOTE Refer to Appendix I when PTP protocol is used ...

Page 16: ...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...

Page 17: ...ata 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 ...

Page 18: ...on 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 ...

Page 19: ... 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 mod...

Page 20: ...cription 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 pe...

Page 21: ...g will be reset to 0x00 and the system will automatically return to normal operation Reserved 3 Motor Speed 2 speed_2_bytes 15 0 speed RPM Timestamp 4 Packing time of this data packet in units of 1 μs Range 0 to 1000000 μs 1 s Return Mode 1 0x37 for Strongest Return mode 0x38 for Last Return mode and 0x39 for Dual Return mode Factory Information 1 0x42 or 0x43 Date Time 6 Date and time in decimal ...

Page 22: ...on 6 2 1 2 Horizontal angle current reference angle of the rotor horizontal angle offset Current reference angle of the rotor is the Azimuth field of Block 2 Horizontal angle offset of Channel 5 is 7 417 according to the calibration file included with each LiDAR Define clockwise in the top view as the horizontal angles positive direction 3 Actual distance in real world millimeters distance measure...

Page 23: ...he LiDAR will extract 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 minute second in decimal GPS Data Packets 6 byte Date year month day and 6 byte Time second minute hour in ASCII The GPS module sends first the PPS signal and then the NMEA message At th...

Page 24: ...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 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 Head...

Page 25: ...de valid till 2 bytes after NMEA sentence that contains the date and time information Users can select either GPRMC or GPGGA in the Settings page of web control as shown in Section 4 2 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 A hex 41 for Valid Position V hex 56 for Invalid Position NUL hex 0 for G...

Page 26: ...L hex 0 for GPS being unlocked 09 UTC Date Date information Can be 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 065829 ...

Page 27: ...id 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 28: ...0x31 9 1 19 Month 0x32 0x30 2 0 02 Day 0x36 0x32 6 2 26 Time Field Data ASCII Code Characters Meaning Second 0x33 0x35 3 5 53 Minute 0x34 0x35 4 5 54 Hour 0x31 0x31 1 1 11 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 29: ...vice 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 index html NOTE Google Chrome or Firefox is recommended ...

Page 30: ... is trying to sync with the selected PTP Master but the offset is more than 1 μs Locked Offset between the Slave and the Master is below 1 μ s Frozen Holdover LiDAR has lost connection to the PTP master and is attempting to recover it Meanwhile LiDAR starts drifting from the previous clock when drifting out of specifications it goes back to the Free Run mode ...

Page 31: ...UDP Sequence OFF ON 1 ON 2 OFF by default When UDP Sequence is ON UDP packets are labeled with a sequence number See Section 3 1 for changes in data structure ON 1 UDP sequence increments even though no UDP packet is generated outside the FOV specified in Section 4 3 ON 2 UDP sequence increments only when UDP packets are generated Sync Angle 0 360 degrees By default the LiDAR s zero degree positio...

Page 32: ...s fire every 166 66 us Standby Mode Whether to stop the motor from running and lasers from firing 3 Reset All Settings By clicking the Reset All Settings button on the top right corner all configurable parameters in the Settings page and the Azimuth FOV page will be reset to their default values The default values are shown in the left hand screenshot and in Section 4 3 1 ...

Page 33: ...dard used PTP Domain Number Integer from 0 to 127 Domain attribute of the local clock PTP Network Transport UDP IP default or L2 UDP IP follows the PTPv2 standard defined in IEEE 1588 2008 L2 follows the gPTP standard defined in IEEE 802 1 AS PTP logAnnounceInter val 2 to 3 log seconds Time interval between Announce messages default 1 PTP logSyncInterval 7 to 3 log seconds Time interval between Sy...

Page 34: ...ers 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 the channels Outside the specified angle range there will be no laser firing or data generated ...

Page 35: ...laser firing or data generated in that channel 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 36: ...te 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 4 3 4 Note Click Save to apply your settings The angles in degrees are accurate to the first decimal place If the Start Angle is larger than the End Angle then the actual azimuth FOV is the union ...

Page 37: ...33 4 4 Operation Statistics The LiDAR s operation time in aggregate and in different temperature ranges are listed ...

Page 38: ...ile provided by Hesai 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 Below shows the software and firmware versions described in this manual ...

Page 39: ... is required only for PandarView versions earlier than v1 6 9 When upgrading PandarView to a newer version please uninstall the current version Double click and install python Use the default settings in the setup wizard including install for all users Double click and install PandarView_Windows using the default settings Ubuntu 16 04 PandarView_Installer_V1 6 9 tar gz Enter the following command ...

Page 40: ...ect a PCAP file to open Record a PCAP File Import a Correction File Click on to pop up the Choose Output File window Click on Save to begin recording a PCAP file Click on again to stop recording Each LiDAR contains a correction file in CSV format When opening a PCAP file in PandarView the correction file is automatically uploaded In case the correction file is lost click on File in the menu bar an...

Page 41: ...rward May click again to adjust the forward speed 2x 3x 1 2x 1 4x and 1x Jump to the end of the file Save a single frame to CSV the XYZ coordinates as the first three columns While playing this Record button will be gray and unclickable While playing click to loop playback Otherwise the player will stop at the end of the file Save multiple frames to PCAP Specify the start and end frames Save multi...

Page 42: ... to make a measurement in units of meters Click on again to quit Mouse Shortcuts Distance Reference Circles Slide the scroll wheel up down to magnify minimize Drag while holding the left button to adjust the point of view Drag while holding the scroll wheel to pan NOTE The bottom left coordinate axes show the current point of view Click on to show hide the 12 distance reference circles in gray The...

Page 43: ...rn and Dual Return Enter the UDP port number and click Set to apply it Channel Selection Click on to show hide point cloud data from the selected laser channels Check Uncheck the boxes on the left to show hide each channel Check the Enable Disable all option at the bottom of the table to show hide all channels ...

Page 44: ...iew the data of the highlighted points as shown below Some of the data fields are defined below Field Description points The XYZ coordinates of each point azimuth Rotor s current reference angle azimuth_calib Azimuth horizontal angle offset To cancel the selection click on again and click on any place outside the selected area ...

Page 45: ...color legend at the lower right corner The default color scheme is intensity based Users can choose from other colors schemes based on azimuth azimuth_calib distance elevation laser_id or timestamp Click on to open or close the Color Editor ...

Page 46: ...ed content 0x74 1 byte Fixed content Cmd 1 byte Command code See Section 6 2 Command Description Return Code 1 byte Useless Payload Length 4 bytes Data length for the command 0x00 no payload Payload Indicated in Payload Length Additional data for the command The server LiDAR outputs a feedback message for every command it receives Table 6 2 Feedback Message from LiDAR to Client Type Length Field D...

Page 47: ... PTP Query Type PTC_COMMAND_GET_INVENTORY_INFO 0x7 0 To retrieve inventory info PTC_COMMAND_GET_CONFIG_INFO 0x8 0 To retrieve configuration parameters PTC_COMMAND_GET_LIDAR_STATUS 0x9 0 To retrieve status info such as temperature and system uptime 6 2 1 PTC_COMMAND_GET_LIDAR_CALIBRATION Command message payload None Feedback message payload LiDAR s calibration file in CSV Format ASCII Including 3 f...

Page 48: ...R_SETTINGS_NP 0x4 Feedback message payload a PTP STATUS Field Length Description master_offset 8 bytes Offset between master and slave in units of ns ptp_state 4 bytes NONE 0 INITIALIZING 1 FAULTY 2 DISABLED 3 LISTENING 4 PRE_MASTER 5 MASTER 6 PASSIVE 7 UNCALIBRATED 8 SLAVE 9 GRAND_MASTER 10 elapsed_millisec 4 bytes Time elapsed since the last handshake between master slave in milliseconds ...

Page 49: ...eer mean path delay value in units of ns logAnnounceInterval 1 byte Mean time interval between Announce messages of the portDS set Specified as a power of two in seconds announceReceiptTimeout 1 byte Number of missed Announce messages before the last Announce messages of the portDS set expires logSyncInterval 1 byte Mean time interval between Sync messages Specified as a power of two in seconds de...

Page 50: ...ved follow_up message gmTimeBaseIndicator 2 bytes Relative information in the last received follow_up message lastGmPhaseChange 10 bytes Relative information in the last received follow_up message gmPresent 4 bytes Whether grandmaster is present gmIdentity 8 bytes Grandmaster identity when gmPresent is 1 d LinuxPTP TLV GRANDMASTER_SETTINGS_NP 0xc001 Field Length Description clockQuality 4 bytes Cl...

Page 51: ...s Hardware version in ASCII control_fw_ver 16 bytes Controller firmware version in ASCII sensor_fw_ver 16 bytes Sensor firmware version in ASCII angle_offset 2 bytes Zero angle offset as an unsigned short value in network byte order big endian model 1 byte 0 Pandar40P 2 Pandar64 3 Pandar128 5 Pandar40 15 PandarQT 17 Pandar40M motor_type 1 byte 0 single direction 1 dual direction NOTE Not supported...

Page 52: ...on UDP port of GPS Data Packets valid only when the clock_source is GPS Default 10110 spin_rate 2 bytes Rotation speed of the motor in units of rpm Default 600 sync 1 byte Whether to synchronize the given angle sync_angle with GPS PPS 0 Disable default 1 Enable sync_angle 2 bytes Default 0 start_angle 2 bytes Default 0 Device will output point cloud data in the angle ranges between start_angle and...

Page 53: ...tion 0x 0 currently rotating clockwise 0x 1 currently rotating counterclockwise vlan_flag 1 byte 0 VLAN not in use 1 VLAN in use vlan_id 2 bytes VLAN ID clock_data_fmt 1 byte 0 GPRMC 1 GPGGA NOTE Not applicable to PandarQT noise_filtering 1 byte 0 OFF 1 ON NOTE Not applicable to PandarQT reflectivity_mapping 1 byte 0 Linear Mapping 1 Non linear Mapping NOTE Not applicable to PandarQT reserved 6 by...

Page 54: ...ircuit board T2 2 laser emitting board RT_L 3 receiving board RT_R 4 receiving board RT2 5 top circuit RT3 6 top circuit RT4 7 top circuit RT5 gps_pps_lock 1 byte 1 Lock 0 Unlock gps_gprmc_status 1 byte 1 Lock 0 Unlock NOTE Not supported on Pandar40 startup_times 4 bytes System start up times total_operation_time 4 bytes Total time in operation ptp_clock_status 1 byte 0 free run 1 tracking 2 locke...

Page 55: ...sure is stained with dirt fingerprints or oil perform the follow cleaning steps 1 Spray the LiDAR enclosure with warm neutral solvent using a spray bottle Solvent type 99 isopropyl alcohol IPA or 99 ethanol absolute alcohol Solvent temperature 40 to 60 2 After the stains on the LiDAR enclosure loosen gently wipe the enclosure along its curved surface with a piece of soft microfiber cloth 3 Should ...

Page 56: ...de page of web control If the version is not shown properly but as xxxx contact Hesai for further diagnostics Can receive data on Wireshark but not on PandarView Make sure the Destination IP and the Destination LiDAR Port are set correctly on the Settings page of web control Make sure the PC s firewall is disabled Cannot open web control Make sure the Ethernet cable is properly connected Make sure...

Page 57: ...manual importing Check for packet loss If no packet is missing while the point cloud flashes please update PandarView to the latest version and restart the PC If problem persists try connecting the LiDAR to another PC GPS cannot be locked Make sure the GPS receiver is properly connected Make sure the PPS signal is connected to the LiDAR Make sure the Destination GPS Port is correct on the Settings...

Page 58: ...is different when PTP protocol is used See Appendix II PTP Protocol I 2 Laser Firing Time I 2 1 Start Time of Each Block Assuming that the absolute packing time of a Point Cloud Data Packet is t0 detailed in I 1 the start time of each block the time when the first laser starts firing can be calculated For PandarQT there are 4 blocks of ranging data in the Body of each Point Cloud Data Packet as sh...

Page 59: ...lock 3 t0 333 33 Block 4 t0 500 00 Dual Return Mode The ranging data generated by one round of firing is stored in two adjacent blocks and these two blocks share the same firing time Block 4 in the former packet and Block 1 in the latter packet are also considered adjacent Block Start Time μs Block n Block n 1 t0 Block n 2 Block n 3 t0 166 67 Block n 4 Block n 5 t0 333 33 Block n 6 Block n 7 t0 50...

Page 60: ... 19 tn 25 71 Δt 40 73 4 4 tn 25 71 Δt 8 49 20 20 tn 25 71 Δt 42 78 5 5 tn 25 71 Δt 10 54 21 21 tn 25 71 Δt 44 84 6 6 tn 25 71 Δt 12 60 22 22 tn 25 71 Δt 46 90 7 7 tn 25 71 Δt 14 66 23 23 tn 25 71 Δt 48 95 8 8 tn 25 71 Δt 16 71 24 24 tn 25 71 Δt 51 01 9 9 tn 25 71 Δt 19 16 25 25 tn 25 71 Δt 53 45 10 10 tn 25 71 Δt 21 22 26 26 tn 25 71 Δt 55 52 11 11 tn 25 71 Δt 23 28 27 27 tn 25 71 Δt 57 58 12 12 t...

Page 61: ...53 Tn 25 71 Δt 113 43 38 38 tn 25 71 Δt 81 19 54 54 Tn 25 71 Δt 115 49 39 39 tn 25 71 Δt 83 25 55 55 Tn 25 71 Δt 117 54 40 40 tn 25 71 Δt 85 30 56 56 Tn 25 71 Δt 119 60 41 41 tn 25 71 Δt 87 75 57 57 Tn 25 71 Δt 122 05 42 42 tn 25 71 Δt 89 82 58 58 Tn 25 71 Δt 124 11 43 43 tn 25 71 Δt 91 87 59 59 Tn 25 71 Δt 126 17 44 44 tn 25 71 Δt 93 93 60 60 Tn 25 71 Δt 128 22 45 45 tn 25 71 Δt 95 98 61 61 Tn 25...

Page 62: ... Time Protocol PTP also known as the IEEE 1588v2 standard is used to synchronize clocks across a computer network It can achieve sub microsecond clock accuracy and is suitable for measurement and control systems LiDAR Connection When Using PTP ...

Page 63: ...col The timestamps and Date Time in Point Cloud Data Packets strictly follow the PTP time from the PTP master device There may be offset with the Date Time for certain PTP master devices Please verify the configuration and calibration of your PTP master device in order to get precise time information The LiDAR works as a PTP slave device and the PTP protocol is Plug Play No additional setup is req...

Page 64: ... interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense NOTE Any changes or modifications not expressly approved by the grantee of this device could void the user s authority to operate the equipment This device complies with Industry Canada...

Page 65: ...ty or fitness for any particular purpose Further Hesai Technology reserves the right to revise this publication and to make changes 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 trademarks service marks and company names in this manual or on Hesai s official w...

Page 66: ...otonics Technology Co Ltd Phone 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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