Hesai PandarXT-32, User Manual

Page: 2 / 70

Doc Version: X01-en-2002A 2
Contents
Safety Notice .............................................................................................. 1
1 Introduction ........................................................................................... 4
1.1 Operating Principle ........................................................................ 4
1.2 LiDAR Structure .............................................................................. 5
1.3 Channel Distribution ...................................................................... 6
1.4 Specifications ................................................................................. 7
2 Setup .................................................................................................... 10
2.1 Mechanical Installation ................................................................ 10
2.2 Interfaces ...................................................................................... 13
2.3 Connection Box (Optional) .......................................................... 15
2.4 Get Ready to Use .......................................................................... 18
3 Data Structure ...................................................................................... 19
3.1 Point Cloud Data Packet .............................................................. 20
3.2 GPS Data Packet ........................................................................... 26
4 Web Control ......................................................................................... 32
4.1 Home ............................................................................................ 33
4.2 Settings ......................................................................................... 34
4.3 Azimuth FOV ................................................................................. 37
4.4 Operation Statistics ...................................................................... 39
4.5 Upgrade ........................................................................................ 40
5 PandarView .......................................................................................... 41
5.1 Installation .................................................................................... 41
5.2 Use ................................................................................................. 42
5.3 Features ........................................................................................ 45
6 Communication Protocol .................................................................... 50
7 Sensor Maintenance ............................................................................ 51
8 Troubleshooting .................................................................................. 53
Appendix I Channel Distribution ............................................................. 56
Appendix II Absolute Time and Laser Firing Time ................................... 58
Appendix III PTP Protocol ........................................................................ 61
Appendix IV Power Supply Requirements ............................................... 63
Appendix V Certification Info ................................................................... 65
Appendix VI Support and Contact ........................................................... 67