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3) LiDAR Response Message Payload Content

Table IV.5 PTP STATUS

master_oﬀset

ptp_state

8 bytes

PTP Query Type

Length

4 bytes

elapsed_millisec

4 bytes

the oﬀset between

master/salve

Description

"NONE", /*0*/

"INITIALIZING", /*1*/

"FAULTY", /*2*/

"DISABLED", /*3*/

"LISTENING", /*4*/

"PRE_MASTER"/*5*/

"MASTER", /*6*/

"PASSIVE", /*7*/

"UNCALIBRATED", /*8*/

"SLAVE", /*9*/

"GRAND_MASTER", /*10*/

time elapsed in

milliseconds since last

handshake between

master/slave

a. PTP STATUS

Table IV.6 PTP TLV PORT_DATA_SET

portIdentity

portState

10 bytes

Fields

Length

1 byte

logMinDelayReqInterval

peerMeanPathDelay

logAnnounceInterval

announceReceiptTimeout

logSyncInterval

delayMechanism

logMinPdelayReqInterval

versionNumber

1 byte

8 bytes

1 byte

the port identity, including 8 bytes clock identity

and 2 bytes port number

same as ptp_state in above message

the peer mean path delay value in ns

the mean time interval between Announce message

of the portDS set

the mean time interval between Sync messages. It’s

speci

ed as a power of two in seconds

the delay mechanism, possible values are E2E, P2P

and Auto

the minimum permitted mean time interval between

Pdelay_Req messages

PTP version number, 2 as v2

the number of missed Announce messages before

the last Announce messages expires of the portDS

set

the minimum permitted mean time interval between

Delay_Req messages

it is speci

ed as a power of two in seconds. The

default is 0 (1 second).

Description

Per IEEE-1588 standard management TLV PORT_DATA_SET

b. PTP TLV PORT_DATA_SET

- 4 1 -

Содержание Pandar20A

Страница 1: ...Pandar20A B 20 Channel Mechanical LiDAR User s Manual HESAI Wechat www hesaitech com 202 en 1901A1...

Страница 2: ...ai cannot be held responsible for any errors Hesai does not warrant the accuracy and reserves the right to make changes to the catalog and its functions at any time without notice To avoid violating t...

Страница 3: ...22 LiDAR Data Structure 3 4 1 Open Web Control 23 4 2 Setting 24 4 3 Angle Range 25 26 4 4 Device Info 27 4 5 Firmware Upgrade 28 Web Control 4 29 31 Appendix I Pandar20A B Channel Distribution 32 35...

Страница 4: ...mula d ct 1 2 d Distance c Speed of light t Laser beam travel time Pandar20A B is a 20 channel mechanical LiDAR It creates 3D imaging by 360 mechanical rotating through 20 laser diodes inside the hous...

Страница 5: ...ystem and Rotation Direction NOTE 1 Figure 1 3 shows the coordinate system and the z axis is along the rotation center of the LiDAR The origin of the coordinate system is shown as a red dot in Figure...

Страница 6: ...tribution 103 935 mm 315 257 mm Figure 1 5 Laser Firing Position Channel 1 Channel 4 Channel 9 Channel 20 8 2 1 25 Channel 14 6 Figure 1 4 Channel Vertical Distribution Please see Appendix I for detai...

Страница 7: ...3 19 Figure 1 7 Laser Firing Position Pandar20B Channel 1 Channel 2 Channel 11 Channel 16 Channel 20 3 2 3 8 19 Figure 1 6 Channel Vertical Distribution Please see Appendix I for detailed channel dist...

Страница 8: ...e specifications except for the FOV Vertical and Angular Resolution Vertical Please see Appendix I for detailed vertical angular resolution Specifications are subject to change without notice Table 1...

Страница 9: ...al Installation Metric System Pandar20A and Pandar20B share the same installation method Here we use Pandar20A as an example 2 1 88 90 mm 3 M6 7 mm MOUNT 98 mm M6 7 mm MOUNT 2 4 mm 6 mm For 4 mm PINS...

Страница 10: ...M6 screw 7 9 mm over mounting base 2x 4PINS 5 6 mm over mounting base Figure 2 3 Diagram of Quick Installation Quick Installation 0 7...

Страница 11: ...M6 screw 7 9 mm over mounting base 3xM6 screw 5 6 mm over mounting base 2x 4PINS 5 6 mm over mounting base Figure 2 4 Diagram of Stable Installation Stable Installation 0 8...

Страница 12: ...n 1 2 3 4 5 6 7 8 N A N A N A N A Ethernet RX Ethernet RX Ethernet TX Ethernet TX N A N A N A N A BLUE BLUE WHITE ORANGE ORANGE WHITE N A N A N A N A 1 V to 1 V 1 V to 1 V 1 V to 1 V 1 V to 1 V Functi...

Страница 13: ...ndar20A B Users can choose to connect LiDAR using the connecting box The connecting box comes equipped with a power port a GPS port and a standard ethernet port The cable length from phoenix connector...

Страница 14: ...module 4 Input Receiving signal of serial port to receive serial data from external GPS module RS232 level 5 Output GND to ground external GPS module 6 Output Transmitting signal of serial port to se...

Страница 15: ...and computer s Ethernet ports Computer Connecting Box Pandar20A 2 3 2 How to Connect using Connecting Box Figure 2 7 How to Connect Using Connecting Box NOTE Pandar20A and Pandar20B share the same con...

Страница 16: ...d by using PandarView the point cloud data viewer software developed by Hesai For more on PandarView installation and usage see Appendix VI PandarView NOTE Pandar20A B does not have a power switch It...

Страница 17: ...ation NOTE Please refer to Appendix V for details about data structure with UDP Sequence on LiDAR Data Structure 3 LiDAR Data Point Cloud Data Packet Ethernet Header 42 bytes UDP Data 1270 bytes Heade...

Страница 18: ...ition Ethernet II MAC Ethernet Data Packet Type Internet Protocol UDP Port Number UDP Length and Checksum 12 bytes 2 bytes 20 bytes 4 bytes 4 bytes Destination Broadcast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF...

Страница 19: ...Definition 0xee 0x Laser N Block N RT Start Dis Unit 2 bytes 1 byte 1 byte 1 byte 1 byte SOP start of packet 0x14 20 lines 0x14 20 blocks per packet Return type start the first block s return number w...

Страница 20: ...Data Body Definition Body 1240 bytes 20 blocks Block 1 Block 2 Block 3 Block 20 Azimuth Azimuth Azimuth Azimuth Unit 1 Unit 1 Unit 1 Unit 1 Unit 2 Unit 2 Unit 2 Unit 2 Unit 20 Unit 20 Unit 20 Unit 20...

Страница 21: ...Information 1 byte the strongest return 0x37 the last return 0x38 dual return 0x39 Factory Information 1 byte 0x42 or 0x43 UTC 6 bytes year month date hour minute second decimal digit By now the dire...

Страница 22: ...the packet will be counted from 000101000000 yymmddhhmmss year month day hour minute second and this unreal GPS time can also increase according to internal 1Hz signal of LiDAR as long as GPRMC inform...

Страница 23: ...utputs per second continuously Table 3 6 GPS Data Packet UDP Data De nition GPS UDP data 512 bytes GPS Time Data 18 bytes GPRMC Data 77 bytes ASCII code valid till 2 bytes after Filled with 411 0xDF F...

Страница 24: ...econd 0x32 0x35 convert ASCII code to 2 5 means 52 Minutes 0x35 0x34 convert ASCII code to 5 4 means 45 Hour 0x32 0x31 convert ASCII code to 2 1 means 12 UTC time s Time 4 bytes the s time value of ea...

Страница 25: ...7 160617 004 1 W 67 2 GPRMC 065829 00 A 3121 86377 N 12114 68322 E 0 027 160617 A 74 01 UTC Time hhmmss hour minute second format 02 Location Status A Valid Position V Invalid Position 03 Latitude dd...

Страница 26: ...of GPS 2 Unlock the clock of LiDAR does not synchronize with the clock of GPS When PTP is used there will be four di erent PTP clock status 1 Free Run no PTP master is selected local reference clock i...

Страница 27: ...and the dual return Users can choose clock source between GPS or PTP When PTP clock source is selected LiDAR sends only Point Cloud UDP Packet but NO GPS UDP PACKET please refer to Appendix III for d...

Страница 28: ...based angle range method is selected the start and end angles that users enter will be applied to all 20 channels In other words all 20 channels will have the same angle range There will be no laser...

Страница 29: ...ad the edited configuration file Please click Save to apply your settings NOTE 1 Use LiDAR Based Method if the same angle range is expected on all 20 channels Outside the specified range no laser will...

Страница 30: ...Device Info 4 4 Software version hardware version firmware version can be viewed from device information page Figure4 5 Device Info Page of Web Control 2 7...

Страница 31: ...Upgrade 4 5 Please ask Hesai for the latest upgrade file if needed Click on Upload button to upload the upgrade le Please reboot the LiDAR after finishing upgrading Figure4 6 Upgrade Page of Web Cont...

Страница 32: ...08 3 125 1 042 1 042 1 042 1 042 Vertical Angle Elevation The vertical angle of each line is constant and 0 represents horizontal direction De ne upward as positive 8 00 5 00 3 00 2 00 1 67 1 00 0 33...

Страница 33: ...r Channel number in UDP Data Packet 01 02 03 04 Horizontal Angle O set Azimuth The horizontal angle of each line is the sum of current reference angle of the rotor and the angle below De ne clockwise...

Страница 34: ...vation 0 33 Instrument Range in meters 230 Range Capability vs Re ectivity in meters 200 10 230 200 10 230 200 10 230 200 10 230 200 10 230 200 20 230 200 20 0 00 0 33 1 00 1 67 2 33 10 3 125 230 200...

Страница 35: ...n real absolute time from GPS module after PPS rising edge is not available at that time 2 The UTC time in LiDAR GPS Data Packet and following Point Cloud Data Packet can only utilize previous GPRMC i...

Страница 36: ...The end time of the Block means all the 20 channels laser finished the firing The calculation of each Block s end time is as follows Single Return Mode Body 1240 bytes 20 blocks Table II 1 Point Coul...

Страница 37: ...s End time of Block 14 t0 28 58 55 56 3 s End time of Block 13 t0 28 58 55 56 3 s End time of Block 12 t0 28 58 55 56 4 s End time of Block 11 t0 28 58 55 56 4 s 06 07 08 09 10 End time of Block 10 t0...

Страница 38: ...firing time t6 1 304 12 1 968 11 3 62 s Laser ID 1 s firing time t6 1 304 14 1 968 12 3 62 s Laser ID 10 s firing time t6 1 304 14 1 968 12 3 62 s Laser ID 3 s firing time t6 1 304 14 1 968 13 3 62 s...

Страница 39: ...nd control systems Appendix III PTP Protocol 1 How to connect LiDAR using PTP protocol How to connect LiDAR using PTP protocol Power port and standard Ethernet port Connect the power port to the adapt...

Страница 40: ...Packet 1 2 3 4 NOTE NOTE The PTP master device is a third party product and not included in LiDAR Package The LiDAR clock just follow the PTP master device by PTP protocol The timestamp and 6 bytes U...

Страница 41: ...length of the payload The load may di er in length content by di erent type of command Following is the command message sent from client to server LiDAR 1 Packet Structure Appendix IV Field Descripti...

Страница 42: ...ayload data length bytes the payload data for the command its length is indicated by payload length field Additional Data Table IV 3 Type of Command PTC_COMMAND_GET_LIDAR_CALIBRATION PTC_COMMAND_PTP_D...

Страница 43: ...Data Package Command Code 0x5 Payload Length 0 byte 1 Function Description Obtain PTP diagnostics information from server 2 Description for Sending Data Package Command Code 0x6 Payload Length 1 byte...

Страница 44: ...byte 8 bytes 1 byte 1 byte 1 byte 1 byte 1 byte 1 byte the port identity including 8 bytes clock identity and 2 bytes port number same as ptp_state in above message the peer mean path delay value in...

Страница 45: ...umulativeScaledRateO se scaledLastGmPhaseChange gmTimeBaseIndicator lastGmPhaseChange gmPresent gmIdentity 4 bytes 4 bytes 2 bytes 10 bytes 4 bytes 8 bytes the time di erence between master slave at t...

Страница 46: ...II format yyyy mm dd mac the mac address of the device sw_ver 18 bytes 16 bytes Length 6 bytes 16 bytes the software version of the device in ASCII format xx xx xx hw_ver 16 bytes the hardware version...

Страница 47: ...could data packet dest_gps_udp_port 2 bytes default 10110 the destination UDP port of the GPS packet when the LiDAR is working with GPS input valid only when clock_source is GPS spin_rate 2 bytes the...

Страница 48: ...temperature the real time temperature array unit 0 01 C 0 bottom circuit board T1 1 bottom circuit board T2 2 laser emitting board RT_L 3 receiving board RT_R 4 receiving board RT2 5 Top circuit RT3...

Страница 49: ...h the UDP length 2 bytes changes to 0x0502 representing 1282 bytes Ethernet Header 42 bytes Table V 1 Point Cloud Data Packet Ethernet Header De nition Ethernet II MAC Ethernet Data Packet Type Intern...

Страница 50: ...erature shutdown the LiDAR temperature will decrease When the system is not in high temperature status the shutdown ag will be reset to 0x00 and the system can return to normal operation Motor Speed 2...

Страница 51: ...on Pin 1 2 3 4 5 6 7 8 Ethernet RX Ethernet RX Ethernet TX Ethernet TX GPS Serial Data GPS PPS 12V Ground Return Blue Light Blue Blue White Orange Light Orange Orange White White Yellow Red Black 1V t...

Страница 52: ...ace enp0s20f0u2 with the local network port name Windows Open the Network Sharing Center click on Ethernet In the Ethernet Status interface click on Properties to proceed to the next interface Double...

Страница 53: ...un executable text files when they are opened or open the terminal enter Desktop PandarView to open the software Figure VII 1 Select LiDAR Model Figure VII 2 Choose Output File Window Check Live Data...

Страница 54: ...Import Correction File Each LiDAR comes with a correction file CSV in the provided USB disk In the play mode click on File in the upper left corner Choose Import Correction File in the drop down menu...

Страница 55: ...data in next frame While playing forward click again for di erent speeds such as 2x 3x 1 2x 1 4x 1x speeds Jump to end of the file While playing pcap file the recording button will be gray and unclic...

Страница 56: ...r left axis shows the current viewing position Click Tools to open Grid Properties where you can change the color and width of the circles Click on to show hide 12 n Orthogonal Projection view click o...

Страница 57: ...information Point Cloud Data Selection Users can click on to display or hide point cloud data from any selected laser channels Clicking on this icon will pop up the following interface Click on again...

Страница 58: ...int cloud is drawing according to the intensity Users can choose azimuth distance laser_id or timestamp as the color scheme as well Figure VII 11 Current Color Scheme Figure VII 12 Color Editor lick o...

Страница 59: ...Click About in the upper left corner to check the software version Figure VII 13 PandarView Softeware Version PandarView Software Version 5 6...

Страница 60: ...ts are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency e...

Страница 61: ...ree maintenance service Some operations will violate the warranty including but not limited to the following 1 The purchase documents have been altered in any way made illegible or lost 2 The defect i...

Страница 62: ...assemble or create derivative works based on the whole or any part of the Software or its associated documentation or use reproduce or deal in the Software or any part of it in any way Legal Notice Th...

Страница 63: ...Co Ltd Phone 021 80394947 802 Technical Support 021 80394947 915 Website www hesaitech com Business Email info hesaitech com Service Email service hesaitech com Address Building L2 Hongqiao World Cen...

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