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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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Содержание Pandar40M

Страница 1: ...www hesaitech com HESAI Wechat Pandar40M 40 Channel Mechanical LiDAR User Manual...

Страница 2: ...nal 23 2 4 Get Ready to Use 27 3 Data Structure 28 3 1 Point Cloud Data Packet 29 3 2 GPS Data Packet 35 4 Web Control 41 4 1 Home 42 4 2 Settings 44 4 3 Azimuth FOV 53 4 4 Operation Statistics 57 4 5...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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 i...

Страница 10: ...ftware 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 sur...

Страница 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...

Страница 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...

Страница 13: ...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 corre...

Страница 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...

Страница 15: ...ease refer to the latest version MECHANICAL ELECTRICAL OPERATIONAL Wavelength 905 nm Laser Class Class 1 Eye Safe Ingress Protection IP6K7 Dimensions Height 104 7 mm Top Bottom 118 0 116 0 mm Rated Vo...

Страница 16: ...ge 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 15 W PTP Clock Drift Defined...

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

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

Страница 19: ...17 2 1 1 Quick Installation Figure 2 3 Quick Installation...

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

Страница 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...

Страница 22: ...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...

Страница 23: ...S 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...

Страница 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 as...

Страница 25: ...ay connect the lidar directly or using the connection box The connection box has a power port a GPS port and a standard Ethernet port Lemo part number PHG 2T 316 CLLC75Z female socket on the connectio...

Страница 26: ...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 pulse per second signal for...

Страница 27: ...25 2 3 2 Connection Figure 2 10 Connection Box Connection with GPS...

Страница 28: ...26 Figure 2 11 Connection Box Connection with PTP...

Страница 29: ...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...

Страница 30: ...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...

Страница 31: ...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...

Страница 32: ...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...

Страница 33: ...0x01 during the 60 s and the shutdown period When the system is no longer in high temperature status the shutdown flag will be reset to 0x00 and the system will automatically return to normal operati...

Страница 34: ...e time of Point Cloud Data accurate to the second Each Byte Range Decimal Year current year minus 2000 Positive integers Month 1 to 12 Day 1 to 31 Hour 0 to 23 Minute 0 to 59 Second 0 to 59 UDP Sequen...

Страница 35: ...e 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...

Страница 36: ...a data point Actual distance in real world millimeters distance measurement Distance Unit Distance measurement Distance field of Channel 5 in Block 3 Distance Unit 4 mm Draw the data point in a polar...

Страница 37: ...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...

Страница 38: ...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...

Страница 39: ...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 G...

Страница 40: ...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...

Страница 41: ...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...

Страница 42: ...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...

Страница 43: ...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...

Страница 44: ...Model Pandar40M S N PA64XXXXXXXXXXXXXX MAC Address XX XX XX XX XX XX Software Version 2 9 12 Sensor Firmware Version 4 3 44 Controller Firmware Version 4 53 Button Description Device Log Click to dow...

Страница 45: ...ter 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...

Страница 46: ...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 B...

Страница 47: ...ty 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...

Страница 48: ...AN 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 z...

Страница 49: ...Return Mode Single Return Last Strongest Dual Return Also shown in Point Cloud Data Packets see the Return Mode field in Section 3 1 2 Point Cloud UDP Data UDP Sequence OFF ON 1 ON 2 Point Cloud UDP p...

Страница 50: ...ck When neither GPS nor PTP is locked the rising edge of the lidar s internal 1 Hz signal Detailed in Appendix II Absolute Time of Point Cloud Data To phase lock multiple lidars Connect the lidars to...

Страница 51: ...ets 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 Reflect...

Страница 52: ...0 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 O...

Страница 53: ...Options Description Profile 1588v2 default 802 1AS 802 1AS Automotive IEEE timing and synchronization standard Time Offset for Lidar Lock 1 to 100 s integer Default 1 Specify the upper limit of the a...

Страница 54: ...Time interval 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...

Страница 55: ...figuration 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 la...

Страница 56: ...54 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...

Страница 57: ...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...

Страница 58: ...a 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 c...

Страница 59: ...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...

Страница 60: ...e 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 t...

Страница 61: ...59 5 Communication Protocol To receive Hesai lidar s PTC Pandar TCP Commands and HTTP API Protocols please contact Hesai technical support...

Страница 62: ...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...

Страница 63: ...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...

Страница 64: ...tage 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...

Страница 65: ...aser 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 Wiresha...

Страница 66: ...n 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...

Страница 67: ...b 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 c...

Страница 68: ...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...

Страница 69: ...120 120 10 04 1 042 5 00 120 120 10 05 1 042 3 00 120 120 10 06 1 042 2 00 120 120 10 07 3 125 1 67 120 120 10 08 5 208 1 33 120 120 10 09 1 042 1 00 120 120 10 10 3 125 0 67 120 120 10 11 5 208 0 33...

Страница 70: ...0 24 1 042 4 00 120 120 10 25 3 125 4 33 120 120 10 26 5 208 4 67 120 120 10 27 1 042 5 00 120 120 10 28 3 125 5 33 120 120 10 29 5 208 5 67 120 120 10 30 1 042 6 00 120 120 10 31 1 042 7 00 120 120 1...

Страница 71: ...lute Time of Point Cloud Data Source of Absolute Time The lidar retrieves the current absolute time by connecting to an external clock source GPS PTP Users can select the clock source see Section 4 2...

Страница 72: ...Unlocked Virtual Starts counting from a virtual UTC time such as 2000 01 01 00 00 00 using the lidar s internal 1 Hz signal Locked Synchronized At each rising edge of the internal 1 Hz signal obtain t...

Страница 73: ...0 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 synchronize...

Страница 74: ...s 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 C...

Страница 75: ...alculated Single Return Mode Block End Time s Dual Return Mode Block End Time s Block 10 t0 28 58 Block 10 Block 9 t0 28 58 Block N t0 28 58 55 56 10 N Block 8 Block 7 t0 28 58 55 56 1 Block 3 t0 28 5...

Страница 76: ...uence 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 8...

Страница 77: ...H 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 B...

Страница 78: ...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...

Страница 79: ...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...

Страница 80: ...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...

Страница 81: ...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...

Страница 82: ...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...

Страница 83: ...otify 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 offici...

Страница 84: ...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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