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Appendix V

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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Содержание Pandar40P

Страница 1: ...www hesaitech com HESAI Wechat Pandar40P 40 Channel Mechanical LiDAR User Manual...

Страница 2: ...ucture 25 3 1 Point Cloud Data Packet 26 3 2 GPS Data Packet 32 4 Web Control 38 4 1 Home 39 4 2 Settings 40 4 3 Azimuth FOV 47 4 4 Operation Statistics 50 4 5 Upgrade 51 5 Communication Protocol 53 6...

Страница 3: ...warnings If you incorporate this LiDAR product into your product s you are required to provide this user manual or the means to access this user manual to the intended users of your product s Access t...

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 During or after a period of operation do NOT touch the product s enclosure with your skin...

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: ...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...

Страница 10: ...oftware Before using a custom version of firmware and software please thoroughly understand the differences in functions and performance between this custom version and the standard version Make sure...

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: ...Rotation Direction Top View The LiDAR s coordinate system is illustrated in Figure 1 3 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...

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: ...L OPERATIONAL Wavelength 905 nm Laser Class Class 1 Eye Safe Ingress Protection IP6K7 Dimensions Height 116 7 mm Top Bottom 118 0 116 0 mm Rated Voltage Range DC 9 to 48 V Power Consumption 18 W typic...

Страница 16: ...l channels May vary with range temperature and target reflectivity Power consumption Not including accessories such as the connection box PTP Clock Drift Defined as the drift at a constant temperature...

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 Quick Installation Figure 2 3 Quick Installation...

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

Страница 21: ...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 22: ...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 23: ...21 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 m...

Страница 24: ...al GPS module JST SHR 06V S 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...

Страница 25: ...23 2 3 2 Connection Figure 2 10 Connection Box Connection Refer to Appendix III PTP Protocol when PTP protocol is used...

Страница 26: ...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 27: ...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 28: ...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 29: ...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 30: ...the shutdown flag will be reset to 0x00 and the system will automatically return to normal operation Reserved 2 Motor Speed 2 Unit RPM Timestamp 4 The s time part of the absolute time of this data pa...

Страница 31: ...29 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...

Страница 32: ...angle current reference angle of the rotor horizontal angle offset firing time angular offset Current reference angle of the rotor is the Azimuth field of Block 2 Horizontal angle offset 1 042 for Cha...

Страница 33: ...31 Continued Draw the data point in a spherical or rectangular coordinate system Obtain the real time point cloud data by analyzing and drawing every data point in a frame...

Страница 34: ...act 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 minu...

Страница 35: ...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 36: ...MEA sentence that contains date and time ASCII code 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...

Страница 37: ...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 38: ...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 39: ...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 40: ...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 41: ...2 seconds PTP Status Free Run No PTP master is selected Tracking Slave is trying to sync with the selected PTP Master but the absolute offset is over 1 s Locked Absolute offset between Slave and Mast...

Страница 42: ...ve after clicking the Save button at the bottom 1 Reset All Settings By clicking the Reset All Settings button on the top right corner all configurable parameters on web control will be reset to facto...

Страница 43: ...the receiving host s VLAN ID Notes Once configured the VLAN ID does not change during firmware upgrades Warnings If the LiDAR s VLAN ID differs from the receiving host s users will lose access to web...

Страница 44: ...rpm Return Mode Last Strongest Dual Return UDP Sequence OFF ON 1 ON 2 Point Cloud UDP packets can be labeled with a sequence number see Section 3 1 ON 1 UDP sequence increments only within the user sp...

Страница 45: ...arget the return signal can result in a false point located between both targets Such points can be mitigated Retro Multi Reflection Filtering To mitigate the false positive points at twice the distan...

Страница 46: ...output GPS Data Packets see Appendix III PTP Protocol When GPS is selected as the clock source GPS Mode GPRMC GPGGA Format of the NMEA data received from the external GPS module see Section 3 2 2 GPS...

Страница 47: ...Transport UDP IP or L2 UDP IP available only for 1588v2 profile L2 available for all profiles PTP Domain Number Integer from 0 to 127 Domain attribute of the local clock When using the 1588v2 profile...

Страница 48: ...46 Continued When using the 802 1AS or 802 1AS Automotive profile Switch Type TSN Non TSN TSN Time Sensitive Network Peer to Peer delay mechanism Non TSN End to End delay mechanism...

Страница 49: ...V 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 channels The LiDAR outputs valid da...

Страница 50: ...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 51: ...iguration 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 Sa...

Страница 52: ...50 4 4 Operation Statistics The LiDAR s operation time in aggregate and in different temperature ranges are listed as well as the internal temperature...

Страница 53: ...LiDAR s cover lens Click the Upload button select an upgrade file provided by Hesai and confirm your choice in the pop up window When the upgrade is complete the LiDAR will automatically reboot and t...

Страница 54: ...mware again until the Upgrade page displays the correct version number after reboot Software upgrade If the current version is earlier than 2 9 1 please first upgrade to 2 9 1 and then upgrade to high...

Страница 55: ...53 5 Communication Protocol To receive Hesai LiDAR s PTC Pandar TCP Commands and HTTP API Protocols please contact Hesai technical support...

Страница 56: ...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 57: ...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 58: ...uirements in Section 1 4 Specifications and 2 3 Connection Box web control can be accessed see cannot open web control on the next page Power on again to check if the symptom persists Motor is running...

Страница 59: ...C s Users may use WireShark to check the LiDAR s IP that broadcasts data packets Afterwards restart PC or connect the LiDAR to another PC power on again to check if the symptom persists Abnormal packe...

Страница 60: ...on Statistics page of web control Afterwards check for packet loss If no packet is missing while the point cloud flashes please update PandarView to the latest version see the Download page of Hesai s...

Страница 61: ...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 62: ...130 200 20 04 1 042 5 00 130 200 20 05 1 042 3 00 230 200 20 06 1 042 2 00 230 200 20 07 3 125 1 67 230 200 20 08 5 208 1 33 230 200 20 09 1 042 1 00 230 200 10 10 3 125 0 67 230 200 10 11 5 208 0 33...

Страница 63: ...0 24 1 042 4 00 230 200 20 25 3 125 4 33 230 200 20 26 5 208 4 67 230 200 20 27 1 042 5 00 130 200 20 28 3 125 5 33 130 200 20 29 5 208 5 67 130 200 20 30 1 042 6 00 130 200 20 31 1 042 7 00 130 200 2...

Страница 64: ...Point Cloud Data Packet contains 10 data blocks as detailed in Section 3 1 2 Point Cloud UDP Data Every time the LiDAR sends a command to trigger a round of firing the measurements are stored in one...

Страница 65: ...quence 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...

Страница 66: ...64 Appendix III PTP Protocol The Precision Time Protocol PTP is used to synchronize clocks across a computer network It can achieve sub microsecond clock accuracy LiDAR Connection When Using PTP...

Страница 67: ...tput GPS Data Packets The timestamps and Date Time fields in Point Cloud Data Packets strictly follow the PTP master device Certain PTP master devices may have a specified offset from the Date Time ou...

Страница 68: ...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 Bl...

Страница 69: ...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 70: ...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 71: ...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 72: ...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 73: ...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 74: ...anges 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 trademar...

Страница 75: ...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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