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■ Absolute Time of Point Cloud Data Packets

Definition

·

Every time the lidar passes a fixed time Δt or azimuth interval Δα (see Section 4.2 Web Control – Trigger Method), it sends a command that
triggers a round of firing.

·

A round of firing can have either one or more returns (specified in Section 4.2 Web Control – Return Mode). The measurements of each
return are stored in one block (see Section 3.1.2 UDP Data – Body).

·

The absolute time of a Point Cloud Data Packet is 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 Cloud Data Packets.

Δt or Δα

···

Point Cloud

Data Packet

···

···

t0

t1

t2

tT

t3

absolute time of the Point

Cloud Data Packet

Block 1

Block 2

Block 3

Block 4

Block M-1

Block M

A round of firing

Last

Ch 1

Ch 2

...

Ch N

Strongest

Ch 1

Ch 2

...

Ch N

A round of firing

Last

Ch 1

Ch 2

...

Ch N

Strongest

Ch 1

Ch 2

...

Ch N

A round of firing

Last

Ch 1

Ch 2

...

Ch N

Strongest

Ch 1

Ch 2

...

Ch N

Return selected
according to Return
Mode, taking dual-return
(last and strongest) as an
example

Trigger

firing

«
...
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Содержание PandarXT-16

Страница 1: ...www hesaitech com HESAI Wechat PandarXT 16 16 Channel Medium Range Mechanical LiDAR User Manual ...

Страница 2: ...24 2 4 Get Ready to Use 28 3 Data Structure 29 3 1 Point Cloud Data Packet 30 3 2 GPS Data Packet 37 4 Web Control 43 4 1 Home 44 4 2 Settings 46 4 3 Azimuth FOV 54 4 4 Operation Statistics 57 4 5 Upgrade 58 5 Communication Protocol 59 6 Sensor Maintenance 60 7 Troubleshooting 62 Appendix I Channel Distribution 66 Appendix II Absolute Time of Point Cloud Data 67 Appendix III Power Supply Requireme...

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 evaluated in end product according to relevant standards Access to This Manual To obtain the latest version Visit the Download page of Hesai s official website https www hesaitech com en download Or...

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: ...y 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 product enclosure including the bottom plate Although the product is designed tested and manufactured to comply with the regulations on RF radiation such as FCC CE EMC or KCC the radiation from the p...

Страница 7: ...Make 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 the operating temperature range Recommended Storage Conditions Store the product in a dry well ventilated place The recommended ambient temperature is 23 5 C and the humidity between 30 and 70 Light ...

Страница 8: ...ely 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 including cables for the product make sure to comply with the electrical specifications in the product s user manual refer to the Specifications section and the Power Supply Requirements section for t...

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 if the enclosure is loose Before operating the product make sure it is properly and securely mounted The mounting should prevent the product from leaving its mounting position in case of external forc...

Страница 10: ...oftware 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 sure to strictly follow all the instructions and safety precautions provided for that custom version If the product does not function as anticipated stop using the product immediately and contact Hesai ...

Страница 11: ...duct 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 retrofit the product Such a breach can result in product damage including but not limited to water resistance failure property loss and or personal injuries shall constitute a breach of warranty ...

Страница 12: ...eam 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 accurately measured by calculating the time between laser emission and receipt d ct 2 d distance c speed of light t travel time of the laser beam Figure 1 1 Distance Measurement Using Time of Fligh...

Страница 13: ...Z axis is the axis of rotation The origin is shown as a red dot on the next page All measurements are relative to the origin Lidar azimuthal position is defined in Figure 1 4 Y axis corresponds to 0 Each laser channel has an intrinsic azimuth offset All channels is selected to define the lidar s azimuthal position For example when all channels pass the 90 position the lidar is at the 90 position t...

Страница 14: ...cal angle offset The offsetted angles s are recorded in this lidar unit s angle correction file which is provided when shipping the unit In case you need to obtain the file again Send this PTC command PTC_COMMAND_GET_LIDAR_CALIBRATION as described in Hesai TCP API Protocol Chapter 5 Or export the file using PandarView see the PandarView user manual Or contact a sales representative or technical su...

Страница 15: ...ions are subject to change Please refer to the latest version Continued on the next page MECHANICAL ELECTRICAL OPERATIONAL Wavelength 905 nm Laser Class Class 1 Eye Safe Ingress Protection IP6K7 Dimensions Height 76 0 mm Top Bottom Φ100 0 103 0 mm Rated Voltage Range DC 9 to 36 V Power Consumption 9 W Operating Temperature 20 to 65 Storage Temperature 40 to 85 Weight 0 8 kg DATA I O Data Transmiss...

Страница 16: ...ues the average among all channels measured in doors at 3 7 15 25 m under room temperature and with target reflectivities between 5 and 65 Power Consumption typical value Test conditions room temperature 12 V lidar input voltage 600 rpm spin rate Not including accessories such as the connection box The external power supply should be able to provide at least 30 W PTP Clock Accuracy and Clock Drift...

Страница 17: ...0 30 50 70 90 Accuracy cm Target Distance m Accuracy 50 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 1 0 0 0 1 0 2 0 3 0 4 0 5 0 0 05 0 5 1 3 5 10 20 30 50 70 90 Accuracy cm Target Distance m Accuracy 10 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 Solid dot average among channels Error bar best and worst channels Measurements taken by the three samples at the same ...

Страница 18: ...utdoors Channels 5 to 12 0 0 0 5 1 0 1 5 2 0 2 5 0 05 0 5 1 3 5 10 20 30 50 70 90 Precision cm Target Distance m Precision 50 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 0 0 0 5 1 0 1 5 2 0 2 5 0 05 0 5 1 3 5 10 20 30 50 70 90 Precision cm Target Distance m Precision 10 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 ...

Страница 19: ... 17 2 Setup 2 1 Mechanical Installation Figure 2 1 Front View Unit mm ...

Страница 20: ... 18 Figure 2 2 Bottom View Unit mm ...

Страница 21: ... 19 2 1 1 Recommended Installation Figure 2 3 Recommended Installation ...

Страница 22: ... 20 2 2 Interfaces Lemo part number EEG 0T 309 CLN female socket on the lidar From the eye to the interface Figure 2 4 Lemo Connector Female Socket ...

Страница 23: ... GND RED 0 V 28 AWG 5 Ethernet TX YELLOW 1 to 1 V 28 AWG Notes For the GPS PPS signal pulse width is recommended to be over 1 ms and the cycle is 1 s rising edge to rising edge The blue wire is not used Pin 9 may be reserved in previous batches Before connecting or disconnecting an external GPS signal either using the cable s GPS wire or via the connection box s GPS port make sure the lidar is pow...

Страница 24: ...s 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 by the gray arrows in figure above NMEA signal ends before the PPS rising edge of the next second t2 100 ms 2 2 2 Cables OD outside diameter 5 0 0 2 mm Minimum bend radius 10 OD NMEA PPS 1 0 t1 t2 t3 ...

Страница 25: ...rce open a connection by pulling on the cables or by twisting the connectors in any way Doing 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 assemble the connector s shell and cable collet DO NOT connect a connector without its shell Doing so may da...

Страница 26: ... 24 2 3 Connection Box Optional Users may connect the lidar directly or using the connection box Lemo part number FGG 0T 309 CLAC50Z male plug on the connection box Figure 2 6 Connection Box Unit mm ...

Страница 27: ... 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 synchronization 3 3 V to 12 V Rising edge 500 ns Recommended pulse width 1 ms Cycle 1 s from rising edge to rising edge 2 Output Power for the external GPS module 5 V 3 Output Ground for the external ...

Страница 28: ... 26 2 3 2 Connection Figure 2 9 Connection Box Connection with GPS ...

Страница 29: ... 27 Figure 2 10 Connection Box Connection with PTP ...

Страница 30: ...al 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 192 168 1 100 and subnet mask to 255 255 255 0 To record and display point cloud data see PandarView User Manual To set parameters check device info or upgrade firmware software see Chapter 4 Web Cont...

Страница 31: ...d Data Packets and GPS Data Packets using 100 Mbps Ethernet UDP IP Each data packet consists of an Ethernet header and UDP data Unless otherwise specified all the multi byte fields are unsigned values in little endian format Figure 3 1 Data Structure ...

Страница 32: ...dcast 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF Source xx xx xx xx xx xx Ethernet Data Packet Type 2 bytes 0x08 0x00 Internet Protocol 20 bytes Shown in Figure 3 2 UDP Port Number 4 bytes UDP source port 0x2710 representing 10000 Destination port 0x0940 representing 2368 UDP Length 2 bytes 0x0240 representing 576 bytes 8 bytes more than the size of the Point Cloud UDP Data shown in Figure 3 1 UDP Checksum 2 b...

Страница 33: ... 1 Subclass of the point cloud UDP packet structure Currently 0x01 Reserved 2 Header 6 bytes Field Bytes Description Laser Num 1 0x10 16 channels Block Num 1 0x08 8 blocks per packet First Block Return 1 Reserved Dis Unit 1 0x04 4 mm Return Number 1 0x02 each channel can generate two returns maximum UDP Seq 1 7 1 is reserved Least significant bit 0 shows whether this packet includes a UDP sequence...

Страница 34: ...hannel 16 Block size size of Azimuth 16 size of Channel X Each Block in the Body 66 bytes Field Bytes Description Azimuth 2 Current reference angle of the rotor Unit 0 01 Channel X 4 2 byte Distance Distance Value Distance Dis Unit See the Dis Unit field in the Header 1 byte Reflectivity Range 0 to 255 The mapping from this field to target reflectivity can be selected in Section 4 2 Web Control Se...

Страница 35: ...eturn If the last return is also the strongest then the even number block stores the second strongest return 0x3B Last return First return If there is only one return then the two blocks store the same data 0x3C First return Strongest return If the first return is also the strongest then the even number block stores the second strongest return Tail 24 bytes Field Bytes Description Reserved 10 Retu...

Страница 36: ...1900 70 Month 1 to 12 Day 1 to 31 Hour 0 to 23 Minute 0 to 59 Second 0 to 59 Timestamp 4 The μs time part of the absolute time of this data packet defined in Appendix II Unit μs Range 0 to 1000000 μs 1 s Factory Information 1 0x42 Additional Info 4 bytes Field Bytes Description UDP Sequence 4 Sequence number of this UDP packet 0 to 0xFF FF FF FF ...

Страница 37: ...ive 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 Rotor reference angle during the current round of firing In the Azimuth field of Block 2 Horizontal angle offset of the channel The designed offset for Channel 5 is 0 according to Appendix I Channel...

Страница 38: ... a data point Actual distance in real world millimeters distance measurement Distance Unit Distance measurement Distance field of Channel 5 in Block 2 Distance Unit 4 mm Draw the data point in a polar or rectangular coordinate system Obtain the real time point cloud data by analyzing and drawing every data point in each frame z x y Data point Distance Vertical angle Horizontal angle ...

Страница 39: ...ract 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 GPS Data Packets 6 byte Date year month day and 6 byte Time second minute hour The GPS module sends first the PPS signal and then the NMEA message At the rising edge of the PPS pulse the co...

Страница 40: ...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 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 Hea...

Страница 41: ...nce 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 388 388 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 GPS being unlocked 0 inval...

Страница 42: ...L 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 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 0658...

Страница 43: ...alid 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 ...

Страница 44: ... 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 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 ...

Страница 45: ...g 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 browser 192 168 1 201 Google Chrome and Mozilla Firefox are recommended ...

Страница 46: ... Model PandarXT 16 S N XTXXXXXXXXXXXXXX MAC Address XX XX XX XX XX XX Software Version 0 1 16 Sensor Firmware Version 1 2 14 Controller Firmware Version 1 1 10 Button Description Device Log Click to download a JSON file that contains the lidar status device info all configurable parameters and the upgrade log ...

Страница 47: ...fter 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 the absolute offset exceeds the user specified limit in Section 4 2 Settings Locked Absolute offset is within the user specified limit Frozen Holdover Attempting to recover the connection to the PTP...

Страница 48: ...55 255 255 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 Last and Strongest Sync Angle 0 Trigger Method Angle Based Clock Source GPS GPS Mode GPRMC GPS Destination Port 10110 Continued on the next page ...

Страница 49: ...andby Mode In Operation Standby Save Button Description Reset All Settings Reset all the configurable parameters to factory defaults including Section 4 2 Settings Section 4 3 Azimuth FOV Save Save and execute all the settings on this page Exception Standby Mode takes effect immediately ...

Страница 50: ...LAN 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 zero invalid value by default When checking the checkbox users will be alerted to input a valid VLAN ID When unchecking the checkbox the VLAN ID will default to zero Destination IP Any address except ...

Страница 51: ...tion check the checkbox and input an azimuth At every full second the lidar will rotate to that azimuthal position Lidar azimuthal position is defined in Section 1 2 Lidar Structure Definition of full second When GPS is locked the rising edge of the GPS PPS signal When PTP is tracking or locked retrieved from the PTP master clock When neither GPS nor PTP is locked the rising edge of the lidar s in...

Страница 52: ...hen a beam partially hits on a front target s edge and further hits on a rear target the return signal can result in a false point located between both targets Reflectivity Mapping Linear default Nonlinear Mapping 1 2 Linear The Reflectivity field in Point Cloud Data Packets linearly represents target reflectivity 0 255 Nonlinear 1 and 2 Increases the contrast in low reflectivity regions see Appen...

Страница 53: ...10 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 Options Description Clock Source GPS default PTP External source of absolute time ...

Страница 54: ...ection 4 1 Home The complete logic is shown in the table PPS locked PPS unlocked NMEA locked Update Date Time using the current NMEA sentence Update the μs Timestamp using the current PPS signal When Require PPS Lock is OFF update Date Time using the current NMEA sentence When Require PPS Lock is ON do nothing NMEA unlocked Update the μs Timestamp using the current PPS signal Do nothing Note Date ...

Страница 55: ... UDP IP default L2 Netword transport protocol UDP IP Available only for 1588v2 profile L2 Available for all profiles Domain Number 0 to 127 integer Default 0 Domain attribute of the local clock When using the 1588v2 profile Parameter Options Description PTP logAnnounceInterval 2 to 3 Default 1 Time interval between Announce messages Default 1 log second 2 seconds PTP logSyncInterval 7 to 3 Default...

Страница 56: ...nfiguration 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 larger than the End Angle then the actual range is the union of Start Angle 360 and 0 End Angle For instance when the angle range is set to be 270 90 the actual azimuth FOV is 270 360 0 90 ...

Страница 57: ... 55 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 58: ... 56 4 3 2 Multi section FOV Input multiple 5 sets of Start Angles and End Angles to form multiple continuous angle ranges These ranges apply to all channels ...

Страница 59: ...ese operating parameters are shown in real time Start Up Counts 510 Internal Temperature 32 10 Total Operation Time 559 h 43 min Internal Temperature Operation Time 40 0 h 1 min 40 to 20 0 h 46 min 100 to 120 1 h 44 min 120 0 h 0 min ...

Страница 60: ...ade 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 the Upgrade Log Button Description Restart Software reboot Afterwards the Start Up Counts in the Operation Statistics page increments by 1 Parameter Current Value Software Version 1 0 5 Firmware of S...

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: ...fore 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 lint free wipe to lightly brush across the dusty area To remove persistent stains move on to the next step 3 Spray the cover lens with warm neutral solvent using a spray bottle Solvent type 99 isopro...

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 with clean water and gently wipe off the remaining liquid with another piece of lint free wipe ...

Страница 64: ...ltage 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 condition if a connection box is used the connection box is intact input voltage and current satisfy the requirements in Section 1 4 Specifications and 2 3 Connection Box web control can be accessed...

Страница 65: ...n again to check if the symptom persists Can receive data on Wireshark but not on PandarView Verify that Lidar Destination Port is correctly set on the Settings page of web control PC s firewall is disabled or that PandarView is added to the firewall exceptions the latest PandarView version see the Download page of Hesai s official website or contact Hesai technical support is installed on the PC ...

Страница 66: ... page of web control Lidar s internal temperature is between 20 and 95 on the Operation Statistics page of web control Ethernet is not overloaded no switch is connected into the network The data transmitted from other devices may cause network congestion and packet loss Afterwards connect the PC only to the lidar and check for packet loss power on again to check if the symptom persists ...

Страница 67: ...eb 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 contact Hesai technical support and restart the PC If the point cloud is still abnormal Try connecting the lidar to another PC Power on again to check if the symptom persists GPS cannot be locked Veri...

Страница 68: ...ta Analysis Channel in UDP Data Horizontal Angle Offset Azimuth Vertical Angle Elevation Instrument Range in meters Range in meters with Reflectivity 01 Top 0 15 120 50 10 02 0 13 120 50 10 03 0 11 120 50 10 04 0 9 120 50 10 05 0 7 120 80 10 06 0 5 120 80 10 07 0 3 120 80 10 08 0 1 120 80 10 09 0 1 120 80 10 10 0 3 120 80 10 11 0 5 120 80 10 12 0 7 120 80 10 13 0 9 120 50 10 14 0 11 120 50 10 15 0...

Страница 69: ...olute 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 Web Control Settings ...

Страница 70: ...us Date Time accurate to the second Lidar behavior 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 the actual date and time by extracting the date and time from the previous NMEA message and automatically adding 1 full second If the Require PPS Lock...

Страница 71: ...al is not aligned with the GPS second Locked Synchronized The rising edge of the lidar s internal 1 Hz signal is aligned with the rising edge of the PPS signal i e the start of each GPS second Lost Drifting Counts using the internal 1 Hz signal Will gradually drift from the actual GPS second ...

Страница 72: ... 00 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 synchronized time using the lidar s internal 1 Hz signal Will gradually drift from the actual GPS time Notes PTP is a Plug Play protocol the lidar works as a PTP slave device and requires no additional setup T...

Страница 73: ...is 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 Cloud Data Packets Δt or Δα Point Cloud Data Packet t0 t1 t2 tT t3 absolute time of the Point Cloud Data Packet Block 1 Block 2 Block 3 Block 4 Block M 1 Block M A round of firing Last Ch 1 Ch 2 Ch N ...

Страница 74: ...k 2 t0 5 632 50 6 Block 1 t0 5 632 50 7 Dual Return Mode Block Start Time μs Block 8 Block 7 t0 5 632 Block 6 Block 5 t0 5 632 50 1 Block 4 Block 3 t0 5 632 50 2 Block 2 Block 1 t0 5 632 50 3 Firing Time Offset of Each Channel Assume that the start time of Block m is T m m 1 2 8 then the laser firing time of Channel n in Block m is t m n T m Δt n n 1 2 16 In each round of firing the firing sequenc...

Страница 75: ...les the estimated cable resistance is r 0 3L unit Ω Define the source voltage as U_in V The cable voltage drop of the lidar operating at 10 Hz under room temperature 23 5 C can be estimated Udrop V Uin Uin 2 40r 2 Users may also estimate the cable voltage drop using the following lookup table When cable length exceeds 10 m source voltage should be at least 24 V Estimation of Cable Voltage Drop Cab...

Страница 76: ...umption will also be higher than the typical value in Section 1 4 Specifications In the above or similar conditions we recommend providing at least 30 W of input power to the lidar Power Up Down During a power up the voltage requirements are charted in Figure IV 1 The lidar s input voltage should remain under 1 V for more than 50 ms before ramping up During the ramp up the input voltage should cli...

Страница 77: ...d 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 0 50 100 150 200 250 300 0 50 100 150 200 250 300 Actual Reflectivity ...

Страница 78: ...5 77 24 14 14 44 20 87 64 39 5 5 6 45 25 14 43 45 21 34 65 40 63 6 7 07 26 14 72 46 21 84 66 41 76 7 7 64 27 15 47 22 36 67 42 89 8 8 16 28 15 28 48 22 93 68 44 02 9 8 66 29 15 57 49 23 55 69 45 15 10 9 13 30 15 86 50 24 23 70 46 28 11 9 57 31 16 16 51 25 71 47 4 12 10 32 16 46 52 25 92 72 48 53 13 10 41 33 16 77 53 27 09 73 49 66 14 10 8 34 17 09 54 28 22 74 50 79 15 11 18 35 17 42 55 29 35 75 51...

Страница 79: ...29 8 85 63 21 105 85 78 125 108 35 145 130 93 86 64 33 106 86 91 126 109 48 146 132 05 87 65 46 107 88 04 127 110 61 147 133 18 88 66 59 108 89 16 128 111 74 148 134 31 89 67 72 109 90 29 129 112 87 149 135 44 90 68 85 110 91 42 130 114 150 136 57 91 69 98 111 92 55 131 115 12 151 137 7 92 71 11 112 93 68 132 116 25 152 138 83 93 72 23 113 94 81 133 117 38 153 139 95 94 73 36 114 95 94 134 118 51 ...

Страница 80: ...185 176 07 205 198 65 225 221 22 166 154 63 186 177 2 206 199 77 226 222 35 167 155 76 187 178 33 207 200 9 227 223 48 168 156 88 188 179 46 208 202 03 228 224 6 169 158 01 189 180 59 209 203 16 229 225 73 170 159 14 190 181 72 210 204 29 230 226 86 171 160 27 191 182 84 211 205 42 231 227 99 172 161 4 192 183 97 212 206 55 232 229 12 173 162 53 193 185 1 213 207 67 233 230 25 174 163 66 194 186 2...

Страница 81: ...apping Continued Reflectivity Index 0 255 Reflectivity 240 238 15 241 239 28 242 240 41 243 241 53 244 242 66 245 243 79 246 244 92 247 246 05 248 247 18 249 248 31 250 249 44 251 250 56 252 251 69 253 252 82 254 253 95 255 255 08 ...

Страница 82: ...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 website are properties of their respective owners The software included in this product contains copyright that is registered under Hesai Technology Any third party is not permitted except as expr...

Страница 83: ... 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 Wechat ...

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