Hesai QT128C2X, Руководство пользователя

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1.2 Lidar Structure
Laser emitters and receivers are attached to a motor that rotates horizontally.
Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 Coordinate System (Isometric
View)
Figure 1.4 Default Rotation Direction
(Top View)
The lidar's coordinate system is illustrated in Figure 1.3. Z-axis is the axis of rotation.
By default, the lidar rotates clockwise in the top view. To select counterclockwise rotation, see Section 4.2 (Web Control - Settings).
The origin's exact position is shown in Figure 1.6, as a red dot. 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. The horizontal center of the emitter-receiver array defines the lidar's azimuthal position.
For example, when the horizontal center passes the 90° position:
· the lidar is at the 90° position;
· the Azimuth field in the corresponding data block in the Point Cloud Data Packet will be 90°.