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Data Structure

The lidar outputs Point Cloud Data Packets.

Unless otherwise specified, all the multi-byte fields are unsigned values in little endian format.

Figure 3.1 Data Structure

Содержание QT128C2X

Страница 1: ...QT128C2X 128 Channel Short Range Mechanical Lidar User Manual HEVLWH...

Страница 2: ...4 Get Ready to Use 28 3 Data Structure 29 3 1 Point Cloud Data Packet 30 4 Web Control 42 4 1 Home 43 4 2 Settings 45 4 3 Azimuth FOV 52 4 4 Operation Statistics 55 4 5 Upgrade 56 4 6 Log 57 4 7 Secur...

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: ...sassemble 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 Althou...

Страница 7: ...on 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 exc...

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: ...he product 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 th...

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: ...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 acc...

Страница 13: ...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 pos...

Страница 14: ...The vertical resolution is unevenly distributed across all channels as illustrated in Figure 1 5 and detailed in Appendix I Channel Distribution Figure 1 5 Channel Vertical Distribution Figure 1 6 La...

Страница 15: ...le using PandarView see the PandarView user manual or contact a sales representative or technical support engineer from Hesai The angle correction file lists the elevation and azimuth of each channel...

Страница 16: ...ongest Dual Return 5 modes MECHANICAL ELECTRICAL OPERATIONAL Wavelength 940 nm Laser Class Class 1 Eye Safe Ingress Protection IP6K7 IP6K9K Dimensions Height 83 9 mm Top Bottom 85 9 87 0 mm Rated Volt...

Страница 17: ...accuracy difference between the average of multiple measurements and the true value measured under the same conditions Range precision standard deviation of multiple measurements measured under the sa...

Страница 18: ...16 2 Setup 2 1 Mechanical Installation Figure 2 1 Left View Unit mm...

Страница 19: ...17 Figure 2 2 Mounting Base Unit mm...

Страница 20: ...18 2 1 1 Recommended Installation Figure 2 3 Recommended Installation...

Страница 21: ...ea 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 instea...

Страница 22: ...pin Rosenberger male socket with pins inside is used which includes power wires and a 1000BASE T1 twisted pair Rosenberger part number MPS113 40MT5 Z Figure 2 4 Connector Dimensions Unit mm Figure 2 5...

Страница 23: ...GND 0 V 3 Reserved 0 to 3 3 V 1 1 Ethernet_TRX 1 to 1 V 4 NC 1 2 Ethernet_TRX 1 to 1 V Please plug and unplug the connector with care Do not pull twist or squeeze it with excessive force 2 2 2 Cables...

Страница 24: ...wisting 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 Hesa...

Страница 25: ...3 Connection Box Optional Users may connect the lidar directly or using a connection box The connection box converts automotive 1000BASE T1 to 1000BASE T typical Ethernet as well as providing a power...

Страница 26: ...ire Color No Signal Voltage Wire Gauge Wire Color 1 VIN 12 to 48 V 0 75 mm 2 Red 5 NC 0 5 mm 2 Blue 2 Reserved 0 to 3 3 V 0 5 mm 2 Brown Red 6 GND 0 V 0 75 mm 2 Black 3 Reserved 0 to 3 3 V 0 5 mm 2 Ye...

Страница 27: ...r part number PJ 057AH c Reserved Port Do not connect this port to external signals Figure 2 7 Connection Box Back Port Port Name Description d Reserved Port Do not connect this port to external signa...

Страница 28: ...26 Connection Figure 2 8 Connection with PTP Software Simulation Connection Box Computer Connect the power port to the adapter Lidar Power port and standard Ethernet port...

Страница 29: ...27 Figure 2 9 Connection with PTP Hardware Device Connection Box Computer Connect the power port to the adapter Lidar PTP Master third party Ethernet Switch Power port and standard Ethernet port...

Страница 30: ...ndows Input this ifconfig command in the terminal sudo ifconfig enp0s20f0u2 192 168 1 100 replace enp0s20f0u2 with the local Ethernet port name Open the Network Sharing Center click on Ethernet In the...

Страница 31: ...29 3 Data Structure The lidar outputs Point Cloud Data Packets Unless otherwise specified all the multi byte fields are unsigned values in little endian format Figure 3 1 Data Structure...

Страница 32: ...escription Ethernet II MAC 12 Destination 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...

Страница 33: ...cription 0xEE 1 SOP start of packet 0xFF 1 SOP start of packet Protocol Version Major 1 Main class of the point cloud UDP packet structure Currently 0x03 Protocol Version Minor 1 Subclass of the point...

Страница 34: ...urn Num 1 Number of returns that each channel generates 0x01 one return 0x02 two returns Flags 1 7 and 5 4 are reserved The other bits show whether this data packet contains the following information...

Страница 35: ...12 For Block 2 CRC 1 4 CRC 32 MPEG 2 checksum of the Body For more on the CRC 32 MPEG 2 computation algorithm refer to https www mathworks com matlabcentral fileexchange 72226 crc 32 mpeg 2 computatio...

Страница 36: ...ee table below azimuth changes every packet firing sequence changes every packet indicated by the Mode Flag field in the Tail Return Mode field Block 1 Block 2 Note 0x39 Last return Strongest return I...

Страница 37: ...Counter 2 0 indicates whether the fault reporting system gets stuck Starting from 0 the rolling counter increments by 1 every time the fault message is updated Normally the fault message is updated e...

Страница 38: ...e 2 Firing sequences are defined in Appendix II Firing Time Offset of Each Channel Reserved 6 Return Mode 1 0x33 First Return 0x34 Second Return 0x37 Strongest Return 0x38 Last Return 0x39 Dual Return...

Страница 39: ...1 to 31 Hour 0 to 23 Minute 0 to 59 Second 0 to 59 Timestamp 4 The s time part of the absolute time of this data packet defined in Appendix II Unit s Range 0 to 1000000 s 1 s Factory Information 1 0x4...

Страница 40: ...int Cloud UDP Data from Pre Header to Tail appended with UDP Sequence Algorithm HMAC SHA256 256 bits Data is set to zero when this function is off This field is added after specifying a Shared Secret...

Страница 41: ...d in this LiDAR s unit s angle correction file see Section 1 3 Channel Distribution 0 is the horizontal direction define upward as positive see Figure 1 5 Channel counts from 1 bottom to top Analyze t...

Страница 42: ...t is recorded in this lidar s unit s angle correction file see Section 1 3 Channel Distribution Firing time offset of the current firing channel Look up the table in Appendix II Absolute Time of Point...

Страница 43: ...he 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 Horizon...

Страница 44: ...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 45: ...s Spin Rate 600 rpm PTP Free Run Device Info Model QT128C2X P N QT128C2X C02 S N QTXXXXXXXXXXXXXX MAC Address XX XX XX XX XX XX Software Version 3 1 17 Sensor Firmware Version 3 1 13 Controller Firmwa...

Страница 46: ...e 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 with...

Страница 47: ...dress 192 168 1 201 IPv4 Mask 255 255 255 0 IPv4 Gateway 192 168 1 1 Settings Destination IP 255 255 255 255 Lidar Destination Port 2368 Spin Rate 600 rpm Return Mode First and Last Return Sync Angle...

Страница 48: ...fset for Lidar Lock 1 100 s 1 Retro Multi Reflection Filtering OFF Rotation Direction Clockwise Standby Mode In Operation Standby Save Button Description Reset All Settings Reset all the configurable...

Страница 49: ...ion Settings Parameter Options Description Spin Rate 600 RPM default 1200 RPM The setting spin rate is also shown on web control see Section 4 1 Web Control Home Return Mode Single Return First Strong...

Страница 50: ...ple lidars Connect the lidars to the same clock source and set the same sync angle and these lidars will rotate to that same azimuthal position at every full second Trigger Method Angle Based Time Bas...

Страница 51: ...49 Parameter Options Description Standby Mode In Operation default Standby In Standby mode the motor stops running and lasers stop firing...

Страница 52: ...ce PTP Detailed in Appendix III PTP Protocol Profile 1588v2 default 802 1AS 802 1AS Automotive IEEE timing and synchronization standard Time Offset for Lidar Lock 1 to 100 s integer Specify the upper...

Страница 53: ...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 1 Time interval between Sync messages De...

Страница 54: ...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 55: ...53 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 56: ...54 4 3 2 Multi section FOV Input multiple 2 sets of Start Angles and End Angles to form multiple continuous angle ranges...

Страница 57: ...parameters are shown in real time Start Up Counts 146 Internal Temperature 56 26 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 58: ...nfirm 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 rebo...

Страница 59: ...57 4 6 Log The process logs in this page can be used for software troubleshooting Button Description Clear ALL Clear all logs not yet supported Download ALL Download all logs...

Страница 60: ...on HTTP Point Cloud Signature Share Secret Key Save Cyber Security Master Switch ON Login Control Authentication ON Current Password Current Password Forgot Password New Password New Password Confirm...

Страница 61: ...4 8 Login Secure Connection OFF Use PTC and HTTP cleartext protocols ON Use PTCS and HTTPS encrypted protocols Point Cloud Signature Users can change the shared secret key Notes Point cloud signature...

Страница 62: ...ure to change the password back to default New Password Format 8 to 30 characters Containing at least one digit and one letter case sensitive Special characters are allowed Confirm New Password In cas...

Страница 63: ...ange Certificate Upload Remove HTTP Connection HTTPS Parameter Options Description PTC Connection TLS default mTLS PTC connection mode TLS one way auth Only the user authenticates the lidar mTLS two w...

Страница 64: ...int Cloud Signature Parameter Options Description Shared Secret Key 8 to 32 digits or letters case sensitive Used for negotiating a session key see Section 4 9 3 Cybersecurity Configuration Point Clou...

Страница 65: ...h on the Security page is ON https 192 168 1 201 redirects to the Login page Username admin Password Default 123456 To effectively implement login control please change the default password see Sectio...

Страница 66: ...Upgrade Secure boot Firewall port exceptions Port 9347 PTC PTCS Port 80 HTTP Port 443 HTTPS and Ports 319 and 320 PTP 1588v2 Entity Certificate An entity certificate is saved in each lidar unit contai...

Страница 67: ...ay change Certificate chain Hesai_Ca_Chain crt Comprised of the above root and intermediate certificates In case you need to obtain the CA certificates again contact a sales representative or technica...

Страница 68: ...66 1 Go to the Settings Options Preference page of your browser Input Certificate in the search bar Select Manage View Certificates...

Страница 69: ...e intermediate certificate under the former tab and upload the root certificate under the latter tab If only one tab is named Authorities see right hand screenshot click Import to upload the intermedi...

Страница 70: ...68 In case the following warnings appear select Trust this CA to identify websites...

Страница 71: ...69 3 When the import is complete the CA certificate appears in the dialog box Double click to see detailed information...

Страница 72: ...sure your user certificate is always valid with or without an external clock source the start date of the validity period should be 2019 01 01 or an earlier date the expiry date should be later than...

Страница 73: ...n The process of signature generation shown in the flowchart below The client and the lidar negotiate and exchange random numbers which are used for calculating a session key The session key is used f...

Страница 74: ...bersecurity can communicate using the encrypted PTCS PTC over TLS and HTTPS HTTP over TLS API Data format is the same with the cleartext PTC HTTP API To use PTCS make sure your TLS version is 1 3 or a...

Страница 75: ...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 76: ...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 77: ...ements 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 u...

Страница 78: ...nfrared sensor card or a phone camera without infrared filter If a connection box is used replace the current Ethernet cable with another cable of at least Cat 6 Cat 7 or higher is recommended Power o...

Страница 79: ...connect the lidar to another PC power on 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...

Страница 80: ...ge of web control motor s spin rate is steady on the Home page of web control Lidar s internal temperature is between 40 and 110 on the Operation Statistics page of web control Afterwards check for pa...

Страница 81: ...tribution Channel No All channels are listed in the ascending order of Channel No In the vertical high resolution region 19 to 36 the vertical angles of Channels 78 to 96 alternate with those of Chann...

Страница 82: ...8 5 Bank A 8 833 46 695 15 m 0 8 6 Bank A 8 603 45 369 15 m 0 8 7 Bank A 8 396 44 090 15 m 0 8 8 Bank A 8 209 42 852 15 m 0 8 9 Bank A 8 040 41 651 20 m 0 8 10 Bank A 7 885 40 482 20 m 0 8 11 Bank A 7...

Страница 83: ...Bank A 6 549 25 378 20 m 0 8 26 Bank A 6 498 24 473 20 m 0 8 27 Bank A 6 450 23 575 20 m 0 8 28 Bank A 6 405 22 685 20 m 0 8 29 Bank A 6 363 21 802 20 m 0 8 30 Bank A 6 323 20 926 20 m 0 8 31 Bank A 6...

Страница 84: ...0 8 45 Bank B 5 955 8 320 20 m 0 8 46 Bank B 5 943 7 503 20 m 0 8 47 Bank B 5 927 6 688 20 m 0 8 48 Bank B 5 923 5 874 20 m 0 8 49 Bank B 5 915 5 061 20 m 0 8 50 Bank B 5 908 4 250 20 m 0 8 51 Bank B...

Страница 85: ...Bank C 5 949 7 910 20 m 0 4 66 Bank C 5 962 8 728 20 m 0 4 67 Bank C 5 976 9 547 20 m 0 4 68 Bank C 5 992 10 369 20 m 0 4 69 Bank C 6 008 11 194 20 m 0 4 70 Bank C 6 027 12 020 20 m 0 4 71 Bank C 6 04...

Страница 86: ...Bank C 6 523 24 923 20 m 0 4 86 Bank C 6 575 25 833 20 m 0 4 87 Bank C 6 631 26 751 20 m 0 4 88 Bank C 6 690 27 679 20 m 0 4 89 Bank C 6 752 28 618 20 m 0 4 90 Bank C 6 819 29 567 20 m 0 4 91 Bank C 6...

Страница 87: ...D 6 602 26 292 20 m 0 4 106 Bank D 6 660 27 216 20 m 0 4 107 Bank D 6 721 28 149 20 m 0 4 108 Bank D 6 785 29 093 20 m 0 4 109 Bank D 6 854 30 048 20 m 0 4 110 Bank D 6 928 31 015 20 m 0 4 111 Bank D...

Страница 88: ...ability 10 Reflectivity Horizontal Resolution 10 Hz 121 Bank D 8 209 42 852 15 m 0 4 122 Bank D 8 396 44 090 15 m 0 4 123 Bank D 8 603 45 369 15 m 0 4 124 Bank D 8 833 46 695 15 m 0 4 125 Bank D 9 091...

Страница 89: ...Virtual Starts counting from a virtual UTC time such as 2000 01 01 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...

Страница 90: ...the time when the lidar sends the command that triggers a round of firing that will be stored in the first block This absolute time is output to the Date Time field and the Timestamp field in Point C...

Страница 91: ...time of a Point Cloud Data Packet is t0 the start time of each block i e the time when the first firing starts can be calculated Single Return Mode Block Start Time s Block 1 t0 9 Block 2 t0 9 111 11...

Страница 92: ...o firing sequences are defined below and are executed alternately Firing Sequence 1 Firing Sequence 2 Banks CDB fire Bank A rests Banks CDA fire Bank B rests The current firing sequence is indicated b...

Страница 93: ...p2 are the firing channels of Firing Sequences 1 and 2 respectively The firing channels are listed in the ascending order of t n Firetime1 and Firetime2 are the firing time offsets t n Unit s which ar...

Страница 94: ...456 35 2 312 1 2 312 102 3 768 72 3 768 72 4 624 102 4 624 38 5 48 8 5 48 107 6 936 73 6 936 73 7 792 107 7 792 43 8 648 9 8 648 110 10 104 80 10 104 80 10 96 110 10 96 46 11 816 16 11 816 115 13 272...

Страница 95: ...40 30 824 6 30 824 105 32 28 75 32 28 75 33 136 105 33 136 41 33 992 11 33 992 112 35 448 78 35 448 78 36 304 112 36 304 48 37 16 14 37 16 113 38 616 83 38 616 83 39 472 113 39 472 49 40 328 19 40 328...

Страница 96: ...58 48 106 58 48 42 59 336 12 59 336 111 60 792 77 60 792 77 61 648 111 61 648 47 62 504 13 62 504 114 63 96 84 63 96 84 64 816 114 64 816 50 65 672 20 65 672 119 67 128 85 67 128 85 67 984 119 67 984...

Страница 97: ...4 44 84 68 10 84 68 109 86 136 79 86 136 79 86 992 109 86 992 45 87 848 15 87 848 116 89 304 82 89 304 82 90 16 116 90 16 52 91 016 18 91 016 117 92 472 87 92 472 87 93 328 117 93 328 53 94 184 23 94...

Страница 98: ...imum Source Voltage Calculations can be made as follows Cable length from the power source to the lidar connector is defined as L unit m When using 18 AWG 24 7 km cables cable resistance is estimated...

Страница 99: ...able Cable Total Length L Minimum Source Voltage U 2 m 9 5 V 6 m 10 3 V 10 m 11 1 V 15 m 12 1 V When the lidar s input voltage approaches 55 V make sure there is no additional overshoot in the externa...

Страница 100: ...n to 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...

Страница 101: ...MAP IV Inc sales contact map4 jp Website https www map4 jp Address 2702 JR Gate Tower 1 1 3 Meieki Nakamura ku Nagoya Website...

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