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3.1.3

Point Cloud Data Analysis

Take Channel 5 in Block 2 as an example:

■ Analyze the vertical angle of a data point

The designed vertical angle of Channel 5 is 14.277°, according to Appendix I (Channel Distribution)

Notes

The accurate vertical angle is recorded 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, 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 = ①

②

③

① Rotor reference angle during the current round of firing

In the Azimuth field of Block 2.

② Horizontal angle offset of the channel

The designed offset for Channel 5 is 0°, according to Appendix I (Channel Distribution Table).

The accurate horizontal angle offset is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution).

③ Firing time angular offset of the channel = ④ * ⑤

Содержание XT32M2X

Страница 1: ...XT32M2X 32 Channel Medium Range Mechanical Lidar User Manual HEVLWH...

Страница 2: ...6 2 4 Get Ready to Use 30 3 Data Structure 31 3 1 Point Cloud Data Packet 32 3 2 GPS Data Packet 39 4 Web Control 45 4 1 Home 46 4 2 Settings 48 4 3 Azimuth FOV 56 4 4 Operation Statistics 59 4 5 Upgr...

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: ...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: ...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 Eac...

Страница 14: ...ical angle offset The offsetted angles 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...

Страница 15: ...he latest version Continued on the next page MECHANICAL ELECTRICAL OPERATIONAL Wavelength 905 nm Laser Class Class 1 Eye Safe Ingress Protection IP6K7 Dimensions Height 75 0 mm Top Bottom 89 0 93 0 mm...

Страница 16: ...values 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 temp...

Страница 17: ...90 2 1 0 1 2 Accuracy cm Target Distance m Accuracy 50 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 0 5 1 3 5 10 20 30 50 70 90 2 1 0 1 2 Accuracy cm Target Distance m Accuracy 10 Refl...

Страница 18: ...perature outdoors all channels 0 5 1 3 5 10 20 30 50 70 90 0 0 5 1 1 5 2 2 5 Precision cm Target Distance m Precision 50 Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 0 5 1 3 5 10 20 30...

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

Страница 20: ...18 Figure2 2 Bottom View Unit mm...

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

Страница 22: ...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 23: ...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 24: ...22 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 25: ...t TX YELLOW 1 to 1 V 28 AWG Notes Red and Blue wires are unused 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...

Страница 26: ...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...

Страница 27: ...ce 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...

Страница 28: ...26 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 29: ...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 s...

Страница 30: ...28 2 3 2 Connection Figure 2 9 Connection Box Connection with GPS...

Страница 31: ...29 Figure 2 10 Connection Box Connection with PTP...

Страница 32: ...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 33: ...puts Point Cloud Data Packets and GPS Data Packets Each data packet consists of an Ethernet header and UDP data Unless otherwise specified all the multi byte fields are unsigned values in little endia...

Страница 34: ...cast 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 re...

Страница 35: ...Subclass of the point cloud UDP packet structure Currently 0x01 Reserved 2 Header 6 bytes Field Bytes Description Laser Num 1 0x20 32 channels Block Num 1 0x06 6 blocks per packet First Block Return...

Страница 36: ...below Azimuth 2 2 For Block 2 Block 2 128 For Block 2 Azimuth 6 2 For Block 6 Block 6 128 For Block 6 Each Block in the Body 4 32 128 bytes Field Bytes Description Channel X 4 2 byte Distance Distance...

Страница 37: ...The absolute UTC time of this data packet accurate to the second Each Byte Range Year current year minus 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 s...

Страница 38: ...ongest Strongest Strongest Strongest Strongest Strongest Strongest 0X33 Single Return First First First First First First First 0X39 Dual Return Last Strongest Last Strongest Last Strongest Last Stron...

Страница 39: ...tive 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 ang...

Страница 40: ...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...

Страница 41: ...e 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 sec...

Страница 42: ...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 43: ...00 NMEA sentence that contains date and time ASCII code valid till 2 bytes after the asterisk The lidar can receive either GPRMC or GPGGA see Section 4 2 Web Control Settings Reserved 388 388 bytes of...

Страница 44: ...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 45: ...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 46: ...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 47: ...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 48: ...XT32M2X P N XT32M2X B01 S N XTXXXXXXXXXXXXXX MAC Address XX XX XX XX XX XX Software Version 2 1 5 Sensor Firmware Version 2 1 3 Controller Firmware Version 2 0 11 Button Description Device Log Click...

Страница 49: ...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 50: ...55 255 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 First Last and Strongest Sync Angle 0 Trigger Method Angle Ba...

Страница 51: ...ndby 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...

Страница 52: ...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 53: ...nd 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 locke...

Страница 54: ...inearly represents target reflectivity 0 to 255 Nonlinear Increases the contrast in low reflectivity regions see Appendix IV Nonlinear Reflectivity Mapping Interstitial Points Filtering OFF default ON...

Страница 55: ...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 56: ...Section 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 s Timestamp using the current PPS signal When...

Страница 57: ...ault 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 15...

Страница 58: ...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 59: ...57 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 60: ...58 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 61: ...se 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...

Страница 62: ...nd 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...

Страница 63: ...61 5 Communication Protocol To receive Hesai lidar s PTC Pandar TCP Commands and HTTP API Protocols please contact Hesai technical support...

Страница 64: ...re 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 l...

Страница 65: ...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 66: ...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 67: ...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 dis...

Страница 68: ...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 transm...

Страница 69: ...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 70: ...ata Horizontal Angle Azimuth Offset Vertical Angle Elevation Channel in UDP Data Horizontal Angle Azimuth Offset Vertical Angle Elevation 01 Top 0 19 5 17 0 1 3 02 0 18 2 18 0 2 6 03 0 16 9 19 0 3 9 0...

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: ...s 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 eac...

Страница 73: ...l 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 Dri...

Страница 74: ...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 75: ...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 76: ...d Single Return Mode Block Start Time s Block 8 t0 5 632 Block N t0 5 632 50 8 N Block 3 t0 5 632 50 5 Block 2 t0 5 632 50 6 Block 1 t0 5 632 50 7 Dual Return Mode Block Start Time s Block 8 Block 7 t...

Страница 77: ...nel Assume that the start time of Block m is T m m 1 2 6 then the laser firing time of Channel n in Block m is t m n T m t n n 1 2 32 Firing time offset unit s Channels 1 to 16 t n 2 888 n 1 0 368 Cha...

Страница 78: ...les the estimated cable resistance is r 0 3L unit 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...

Страница 79: ...nsumption 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 Dur...

Страница 80: ...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...

Страница 81: ...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...

Страница 82: ...9 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 14...

Страница 83: ...85 176 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 22...

Страница 84: ...pping 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...

Страница 85: ...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 86: ...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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