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Contents Safety Notice.............................................................................................. 1 4.3 Azimuth FOV ................................................................................. 35 1 Introduction ........................................................................................... 4 4.4 Operation Statistics ...................................................................... 38 4.5 Upgrade .................................................................
Safety Notice PLEASE READ AND FOLLOW ALL INSTRUCTIONS CAREFULLY AND CONSULT ALL RELEVANT NATIONAL AND INTERNATIONAL SAFETY REGULATIONS FOR YOUR APPLICATION. ■ Caution To avoid violating the warranty and to minimize the chances of getting electrically shocked, please do not disassemble the device. The device must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the device.
■ Safety Precautions In all circumstances, if you suspect that the device malfunctions or is damaged, stop using it immediately to avoid potential hazards and injuries. Contact an authorized Hesai Technology service provider for more information on device disposal. Handling This device contains metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, burning, piercing, and squeezing may cause damage to the device.
Prolonged Exposure to Hot Surface Prolonged exposure to the device's hot surface may cause discomfort or injury. If the device has been powered and operating for a long time, avoid skin contact with the device and its power adapter. Vibration Strong vibration may cause damage to the device and should be avoided. If you need the mechanical vibration and shock limits of this product, please contact Hesai technical support.
1 Introduction This manual describes the specifications, installation, and data output format of PandarXT. This manual is under constant revision. Please contact Hesai for the latest version. 1.1 Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the object. 2) Diffuse reflection of the laser occurs upon contact with the target object. The beams are detected by the optical sensor.
1.2 LiDAR Structure Multiple pairs of 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 Rotation Direction (Top View) The LiDAR's coordinate system is shown above. The Z-axis is the axis of rotation. The origin is shown as a red dot in Figure 1.6 on the next page. After geometric transforms, all the measurements are relative to the origin.
1.3 Channel Distribution The vertical resolution is 1° across the FOV, as shown in Figure 1.5. Figure 1.5 Channel Vertical Distribution Figure 1.6 Laser Firing Position (Unit: mm) Each channel has an intrinsic angle offset horizontally. The angle offsets are recorded in this LiDAR unit's calibration file. Users can obtain the calibration file by sending the TCP command PTC_COMMAND_GET_LIDAR_CALIBRATION, as described in Hesai TCP API Protocol (Chapter 6).
1.4 Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 905 nm Channel 32 Laser Class Class 1 Eye Safe Range 0.3 to 80 m (at 10% reflectivity) Ingress Protection IP67 Range Accuracy ±5 cm (0.3 to 1 m) Dimensions Height: 76.0 mm ±2 cm (1 to 80 m) Top/Bottom Diameter: 100.00 / 103.00 mm FOV (Horizontal) 360° Operating Voltage DC 9 to 36 V Resolution (Horizontal) 0.09° (5 Hz) Power Consumption 10 W (typical) 0.
2 Setup 2.1 Mechanical Installation Figure 2.
Figure 2.
■ Recommended Installation Figure 2.
2.2 Interfaces Lemo part number: EEG.0T.309.CLN (socket, on the LiDAR) From the eye to the interface Figure 2.4 Lemo Connector (Socket) Pin # Function Color Voltage Pin # Function Color Voltage 1 GPS PPS BLACK TTL 3.
■ Connector Use Connection Disconnection · Turn off the power source · Turn off the power source · Align the red dots on the connector shells · Pull the release sleeve on the male connector to its outermost position and hold there · Push the plug straight into the socket · Pull the plug from the socket NOTE · DO NOT attempt to force open a connection by pulling on the cables or the shells, or by twisting the connectors in any way.
2.3 Connection Box (Optional) Users may connect the LiDAR directly or using the connection box. The connection box comes equipped with a power port, a GPS port, and a standard Ethernet port. Lemo part number: FGG.0T.309.CLAC50Z (plug, on the connection box) Figure 2.
2.3.1 Connection Box Interfaces Figure 2.7 Connection Box (Front) Figure 2.8 Connection Box (Back) Port # Port Name Description a Standard Ethernet Port RJ45, 100 Mbps Ethernet b Power Port Connects to a DC power adapter External power supply: 9 V to 36 V, at least 30 W Port size: Φ6.
2.3.2 Connection . Figure 2.9 Connection Box - Connection NOTE Refer to Appendix III when PTP protocol is used.
2.4 Get Ready to Use The LiDAR does not have a power switch. It starts operating once connected to power and the Ethernet. To receive data on your PC, set the PC's IP address to 192.168.1.100 and subnet mask to 255.255.255.0 For Ubuntu: For Windows: Use the ifconfig command in the terminal: Open the Network Sharing Center, click on "Ethernet" ~$ sudo ifconfig enp0s20f0u2 192.168.1.
3 Data Structure 100 Mbps Ethernet UDP/IP is used for data output. The output data includes Point Cloud Data Packets and GPS Data Packets. Each data packet consists of an Ethernet header and UDP data. Ethernet Header: 42 bytes Pre-Header: 6 bytes Point Cloud Data Packet: 1122 bytes Header: 6 bytes UDP Data: 1080 bytes Body: 1040 bytes Tail: 24 bytes LiDAR Data Additional Info: 4 bytes Ethernet Header: 42 bytes GPS Data Packet: 554 bytes UDP Data: 512 bytes Figure 3.
3.1 Point Cloud Data Packet 3.1.1 Ethernet Header Each LiDAR has a unique MAC address. The source IP is 192.168.1.201 by default, and the destination IP is 0xFF FF FF FF (broadcast). Point Cloud Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC 12 bytes Destination: broadcast (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.
3.1.2 UDP Data All the multi-byte values are unsigned and in little endian format.
■ Header Header: 6 bytes Field Bytes Description Laser Num 1 0x20 (32 channels) Block Num 1 0x08 (8 blocks per packet) Echo Count 1 The first block in this data packet 0x00 - Single Return 0x01 - Last Return in Dual Return mode 0x02 - Strongest Return in Dual Return mode Dis Unit 1 0x04 (4 mm) Echo Num 1 Number of returns (i.e.
■ Body Body: 1040 bytes (8 blocks) Block 1 Block 2 Block 3 ... Block 8 Azimuth 1 Azimuth 2 Azimuth 3 ... Azimuth 8 Channel 1 Channel 1 Channel 1 ... Channel 1 Channel 2 Channel 2 Channel 2 ... Channel 2 ... ... ... ... ... Channel 32 Channel 32 Channel 32 ...
■ Tail Tail: 24 bytes Field Bytes Description Reserved 9 0x01 for high temperature; 0x00 for normal operation High Temperature Shutdown Flag · When high temperature is detected, the shutdown flag will be set to 0x01, and the system will shut 1 down after 60 s.
3.1.3 Point Cloud Data Analysis The analysis of point cloud UDP data consists of three steps.
3.2 GPS Data Packet GPS Data Packets are triggered every second. All the multi-byte values are unsigned and in little endian format. Before NMEA messages are available from the external GPS module Each rising edge of the LiDAR's internal 1 Hz signal triggers a GPS Data Packet. The time and date in the GPS Data Packets are unreal, starting from 00 01 01 00 00 00 (year, month, day, hour, minute, second) and increasing with the internal 1 Hz signal.
3.2.1 Ethernet Header The source IP is 192.168.1.201 by default. The destination IP address is 255.255.255.255 and in broadcast form.
3.2.
■ GPRMC Data Format $GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Can be in hhmmss (hour, minute, second) format <02> Location Status A (hex = 41) for Valid Position V (hex = 56) for Invalid Position NUL (hex = 0) for GPS being unlocked ... <09> UTC Date Date information Can be in ddmmyy (day, month, year) format ...
■ GPGGA Data Format $GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Can be in hhmmss (hour, minute, second) format ... <06> GPS Fix Quality 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix 6 = estimated (dead reckoning) ...
3.2.3 GPS Data Analysis Figure 3.
4 Web Control Web control is used for setting parameters, checking 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/index.html NOTE Google Chrome or Firefox is recommended.
4.
4.2 Settings 1. Control IP VLAN Tagging can be used when the receiving host also supports VLAN function. · Check the VLAN checkbox and input a VLAN ID (1~4094) · Set the VLAN ID of the receiving host to be the same 2. Destination IP Mode Destination IP Broadcast (default) 255.255.255.255 Multicast 239.0.0.0~239.255.255.255 Unicast Same as the PC's IP address 3.
(continued) Sync Angle 0~360 degrees By default, the LiDAR's 0° position (see Section 1.2) is not in sync with PPS. If syncing is needed, check the check box and input a sync angle. Trigger Method Angle-Based / Time-Based Angle-based: lasers fire every 0.2° at 10 Hz or 0.4° at 20 Hz. Time-based: lasers fire every 55.56 us. Standby Mode Whether to stop the motor from running and lasers from firing 4.
5. Clock Source and PTP Parameters Clock Source GPS / PTP · When GPS is selected as the clock source: GPS Mode GPRMC / GPGGA In PTP mode, LiDARs do not output GPS Data Format of NMEA data received from the Packets (see Appendix III) external GPS module, see Section 3.2.2 Destination Port 10110 (default) Port used for sending GPS Data packets · When PTP is selected as the clock source: Profile 1588v2 (default) or 802.
4.3 Azimuth FOV For Azimuth FOV 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 the channels. Outside the specified angle range, there will be no laser firing or data generated.
4.3.2 For each channel Users can configure one continuous angle range for each channel. Outside the specified range for each channel, there will be no laser firing or data generated in that channel. 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 corresponding button to make it green.
4.3.3 Multi-section FOV Users can configure up to five continuous angle ranges for all channels. Outside the specified ranges, there will be no laser firing or data generated. 4.3.4 Note · Click "Save" to apply your settings. · The angles in degrees are accurate to the first decimal place. · If the Start Angle is larger than the End Angle, then the actual azimuth FOV is the union of [Start Angle, 360°] and [0°, End Angle].
4.4 Operation Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed.
4.5 Upgrade The screenshot below shows the software and firmware versions described in this manual. 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 the past versions will be logged in the Upgrade Log. A software reboot is triggered by clicking the "Restart" button on the top right corner.
5 PandarView PandarView is a software that records and displays point cloud data from Hesai LiDARs, available in 64-bit Windows 7/8/10 and Ubuntu16.04/18.04 5.1 Installation Copy the installation files from the USB disk included in the LiDAR's protective case, or download these files from Hesai's official website: www.hesaitech.com/en/download System Installation Files Installation Steps PandarViewX64_Release_V1.7.6.msi When upgrading PandarView to a newer version, please uninstall the python-2.7.
5.2 Use Set the PC's IP address according to Section 2.4 (Get Ready to Use) ■ Check Live Data Click on and select your LiDAR model to begin receiving data ■ Open a PCAP File Click on to pop up the "Choose Open File" window. Select a over Ethernet. PCAP file to open. ■ ■ Import a Correction File Record a PCAP File Click on to pop up the "Choose Output File" window. Each LiDAR contains a correction file in .CSV format. When opening Click on "Save" to begin recording a PCAP file.
■ Play a PCAP File Button Description Jump to the beginning of the file While paused, jump to the previous frame While playing, rewind. May click again to adjust the rewind speed (2x, 3x, 1/2x, 1/4x, and 1x) / After loading a point cloud file, click to play the file While playing, click to pause While paused, jump to the next frame. While playing, forward. May click again to adjust the forward speed (2x, 3x, 1/2x, 1/4x, and 1x) Jump to the end of the file Save a single frame to .
5.3 Features ■ Viewpoint Selection ■ 3D Projection and Distance Measurement Users can select from the right view, front view, and top view. Both perspective projection (default) and orthographic projection are supported. The distance ruler is available only under orthographic projection. After clicking on , drag your mouse while holding the Ctrl key to make a measurement in units of meters. Click on ■ Mouse Shortcuts again to quit.
■ Return Mode Users can select from Block 1 Return (i.e. Last Return), Block 2 ■ UDP Port Enter the UDP port number, and click "Set" to apply it. Return (i.e. Strongest Return), and Dual Return. ■ Channel Selection Click on to show/hide point cloud data from the selected laser channels. Check/Uncheck the boxes on the left to show/hide each channel. Check the "Enable/Disable all" option at the bottom of the table to show/hide all channels.
■ Point Selection and Data Table Click on and drag the mouse over the point cloud to highlight an area of points. Click on to view the data of the highlighted points, as shown below. Some of the data fields are defined below: To cancel the selection, click on Field Description points The XYZ coordinates of each point azimuth Rotor's current reference angle azimuth_calib Azimuth + horizontal angle offset again and click on any place outside the selected area.
■ Color Schemes Click on to show the color legend at the lower right corner. Click on to open or close the Color Editor. The default color scheme is intensity based. Users can choose from other colors schemes based on azimuth, azimuth_calib, distance, elevation, laser_id, or timestamp.
6 Communication Protocol Please find Hesai LiDAR's TCP and HTTP API Protocols: · in the USB disk (provided for certain product models), or · at https://www.hesaitech.
7 Sensor Maintenance ■ Storage Store the device in a dry, well ventilated place. The ambient temperature shall be between -40°C and +105°C, and the humidity below 85%. Please check the specifications page in this user manual for product IP rating, and avoid any ingress beyond that rating. ■ Transport Package the device in shock-proof materials to avoid damage during transport.
(Continued) 3) Spray the enclosure with warm, neutral solvent using a spray bottle Solvent type 99% isopropyl alcohol (IPA) or 99% ethanol (absolute alcohol) or distilled water Solvent temperature 40 to 60 ℃ 4) When the stains have loosened, dip a piece of lint-free wipe into the solvent made in Step 3, and gently wipe the enclosure 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 enclosure with clean water, a
8 Troubleshooting In case the following procedures cannot solve the problem, please contact Hesai technical support.
(Continued) Symptoms Points to Check Check whether · the horizontal FOV has been changed on the Azimuth FOV page of web control · the Ethernet is overloaded Abnormal packet size · a switch is connected into the network. The data transmitted from other devices may cause network (missing packets) congestion and packet loss Afterwards, · connect the PC only to the LiDAR and check for packet loss Verify that · the LiDAR's enclosure is clean.
Appendix I Channel Distribution ■ Horizontal Angle Each channel's horizontal angle = current reference angle of the rotor + horizontal angle offset · The current reference angle of the rotor is the Azimuth field in the Body of Point Cloud UDP Data · Horizontal angle offset: listed in the table below · Define clockwise in the top view as positive ■ Vertical Angle Each channel's vertical angle is a constant, listed in the table below · 0° represents the horizontal direction · Define upward as positive · Th
PandarXT Channel Distribution (To Be Continued) Channel # Horizontal Angle Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) Offset (Elevation) (in meters) with Reflectivity 01 (Top Beam) 0 15 120 50@10% 02 0 14 120 50@10% 03 0 13 120 50@10% 04 0 12 120 50@10% 05 0 11 120 50@10% 06 0 10 120 50@10% 07 0 9 120 50@10% 08 0 8 120 50@10% 09 0 7 120 80@10% 10 0 6 120 80@10% 11 0 5 120 80@10% 12 0 4 120 80@10% 13 0 3 120
PandarXT Channel Distribution (Continued) Channel # Horizontal Angle Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) Offset (Elevation) (in meters) with Reflectivity 21 0 -5 120 80@10% 22 0 -6 120 80@10% 23 0 -7 120 80@10% 24 0 -8 120 80@10% 25 0 -9 120 50@10% 26 0 -10 120 50@10% 27 0 -11 120 50@10% 28 0 -12 120 50@10% 29 0 -13 120 50@10% 30 0 -14 120 50@10% 31 0 -15 120 50@10% 32 (Bottom Beam) 0 -16 120 50@10% 54
Appendix II Absolute Time and Laser Firing Time ■ Absolute Time of Point Cloud Data Packets For PandarXT, there are 8 blocks of ranging data in the Body of each Point Cloud Data Packet, as shown below. Body: 1040 bytes (8 blocks) Block 1 Block 2 Block 3 ... Block 8 Azimuth 1 Azimuth 2 Azimuth 3 ... Azimuth 8 Channel 1 Channel 1 Channel 1 ... Channel 1 Channel 2 Channel 2 Channel 2 ... Channel 2 ... ... ... ... ... Channel 32 Channel 32 Channel 32 ...
Calculation The absolute time of a Point Cloud Data Packet is calculated as the sum of date, time (accurate to the second) and μs time. · Date and Time can be retrieved either from the current Point Cloud Data Packet (6 bytes, year, month, date, hour, minute, second), or from the previous GPS Data Packet (6 bytes of Date and 6 bytes of time).
■ Start Time of Each Block Assuming that the absolute time of a Point Cloud Data Packet is t0, the start time of each block (the time when the first firing starts) can be calculated. Single Return Mode Block Start Time (μs) Block 8 t0 + 3.28 Block N t0 + 3.28 - 50 * (8 - N) Block 3 t0 + 3.28 - 50 * 5 Block 2 t0 + 3.28 - 50 * 6 Block 1 t0 + 3.28 - 50 * 7 Block Start Time (μs) Block 8 & Block 7 t0 + 3.28 Block 6 & Block 5 t0 + 3.28 - 50 * 1 Block 4 & Block 3 t0 + 3.
Appendix III PTP Protocol The Precision Time Protocol (PTP), also known as the IEEE 1588 standard, is used to synchronize clocks across a computer network. It can achieve sub-microsecond clock accuracy and is suitable for measurement and control systems. ■ LiDAR Connection When Using PTP Figure III.
■ Absolute Packing Time When Using PTP To use PTP as the clock source, users need to connect a PTP master device to get the absolute time. If a PTP clock source is selected, the LiDAR will not transmit GPS Data Packets, but only Point Cloud Data Packets with 4-byte μs timestamps and 6-byte Date & Time fields. The sum of the μs timestamp and the Date & Time is the absolute packing time of this data packet. NOTE · The PTP master device is a third-party product and is not included with the LiDAR.
Appendix IV Certification Info ■ FCC Declaration FCC ID: 2ASO2PANDARXT This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
Appendix V Support and Contact ■ Technical Support For any question not addressed in this manual, please contact us at: service@hesaitech.com www.hesaitech.com https://github.com/HesaiTechnology NOTE Please leave your questions under the corresponding GitHub projects. ■ Legal Notice Copyright 2020 by Hesai Technology. All rights reserved. Use or reproduction of this manual in parts or its entirety without the authorization of Hesai is prohibited.
Hesai Photonics 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.