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Hesai Pandar40P User Manual

40-channel mechanical lidar
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402-en-1803A1
Pandar40P
40-Channel
Mechanical LiDAR
User's Manual
HESAI Wechat

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Summary of Contents for Hesai Pandar40P

  • Page 1 402-en-1803A1 Pandar40P 40-Channel Mechanical LiDAR User’s Manual HESAI Wechat...
  • Page 2 All reasonable efforts have been made to ensure the accuracy of the information. However, Hesai cannot be held responsible for any errors. Hesai does not warrant the accuracy and reserves the right to make changes to the catalog and its functions at any time without...

  • Page 3: Table Of Contents

    Contents Introduction Appendix I 27-29 01-03 Pandar40P Channel Distribution Operational Principles Appendix II Specifications Point Cloud Data Packet Absolute Time and Installation Guide 30-33 Laser Firing Time Calculations 05-07 Appendix III Mechanical Installation (Metric System) Interface 34-35 PTP Protocol 09-11...

  • Page 4: Operational Principles

    Introduction Pandar40P is a 40-channel mechanical LiDAR. It creates 3D imaging by 360° mechanical rotating through 40 laser diodes inside the housing. Pandar40P’s unique channel distribution makes it more suitable for autonomous driving applications. In addition to the specifications of Pandar40P, this manual also describes the mechanical installation, data outputs format, and GPS timestamp synchronization.
  • Page 5 1.1.2 Structure Description 40 pairs of laser emitters and receivers are attached to a rotating motor inside the LiDAR housing that perform horizontal scans in 360 degrees. 180° Shell 90° 270° Laser Receiver Laser Emitter 0° Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 LiDAR Coordinate System and Rotation Direction NOTE 1) Figure 1.3 shows the coordinate system and the z axis is along the rotation center of the LiDAR.
  • Page 6 1.1.3 Pandar40P Channel Vertical Distribution The vertical angular resolution is 0.33° between Channel 6 and Channel 30; The vertical angular resolution is 1° between Channel 5 and Channel 6, Channel 30 and Channel 38; The vertical angular resolution of the remaining channels is not evenly distributed.

  • Page 7: Specifications

    0.2° (10 Hz), 0.4° (20 Hz) Weight 1.52 kg Height: 116.7 mm; Top Diameter: 116.00 Dimensions FOV (Vertical) 40° (-25° to +15°) mm; Bottom Diameter: 115.00 mm Table 1.1 Prototype Specifications of Pandar40P *Specifications are subject to change without notice. - 0 4 -...

  • Page 8: Installation Guide

    Mechanical Installation (Metric System) 88.90 mm M6 7 mm(MOUNT) φ 98 mm 2×φ4 mm 6 mm For φ4 mm PINS 116.70 mm φ116.00 mm 3×M6 7 mm(MOUNT) φ115.00 mm Figure 2.1 Pandar40P Side View Figure 2.2 Pandar40P Mounting Base - 0 5 -...
  • Page 9 Quick Installation M6 screw 7~9 mm over mounting base 2xΦ4PINS 5~6 mm over mounting base Figure 2.3 Diagram of Quick Installation - 0 6 -...
  • Page 10 Stable Installation M6 screw 7~9 mm over mounting base 3xM6 screw 5~6 mm over mounting base 2xΦ4PINS 5~6 mm over mounting base Figure 2.4 Diagram of Stable Installation - 0 7 -...

  • Page 11: Interface

    Interface Pandar40P uses Lemo Contact as the communication connector. The cable length from LiDAR exit to the tip of the connector is 0.3m. First View: The direction from the eye to the interface as shown Figure 2.5 Lemo Contact Pin #...

  • Page 12: Connecting Box (Optional Component)

    2.3 Connecting Box (Optional Component) Connecting box is the optional component of Pandar40P. Users can choose to connect LiDAR using the connecting box. The connecting box comes equipped with a power port, a GPS port, and a standard ethernet port.
  • Page 13 2.3.1 Connecting Box Interfaces 1 2 3 4 5 6 Cable GPS port pin number from left to right is 1 to 6, and the specific Standard Ethernet Port definition of each pin is shown as follows: Pin No. Direction Pin Description RJ45, 100 Mbps Ethernet PPS synchronizing signal, to receive synchronized...
  • Page 14 2.3.2 How to Connect using Connecting Box Connect the power port to the adapter. Power port and standard Ethernet port Pandar40P Use an Ethernet cable to connect the LiDAR’s and computer’s Ethernet ports. Connecting Box Computer Figure 2.7 How to Connect Using Connecting Box NOTE Please refer to Appendix III for the connection using PTP protocol.

  • Page 15: Get Ready To Use

    To receive the data on your PC, please set the PC IP address to 192.168.1.100 and Subnet mask to 255.255.255.0. Point cloud data can be quickly viewed or recorded by using PandarView, the point cloud data viewer software developed by Hesai. For more on PandarView installation and usage, see Appendix VI PandarView.

  • Page 16: Lidar Data Structure

    LiDAR Data Structure The communication protocol for data output of Pandar40P is Fast Ethernet UDP/IP. The output data includes point cloud data packet and GPS data packet. Each data packet consists of an ethernet header and a UDP data. Ethernet Header: 42 bytes...
  • Page 17 Length 2 bytes (0x04F6, represents 1270 bytes), checksum 2 bytes Table 3.1 Point Cloud Data Packet Ethernet Header Definition IP Address Each Pandar40P has a unique MAC address. The destination IP address is 0xFF and in broadcast form. The default source IP address is 192.168.1.201.
  • Page 18 3.1.2 Point Cloud Data Packet- UDP Data The UDP Data of Pandar40P has a 1262 bytes payload consisting of 1240 bytes ranging data and 22 bytes additional information. All the multi-byte values are the unsigned type and in Little Endian format.
  • Page 19 By now, the direction and distance of this point have been decided, and this obstacle point could be drawn in the polar or rectangular coordinate system. The real-time point cloud data of Pandar40P can be drawn by analyzing every data in the UDP Data Packet using the above method.

  • Page 20: Gps Data Packet Ethernet Header/Udp Data

    3.2 GPS Data Packet Ethernet Header/UDP Data Each GPS Data Packet has a 42 bytes ethernet header and 512 bytes UDP Data. All the multi-byte values are the unsigned type and in Little Endian format. GPS UDP Data Packet will be triggered every second, and the port is 10110.  ...
  • Page 21 IP Address The destination IP address is 0xFF FF FF FF and in broadcast form. The default source IP address is 192.168.1.201. Taking“Internet Protocol (20 bytes)” as an example, it is described as follows: Figure 3.3 GPS Data Ethernet Header Internet Protocol Illustration 3.2.2 GPS Data Packet - UDP Data Every second, one UDP data will be triggered by one GPS PPS.
  • Page 22 Example of GPS Data Packet UDP Data Analysis Figure 3.4 GPS Data Packet UDP Data Illustration Date Year: 0x37, 0x31, convert ASCII code to '7', '1'; means 17 Month: 0x32, 0x31, convert ASCII code to '2', '1'; means 12 Day: 0x30, 0x32, convert ASCII code to '0', '2'; means 20 Time Second: 0x32, 0x35, convert ASCII code to '2', '5';...
  • Page 23 <12> Mode (only on version NMEA0183 3.00, A=Automatic Positioning, D=Differential, E=Estimation, N=Invalid Data) The GPS interface of Pandar40P is compatible with a variety of data formats. The external GPS module GPRMC data format needs to meet the following conditions: the data in <01> is the hour, minute, and second information; the data in <09> is the date information.

  • Page 24: Web Control

    Web Control Web Control can be used to set Pandar40P parameters, check device info, and upgrade. Before setting, please connect LiDAR and the computer using Ethernet cable. Set IP address to 192.168.1.25. Open Web Control After setting, open browser and type URL: 192.168.1.201/index.html to enter the web control homepage.

  • Page 25: Setting

    Setting Pandar40P supports both broadcast (default setting) and unicast. To use broadcast, please set Destination IP as 255.255.255.255. To use unicast, please set Destination IP as the same as PC IP address. Users can choose the spinning rate from 600 rpm and 1200 rpm.

  • Page 26: Angle Range

    Angle Range Users can set azimuth angle range on this page. There are two methods to set angle range: LiDAR based angle range method and laser based angle range method. Figure 4.3 Angle Range Page-LiDAR Based LiDAR Based If LiDAR based angle range method is selected, the start and end angles that users enter will be applied to all 40 channels. In other words, all 40 channels will have the same angle range.
  • Page 27 Laser Based If laser based angle range method is selected, users can see a table as in Figure 4.4. The start and end angles of each laser can be configured individually. Figure 4.4 Angle Range Page-Laser Based Users can edit the start and end angles by first downloading the angle range configuration file and then upload the edited configuration file. Please click “Save”...

  • Page 28: Device Info

    Device Info Software version, hardware version, firmware version can be viewed from device information page. Figure4.5 Device Info Page of Web Control - 2 5 -...

  • Page 29: Firmware Upgrade

    Firmware Upgrade Please ask Hesai for the latest upgrade file if needed. Click on “Upload” button to upload the upgrade file. Please reboot the LiDAR after finishing upgrading. Figure4.6 Upgrade Page of Web Control - 2 6 -...

  • Page 30: Pandar40P Channel Distribution

    Appendix I Pandar40P Channel Distribution Range Capability vs. Reflectivity Horizontal Angle Offset Vertical Angle Instrument Range Channel Number of Laser (Azimuth) (Elevation) (in meters) (in meters) Channel number in The horizontal angle of each line is The vertical angle of each line...
  • Page 31 Horizontal Angle Offset Vertical Angle Instrument Range Range Capability vs. Reflectivity Channel Number of Laser (Azimuth) (Elevation) (in meters) (in meters) -1.042 -1.00 200@10% 3.125 -1.33 200@10% -5.208 -1.67 200@10% -1.042 -2.00 200@10% 3.125 -2.33 200@20% 200@20% -5.208 -2.67 -1.042 -3.00 200@20% 3.125...
  • Page 32 Channel Number of Laser (Elevation) (Azimuth) (in meters) (in meters) -1.042 -10.00 200@20% -1.042 -11.00 200@20% -1.042 -12.00 200@20% -1.042 -13.00 200@20% -1.042 -14.00 200@20% -1.042 -19.00 200@20% 40 (Bottom Line) -1.042 -25.00 200@20% Table I.1 Pandar40P Channel Distribution - 2 9 -...

  • Page 33: Appendix Ii

    Point Cloud Data Packet Absolute Time and Laser Firing Time Calculations Pandar40P transmits two types of UDP Data Packet, including the point cloud UDP Data Packet and the GPS UDP Data Packet, hereafter referred to as Point Cloud Data Packet and GPS Data Packet.
  • Page 34 2 Laser Firing Time Calculation The laser firing time of every laser channel can be calculated by using the absolute time in Point Cloud Data Packet. Assuming the Point Cloud Data Packet's absolute time is t0. Ranging Data 1240 bytes (10 blocks) Block 1 Block 2 Block 3...
  • Page 35 Dual Return Mode There are 10 Blocks in every Point Cloud UDP Data Packet. In the dual return mode, Block (1, 2) are corresponding to dual return ranging data for the same 40 channels laser firing, so they have the same firing time for each laser and the same end time for the Block. Similarly, Block (3, 4) and so on have same firing and end time. The calculation of each Block's end time is as follows: End time of Block5: (t0-28.58-55.56*2) μs;...
  • Page 36 Laser ID 2’s firing time: (t6-28.47) μs； Laser ID 1’s firing time: (t6-42.22) μs； Laser ID 38’s firing time: (t6-28.47) μs； Laser ID 37’s firing time: (t6-42.22) μs； Laser ID 34’s firing time: (t6-29.77) μs； Laser ID 33’s firing time: (t6-43.52) μs； Laser ID 6’s firing time: (t6-31.74) μs；...

  • Page 37: Appendix Iii

    1 How to connect LiDAR using PTP protocol Connect the power port to the adapter. Power port and PTP Master (third party) standard Ethernet port Pandar40P Ethernet Switch Connecting Box Computer Figure III.1 How to Connect LiDAR Using PTP Protocol - 3 4 -...
  • Page 38 2 Absolute Time Calculation of Point Cloud Data Packet In case of clock source from PTP, the user needs to connect a PTP master device to get the absolute time. If PTP clock source is selected, LiDAR transmits only Point Cloud Data Packet with μs timestamps and 6 bytes UTC time. The μs timestamp and UTC time in the Point Cloud Data Packet are used to calculate the packing time of this data packet.

  • Page 39: Appendix Iv

    Appendix IV Communication Protocol This part describes the communication protocol supported by Pandar40P and detailed implementation. 1) Binary format is used to improve the communication performance. 2) Disabled Nagle’s algorithm to improve the real-time performance. 3) Simple protocol includes fixed 8 bytes header and variable command specific payload size.
  • Page 40 Following is the response message format sent from server (LiDAR) to client: Type Length Field Description 0×47 1 byte fixed content 0×74 1 byte fixed content 1 byte the code for command, see command description for details Return Code 1 byte return code from server Data Length 4 bytes...
  • Page 41 PTC_COMMAND_GET_LIDAR_CALIBRATION 1）Function Description: 2）Description for Sending Data Package: To retrieve LiDAR calibration files Command Code: 0x5 Payload Length: 0 byte 3）LiDAR Feedback Message Payload Content: The LiDAR calibration file data Format: CSV Format (ASCII) Including 3 fields (LaserID, Elevation, Azimuth Offset) PTC_COMMAND_PTP_DIAGNOSTICS 1) Function Description: 2) Description for Sending Data Package:...
  • Page 42 3) LiDAR Response Message Payload Content a. PTP STATUS b. PTP TLV PORT_DATA_SET Per IEEE-1588 standard management TLV PORT_DATA_SET PTP Query Type Length Description Fields Length Description the offset between the port identity, including 8 bytes clock identity master_offset 8 bytes portIdentity 10 bytes master/salve...
  • Page 43 c. LinuxPTP TLV TIME_STATUS_NP (0xc000) d. LinuxPTP TLV GRANDMASTER_SETTINGS_NP (0xc001) LinuxPTP specific TLV Fields Length Description Fields Length Description the time difference the clock quality of the current master_offset 8 bytes between master/slave at clockQuality 4 bytes grand master clock the slave the last handshake selected the hw ingress time stamp...
  • Page 44 PTC_COMMAND_GET_INVENTORY_INFO 1）Function Description: 2）Description for Sending Data Package: To retrieve the LiDAR inventory information Command Code: 0x7 Payload length: 0 byte 3）LiDAR Response Message Payload Content Fields Length Description 18 bytes the serial number of the device date_of_manufacture 16 bytes the date of manufacture string of the device in ASCII format yyyy-mm-dd 6 bytes the mac address of the device.
  • Page 45 3）LiDAR Response Message Payload Content Fields Length Description default 192.168.1.201 ipaddr 4 bytes the configure IP address of the device default 255.255.255.0 mask 4 bytes the IP Mask of the device default gateway 4 bytes the default gateway of the device default 255.255.255.255 dest_ipaddr 4 bytes...
  • Page 46 Fields Length Description default 0-GSP clock_source 1 byte the configure clock source, 0-GPS, 1-PTP default 0-off udp_seq 1 byte 0-off, 1-on. whether the point cloud data will include a UDP sequence number field reserved 16 bytes reserved for future Table IV.10 LiDAR Response Message Payload Content PTC_COMMAND_GET_LIDAR_STATUS 1）Function Description: 2）Description for Sending Data Package:...

  • Page 47: Appendix V

    Appendix V Data Structure with UDP Sequence On When UDP sequence is ON, Point Cloud UDP Packet size changes from 1262 bytes to 1266 bytes, with additional information changes from 22 bytes to 26 bytes. Ethernet Header: 42 bytes Point Cloud Data Packet Ranging Data: 1240 bytes UDP Data: 1266 bytes Additional Information: 26 bytes...
  • Page 48 Additional Information: 26 bytes Reserved 5 bytes reserved data, meaningless 0x01 means high temperature; 0x00 means normal operation · during normal operation, shutdown flag keeps being 0x00 High Temperature · if high temperature is detected and system needs to be shut down, the shutdown flag will be set to 0x01, and the 1 byte Shutdown Flag system will be shut down after 60 seconds.

  • Page 49: Phoenix Contact

    Appendix VI Phoenix Contact Pandar40P can use Phoenix Contact (PN: SACC-M12FS-8CON-PG 9-SH) as the communication connector. The cable length from LiDAR exit to the tip of the connector is 0.3 m. First View: The direction from the eye to the interface as shown Figure VI.1 Phoenix Contact...

  • Page 50: Appendix Vii

    Appendix VII PandarView PandarView is a software that is used to play and record the point cloud data. Installations are available on platforms: Windows 7x64/ Windows 8x64/Windows 10x64/Ubuntu-16.04. The installation package can be found in the provided USB disk in the LiDAR box. 1 PandarView Installation Please install the PandarView and set the computer static IP address to 192.168.
  • Page 51 2 PandarView Instructions Check Live Data Record Pcap Files In real-time play mode, click on the icon to pop up the Run PandarView, click on and select your LiDAR "Choose Output File" window. Click on “Save” to begin model to begin receiving data over Ethernet. Windows：Double-click shortcut "Pandar"...
  • Page 52 Play Pcap Files to play the pcap file and visualize Click on the icon to open the "Choose Open File" window. Click on Select the pcap file and click on the icon point cloud data. Figure VII.3 Choose Open File Window Figure VII.4 Ready to Play the Pcap File Import Correction File Each LiDAR comes with a correction file (CSV) in the provided USB disk.
  • Page 53 Play Buttons Button Description Jump to beginning of the file. While paused, click to view point cloud data from previous frame. While playing, rewind (click again for different speeds, such as 2x, 3x, 1/2x, 1/4x, 1x speeds). After the point cloud file has finished loading, click on to play.
  • Page 54 3 PandarView Features View Direction Selection 3D Projection Mode Switching Click on the following buttons to view the point cloud data PandarView enables switching between two types of 3D projection from different directions. methods (Orthogonal Projection and Perspective Projection) through the drop-down menu. In Orthogonal Projection view, click on thereafter while holding “Control”...
  • Page 55 Return Mode Users can switch to different return modes using the “Return Mode” drop-down list: block1 return, block 2 return, and dual return. Point Cloud Data Selection Click on to select visible points. Users can hold down the left Users can click on to display or hide point cloud data from button to box a certain area for selection.
  • Page 56 Click to compensate the azimuth error caused by the delay of laser activation. Color Schemes By clicking on , users can see the current color scheme in the Click on to open “Color Editor”, lower right corner. The drop-down list is used to choose where users can customize colors.
  • Page 57 PandarView Software Version Click “About” in the upper left corner to check the software version. Figure VII.13 PandarView Softeware Version - 5 4 -...

  • Page 58: Appendix Viii

    Warranty and Maintenance If any defect due to faulty software and/or hardware occurs within the warranty period, Hesai Photonics Technology Co., Ltd will provide free maintenance service. Some operations will violate the warranty, including but not limited to the following: 1) The purchase documents have been altered in any way, made illegible or lost.
  • Page 59 Legal Notice All texts, graphics, and pictures in this manual are subject to the copyright of Shanghai Hesai Photonics Technology Co., Ltd and are potentially protected by copyright through third parties. No part of the manual may be reproduced, processed, duplicated or published in any form by photocopying, reprinting or other process, without a written agreement.
  • Page 60 Hesai Photonics Technology Co., Ltd Phone：021-80394947-802 Business Email：info@hesaitech.com Technical Support：021-80394947-915 Service Email：service@hesaitech.com Website：www.hesaitech.com Address：Building L2, Hongqiao World Center, Shanghai HESAI Wechat...

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