Hesai PandarQT User Manual
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Hesai PandarQT User Manual

64-channel short-range mechanical lidar
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Q01-en-1902A1
PandarQT
64-Channel Short-Range
Mechanical LiDAR
User Manual
HESAI WeChat

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Summary of Contents for Hesai PandarQT

  • Page 1 Q01-en-1902A1 PandarQT 64-Channel Short-Range Mechanical LiDAR User Manual HESAI WeChat...
  • Page 2 There are no user-serviceable parts inside the device. For repairs and maintenance inquiries, please contact an authorized Hesai Technology service provider.  Laser Safety Notice – Laser Class 1 This device satisfies the requirements of •...
  • Page 3 LiDAR is interfering with your medical device, stop using the LiDAR Repair immediately. DO NOT open and repair the device without direct guidance from Hesai Explosive Atmosphere and Other Air Conditions Technology. Disassembling the LiDAR may cause degraded performance, Do not use the device in any area where potentially explosive atmospheres failure in water resistance, or potential injuries to the operator.

  • Page 4: Table Of Contents

    Contents 1 Introduction ......................1 6 Sensor Maintenance ................... 37 1.1 Operating Principle ....................1 7 Troubleshooting ....................38 1.2 LiDAR Structure ......................2 Appendix I PTP Protocol ..................40 1.3 Channel Distribution ....................3 1.4 Specifications ......................4 Appendix II FCC Statement .................. 42 2 Setup .........................

  • Page 5: Introduction

    1 Introduction This manual describes the specifications, installation, and data output format of PandarQT, a 64-channel mechanical LiDAR. This manual is under constant revision. Please contact Hesai for the latest version. 1.1 Operating Principle Distance Measurement: Time of Flight (ToF) A laser diode emits a beam of ultrashort laser pulses onto the object.

  • Page 6: Lidar Structure

    1.2 LiDAR Structure 64 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.

  • Page 7: Channel Distribution

    1.3 Channel Distribution The vertical resolution is unevenly distributed across all channels. Figure 1.5 Channel Vertical Distribution Figure 1.6 Laser Firing Position...

  • Page 8: Specifications

    1.4 Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Laser Class Class 1 Eye Safe Channel Waterproof Grade IPX7 Range Weight 0.1 to 20 m (at 10% reflectivity) 0.4 kg ±5 cm (0.1 to 0.5 m) Height: 75.0 mm Range Accuracy Dimensions ±2.5 cm (0.5 to 15 m) Diameter: 80.2 mm...

  • Page 9: Setup

    2 Setup 2.1 Mechanical Installation Figure 2.1 Isometric View Figure 2.2 Mounting Base...
  • Page 10  Installation Figure 2.3 Installation Diagram...

  • Page 11: Interfaces

    2.2 Interfaces PandarQT by default uses a 4-pin M8 male socket (with needles inside), which includes power wires and 100BASE-T1 twist-pairs. Another option is an 8- pin male socket with the same size. The use of 4-pin M8 sockets is strongly recommended.
  • Page 12 The optional cable for connecting QT to the connection box is 2 m in length. Contact Hesai if you need customized cables for connecting the LiDARs to your control units directly. The maximum allowable diameter of power wires is 0.511 mm, 24 AWG.

  • Page 13: Connecting Box (Optional)

    2.3 Connecting Box (Optional) This device converts automotive 100BASE-T1 to 100BASE-TX typical Ethernet, as well as providing a power port with 5.5 mm X 2.1 mm socket and a GPS port. Users may connect the LiDAR directly or use the connecting box. The cable length from the connector to the connecting box is 2 m by default.
  • Page 14 2.3.1 Connecting Box Interfaces Table 2.2 Connecting Box Interfaces Port # Port Name Description Standard Ethernet Port RJ45, 100BASE-TX Ethernet Power Port DC power adapter with voltage ranging from 12 V to 48 VDC and a minimum power output of 18 W is suggested GPS Port Connector type: JST SM06B-SRSS-TB Recommended connector for the external GPS module: JST SHR-06V-S-B...
  • Page 15 2.3.2 Connection Figure 2.7 LiDAR Connection When Using the Connecting Box NOTE Refer to Appendix I when PTP protocol is used.

  • Page 16: Use

    2.4 Use The Pandar family LiDARs do not have a power switch. They start operating once wired and powered up. • 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-16.04: For Windows: Use the ifconfig command in the terminal: Open the Network Sharing Center, click on “Ethernet”...

  • Page 17: Data Structure

    3 Data Structure Fast 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. Figure 3.1 Data Structure with UDP Sequence OFF The UDP sequence feature is OFF by default.

  • Page 18: Point Cloud Data Packet

    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. The destination IP address is 0xFF FF FF FF and in broadcast form. Ethernet Header: 42 bytes Ethernet II MAC 12 bytes Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx)
  • Page 19 3.1.2 UDP Data All the multi-byte values are unsigned and in little endian format. Header Header: 8 bytes 0xEEFF 2 bytes SOP (start of packet), 0xEE first Laser N 1 byte 0x40 (64 channels) Block N 1 byte 0x6 (6 blocks per packet) Reserved 1 byte Dis Unit...
  • Page 20 Each Block in the Body: 194 bytes Azimuth 2 bytes Current reference angle of the rotor Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8]. Azimuth Angle = [Azimuth_H, Azimuth_L] / 100° = Azimuth / 100° Channel XX 3 bytes 2-byte distance data Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8] Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4 Maximum Distance Value = (2 ^ 16 –...
  • Page 21 Example of UDP Data Analysis Take PandarQT’s Channel 5 in Block 3 of the UDP Data as an example: 1) Vertical angle of Channel 5 is 43.877°, according to the calibration file included with each LiDAR. 1. Horizontal angle is the current reference angle of the rotor (Azimuth of Block 3) plus the horizontal angle offset (7.388°, according to the calibration file included with each LiDAR).

  • Page 22: Gps Data Packet

    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 $GPRMC 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.
  • Page 23 Table 3.5 GPS Data Packet – Ethernet Header Ethernet Header: 42 bytes 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 the figure below UDP Port Number 4 bytes UDP source port (0x2710, represents 10000)
  • Page 24 3.2.2 UDP Data Table 3.6 GPS Data Packet – UDP Data GPS UDP data: 512 bytes GPS time data 18 bytes Header 2 bytes 0xFFEE, 0xFF first Date 6 bytes Year, month, and day (2 bytes each, lower byte first) in ASCII Time 6 bytes Second, minute, and hour (2 bytes each, lower byte first) in ASCII...
  • Page 25 Date Field Data (ASCII Code) Characters Meaning Year 0x39 0x31 '9', '1' Month 0x32 0x30 '2', '0' 0x36 0x32 '6', '2' (UTC) Time Field Data (ASCII Code) Characters Meaning Second 0x33 0x35 '3', '5' Minute 0x34 0x35 '4', '5' Hour 0x31 0x31 '1', '1' μs Time...
  • Page 26 <10> Declination (000.0 to 180.0 degrees) <11> Declination Direction, E (east) or W (west) <12> Mode (only on version NMEA0183 3.00, A = Automatic Positioning, D = Differential, E = Estimation, N = Invalid Data) The LiDAR’s GPS data interface is compatible with a variety of formats. as long as: <01>...

  • Page 27: Web Control

    4 Web Control Web control is used for setting parameters, checking device info, and upgrading. To access web control Connect the LiDAR to your PC using an Ethernet cable Set the IP address according to Section 2.4 Use Enter this URL into your web browser: 192.168.1.201/index.html NOTE Use Google Chrome or Firefox instead of IE.

  • Page 28: Settings

    4.2 Settings 2. Settings Spin Rate 600 rpm / 1200 rpm Destination IP See “Control IP” above (GPS) Sync Angle If set as 0, the LiDAR’s zero-degree position is in sync with PPS Dual Return Type Last / Strongest / Dual Return Clock Source GPS / PTP (In the PTP mode, LiDARs will not output GPS...

  • Page 29: Angle Range

    4.3 Angle Range Users can set azimuth angle range in the “Angle Range” tab. 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 ...
  • Page 30 Laser Based  If laser based angle range method is selected, users will see the 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 exporting the angle range configuration file and then upload the edited configuration file. Please click “Save” to apply your settings.

  • Page 31: Device Info

    4.4 Device Info Software version, hardware version, and firmware version are shown in the “Device Info” tab. Figure 4.5 Device Info Page of Web Control...

  • Page 32: Time Statistics

    4.5 Time Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed in the “Time Statistics” tab. Figure 4.6 Time Statistics Page of Web Control...

  • Page 33: Firmware Upgrade

    4.6 Firmware Upgrade Please ask Hesai for the latest upgrade file if needed. Click the “Upload” tab and select the upgrade file. Reboot the LiDAR when the upgrade is complete. Figure 4.7 Upgrade Page of Web Control...

  • Page 34: Pandarview

    5 PandarView PandarView is a software that records and displays the point cloud data from Hesai LiDARs, available in 64-bit Windows 7/8/10 and Ubuntu-16.04. 5.1 Installation Copy the installation files from the USB disk included in the LiDAR’s explosion-proof box, or download these files from Hesai’s official website: www.hesaitech.com/en/download...

  • Page 35: Use

    5.2 Use Set the PC’s IP address according to Section 2.4 Use.  Check Live Data  Open a PCAP File Click on and select your LiDAR model to begin receiving data over Click on to pop up the “Choose Open File” window. Select a PCAP Ethernet.
  • Page 36  Play a PCAP File Table 5.2 Play Buttons 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.

  • Page 37: Features

    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 measurement 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.
  • Page 38  Return Mode  UDP Port Users can select from Block 1 Return (i.e. Last Return), Block 2 Return (i.e. Enter the UDP Port, and click “Set” to apply it. Strongest Return), and Dual Return.  Channel Selection Click on to show/hide point cloud data from selected laser channels.
  • Page 39  Point Selection and Data Table Click on and drag the mouse over the point cloud to highlight an area of points. Click on to the view the data of the highlighted points, as shown below. Some of the data fields are defined below: Field Description points...
  • Page 40  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.

  • Page 41: Sensor Maintenance

    6 Sensor Maintenance Storage Store the device in a dry, well ventilated environment. The ambient temperature should be between -40°C and +85°C, and the humidity below 85%. Please check the specifications in the device’s user manual for the product IP rating, and avoid any ingress beyond that rating. Transport Package the device in shock-proof materials to avoid damage during transport.

  • Page 42: Troubleshooting

    Check the firmware version of the sensor on the Firmware Upgrade page of web control. If the version is not shown properly but as “xxxx”, contact Hesai for further diagnostics Make sure the Destination IP and the Destination LiDAR Port are set correctly on the Settings page of web control...
  • Page 43 Table 8.1 Troubleshooting (Continued) Symptoms Points to Check Make sure the LiDAR’s enclosure is clean. If not, refer to Chapter 7 Sensor Maintenance for the cleaning method Abnormal point cloud Make sure the LiDAR’s calibration file is imported. (Pandar40P automatically imports the calibration file, while (misaligned points, flashing Pandar40 requires manual importing) points, or incomplete FOV)

  • Page 44: Appendix I Ptp Protocol

    Appendix I 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. ...
  • Page 45  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 UTC time.

  • Page 46: Appendix Ii Fcc Statement

    Appendix II FCC Statement FCC ID: 2ASO2PANDARQT 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. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules.

  • Page 47: Appendix Iii Support And Contact

    NOTE Please leave your questions under the corresponding GitHub projects.  Legal Notice Copyright 2019 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 Technology makes no representations or warranties, either expressed or implied, with respect to the contents hereof and specifically disclaims any warranties, merchantability or fitness for any particular purpose.

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