Hesai Pandar64 User Manual
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Hesai Pandar64 User Manual

64-channel mechanical lidar
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640-en-2002A1
Pandar64
64-Channel
Mechanical LiDAR
User Manual
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Summary of Contents for Hesai Pandar64

  • Page 1 640-en-2002A1 Pandar64 64-Channel Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents Safety Notice ....................1 Operation Statistics ..............39 Upgrade ..................40 1 Introduction ................... 4 5 PandarView ..................42 Operating Principle ................ 4 LiDAR Structure ................5 Installation ..................42 Channel Distribution ..............6 Use ....................43 Specifications ................. 7 Features ..................

  • Page 3: Safety Notice

    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 4 Power Supply Use only the cables and power adapters provided by Hesai Technology. Only the power adapters that meet the device's power requirements and applicable safety standards can be used. Using damaged cables, adapters or supplying power in a humid environment can result in fire,...
  • Page 5 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. Radio Frequency Interference Please observe the signs and notices on the device that prohibit or restrict the use of electronic devices. Although the device is designed, tested, and manufactured to comply with the regulations on RF radiation, the radiation from the device may still influence other electronic devices.

  • Page 6: Introduction

    1 Introduction This manual describes the specifications, installation, and data output format of Pandar64. This manual is under constant revision. Please contact Hesai for the latest version. Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the object.

  • Page 7: Lidar Structure

    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 8: Channel Distribution

    Each channel has an intrinsic angle offset, both horizontally and vertically. 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...

  • Page 9: Specifications

    Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 905 nm Channel Laser Class Class 1 Eye Safe Range 0.3 to 200 m (at 10% reflectivity) Ingress Protection IP6K7 Range Accuracy ±5 cm (0.3 to 1 m) Dimensions Height: 116.7 mm ±2 cm (1 to 200 m) Top/Bottom Diameter: 118.00 / 116.00 mm FOV (Horizontal)

  • Page 10: Setup

    Setup Mechanical Installation Figure 2.1 Front View (Unit: mm)
  • Page 11 Figure 2.2 Bottom View (Unit: mm)
  • Page 12 ■ Quick Installation Figure 2.3 Quick Installation -10-...
  • Page 13 ■ Stable Installation Figure 2.4 Stable Installation -11-...

  • Page 14: Interfaces

    Interfaces Lemo Contact is the default communication connector. (Another option is the Phoenix Contact, detailed in Appendix IV.) Lemo part number: FGG.2T.316.CLAC75Z (male plug, on the LiDAR) From the eye to the interface Figure 2.5 Lemo Connector (Male Plug) Pin # Function Color Voltage...
  • Page 15 · In case a connector's shell is accidentally pulled off, stop using the connector and contact Hesai technical support. · DO NOT attempt to assemble the connector's shell and cable collet; DO NOT connect a connector without its shell. Doing so may damage the LiDAR's circuits.

  • Page 16: Connection Box (Optional)

    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. The cable length between the connector and the connection box is 1.7 m by default. Lemo part number: PHG.2T.316.CLLC75Z (female socket, on the connection box) Figure 2.7 Connection Box (Unit: mm) -14-...
  • Page 17 2.3.1 Connection Box Interfaces Figure 2.8 Connection Box (Front) Port # Port Name Description Standard Ethernet Port RJ45, 100 Mbps Ethernet Power Port Use DC-005 DC power adapter External power supply: 9 V to 48 V, at least 22 W GPS Port Connector type: JST, SM06B-SRSS-TB Recommended connector for the external GPS module: JST, SHR-06V-S-B...
  • Page 18 For Pandar64 LiDARs with Lemo connectors, a trigger port is added to output external trigger signals. Figure 2.9 Connecting Box (Back) Port # Port Name Description Trigger Port Connector (socket): Molex, LLC 5023520300 Recommended wire connector (plug): Molex, LLC 5023510300 Voltage: 0 V to 3.3 V...
  • Page 19 2.3.2 Connection Figure 2.10 Connection Box - Connection NOTE Refer to Appendix III when PTP protocol is used. -17-...

  • Page 20: Get Ready To Use

    To record and display point cloud data, see Chapter 5 (PandarView) To set parameters, check device info, or upgrade firmware/software, see Chapter 4 (Web Control) The SDKs (Software Development Kits) are published on Hesai's official GitHub page. Please find the download links at: www.hesaitech.com/en/download (Product Documentation →...

  • Page 21: Data Structure

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

  • Page 22: Point Cloud Data Packet

    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)
  • Page 23 3.1.2 UDP Data All the multi-byte values are unsigned and in little endian format. ■ Header Header: 8 bytes Field Bytes Description 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...
  • Page 24 NOTE Under the Dual Return mode, the ranging data from each firing is stored in two adjacent blocks: the odd number block is the last return, and the even number block is the strongest return. If the last and strongest returns coincide, the second strongest return will be placed in the even number block.
  • Page 25 ■ Tail Tail: 22/26 bytes when UDP sequence is OFF/ON Field Bytes Description Reserved 5 bytes 0x01 for high temperature; 0x00 for normal operation · When high temperature is detected, the shutdown flag will be set to 0x01, and the system will High Temperature 1 byte shut down after 60 s.
  • Page 26 1) Vertical angle of Channel 5 is 3.04°, according to Appendix I (Channel Distribution) NOTE The accurate vertical angle is recorded in this LiDAR's 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).

  • Page 27: Gps Data Packet

    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.
  • Page 28 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. GPS Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx) Ethernet Data Packet Type 0x08, 0x00 Internet Protocol...
  • Page 29 3.2.2 UDP Data GPS UDP data: 512 bytes Field Bytes Description GPS time data 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 μs Time 4 bytes In units of μs (lower byte first)
  • Page 30 ■ 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 Typically 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>...
  • Page 31 ■ 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...
  • Page 32 3.2.3 GPS Data Analysis Figure 3.4 GPS Data Packet - UDP Data (Example) Date Field Data (ASCII Code) Characters Meaning Year 0x30 0x32 '0', '2' Month 0x34 0x30 '4', '0' 0x37 0x30 '7', '0' Time Field Data (ASCII Code) Characters Meaning Second 0x38 0x35...

  • Page 33: Web Control

    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.

  • Page 34: Home

    Home Spin Rate of the motor (revs per minute) = frame rate (Hz) * 60 GPS (PPS) Status Lock LiDAR's internal clock is in sync with the GPS Unlock Not in sync NMEA (GPRMC/GPGGA) Status Lock After receiving a valid NMEA message Unlock Not receiving a valid NMEA message in 2 seconds PTP Status...

  • Page 35: Settings

    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.
  • Page 36 （接上页） (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°...
  • Page 37 5. Clock Source and PTP Parameters · When GPS is selected as the clock source: GPS Mode GPRMC / GPGGA Clock Source GPS / PTP Format of NMEA data received from the In PTP mode, LiDARs do not output GPS Data external GPS module, see Section 3.2.2 Packets (see Appendix III) GPS Destination...

  • Page 38: Azimuth Fov

    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. -36-...
  • Page 39 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.
  • Page 40 4.3.3 Multi-section FOV Users can configure up to ten continuous angle ranges (i.e. sections) 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.

  • Page 41: Operation Statistics

    Operation Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed. -39-...

  • Page 42: Upgrade

    Upgrade The screenshot below shows the software and firmware versions described in this manual. A software reboot is triggered by clicking the "Restart" button on the top right corner. Afterwards, the start-up counts in the Operation Statistics page increments by 1. -40-...
  • Page 43 To upgrade the software and firmware · Contact Hesai technical support to obtain the upgrade file · Click the "Upload" button, select the upgrade file, 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.

  • Page 44: Pandarview

    PandarView is a software that records and displays point cloud data from Hesai LiDARs, available in 64-bit Windows 10 and Ubuntu-16.04/18.04. 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...

  • Page 45: 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 over Ethernet. ■ Record Point Cloud Data Click on to pop up the "Choose Output File" window. Specify the file directory and click on "Save"...
  • Page 46 Each LiDAR unit has a corresponding calibration file (.CSV) in the provided USB disk. In case the file is lost, contact a sales representative or technical support engineer from Hesai to receive the file. We recommend importing the calibration file of this LiDAR unit...
  • Page 47 3) Play the .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.

  • Page 48: Features

    Features ■ Standard Viewpoints ■ Mouse Shortcuts Scroll the mouse wheel up/down Press the mouse wheel and drag Hold the left button and drag The bottom-left coordinate axes to zoom in/out to pan the view to adjust the point of view show the current point of view ■...
  • Page 49 ■ Return Mode · Both blocks (default): to show the point cloud data from all blocks · Even/Odd Block: to show the point cloud data from even/odd-numbered blocks NOTE See the definition of blocks in Section 3.1.2 (Point Cloud UDP Data) ■...
  • Page 50 ■ Fire Time Correction After opening a .PCAP file and selecting the LiDAR model in the "Model" menu, the fire time correction file (.CSV) for this model will be loaded. Click on to finetune point cloud display using the fire time correction file. Click on again to cancel the finetuning effects.
  • Page 51 ■ 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: Field Description points...
  • Page 52 ■ 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 53: Communication Protocol

    6 Communication Protocol To receive Hesai LiDAR's TCP and HTTP API Protocols, please contact Hesai technical support. -51-...

  • Page 54: Sensor Maintenance

    7 Sensor Maintenance ■ Storage Store the device in a dry, well ventilated place. The ambient temperature shall be between -40°C and +85°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. ■...
  • Page 55 (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, and gently wipe off the remaining liquid with another piece of lint-free wipe...

  • Page 56: Troubleshooting

    8 Troubleshooting In case the following procedures cannot solve the problem, please contact Hesai technical support. Symptoms Points to Check Verify that Indicator light is off on the · the power adapter is properly connected and in good condition connection box ·...
  • Page 57 (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,...

  • Page 58: Appendix I Channel Distribution

    The Horizontal Angle (Azimuth) Offset and Vertical Angle (Elevation) in the table next page are design values. The accurate values are recorded in this LiDAR's 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 (see Chapter 6). -56-...
  • Page 59 Pandar64 Channel Distribution (To Be Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity 01 (Top Beam) -1.042 14.882 200@20% -1.042 11.032 200@20% -1.042 8.059 200@20% -1.042 5.057...
  • Page 60 Pandar64 Channel Distribution (To Be Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity 5.208 -0.508 200@10% -5.208 -0.675 200@10% -3.125 -0.845 200@10% -1.042 -1.013 200@10% 1.042 -1.184...
  • Page 61 Pandar64 Channel Distribution (To Be Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity -3.125 -3.884 200@20% -1.042 -4.05 200@20% 1.042 -4.221 200@20% 3.125 -4.385 200@20% 5.208 -4.558...
  • Page 62 Pandar64 Channel Distribution (Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity -1.042 -12.974 200@20% -1.042 -13.93 200@20% -1.042 -18.889 200@20% 64 (Bottom Beam) -1.042 -24.897 200@20%...

  • Page 63: Appendix Ii Absolute Time And Laser Firing Time

    Assuming that the absolute packing time of a Point Cloud Data Packet is t0, the end time of each block (the time when all the lasers finish firing) can be calculated. For Pandar64, there are 6 blocks of ranging data in each Point Cloud Data Packet, as shown below. Each block contains the ranging data from 64 channels, one return per channel.
  • Page 64 Single Return Mode The ranging data generated by one round of firing is stored in one block. The calculation of each Block's end time is as follows: Block End Time (μs) Block 6 t0 - 42.58 Block N t0 - 42.58 - 55.56 * (6 - N) Block 3 t0 - 42.58 - 55.56 * 3 Block 2...
  • Page 65 ■ Laser Firing Time of Each Channel Assuming that the end time of Block 6 is t6, the laser firing time can be calculated as follows. Laser Firing Time of Each Channel (To Be Continued) Firing Sequence Channel # Firing Time (μs) Firing Sequence Channel # Firing Time (μs)
  • Page 66 Laser Firing Time of Each Channel (Continued) Firing Sequence Channel # Firing Time (μs) Firing Sequence Channel # Firing Time (μs) t6 - (1.304 * 11 + 1.968 * 00 + 3.62) t6 - (1.304 * 01 + 1.968 * 00 + 3.62) t6 - (1.304 * 11 + 1.968 * 00 + 3.62) t6 - (1.304 * 01 + 1.968 * 00 + 3.62) t6 - (1.304 * 10 + 1.968 * 00 + 3.62)

  • Page 67: Appendix Iii Ptp Protocol

    Appendix III PTP Protocol The Precision Time Protocol (PTP) is used to synchronize clocks across a computer network. It can achieve sub-microsecond clock accuracy. ■ LiDAR Connection When Using PTP Figure III.1 Connection When Using PTP -65-...
  • Page 68 ■ 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 &...

  • Page 69: Appendix Iv Phoenix Contact

    Appendix IV Phoenix Contact Phoenix Contact can be used as the LiDAR's communication connector, in place of the default Lemo Contact in Section 2.2 (Interfaces). Phoenix part number: SACC-M12MS-8CON-PG 9-SH - 1511857 (male, on the LiDAR) SACC-M12FS-8CON-PG 9-SH - 1511860 (female, on the connecting box) From the eye to the interface Figure IV.1 Phoenix Connector (Male)

  • Page 70: Appendix V Nonlinear Reflectivity Mapping

    Appendix V Nonlinear Reflectivity Mapping By default, the 1-byte reflectivity data in the Point Cloud Data Packet linearly represents target reflectivity from 0 to 255%. Alternatively, users can choose the Nonlinear Mapping mode on the Settings page of web control, see Section 4.2 (Settings). The nonlinear relationship is detailed below.
  • Page 71 Nonlinear Reflectivity Mapping (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 0.67 2.69 0.01 0.75 2.81 0.02 0.81 2.94 0.03 0.87 3.07 0.04 0.95 3.21 0.05 1.05 3.36 0.08 1.15...
  • Page 72 Nonlinear Reflectivity Mapping (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 10.17 15.87 22.83 31.17 10.5 16.17 23.25 31.5 10.83 16.5 23.75 31.83 11.12 16.83 24.17 32.25 11.37 17.17 24.5...
  • Page 73 Nonlinear Reflectivity Mapping (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 40.5 51.25 63.25 76.5 41.25 51.75 63.75 77.25 41.75 52.25 64.5 77.75 42.25 52.75 65.25 78.5 42.75 53.5 65.75...
  • Page 74 Nonlinear Reflectivity Mapping (Continued) Reflectivity Index Reflectivity (0~255) 90.5 91.5 92.5 93.25 93.75 94.5 95.5 96.25 96.75 97.5 98.5 99.5 -72-...

  • Page 75: Appendix Vi Certification Info

    Appendix VI Certification Info ■ FCC Declaration ■ IC Statement FCC ID: 2ASO2PANDAR This device complies with Industry Canada licence-exempt RSS standard(s). FCC Warning This device complies with part 15 of the FCC Rules. Operation is subject to Operation is subject to the following two conditions: the following two conditions: (1) this device may not cause harmful (1) this device may not cause interference, and interference, and (2) this device must accept any interference received,...

  • Page 76: Appendix Vii Support And Contact

    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 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.
  • Page 77 Hesai Photonics Technology Co., Ltd. Phone: +86 400 805 1233 Business Email: info@hesaitech.com Website: www.hesaitech.com Service Email: service@hesaitech.com Address: Building L2, Hongqiao World Centre, Shanghai, China HESAI Wechat...

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