Hesai PandarQT User Manual
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Hesai PandarQT User Manual

64-channel short-range mechanical lidar
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PandarQT
64-Channel Short-Range
Mechanical LiDAR
User Manual
HESAI Wechat

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Summary of Contents for Hesai PandarQT

  • Page 1 PandarQT 64-Channel Short-Range Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents Safety Notice ....................1 Upgrade ..................33 1 Introduction ..................... 4 5 PandarView .................... 34 Operating Principle ................ 4 Installation ..................34 LiDAR Structure ................5 Check Live Data ................35 Channel Distribution ..............6 Record Point Cloud Data .............. 36 Specifications .................

  • Page 3: Safety Notice

    There are no user-serviceable parts inside the product. 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. Using off-spec or damaged cables or adapters, or supplying power in a humid environment can result in fire, electric shock, personal injuries, product damage, or property loss.
  • Page 5 Vibration Strong vibration may cause damage to the product 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 product that prohibit or restrict the use of electronic devices. Although the product is designed, tested, and manufactured to comply with the regulations on RF radiation, the radiation from the product may still influence electronic devices.

  • Page 6: Introduction

    1 Introduction This manual describes the specifications, installation, and data format of PandarQT. This manual is under constant revision. To obtain the latest version, please visit the Download page of Hesai's official website, or contact Hesai technical support. Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the target object.

  • Page 7: Lidar Structure

    LiDAR Structure 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 Default Rotation Direction (Top View) The LiDAR's coordinate system is illustrated in Figure 1.3. Z-axis is the axis of rotation. By default, the LiDAR rotates clockwise in the top view.

  • Page 8: Channel Distribution

    (shown as a yellow dot in Figure 1.6). In case you need to obtain the file again: PTC_COMMAND_GET_LIDAR_CALIBRATION · Send this TCP command , as described in Hesai TCP API Protocol (Chapter 6). · Or contact a sales representative or technical support engineer from Hesai.

  • Page 9: Specifications

    Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 885 nm Channel Ingress Protection IP67 & IP69K Instrument Range 0.1 to 60 m Dimensions Height: 76.0 mm Diameter: 80.2 mm Range Capability 0.1 to 20 m (at 10% reflectivity) Rated Voltage Range DC 12 to 48 V Range Accuracy ±3 cm (typical)

  • Page 10: Setup

    2 Setup Mechanical Installation Figure 2.1 Isometric View (Unit: mm) Figure 2.2 Mounting Base (Unit: mm)
  • Page 11 ■ Recommended Installation Figure 2.3 Recommended Installation ■ Side Installation Figure 2.4 Side Installation...

  • Page 12: Interfaces

    Interfaces PandarQT uses a 4-pin M8 male socket (with pins inside), which includes power wires and a 100BASE-T1 twisted-pair. Figure 2.5 Connector Dimensions (Unit: mm) Figure 2.6 Connector Figure 2.7 Connector Pinout (4-pin) Pin definition is listed below: Pin #...
  • Page 13 ■ Extension Cable (Optional) The default length is 6, 10, or 15 m. Contact Hesai if you need customized cables for connecting the LiDARs to your control units directly. Refer to Appendix IV (Power Supply Requirements) for wire gauge and cable length selection.

  • Page 14: Connection Box (Optional)

    Connection Box (Optional) Users may connect the LiDAR directly or using the connection box. The connection box converts automotive 100BASE-T1 to 100BASE-TX typical Ethernet, as well as providing a power port. Figure 2.9 Connection Box - Connection (Unit: mm) -12-...
  • Page 15 2.3.1 Connection Box Interfaces Figure 2.10 Connection Box (Front) Figure 2.11 Connection Box (Back) Port # Port Name Description Standard Ethernet Port RJ45, 100BASE-TX Ethernet Power Port Connects to a DC power adapter Connector part number: PJ-057AH External power supply: ·...
  • Page 16 2.3.2 Connection Figure 2.12 Connection Box - Connection NOTE Refer to Appendix III when PTP protocol is used. -14-...

  • Page 17: Get Ready To Use

    To set parameters, check device info, or upgrade firmware/software, see Chapter 4 (Web Control) To obtain the SDKs (Software Development Kits) for your product model, · please find the download link at: www.hesaitech.com/en/download (Product Documentation → select product model) · or visit Hesai's official GitHub page: https://github.com/HesaiTechnology -15-...

  • Page 18: Data Structure

    3 Data Structure The LiDAR outputs Point Cloud Data Packets using 100BASE-T1 Automotive Ethernet UDP/IP. All the multi-byte values are unsigned and in little endian format. Ethernet Header: 42 bytes Pre-Header: 6 bytes Point Cloud Data Packet: 1114 bytes Header: 6 bytes UDP Data: 1072 bytes Body: 1032 bytes LiDAR Data...

  • Page 19: 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 255.255.255.255 (broadcast). Point Cloud 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...
  • Page 20 SOP (start of packet) Protocol Version Major To distinguish between product models 0x03 for PandarQT Protocol Version Minor For each product model, to indicate the current protocol version Currently 0x01 for PandarQT Reserved ■ Header Header: 6 bytes Field Bytes...
  • Page 21 ■ Body Body: 1032 bytes Field Bytes Description Azimuth 1 For Block 1: current reference angle of the rotor, in little endian format (lower byte first) azimuth angle = Azimuth / 100° Block 1 For Block 1: measurements made by Channels 1 to 64, see table below Azimuth 2 For Block 2 Block 2...
  • Page 22 ■ Tail Tail: 24 bytes Field Bytes Description Reserved Motor Speed speed_2_bytes [15:0] = speed (RPM) Timestamp The "μs time" part of the absolute time of this data packet (defined in Appendix II) Unit: μs Range: 0 to 1000000 μs (1 s) Return Mode 0x33 for the First Return mode 0x38 for the Last Return mode...
  • Page 23 ■ Additional Info Additional Info: 4 bytes Field Bytes Description UDP Sequence Sequence number of this UDP packet 0 to 0xFF FF FF FF in little endian format -21-...
  • Page 24 3.1.3 Point Cloud Data Analysis The analysis of point cloud UDP data consists of three steps. ■ Analyze the vertical angle, horizontal angle, and distance of a data point Take Channel 5 in Block 2 as an example: 1) Vertical angle of Channel 5 is -43.848°, according to Appendix I (Channel Distribution) NOTE The accurate vertical angle is recorded in this LiDAR's unit's calibration file, see Section 1.3 (Channel Distribution).
  • Page 25 (Continued) ■ Draw the data point in a polar or rectangular coordinate system ■ Obtain the real-time point cloud data by analyzing and drawing every data point in each frame -23-...

  • Page 26: 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 NOTE Google Chrome and Mozilla Firefox are recommended.

  • Page 27: Home

    Home Spin Rate of the motor (revs per minute) = frame rate (Hz) * 60 PTP Status Free Run No PTP master is selected Slave is trying to sync with the selected PTP Tracking Master, but the absolute offset exceeds the user- specified limit in Section 4.2 (Settings) Absolute offset between Slave and Master is Locked...

  • Page 28: Settings

    Settings 1. Reset All Settings By clicking the "Reset All Settings" button on the top-right corner, all configurable parameters in the Settings page and the Azimuth FOV page will be reset to factory defaults. The default values are shown in Section 4.2 and Section 4.3.1. 2.
  • Page 29 (continued) (continued) Time Offset for 1~100 μs (integer) LiDAR Lock Specify the upper limit of the absolute offset between Slave and Master when the LiDAR is in PTP Locked status. See Section 4.1 (Home) Rotation Clockwise / Counterclockwise Direction NOTE After selecting Counterclockwise, refresh the webpage to check that the settings have taken effect.
  • Page 30 4. Clock Source and PTP Parameters · When PTP is selected as the clock source: Clock Source Profile 1588v2 (default) / 802.1AS Detailed in Appendix III (PTP Protocol) IEEE timing and synchronization standard PTP Network UDP/IP (default) or L2 Transport 1588v2: users can select UDP/IP or L2 802.1AS and 802.1AS Automotive: only supports L2 network...

  • Page 31: 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 channels. The LiDAR outputs valid data only within the specified range. -29-...
  • Page 32 4.3.2 For each channel Users can configure one continuous angle range for each channel. Each channel outputs valid data only within its specified range. 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 33 4.3.3 Multi-section FOV Users can configure up to five continuous angle ranges (i.e. sections) for each channel. Each channel outputs valid data only within its specified ranges. 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 34: Operation Statistics

    Operation Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed, as well as the internal temperature. -32-...

  • Page 35: Upgrade

    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.

  • Page 36: Pandarview

    5 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 in the LiDAR's protective case, or download these files from Hesai's official website: www.hesaitech.com/en/download...

  • Page 37: Check Live Data

    Check Live Data Set the PC's IP address according to Section 2.4 (Get Ready to Use) Click on and select your LiDAR model to begin receiving data over Ethernet. -35-...

  • Page 38: Record Point Cloud Data

    Record Point Cloud Data 1) Click on to pop up the "Choose Output File" window. 2) Specify the file directory and click on "Save" to begin recording a .PCAP file. 3) Click on again to stop recording. -36-...

  • Page 39: Play Point Cloud Data

    Play Point Cloud Data 1) Open a .PCAP File Click on to pop up the "Choose Open File" window. Select a .PCAP file to open. 2) Import a Correction File Each LiDAR unit has a corresponding calibration file (.CSV), see Section 1.3 (Channel Distribution). We recommend importing the calibration file of this LiDAR unit If the calibration file of this LiDAR unit is temporarily not at hand, into PandarView (File -- Import Correction File), in order to...
  • Page 40 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 41: 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 42 ■ 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-number blocks NOTE See the definition of blocks in Section 3.1.2 (Point Cloud UDP Data) ■...
  • Page 43 ■ Distance Reference Circles Click on to show/hide the 12 distance reference circles. The actual distances are marked below. To change the color and line width of these circles, click on "Tools" in the menu bar and open "Grid Properties". -41-...
  • Page 44 ■ Fire Time Correction After opening a .PCAP file, import the fire time correction file of this LiDAR model into PandarView (File -- Import FireTime File). Afterwards, click on to finetune point cloud display using the fire time correction file. Click on again to cancel the finetuning effects.
  • Page 45 ■ 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 46 ■ 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 47: Communication Protocol

    6 Communication Protocol To receive Hesai LiDAR's PTC (Pandar TCP Commands) and HTTP API Protocols, please contact Hesai technical support. -45-...

  • Page 48: Sensor Maintenance

    7 Sensor Maintenance ■ Storage Store the product in a dry, well ventilated place. The ambient temperature shall be between -20°C and +65°C, and the humidity below 50%. If the product is to be stored for a long time, we recommend powering on the product at least every two weeks. Please check Section 1.4 (Specifications) for product IP rating, and avoid any ingress beyond that rating.
  • Page 49 (Continued) 3) Spray the cover lens with warm, neutral solvent using a spray bottle Solvent type 99% isopropyl alcohol (IPA) or 99% ethanol (absolute alcohol) or distilled water NOTE When using IPA or alcohol, please ensure adequate ventilation and keep away from fire. Solvent temperature 20 to 25℃...

  • Page 50: Troubleshooting

    8 Troubleshooting In case the following procedures cannot solve the problem, please contact Hesai technical support. Symptoms Points to Check Verify that · power adapter is properly connected and in good condition Indicator light is off on the · connection box is intact connection box ·...
  • Page 51 · PC's firewall is disabled, or that PandarView is added to the firewall exceptions PandarView · the latest PandarView version (see the Download page of Hesai's official website) is installed on the PC Power on again to check if the symptom persists.
  • Page 52 FOV) · If no packet is missing while the point cloud flashes, please update PandarView to the latest version (see the Download page of Hesai's official website) and restart the PC If the point cloud is still abnormal · Try connecting the LiDAR to another PC ·...

  • Page 53: Appendix I Channel Distribution

    Appendix I Channel Distribution The Horizontal Angle (Azimuth) Offsets and Vertical Angles (Elevation) in the table next page are design values. The accurate values are in this LiDAR's unit's calibration file, see Section 1.3 (Channel Distribution) and Section 3.1.3 (Point Cloud Data Analysis). -51-...
  • Page 54 PandarQT Channel Distribution (To Be Continued) Channel # Horizontal Angle Vertical Angle Channel # Horizontal Angle Vertical Angle in UDP Data (Azimuth) Offset (Elevation) in UDP Data (Azimuth) Offset (Elevation) 01 (Bottom) 8.736° -52.121° -5.083° -16.865° 8.314° -49.785° -5.047° -15.368°...
  • Page 55 PandarQT Channel Distribution (Continued) Channel # Horizontal Angle Vertical Angle Channel # Horizontal Angle Vertical Angle in UDP Data (Azimuth) Offset (Elevation) in UDP Data (Azimuth) Offset (Elevation) 5.611° 12.397° -6.887° 45.487° 5.642° 13.877° -7.163° 47.587° 5.676° 15.365° -7.493° 49.795°...

  • Page 56: Appendix Ii Absolute Time And Laser Firing Time

    Appendix II Absolute Time and Laser Firing Time ■ Absolute Time of Point Cloud Data Packets The Body of each Point Cloud Data Packet contains 4 data blocks, detailed in Section 3.1.2 (Point Cloud UDP Data). Single Return Mode The measurements from one round of firing are stored in one block. The absolute time of a Point Cloud Data Packet is the time when the LiDAR sends a command to trigger a round of firing that will be stored in Block 1.
  • Page 57 ■ 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 1 t0 + 25.71 Block 2...
  • Page 58 Δt(n)—Firing Time Offset of Each Channel (Unit: μs) (Continued on the Next Page) Firing Sequence Channel # Δt(n) Firing Sequence Channel # Δt(n) 2.31 44.84 4.37 46.90 6.43 48.95 8.49 51.01 10.54 53.45 12.60 55.52 14.66 57.58 16.71 59.63 19.16 61.69 21.22 63.74...
  • Page 59 Δt(n)—Firing Time Offset of Each Channel (Unit: μs) (Continued) Firing Sequence Channel # Δt(n) Firing Sequence Channel # Δt(n) 87.75 130.28 89.82 132.34 91.87 134.39 93.93 136.45 95.98 98.04 100.10 102.15 105.20 107.26 109.32 111.38 113.43 115.49 117.54 119.60 122.05 124.11 126.17 128.22...

  • Page 60: 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 -58-...
  • Page 61 ■ Absolute Packing Time When Using PTP To use PTP as the clock source, connect a third-party PTP master device to get the absolute time. NOTE · PTP master is a third-party device and is not included with the LiDAR. ·...

  • Page 62: Appendix Iv Power Supply Requirements

    Appendix IV Power Supply Requirements To ensure that the input voltage at the LiDAR's connector is within 12 to 48 V DC, please check the specifications of the power source and the voltage drop over cables. The LiDAR uses 22 AWG power cables. We recommend using 22 AWG cables or cables of thicker wire gauges. ·...

  • Page 63: Appendix V Certification Info

    Appendix V Certification Info ■ FCC Declaration ■ IC Statement FCC ID: 2ASO2PANDARQTV2 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 64: Appendix Vi Support And Contact

    NOTE Please leave your questions under the corresponding GitHub projects. ■ Legal Notice Copyright 2021 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 65 Hesai 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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