Hesai Pandar128 User Manual
  1. Manuals
  2. Brands
  3. Hesai Manuals
  4. Measuring Instruments
  5. Pandar128
  6. User manual

Hesai Pandar128 User Manual

128-channel mechanical lidar
Hide thumbs Also See for Pandar128:
Table of Contents

Advertisement

Quick Links

www.hesaitech.com
Pandar128
128-Channel
Mechanical LiDAR
User Manual
HESAI Wechat

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Pandar128 and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Hesai Pandar128

Summary of Contents for Hesai Pandar128

  • Page 1 Pandar128 128-Channel Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents Safety Notice ....................1 High Resolution ................47 Operation Statistics ..............48 1 Introduction ................... 4 Monitor ..................49 Operating Principle ................ 4 Upgrade ..................50 LiDAR Structure ................5 5 PandarView ..................51 Channel Distribution ..............6 Specifications ................. 7 Installation ..................

  • 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. Only the power adapters that meet the product'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 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 Pandar128. 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 128 pairs of laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1.3 Coordinate System Figure 1.4 Default Rotation Direction Figure 1.2 Partial Cross-Sectional Diagram (Isometric View) (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

    The offsets are recorded in this LiDAR unit's calibration file, which is provided when shipping the unit. 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 905 nm Channel Laser Class Class 1 Eye Safe Range Capability 0.3 to 200 m (at 10% reflectivity) Ingress Protection IP6K7 & IP6K9K Range Accuracy ±8 cm (0.3 to 0.5 m, each channel) Dimensions Height: 123.7 mm ±5 cm (0.5 to 1 m, each channel)

  • Page 10: Setup

    2 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 part number: EEG.2T.316.CLN (female socket, on the LiDAR) Looking from the bottom of the LiDAR Figure 2.5 Lemo Connector (Female Socket) -12-...
  • Page 15 2.2.1 Pin Description ■ 1000Base-TX Signal Voltage Signal Voltage Ground (Return) GPS Serial Data -13 to +13 V Ground (Return) Power 9 to 48 V Ethernet BI_DC- -1 to 1 V Power 9 to 48 V Ethernet BI_DC+ -1 to 1 V GPS PPS 3.3 / 5 V Ethernet BI_DB-...
  • Page 16 NOTE For the GPS PPS signal, pulse width is recommended to be over 1 ms, and the cycle is 1 s (rising edge to rising edge) NOTE Before connecting or disconnecting an external GPS signal (either using the cable's GPS wire or via the connection box's GPS port), make sure the LiDAR is powered off.
  • Page 17 · 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 18: Connection Box (Optional)

    Connection Box (Optional) Users may connect the LiDAR directly or using the connection box. The connection box has a power port, a GPS port, and a standard Ethernet port. Lemo part number: FSG.2T.316.CLAC80Z (male plug, on the connection box) Figure 2.7 Connection Box (Unit: mm) -16-...
  • Page 19 ■ 1000Base-TX Signal Voltage Wire Color Signal Voltage Wire Color Ground (Return) Black GPS Serial Data -13 to +13 V Yellow Ground (Return) White Power 9 to 48 V Ethernet BI_DC- -1 to 1 V Blue Power 9 to 48 V Green Ethernet BI_DC+ -1 to 1 V...
  • Page 20 2.3.1 Connection Box Interfaces Figure 2.8 Connection Box (Front) Port # Port Name Description Standard Ethernet Port RJ45, 1000 Mbps Ethernet Power Port Use DC-005 DC power adapter External power supply: 9 to 48 V, 27 W GPS Port Connector part number: JST, SM06B-SRSS-TB Recommended connector for the external GPS module: JST, SHR-06V-S-B Voltage standard: RS232 Baud rate: 9600 bps...
  • Page 21 For Pandar128 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 22 2.3.2 Connection Figure 2.10 Connection Box - Connection NOTE Refer to Appendix III (PTP Protocol) when PTP is used. -20-...

  • Page 23: 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 24: Data Structure

    3 Data Structure The LiDAR outputs Point Cloud Data Packets and GPS Data Packets using 1000 Mbps 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: 935 bytes Header: 6 bytes Body: 776 bytes UDP Data: 893 bytes...

  • Page 25: 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 26 0xEE SOP (start of packet) 0xFF SOP (start of packet) Protocol Version Major To distinguish between product models 0x01 for Pandar128 Protocol Version Minor For each product model, to indicate the current protocol version Currently 0x04 for Pandar128 Reserved -24-...
  • Page 27 ■ Header Header: 6 bytes Field Bytes Description Laser Num 0x80 (128 channels) Block Num 0x02 (2 blocks per packet) First Block Return The first block in this data packet 0x00 - Single Return 0x01 - Return 1 in a Dual Return mode, i.e., Last Return in 0x39 or 0x3B mode, or First Return in 0x3C mode Dis Unit 0x04 (4 mm) Return Num...
  • Page 28 1-byte Reflectivity Reflectivity, in percentage (0 to 255%) Pandar128 supports three single-return modes and three dual-return modes, see the Return Mode field in the Tail of Point Cloud UDP Data. In a dual-return mode, · the measurements from each round of firing are stored in the two blocks of one packet (see table below);...
  • Page 29 ■ Functional Safety Functional Safety: 17 bytes Field Bytes Description FS Version Version number of the functional safety module (currently 0x00) Lidar State [7:5] is the LiDAR's current state, see table below Fault Code Type [4:3] is the type of the fault code in this data packet b-01: current fault b-10: past fault Rolling Counter...
  • Page 30 ■ Tail Tail: 24 bytes Field Bytes Description Reserved Azimuth Flag Azimuth flag is used to determine the laser firing time of a channel, see Appendix II. [15:14] is the azimuth flag of Block 1, and [13:12] the azimuth flag of Block 2. Range: 0~3 (High Performance mode), 0~1 (Standard mode, Energy Saving mode) [11:0] is reserved Operational State...
  • Page 31 (Continued) Field Bytes Description Factory Information 0x42 UDP Sequence Sequence number of this UDP packet 1 to 0xFF FF FF FF in little endian format IMU Temperature Temperature provided by the IMU (inertial measurement unit), as a signed integer Unit: 0.01℃ IMU Acceleration Unit Conversion factor of acceleration, as an unsigned integer Currently 488 (0x01e8)
  • Page 32 (Continued) Field Bytes Description IMU Z Axis Acceleration Acceleration of the Z-axis IMU X Axis Angular Angular velocity of the X-axis, measured by the IMU as a signed integer Velocity Measurement range: ±4000 dps Unit of angular velocity: currently 140 mdps, see the IMU Angular Velocity Unit field E.g.
  • Page 33 The analysis of point cloud UDP data consists of three steps. ■ Analyze the vertical angle, horizontal angle, and distance of a data point Take Pandar128's Channel 5 in Block 2 as an example: 1) Vertical angle of Channel 5 is 12.165°, according to Appendix I (Channel Distribution) ·...
  • Page 34 (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 -32-...

  • Page 35: 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 36 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 37 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 38 ■ 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 39 ■ 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 Typically in hhmmss (hour, minute, second) format <06> GPS Fix Quality 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix...
  • Page 40 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 41: 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 42: 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 GPS Unlock Not in sync NMEA (GPRMC/GPGGA) Status Lock After receiving a valid NMEA message Unlock Not receiving a valid NMEA message PTP Status...

  • Page 43: 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 the screenshots in Section 4.2 and Section 4.3.1.
  • Page 44 (Continued) (Continued) Sync Angle 0~360 degrees By default, the LiDAR's 0° position (see Section 1.2) is not in sync with GPS PPS or the whole second of the PTP clock. If syncing is needed, check the checkbox and input a sync angle. Trigger Method Angle-Based / Time-Based Angle-based: lasers fire every 0.2°...
  • Page 45 (Continued) (Continued) Dynamic / Constant Dynamic: automatic shifting between four states according to ambient temperature - Operational High Performance, Standard, Energy Mode Saving, and Shutdown. See the table below. Constant: shifting only between High Performance and Shutdown. Standby Mode Motor not running and lasers not firing Definition of operational states: Operational States Horizontal Resolution...
  • Page 46 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 PTP Protocol) GPS Destination...

  • Page 47: Azimuth Fov

    Azimuth FOV To set the Azimuth FOV, users can select one of the two modes: for all channels, or multi-section FOV. 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.
  • Page 48 4.3.2 Multi-section FOV Users can configure up to five continuous angle ranges for all channels. Each channel outputs valid data only within its specified range. 4.3.3 Note · Click "Save" to apply your settings. · The angles in degrees are accurate to the first decimal place. ·...

  • Page 49: High Resolution

    High Resolution The horizontal resolution of far field measurement is configurable on-the-fly. Configuration Mode Frame Rate Horizontal Resolution of Far Field Measurement Standard 10 Hz 0.2° for all channels 20 Hz 0.4° for all channels High Resolution 10 Hz 0.1° for the 64 high-res channels (Channel 26 to Channel 89) 0.2°...

  • Page 50: Operation Statistics

    Operation Statistics The LiDAR's operation time in aggregate and in different temperature ranges are listed, as well as the internal temperature and humidity. -48-...

  • Page 51: Monitor

    Monitor The LiDAR's input current, voltage, and power consumption are displayed. -49-...

  • Page 52: Upgrade

    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 53: 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 54: 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 55 ■ 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 56 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 57: 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 58 ■ 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 59 ■ 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 60 ■ 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 61 ■ 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 62: Communication Protocol

    6 Communication Protocol To receive Hesai LiDAR's TCP and HTTP API Protocols, please contact Hesai technical support. -60-...

  • Page 63: Sensor Maintenance

    7 Sensor Maintenance ■ Storage Store the product in a dry, well ventilated place. The ambient temperature shall be between -40°C and +85°C, and the humidity below 85%. Please check Section 1.4 (Specifications) for product IP rating, and avoid any ingress beyond that rating. ■...
  • Page 64 (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 NOTE When using IPA or alcohol, please ensure adequate ventilation and keep away from fire. Solvent temperature 20 to 25℃...

  • Page 65: 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 66 · 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 67 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 68: Appendix I Channel Distribution

    Appendix I Channel Distribution Channel Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Enabled? @10% Reflectivity Enhanced? Instrument Range Res? Horiz. Offset Vertical ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ①...
  • Page 69 Pandar128 Channel Distribution (To Be Continued) Angular Position Instrument Range Channel Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? 3.257° 14.436° 0.3 m 100 m 100 m 100 m @ 10% 3.263°...
  • Page 70 Pandar128 Channel Distribution (To Be Continued) Angular Position Instrument Range Channel Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? -3.311° 4.501° 0.3 m 100 m (140 m) 100 m @ 3% -1.109°...
  • Page 71 Pandar128 Channel Distribution (To Be Continued) Angular Position Instrument Range Channel Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? -7.738° 0.124° 2.85 m 200 m 200 m 200 m @ 10% -1.117°...
  • Page 72 Pandar128 Channel Distribution (To Be Continued) Angular Position Instrument Range Channel Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? 3.345° -2.409° 0.3 m 200 m 200 m 200 m @ 10% -3.353°...
  • Page 73 Pandar128 Channel Distribution (To Be Continued) Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Channel Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? -7.799° -4.951° 2.85 m 200 m 140 m 200 m @ 37% -1.127°...
  • Page 74 Pandar128 Channel Distribution (To Be Continued) Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Channel Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? 1.129° -11.672° 2.85 m 100 m 100 m 100 m @ 10% 3.395°...
  • Page 75 Pandar128 Channel Distribution (Continued) Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Channel Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? -1.145° -21.379° 2.85 m 100 m 25 m 100 m @ 1600% -3.436°...

  • Page 76: 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 2 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 2.
  • Page 77 ■ 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 The start time of each block depends on the horizontal resolution - whether the LiDAR is operating in High Resolution mode or Standard mode (defined in Section 4.4 High Resolution).
  • Page 78 ■ Laser Firing Time of Each Channel Assume that the start time of Block m is T(m), m ∈ {0, 1}, then the laser firing time of Channel n in Block m is t(m, n) = T(m) + Δt(n), n ∈ {1, 2, …, 128}. Δt(n) is determined below: 1) Check the Operational State field in the Tail of the Point Cloud Data Packet Operation states: high performance, standard, energy saving, shutdown...
  • Page 79 Δt(n) – Time Difference between the Channel's Laser Firing Time and the Block's Start Time (Unit: ns) Sorted by Channel (continued on the next page) Operational State High Performance Standard or Energy Saving Angle State Firing Type Near Near Near Near Near Near...
  • Page 80 Δt(n) – Time Difference between the Channel's Laser Firing Time and the Block's Start Time (Unit: ns) Sorted by Channel (continued on the next page) Operational State High Performance Standard or Energy Saving Angle State Firing Type Near Near Near Near Near Near...
  • Page 81 Δt(n) – Time Difference between the Channel's Laser Firing Time and the Block's Start Time (Unit: ns) Sorted by Channel (continued on the next page) Operational State High Performance Standard or Energy Saving Angle State Firing Type Near Near Near Near Near Near...
  • Page 82 Δt(n) – Time Difference between the Channel's Laser Firing Time and the Block's Start Time (Unit: ns) Sorted by Channel (continued on the next page) Operational State High Performance Standard or Energy Saving Angle State Firing Type Near Near Near Near Near Near...
  • Page 83 Δt(n) – Time Difference between the Channel's Laser Firing Time and the Block's Start Time (Unit: ns) Sorted by Channel (continued on the next page) Operational State High Performance Standard or Energy Saving Angle State Firing Type Near Near Near Near Near Near...
  • Page 84 Δt(n) – Time Difference between the Channel's Laser Firing Time and the Block's Start Time (Unit: ns) Sorted by Channel (continued on the next page) Operational State High Performance Standard or Energy Saving Angle State Firing Type Near Near Near Near Near Near...
  • Page 85 Δt(n) – Time Difference between the Channel's Laser Firing Time and the Block's Start Time (Unit: ns) Sorted by Channel (continued) Operational State High Performance Standard or Energy Saving Angle State Firing Type Near Near Near Near Near Near 4436 4436 4436 4436...

  • Page 86: 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 -84-...
  • Page 87 ■ 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 88: Appendix Iv Nonlinear Reflectivity Mapping

    Appendix IV Nonlinear Reflectivity Mapping By default, the 1-byte reflectivity data in Point Cloud Data Packets linearly represents target reflectivity from 0 to 255%. Alternatively, users may choose the Nonlinear Mapping mode, see Section 4.2 (Web Control - Settings). The nonlinear relationship is detailed below. Reflectivity Index (0~255) Figure IV.1 Nonlinear Reflectivity Mapping -86-...
  • Page 89 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 90 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 91 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 92 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 -90-...

  • Page 93: Appendix V 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 94 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...

Table of Contents