Hesai PandarQT User Manual
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Hesai PandarQT User Manual

64-channel short-range mechanical lidar
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Q01-en-2002A1
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-2002A1 PandarQT 64-Channel Short-Range Mechanical LiDAR User Manual HESAI WeChat...

  • Page 2: Table Of Contents

    Contents 1 Introduction ................... 4 Azimuth FOV ................. 29 Operation Statistics ..............32 Operating Principle ................ 4 Upgrade ..................33 LiDAR Structure ................5 Channel Distribution ..............6 5 PandarView ..................34 Specifications ................. 7 Installation ..................34 2 Setup...................... 8 Use ....................
  • Page 3 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 PandarQT. 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 Laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1.4 Default Rotation Direction Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 Coordinate System (Isometric View) (Top View) The LiDAR's coordinate system is shown above. The Z-axis is the axis of rotation. By default, the LiDAR rotates in the clockwise direction in the top view.

  • Page 8: Channel Distribution

    Figure 1.6 Laser Firing Position (Unit: mm) Each channel also has an intrinsic horizontal angle offset, 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 Protocol (Chapter 6).

  • Page 9: Specifications

    Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Laser Class Class 1 Eye Safe Channel Ingress Protection IP67 & IP69K Range 0.1 to 30 m (at 20% reflectivity) Dimensions Height: 76.0 mm Range Accuracy ±3 cm (typical) Diameter: 80.2 mm Range Precision 2 cm (typical) Operating Voltage DC 9 to 55 V...

  • 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 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 13 The 4-pin male socket (recommended): Pin # Description Voltage 12 V Ethernet_TRX+ -1 V to 1 V Ethernet_TRX- -1 V to 1 V The 8-pin male socket (optional, not recommended): Pin # Description Voltage 12 V Ethernet_TX+ -1 V to 1 V Ethernet_TX- -1 V to 1 V Ethernet_RX+...
  • Page 14 Extension Cable The cable length is 2 m by default. Contact Hesai if you need customized cables for connecting the LiDARs to your control units directly. The maximum allowable diameter of power wires is 0.643 mm, 22 AWG. When choosing cables, please check their voltage drop to ensure a minimum of 9 V DC input to the LiDARs.

  • Page 15: Connection Box (Optional)

    Connection Box (Optional) Users may connect the LiDAR directly or using the connection box. This device converts automotive 100BASE-T1 to 100BASE-TX typical Ethernet, as well as providing a power port and a GPS port. Figure 2.8 Connection Box - Connection (Unit: mm)
  • Page 16 2.3.1 Connection Box Interfaces Figure 2.9 Connection Box (Front) Figure 2.10 Connection Box (Back) Port # Port Name Description Standard Ethernet Port RJ45, 100BASE-TX Ethernet Power Port DC power adapter with voltage ranging from 12 V to 48 V DC Recommended minimum power output: 18 W Port size: Φ6.3 mm (external), Φ2 mm (internal) GPS Port...
  • Page 17 2.3.2 Connection Figure 2.11 Connection Box - Connection NOTE Refer to 10 when PTP protocol is used.

  • Page 18: Get Ready To Use

    Get Ready to Use The LiDAR does not have a power switch. It starts operating once connected to power and the Ethernet. 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:...

  • Page 19: Data Structure

    3 Data Structure UDP/IP Ethernet (Automotive 100BASE-T1, Slave Mode) is used for data output. Output data includes Point Cloud Data Packets and GPS Data Packets. 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...

  • Page 20: 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 Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx)
  • Page 21 The number of returns (i.e. echoes) that each channel generates 0x01 - Single Return 0x02 - Dual Return UDP Seq Whether the packet includes a UDP sequence number field 0x00 - UDP sequence OFF 0x01 - UDP sequence ON NOTE Always 0x01 for PandarQT...
  • Page 22 ■ Body Body: 1032 bytes (4 blocks) Block 1 Block 2 Block 3 Block 4 Azimuth 1 Azimuth 2 Azimuth 3 Azimuth 4 Channel 1 Channel 1 Channel 1 Channel 1 Channel 2 Channel 2 Channel 2 Channel 2 Channel 64 Channel 64 Channel 64 Channel 64...
  • Page 23 ■ Tail Tail: 24 bytes Field Bytes Description Reserved 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 shut High Temperature down after 60 s. The flag remains 0x01 during the 60 s and the shutdown period Shutdown Flag ·...
  • Page 24 Take PandarQT's Channel 5 in Block 2 as an example: 1) Vertical angle of Channel 5 is -43.465°, according to the calibration file included with each LiDAR NOTE 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 25: Gps Data Packet

    GPS Data Packet GPS Data Packets will be supported in a later version.

  • 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/index.html NOTE Google Chrome or Firefox is recommended.

  • Page 27: Home

    Home Spin Rate of the motor (revs per minute) = frame rate (Hz) * 60 PTP Status No PTP master is selected; only the LiDAR's clock Free Run is used Slave is trying to sync with the selected PTP Tracking Master, but the offset is more than 100 μs Offset between the Slave and the 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 the left-hand screenshot and in Section 4.3 .
  • Page 29 (continued) Rotation Clockwise / Counterclockwise Direction Sync Angle is not configurable in counterclockwise rotation Anti- 0-511 Interference To minimize interference, use different Code codes for nearby LiDARs Standby Mode Whether to stop the motor from running and lasers from firing...
  • Page 30 4. Clock Source and PTP Parameters When PTP is selected as the clock source: Clock Source GPS / PTP Profile 1588v2 (default) or 802.1AS In the PTP mode, LiDARs do not output GPS IEEE timing and synchronization standard Data Packets, as detailed in 10 (PTP Protocol). PTP Network UDP/IP (default) or L2 NOTE 4-pin connectors only support PTP as...

  • 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 the channels. Outside the specified angle range, there will be no laser firing or data generated.
  • Page 32 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 33 4.3.3 Multi-section FOV Users can configure up to five 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 34: Operation Statistics

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

  • Page 35: Upgrade

    The screenshot below shows the software and firmware versions described in this manual. 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

    PandarView is a software that records and displays point cloud data from Hesai LiDARs, available in 64-bit Windows 7/8/10 and Ubuntu-16.04. 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 37: Use

    Set the PC's IP address according to Section 2.4 ■ Check Live Data ■ Open a PCAP File Click on and select your LiDAR model to begin receiving data Click on to pop up the "Choose Open File" window. Select a over Ethernet.
  • Page 38 ■ Play a 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 39: Features

    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 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 40 ■ Return Mode ■ UDP Port Users can select from Block 1 Return (i.e. Last Return), Block 2 Enter the UDP port number, and click "Set" to apply it. Return (i.e. Strongest Return), and Dual Return. ■ Channel Selection Click on to show/hide point cloud data from the selected laser channels.
  • Page 41 ■ 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 42 ■ 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 43: Communication Protocol

    6 Communication Protocol Please find Hesai LiDAR's TCP and HTTP API Protocols: · in the USB disk (provided for certain product models), or · at https://www.hesaitech.com/en/download...

  • Page 44: 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 45 (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 46: Troubleshooting

    PandarView · Check the firmware version of the sensor on the Upgrade page of web control. If the version is not shown properly but as "xxxx", contact Hesai for further diagnostics Can receive data on · Make sure the Destination IP and the Destination LiDAR Port are set correctly on the Settings page of web...
  • Page 47 (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, (misaligned points, flashing while Pandar40 requires manual importing) points, or incomplete FOV)

  • Page 48: Absolute Time And Laser Firing Time

    ■ Absolute Time of Point Cloud Data Packets For PandarQT, there are 4 blocks of ranging data in the Body of each Point Cloud Data Packet, as shown below. Each block contains the ranging data from 64 channels, one return per channel.
  • Page 49 Calculation The absolute time of a Point Cloud Data Packet is calculated as the sum of date, time (accurate to the second) and μs time. · Date and Time can be retrieved either from the current Point Cloud Data Packet (6 bytes, year, month, date, hour, minute, second), or from the previous GPS Data Packet (6 bytes of Date and 6 bytes of time).
  • Page 50 ■ Laser Firing Time of Each Channel Assuming that the start time of Block n is tn, the laser firing time can be calculated as follows, with the timing uncertainty Δt ≤ 10 μs. Laser Firing Time of Each Channel (To Be Continued) Firing Sequence Channel # Firing Time (μs)
  • Page 51 Laser Firing Time of Each Channel (Continued) Firing Sequence Channel # Firing Time (μs) Firing Sequence Channel # Firing Time (μs) tn + Δt + 70.90 tn + Δt + 105.20 tn + Δt + 72.97 tn + Δt + 107.26 tn + Δt + 75.02 tn + Δt + 109.32 tn + Δt + 77.08...

  • Page 52: Ptp Protocol

    PTP Protocol The Precision Time Protocol (PTP), also known as the IEEE 1588v2 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. ■ LiDAR Connection When Using PTP Figure 10.1 Connection When Using PTP...
  • Page 53 ■ 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 54: Certification Info

    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 55: 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 56 Hesai Photonics Technology Co., Ltd. Phone: 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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