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Hesai Pandar20A User Manual

20-channel mechanical lidar
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202-en-1901A1
Pandar20A/B
20-Channel
Mechanical LiDAR
User's Manual
HESAI Wechat

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Summary of Contents for Hesai Pandar20A

  • Page 1 202-en-1901A1 Pandar20A/B 20-Channel Mechanical LiDAR User’s Manual HESAI Wechat...
  • Page 2 All reasonable efforts have been made to ensure the accuracy of the information. However, Hesai cannot be held responsible for any errors. Hesai does not warrant the accuracy and reserves the right to make changes to the catalog and its functions at any time without...

  • Page 3: Table Of Contents

    GPS Data Packet Ethernet Header/UDP Data Web Control Phoenix Contact Appendix VII Open Web Control 49-56 Setting PandarView 25-26 Angle Range Appendix VIII Device Info FCC Statement Firmware Upgrade Appendix I Appendix IV 29-31 58-59 Pandar20A/B-Channel Distribution Support and Contact...

  • Page 4: Operational Principles

    Introduction Pandar20A/B is a 20-channel mechanical LiDAR. It creates 3D imaging by 360° mechanical rotating through 20 laser diodes inside the housing. Pandar20A/B’s unique channel distribution makes it more suitable for autonomous driving applications. In addition to the specifications of Pandar20A/B, this manual also describes the mechanical installation, data outputs format, and GPS timestamp synchronization.
  • Page 5 1.1.2 Structure Description Pandar20A and Pandar20B share the same structure except for the logo. Here we use Pandar20A as an example. 20 pairs of laser emitters and receivers are attached to a rotating motor inside the LiDAR housing that perform horizontal scans in 360 degrees.
  • Page 6 1.1.3 Pandar20A/B Channel Vertical Distribution Pandar20A Please see Appendix I for detailed channel distribution. 315.257 mm Channel 1 + 8° Channel 4 + 2° Channel 9 - 1° Channel 14 - 6° 103.935 mm Channel 20 - 25° Figure 1.5 Laser Firing Position Figure 1.4 Channel Vertical Distribution...
  • Page 7 Pandar20B Please see Appendix I for detailed channel distribution. 775.939 mm 3° Channel 1 + 3° Channel 2 + 2° Channel 11 - 3° Channel 16 - 8° Pandar20B 19° Channel 20 - 19° 126.118 mm Figure 1.6 Channel Vertical Distribution Figure 1.7 Laser Firing Position - 0 4 -...

  • Page 8: Specifications

    Bottom Diameter: 115.00 mm Table 1.1 Prototype Specifications of Pandar20A/B * Pandar20A and Pandar20B share the same specifications, except for the FOV (Vertical) and Angular Resolution (Vertical). Please see Appendix I for detailed vertical angular resolution. Specifications are subject to change without notice.

  • Page 9: Installation Guide

    2 Installation Guide Mechanical Installation (Metric System) Pandar20A and Pandar20B share the same installation method. Here we use Pandar20A as an example. 88.90 mm M6 7 mm(MOUNT) 2×φ4 mm 6 mm φ 98 mm For φ4 mm PINS 104.70 mm φ116.00 mm...
  • Page 10 Quick Installation M6 screw 7~9 mm over mounting base 2xΦ4PINS 5~6 mm over mounting base Figure 2.3 Diagram of Quick Installation - 0 7 -...
  • Page 11 Stable Installation M6 screw 7~9 mm over mounting base 3xM6 screw 5~6 mm over mounting base 2xΦ4PINS 5~6 mm over mounting base Figure 2.4 Diagram of Stable Installation - 0 8 -...

  • Page 12: Interface

    Interface Pandar20A/B uses Lemo Contact as the communication connector. The cable length from LiDAR exit to the tip of the connector is 0.3 m. First View: The direction from the eye to the interface as shown Figure 2.5 Lemo Contact...

  • Page 13: Connecting Box (Optional Component)

    2.3 Connecting Box (Optional Component) Connecting box is the optional component of Pandar20A/B. Users can choose to connect LiDAR using the connecting box. The connecting box comes equipped with a power port, a GPS port, and a standard ethernet port. The cable length from phoenix connector to the connecting box is 1.5 m.
  • Page 14 2.3.1 Connecting Box Interfaces 1 2 3 4 5 6 Cable GPS port pin number from left to right is 1 to 6, and the specific Standard Ethernet Port definition of each pin is shown as follows: Pin No. Direction Pin Description RJ45, 100 Mbps Ethernet PPS synchronizing signal, to receive synchronized...
  • Page 15 Computer Figure 2.7 How to Connect Using Connecting Box NOTE Pandar20A and Pandar20B share the same connection method. Here we use Pandar20A as an example. Please refer to Appendix III for the connection using PTP protocol. - 1 2 -...

  • Page 16: Get Ready To Use

    To receive the data on your PC, please set the PC IP address to 192.168.1.100 and Subnet mask to 255.255.255.0. Point cloud data can be quickly viewed or recorded by using PandarView, the point cloud data viewer software developed by Hesai. For more on PandarView installation and usage, see Appendix VI PandarView.

  • Page 17: Lidar Data Structure

    LiDAR Data Structure The communication protocol for data output of Pandar20A/B is Fast Ethernet UDP/IP. The output data includes point cloud data packet and GPS data packet. Each data packet consists of an ethernet header and a UDP data. Ethernet Header: 42 bytes...
  • Page 18 Length 2 bytes (0x04fe, represents 1278 bytes), checksum 2 bytes Table 3.1 Point Cloud Data Packet Ethernet Header Definition IP Address Each Pandar20A/B has a unique MAC address. The destination IP address is 0xFF and in broadcast form. The default source IP address is 192.168.1.201.
  • Page 19 3.1.2 Point Cloud Data Packet-UDP Data The UDP Data of Pandar20A/B includes the areas of Header, Body and Tail. All the multi-byte values are the unsigned type and in Little Endian format. Header Header: 8 bytes 0xee 0xff 2 bytes...
  • Page 20 Body Body: 1240 bytes (20 blocks) ······ Block 1 Block 2 Block 3 Block 20 Azimuth Azimuth Azimuth ······ Azimuth Unit 1 Unit 1 Unit 1 ······ Unit 1 Unit 2 Unit 2 Unit 2 ······ Unit 2 ······ ······ ······...
  • Page 21 By now, the direction and distance of this point have been decided, and this obstacle point could be drawn in the polar or rectangular coordinate system. The real-time point cloud data of Pandar20A/B can be drawn by analyzing every data in the UDP Data Packet using the above method.

  • Page 22: Gps Data Packet Ethernet Header/Udp Data

    3.2 GPS Data Packet Ethernet Header/UDP Data Each GPS Data Packet has a 42 bytes Ethernet Header and 512 bytes UDP Data. All the multi-byte values are the unsigned type and in Little Endian format. GPS UDP Data Packet will be triggered every second, and the port is 10110.  ...
  • Page 23 IP Address The destination IP address is 0xFF FF FF FF and in broadcast form. The default source IP address is 192.168.1.201. Taking“Internet Protocol (20 bytes)” as an example, it is described as follows: Figure 3.3 GPS Data Ethernet Header Internet Protocol Illustration 3.2.2 GPS Data Packet - UDP Data Every second, one UDP data will be triggered by one GPS PPS.
  • Page 24 Example of GPS Data Packet UDP Data Analysis Figure 3.4 GPS Data Packet UDP Data Illustration Date Year: 0x37, 0x31, convert ASCII code to '7', '1'; means 17 Month: 0x32, 0x31, convert ASCII code to '2', '1'; means 12 Day: 0x30, 0x32, convert ASCII code to '0', '2'; means 20 Time Second: 0x32, 0x35, convert ASCII code to '2', '5';...
  • Page 25 <12> Mode (only on version NMEA0183 3.00, A=Automatic Positioning, D=Differential, E=Estimation, N=Invalid Data) The GPS interface of Pandar20A/B is compatible with a variety of data formats. The external GPS module GPRMC data format needs to meet the following conditions: the data in <01> is the hour, minute, and second information; the data in <09> is the date information.

  • Page 26: Web Control

    Web Control Web Control can be used to set Pandar20A/B parameters, check device info, and upgrade. Before setting, please connect LiDAR and the computer using Ethernet cable. Set IP address to 192.168.1.25. Open Web Control After setting, open browser and type URL: 192.168.1.201/index.html to enter the web control homepage.

  • Page 27: Setting

    Setting Pandar20A/B supports both broadcast (default setting) and unicast. To use broadcast, please set Destination IP as 255.255.255.255. To use unicast, please set Destination IP as the same as PC IP address. Users can set the spinning rate as 600 rpm or 1200 rpm.

  • Page 28: Angle Range

    Angle Range Users can set azimuth angle range on this page. There are two methods to set angle range: LiDAR based angle range method and laser based angle range method. Figure 4.3 Angle Range Page LiDAR Based If LiDAR based angle range method is selected, the start and end angles that users enter will be applied to all 20 channels. In other words, all 20 channels will have the same angle range.
  • Page 29 Laser Based If laser based angle range method is selected, users can see a table as in Figure 4.4. The start and end angles of each laser can be configured individually. Figure 4.4 Angle Range Page-Laser Based Users can edit the start and end angles by first downloading the angle range configuration file and then upload the edited configuration file. Please click “Save”...

  • Page 30: Device Info

    Device Info Software version, hardware version, firmware version can be viewed from device information page. Figure4.5 Device Info Page of Web Control - 2 7 -...

  • Page 31: Firmware Upgrade

    Firmware Upgrade Please ask Hesai for the latest upgrade file if needed. Click on “Upload” button to upload the upgrade file. Please reboot the LiDAR after finishing upgrading. Figure4.6 Upgrade Page of Web Control - 2 8 -...

  • Page 32: Pandar20A/B-Channel Distribution

    Appendix I Pandar20A/B Channel Distribution Pandar20A Channel Distribution Horizontal Angle Offset Vertical Angle Instrument Range Range Capability vs. Reflectivity Channel Number of Laser (Azimuth) (Elevation) (in meters) (in meters) Channel number in The horizontal angle of each line is The vertical angle of each line...
  • Page 33 -12.00 200@20% 200@20% -1.042 -14.00 -1.042 -19.00 200@20% -1.042 -25.00 200@20% Table I.1 Pandar20A Channel Distribution Pandar20B Channel Distribution Horizontal Angle Offset Vertical Angle Instrument Range Range Capability vs. Reflectivity Channel Number of Laser (Azimuth) (Elevation) (in meters) (in meters)
  • Page 34 Horizontal Angle Offset Vertical Angle Instrument Range Range Capability vs. Reflectivity Channel Number of Laser (Elevation) (Azimuth) (in meters) (in meters) -5.208 0.33 200@10% -1.042 0.00 200@10% 3.125 -0.33 200@10% -1.042 -1.00 200@10% -5.208 -1.67 200@10% 3.125 -2.33 200@20% -3.00 200@20% -1.042 -1.042...

  • Page 35: Appendix Ii

    The point cloud data packet absolute time calculations of Pandar20A and Pandar20B are the same, while the laser firing time calculations are different. Pandar20A/B transmits two types of UDP Data Packet, including the point cloud UDP Data Packet and the GPS UDP Data Packet, hereafter referred to as Point Cloud Data Packet and GPS Data Packet.
  • Page 36 2 Laser Firing Time Calculation The laser firing time of every laser channel can be calculated by using the absolute time in Point Cloud Data Packet. Assuming the Point Cloud Data Packet's absolute time is t0. Body 1240 bytes (20 blocks) Block 1 Block 2 Block 3...
  • Page 37 Through the Block's end time, it is possible to calculate the laser firing time for every channel in the Block. Take Block 6 for example, assuming Block 6's end time is t6, then: Pandar20A Laser ID 2’s firing time: (t6-3.62) μs；...
  • Page 38 Laser ID 8’s firing time: (t6-1.304*7-1.968*4-3.62) μs； Laser ID 10’s firing time: (t6-1.304*12-1.968*9-3.62) μs； Laser ID 11’s firing time: (t6-1.304*8-1.968*5-3.62) μs； Laser ID 7’s firing time: (t6-1.304*12-1.968*11-3.62) μs； Laser ID 18’s firing time: (t6-1.304*10-1.968*6-3.62) μs； Laser ID 3’s firing time: (t6-1.304*14-1.968*12-3.62) μs； Laser ID 16’s firing time: (t6-1.304*11-1.968*6-3.62) μs；...

  • Page 39: Appendix Iii

    PTP Master (third party) standard Ethernet port Pandar20A Ethernet Switch Connecting Box Computer Figure III.1 How to Connect LiDAR Using PTP Protocol NOTE Pandar20A and Pandar20B share the same connection method. Here we use Pandar20A as an example. - 3 6 -...
  • Page 40 2 Absolute Time Calculation of Point Cloud Data Packet In case of clock source from PTP, the user needs to connect a PTP master device to get the absolute time. If PTP clock source is selected, LiDAR transmits only Point Cloud Data Packet with μs timestamps and 6 bytes UTC time. The μs timestamp and UTC time in the Point Cloud Data Packet are used to calculate the packing time of this data packet.

  • Page 41: Appendix Iv

    Appendix IV Communication Protocol This part describes the communication protocol supported by Pandar20A/B and detailed implementation. 1) Binary format is used to improve the communication performance. 2) Disabled Nagle’s algorithm to improve the real-time performance. 3) Simple protocol includes fixed 8 bytes header and variable command specific payload size.
  • Page 42 Following is the response message format sent from server (LiDAR) to client: Type Length Field Description 0×47 1 byte fixed content 0×74 1 byte fixed content 1 byte the code for command, see command description for details Return Code 1 byte return code from server Data Length 4 bytes...
  • Page 43 PTC_COMMAND_GET_LIDAR_CALIBRATION 1）Function Description: 2）Description for Sending Data Package: To retrieve LiDAR calibration files Command Code: 0x5 Payload Length: 0 byte 3）LiDAR Feedback Message Payload Content: The LiDAR calibration file data Format: CSV Format (ASCII) Including 3 fields (LaserID, Elevation, Azimuth Offset) PTC_COMMAND_PTP_DIAGNOSTICS 1) Function Description: 2) Description for Sending Data Package:...
  • Page 44 3) LiDAR Response Message Payload Content a. PTP STATUS b. PTP TLV PORT_DATA_SET Per IEEE-1588 standard management TLV PORT_DATA_SET PTP Query Type Length Description Description Fields Length the offset between the port identity, including 8 bytes clock identity master_offset 8 bytes portIdentity 10 bytes master/salve...
  • Page 45 c. LinuxPTP TLV TIME_STATUS_NP (0xc000) d. LinuxPTP TLV GRANDMASTER_SETTINGS_NP (0xc001) LinuxPTP specific TLV Fields Length Description Fields Length Description the time difference the clock quality of the current between master/slave at grand master clock the slave master_offset 8 bytes clockQuality 4 bytes the last handshake selected...
  • Page 46 PTC_COMMAND_GET_INVENTORY_INFO 1）Function Description: 2）Description for Sending Data Package: To retrieve the LiDAR inventory information Command Code: 0x7 Payload length: 0 byte 3）LiDAR Response Message Payload Content Fields Length Description 18 bytes the serial number of the device date_of_manufacture 16 bytes the date of manufacture string of the device in ASCII format yyyy-mm-dd 6 bytes the mac address of the device.
  • Page 47 3）LiDAR Response Message Payload Content Fields Length Description default 192.168.1.201 ipaddr 4 bytes the configure IP address of the device default 255.255.255.0 mask 4 bytes the IP Mask of the device default gateway 4 bytes the default gateway of the device default 255.255.255.255 dest_ipaddr 4 bytes...
  • Page 48 Fields Length Description default 0-GSP clock_source 1 byte the configure clock source, 0-GPS, 1-PTP default 0-off udp_seq 1 byte 0-off, 1-on. whether the point cloud data will include a UDP sequence number field reserved 16 bytes reserved for future Table IV.10 LiDAR Response Message Payload Content PTC_COMMAND_GET_LIDAR_STATUS 1）Function Description: 2）Description for Sending Data Package:...

  • Page 49: Appendix V

    Appendix V Data Structure with UDP Sequence On When UDP sequence is ON, Point Cloud UDP Packet size changes from 1270 bytes to 1274 bytes, with additional information changes from 22 bytes to 26 bytes. Ethernet Header: 42 bytes Header: 8 bytes Point Cloud Data Packet Body: 1240 bytes UDP Data: 1274 bytes...
  • Page 50 Tail changes to 26 bytes, adding 4 bytes UDP sequence number. Tail: 26 bytes Reserved 5 bytes reserved data, meaningless 0x01 means high temperature; 0x00 means normal operation · during normal operation, shutdown flag keeps being 0x00 High Temperature · if high temperature is detected and system needs to be shut down, the shutdown flag will be set to 0x01, and the 1 byte Shutdown Flag system will be shut down after 60 seconds.

  • Page 51: Phoenix Contact

    Appendix VI Phoenix Contact Pandar20A/B can use Phoenix Contact (PN: SACC-M12FS-8CON-PG 9-SH) as the communication connector. The cable length from LiDAR exit to the tip of the connector is 0.3 m. exit to the tip of the connector is 0.3 m.
  • Page 52 Appendix VII PandarView PandarView is a software that is used to play and record the point cloud data. Installations are available on platforms: Windows 7x64/ Windows 8x64/Windows 10x64/Ubuntu-16.04. The installation package can be found in the provided USB disk in the LiDAR box. 1 PandarView Installation Please install the PandarView and set the computer static IP address to 192.168.
  • Page 53 2 PandarView Instructions Check Live Data Record Pcap Files In real-time play mode, click on the icon to pop up the Run PandarView, click on and select "General Lidar" "Choose Output File" window. Click on “Save” to begin to begin receiving data over Ethernet. recording a pcap file.
  • Page 54 Play Pcap Files to play the pcap file and visualize Click on the icon lick on the icon to open the "Choose Open File" window. to open the "Choose Open File" window. Click on Click on to play the pcap Select the pcap file and click on the icon le and click on the icon point cloud data.
  • Page 55 Play Buttons Button Description Jump to beginning of the file. While paused, click to view point cloud data from previous frame. While playing, rewind (click again for different speeds, such as 2x, 3x, 1/2x, 1/4x, 1x speeds). After the point cloud file has finished loading, click on le has finished loading, click on to play.
  • Page 56 3 PandarView Features View Direction Selection 3D Projection Mode Switching Click on the following buttons to view the point cloud data PandarView enables switching between two types of 3D projection from different directions. methods (Orthogonal Projection and Perspective Projection) through the drop-down menu. In Orthogonal Projection view, click on n Orthogonal Projection view, click on thereafter while holding “Control”...
  • Page 57 Return Mode Users can switch to different return modes using the “Return Mode” drop-down list: block1 return, block 2 return, and dual return. Point Cloud Data Selection Click on to select visible points. Users can hold down the left Users can click on to display or hide point cloud data from button to box a certain area for selection.
  • Page 58 Click lick to compensate the azimuth error caused by the delay of laser activation. to compensate the azimuth error caused by the delay of laser activation. Color Schemes By clicking on y clicking on , users can see the current color scheme in the , users can see the current color scheme in t Click on lick on...
  • Page 59 PandarView Software Version Click “About” in the upper left corner to check the software version. Figure VII.13 PandarView Softeware Version - 5 6 -...

  • Page 60: Appendix Viii

    Appendix VIII FCC Statement FCC ID: 2ASO2PANDAR This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules.

  • Page 61: Appendix Iv

    Warranty and Maintenance If any defect due to faulty software and/or hardware occurs within the warranty period, Hesai Photonics Technology Co., Ltd will provide free maintenance service. Some operations will violate the warranty, including but not limited to the following: 1) The purchase documents have been altered in any way, made illegible or lost.
  • Page 62 Legal Notice All texts, graphics, and pictures in this manual are subject to the copyright of Shanghai Hesai Photonics Technology Co., Ltd and are potentially protected by copyright through third parties. No part of the manual may be reproduced, processed, duplicated or published in any form by photocopying, reprinting or other process, without a written agreement.
  • Page 63 Hesai Photonics Technology Co., Ltd Phone：021-80394947-802 Business Email：info@hesaitech.com Technical Support：021-80394947-915 Service Email：service@hesaitech.com Website：www.hesaitech.com Address：Building L2, Hongqiao World Center, Shanghai HESAI Wechat...

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