Hesai QT128C2X User Manual
  1. Manuals
  2. Brands
  3. Hesai Manuals
  4. Radar
  5. QT128C2X
  6. User manual

Hesai QT128C2X User Manual

128-channel short-range mechanical lidar
Hide thumbs Also See for QT128C2X:
Table of Contents

Advertisement

Quick Links

QT128C2X
128-Channel Short-Range
Mechanical Lidar
User Manual

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the QT128C2X and is the answer not in the manual?

Questions and answers

Related Manuals for Hesai QT128C2X

Summary of Contents for Hesai QT128C2X

  • Page 1 QT128C2X 128-Channel Short-Range Mechanical Lidar User Manual...

  • Page 2: Table Of Contents

    Contents About This Manual ..................1 Settings ..................45 Azimuth FOV ................. 52 Safety Notice ....................3 Operation Statistics ..............55 1 Introduction ..................10 Upgrade ..................56 Operating Principle ..............10 Log ....................57 Lidar Structure ................11 Security ..................58 Channel Distribution ..............

  • Page 3: About This Manual

    · This lidar product is intended as a component of an end product. It shall be evaluated in end product according to relevant standards. ■ Access to This Manual To obtain the latest version: · Visit the Download page of Hesai's official website: https://www.hesaitech.com/en/download · Or contact your sales representative at Hesai ·...
  • Page 4 ■ Legends Warnings: instructions that must be followed to ensure safe and proper use of the product. Notes: additional information that may be helpful.

  • Page 5: Safety Notice

    Safety Notice ■ Special Warnings Laser Safety Hot Surface Hot parts! Burned fingers when handling the parts. Wait one-half hour after switching off before handling parts.
  • Page 6 Vibration · If significant mechanical shocks and vibration may exist in the product's operating environment, please contact Hesai's technical support team to obtain the shock and vibration limits of this product model. Exposure to over-the-limit shocks or vibration may damage the product.
  • Page 7 Explosive Atmosphere and Other Air Conditions · Do NOT use the product in any area where potentially explosive atmospheres are present, such as high concentrations of flammable chemicals, vapors, or particulates (including particles, dust, and metal powder) in the air. ·...
  • Page 8 · Please check the section in the product's user manual and strictly follow the instructions on plugging/unplugging the connector. If abnormalities already exist (such as bent pins, broken cables, and loose screws), stop using the product and contact Hesai technical support.
  • Page 9 Hesai technical support. · Do NOT squeeze or pierce the product. If the product enclosure is broken, stop using it immediately and contact Hesai technical support. · The product contains high-speed rotating parts. To avoid potential injuries, do NOT operate the product if the enclosure is loose.
  • Page 10 Using off-spec or unsuitable devices may result in product damage or even personal injuries. Firmware and Software Upgrading Make sure to use only the upgrade files provided by Hesai Technology. Make sure to observe all the instructions provided for that upgrade file. Custom Firmware and Software ·...
  • Page 11 Repair Unless expressly agreed to in writing by Hesai Technology, do NOT by yourself or entrust any third party to disassemble, repair, modify, or retrofit the product. Such a breach: · can result in product damage (including but not limited to water resistance failure), property loss, and/or personal injuries;...

  • Page 12: Introduction

    1 Introduction This manual describes the specifications, installation, and data format of QT128C2X. Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the target object. 2) The laser pulses are reflected after hitting the target object. The returning beam is detected by an optical sensor.

  • Page 13: Lidar Structure

    1.2 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 Figure 1.4 Default Rotation Direction 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 14: Channel Distribution

    1.3 Channel Distribution The vertical resolution is unevenly distributed across all channels, as illustrated in Figure 1.5 and detailed in Appendix I (Channel Distribution). Figure 1.5 Channel Vertical Distribution Figure 1.6 Laser Firing Position (Unit: mm) -12-...
  • Page 15 Each channel has an intrinsic angle offset, both horizontally and vertically. The offsetted angles are recorded in this lidar unit's angle correction file. In case you need to obtain the file again: · send PTC command 0x05, as described in Hesai TCP API Protocol (Chapter 5); · or export the file using PandarView, see the PandarView user manual;...

  • Page 16: Specifications

    1.4 Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 940 nm Channel Laser Class Class 1 Eye Safe Instrument Range 0.05 to 50 m Ingress Protection IP6K7 & IP6K9K Range Capability ① Channels 9 to 120: 20 m Dimensions Height: 83.9 mm Channels 1 to 8, 121 to 128: 15 m...
  • Page 17 (Continued) ① Range Capability · Test conditions: normal incidence, 0 to 100 klux ambient illuminance, PoD (probability of detection) > 90%, FAR (false alarm rate) < 10E-5. · See Appendix I (Channel Distribution) for the test data of each channel. ②...

  • Page 18: Setup

    2 Setup 2.1 Mechanical Installation Figure 2.1 Left View (Unit: mm) -16-...
  • Page 19 Figure 2.2 Mounting Base (Unit: mm) -17-...
  • Page 20 2.1.1 Recommended Installation Figure 2.3 Recommended Installation -18-...
  • Page 21 2.1.2 Notes on Screw Installation ■ Screw Type SEMS screws (with pre-attached flat washers and lock washers) are recommended. Property class should be at least 4.8. ■ Threadlocker Before fastening a screw, apply 1 or 2 dots of threadlocker in the thread fit area. LOCTITE® 263 Threadlocker is recommended. To ensure curing in place, wait for at least 12 hours before operating the lidar.

  • Page 22: Interfaces

    2.2 Interfaces A 8-pin Rosenberger male socket (with pins inside) is used, which includes power wires and a 1000BASE-T1 twisted-pair. Rosenberger part number: MPS113-40MT5-Z Figure 2.4 Connector Dimensions (Unit: mm) Figure 2.5 Connector Pinout (8-pin) -20-...
  • Page 23 2.2.1 Pin Description Pin # Signal Voltage Pin # Signal Voltage 12 to 48 V Reserved 0 to 3.3 V Reserved 0 to 3.3 V Ethernet_TRX+ -1 to 1 V Ethernet_TRX- -1 to 1 V Please plug and unplug the connector with care. Do not pull, twist, or squeeze it with excessive force. 2.2.2 Cables (Ethernet) OD (outside diameter) = 4.0±0.1 mm...
  • Page 24 · In case a connector's shell is accidentally pulled off, stop using Red CPA 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 Water blue latch may damage the lidar's circuits.

  • Page 25: Connection Box (Optional)

    2.3 Connection Box (Optional) Users may connect the lidar directly or using a connection box. The connection box converts automotive 1000BASE-T1 to 1000BASE-T typical Ethernet, as well as providing a power port. -23-...
  • Page 26 Rosenberger part number: MPK110-1CAZ5-Z (female plug, on the connection box) Rosenberger part number: MPK110-1CAZ5-Z (female plug, to lidar) 99K1HC-1CAZ5-Z Figure 2.5 Connection Box - Connection (Unit: mm) The wire gauges are listed below: Signal Voltage Wire Gauge Wire Color Signal Voltage Wire Gauge Wire Color...
  • Page 27 ■ Connection Box Interfaces Figure 2.6 Connection Box (Front) Port # Port Name Description Standard Ethernet Port RJ45, 1000BASE-TX Ethernet Power Port Connects to a DC power adapter Connector part number: PJ-057AH Reserved Port Do not connect this port to external signals 3 2 1 1-1 1-2 6 5 4...
  • Page 28 ■ Connection Connect the power port to the adapter Power port and standard Ethernet port Connection Box Computer Lidar Figure 2.8 Connection with PTP (Software Simulation) -26-...
  • Page 29 Connect the power port to the adapter Power port and PTP Master (third party) standard Ethernet port Connection Box Ethernet Switch Computer Lidar Figure 2.9 Connection with PTP (Hardware Device) -27-...

  • Page 30: Get Ready To Use

    Get Ready to Use Before operating the lidar, strip away the protective cover outside the cover lens. 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: For Windows: Input this ifconfig command in the terminal:...

  • Page 31: Data Structure

    3 Data Structure The lidar outputs Point Cloud Data Packets. Unless otherwise specified, all the multi-byte fields are unsigned values in little endian format. Figure 3.1 Data Structure -29-...

  • Page 32: 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 33 3.1.2 UDP Data ■ Pre-Header: 6 bytes Field Bytes Description 0xEE SOP (start of packet) 0xFF SOP (start of packet) Protocol Version Major Main class of the point cloud UDP packet structure Currently 0x03 Protocol Version Minor Subclass of the point cloud UDP packet structure Currently 0x02 Reserved -31-...
  • Page 34 ■ Header: 6 bytes Field Bytes Description Laser Num 0x80 (128 channels) Block Num 0x02 (2 blocks per packet) First Block Return Reserved Dis Unit 0x04 (4 mm) Return Num Number of returns that each channel generates 0x01 - one return 0x02 - two returns Flags [7] and [5:4] are reserved...
  • Page 35 ■ Body: 1032 bytes (2 blocks) Field Bytes Description Azimuth 1 For Block 1: current reference angle of the rotor azimuth angle in degrees = Azimuth / 100 Block 1 For Block 1: measurements made by each channel, starting form Channel 1 See table below Azimuth 2 For Block 2...
  • Page 36 Four single-return modes and five dual-return modes are available, indicated by the Return Mode field in the Tail of Point Cloud Data Packets. In a single-return mode, Blocks 1 and 2 use Firing Sequences 1 and 2, respectively. Notes · Firing sequences are defined in Appendix II (Absolute Time of Point Cloud Data). ·...
  • Page 37 Fault code sent by this data packet Reserved CRC 2 CRC-32/MPEG-2 checksum of Functional Safety (from the Lidar State field to the Reserved field) The lidar states and fault codes are described in the Safety Manual. Please contact Hesai technical support for more information. -35-...
  • Page 38 ■ Tail: 34 bytes Field Bytes Description Reserved Mode Flag [7:1] is reserved. [0] indicates the firing sequence used in Block 1. 1 – Firing Sequence 1 (default) 0 – Firing Sequence 2 Firing sequences are defined in Appendix II (Firing Time Offset of Each Channel). Reserved Return Mode 0x33 –...
  • Page 39 Field Bytes Description The absolute UTC time of this data packet, accurate to the second. Date & Time Each Byte Range Year (current year minus 1900) ≥70 Month 1 to 12 1 to 31 Hour 0 to 23 Minute 0 to 59 Second 0 to 59 Timestamp...
  • Page 40 ■ Cyber Security: 32 bytes Field Bytes Description Signature Point cloud signature Calculated using Point Cloud UDP Data (from Pre-Header to Tail, appended with UDP Sequence) Algorithm: HMAC-SHA256 (256 bits) Data is set to zero when this function is off. This field is added after specifying a Shared Secret Key and starting a session, see Section 4.9.3 (Web Control - Cybersecurity Configuration - Point Cloud Signature).
  • Page 41 3.1.3 Point Cloud Data Analysis Take Channel 5 in Block 2 as an example: ■ Analyze the vertical angle of a data point The designed vertical angle of Channel 5 is -46.695°, according to Appendix I (Channel Distribution) Notes · The accurate vertical angle is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution). ·...
  • Page 42 ① = ③ + ④ ③ Rotor reference angle during the current round of firing In the Azimuth field of Block 2. ④ Horizontal angle offset of the current firing channel The designed offset for Channel 5 is 8.833°, according to Appendix I (Channel Distribution Table). The accurate horizontal angle offset is recorded in this lidar's unit's angle correction file, see Section 1.3 (Channel Distribution).
  • Page 43 ■ Draw the data point in a polar or rectangular coordinate system Data point Distance Vertical angle Horizontal angle ■ Obtain the real-time point cloud data by analyzing and drawing every data point in each frame -41-...

  • Page 44: 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 Google Chrome and Mozilla Firefox are recommended.

  • Page 45: Home

    Home Status Spin Rate 600 rpm Free Run Device Info Model QT128C2X QT128C2X-C02 QTXXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Software Version 3.1.17 Sensor Firmware Version 3.1.13 Controller Firmware Version 3.1.12 -43-...
  • Page 46 Parameter Description Spin Rate Spin Rate of the motor (rpm) = frame rate (Hz) * 60 PTP status Free Run No PTP master is selected. Tracking Attempting to sync with the selected PTP Master, but the absolute offset exceeds the user-specified limit in Section 4.2 (Settings). Locked Absolute offset is within the user-specified limit.

  • Page 47: Settings

    Settings Reset All Settings Control IP IPv4 Address 192.168.1.201 IPv4 Mask 255.255.255.0 IPv4 Gateway 192.168.1.1 Settings Destination IP 255.255.255.255 Lidar Destination Port 2368 Spin Rate 600 rpm Return Mode First and Last Return Sync Angle □ Trigger Method Time Based (Continued on the next page) -45-...
  • Page 48 (Continued) Clock Source Profile 1588v2 PTP Network Transport UDP / IP PTP Domain Number [0-127] PTP logAnnounceInterval PTP logSyncInterval PTP logMinDelayReqInterval Time Offset for Lidar Lock (1-100 μs) Retro Multi-Reflection Filtering Rotation Direction Clockwise Standby Mode In Operation / Standby Save Button Description...
  • Page 49 4.2.1 Network Settings Parameter Options Description Destination IP Any address except for 0.0.0.0, 127.0.0.1, and the lidar's IP. Mode Destination IP Broadcast (default) 255.255.255.255 Default: 255.255.255.255 Multicast User-defined Unicast Same as the PC's IP address 4.2.2 Function Settings Parameter Options Description Spin Rate 600 RPM (default)
  • Page 50 Parameter Options Description Sync Angle 0° to 360° Phase lock angle · To activate this function, check the checkbox and input an azimuth. · At every full second, the lidar will rotate to that azimuthal position. Lidar azimuthal position is defined in Section 1.2 (Lidar Structure). Definition of full second ·...
  • Page 51 Parameter Options Description Standby Mode In Operation (default) In Standby mode, the motor stops running and lasers stop firing. Standby -49-...
  • Page 52 4.2.3 Time Settings Clock Source Profile 1588v2 PTP Network Transport UDP/IP PTP Domain Number PTP logAnnounceInterval PTP logSyncInterval PTP logMinDelayReqInterval Time Offset for Lidar Lock Parameter Options Description Clock Source Detailed in Appendix III (PTP Protocol) Profile 1588v2 (default) IEEE timing and synchronization standard 802.1AS 802.1AS Automotive Time Offset for Lidar...
  • Page 53 Parameter Options Description Domain Number 0 to 127 (integer) Domain attribute of the local clock Default: 0 When using the 1588v2 profile: Parameter Options Description -2 to 3 Time interval between Announce messages logAnnounceInterval Default: 1 Default: 1 log second (2 seconds) -7 to 3 Time interval between Sync messages logSyncInterval...

  • Page 54: Azimuth Fov

    Azimuth FOV Button Description Save Save and execute all the settings on this page. Parameter Options Description Azimuth FOV Setting For all channels (default) Configuration mode of the azimuth FOV. Multi-section FOV The lidar outputs valid data only within the specified azimuth FOV ranges. Note ·...
  • Page 55 4.3.1 For all channels Input a Start Angle and an End Angle to form a continuous angle range. This range applies to all channels. -53-...
  • Page 56 4.3.2 Multi-section FOV Input multiple (≤2) sets of Start Angles and End Angles to form multiple continuous angle ranges. -54-...

  • Page 57: Operation Statistics

    Operation Statistics These operating parameters are shown in real time: Start-Up Counts Internal Temperature 56.26℃ System Uptime 0 h 5 min Total Operation Time 559 h 43 min Internal Temperature Operation Time < -40 ℃ 0 h 1 min -40 to -20 ℃ 0 h 46 min 100 to 120 ℃...

  • Page 58: Upgrade

    Upgrade Preparation · Please contact Hesai technical support to receive encrypted and signed upgrade files. · During the upgrade, it is recommended to place a protective cover (supplied with the lidar) or other opaque material over the lidar's cover lens.

  • Page 59: Log

    The process logs in this page can be used for software troubleshooting. Button Description Clear ALL Clear all logs (not yet supported) Download ALL Download all logs -57-...

  • Page 60: Security

    Security Cyber Security (Master Switch) Cyber Security (Master Switch) Login Control Login Control Authentication Authentication Current Password Current Password Forgot Password? New Password New Password Secure Connection Confirm New Password Confirm New Password PTC Connection Non-TLS HTTP Connection HTTP Secure Connection PTC Connection Point Cloud Signature HTTP Connection...
  • Page 61 As shown in the previous page, the available settings depend on the Cyber Security Master Switch: Cyber Security (Master Switch): OFF (Default) Cyber Security (Master Switch): ON Login Control http://192.168.1.201 redirects to the Home page. https://192.168.1.201 redirects to the Login page, see Section 4.8 (Login).
  • Page 62 · To effectively implement login control, please change the default password and keep your new password securely. · Before returning a trial/loaner lidar or an RMA lidar to Hesai, please make sure to change the password back to default. New Password Format ·...
  • Page 63 4.7.2 Secure Connection When the Cyber Security Master Switch is ON: TLS: mTLS: Secure Connection Secure Connection PTC Connection mTLS PTC Connection No file Client CA certificate name HTTP Connection HTTPS Invalid Certificate status Change Certificate Remove Upload HTTP Connection HTTPS Parameter Options...
  • Page 64 4.7.3 Point Cloud Signature Parameter Options Description Shared Secret Key 8 to 32 digits or letters (case Used for negotiating a session key, see Section 4.9.3 (Cybersecurity Configuration - sensitive) Point Cloud Signature). -62-...

  • Page 65: Login

    Login When the Cyber Security Master Switch on the Security page is ON, https://192.168.1.201 redirects to the Login page. Username admin Password Default: 123456 To effectively implement login control, please change the default password (see Section 4.7 - Security) and keep your new password securely.

  • Page 66: Cybersecurity Configuration

    ) in the browser's address bar, and the entity certificate can be found under Page Info. · If the URL in the address bar shows http instead of https, the entity certificate is not correctly loaded. Please contact Hesai technical support.
  • Page 67 Hesai_Ca_Chain.crt Comprised of the above root and intermediate certificates. In case you need to obtain the CA certificates again, contact a sales representative or technical support engineer from Hesai. ■ Import CA Certificates to Your Browser Chrome and Firefox in Windows 10 are used as an example.
  • Page 68 1) Go to the Settings/Options/Preference page of your browser → Input "Certificate" in the search bar → Select "Manage/View Certificates" -66-...
  • Page 69 2) In the pop-up dialog box · If "Intermediate Certification Authorities" and "Trusted Root Certification Authorities" are two separate tabs (see left-hand screenshot), click "Import" to upload the intermediate certificate under the former tab, and upload the root certificate under the latter tab ·...
  • Page 70 In case the following warnings appear, select "Trust this CA to identify websites". -68-...
  • Page 71 3) When the import is complete, the CA certificate appears in the dialog box. Double-click to see detailed information. -69-...
  • Page 72 4.9.2 mTLS (Optional) The lidar is in TLS (one-way auth) mode by default. mTLS (two-way auth) is recommended to enhance security: · See Section 4.2 (Web Control - Settings) for uploading the user certificate. PandarView · Before checking live point cloud data in PandarView, upload both the user certificate and the corresponding private key. See User Manual (Check Live Data).
  • Page 73 4.9.3 Point Cloud Signature (Optional) A point cloud signature can be added to each Point Cloud Data Packet, see Section 3.1.2 (Point Cloud UDP Data). 1) When operating this lidar unit for the first time, specify a Shared Secret Key in Section 4.2 (Web Control - Settings). 2) Start a session using this PTC command PTC_COMMAND_DP_SIG_SESSION_START , see Chapter 5 (Communication Protocol).

  • Page 74: Communication Protocol

    5 Communication Protocol To receive Hesai lidar's PTC (Pandar TCP Commands) and HTTP API Protocols, please contact Hesai technical support. Lidar models that support cybersecurity can communicate using the encrypted PTCS (PTC over TLS) and HTTPS (HTTP over TLS) API.

  • Page 75: Sensor Maintenance

    6 Sensor Maintenance ■ Cleaning Stains on the product's cover lens, such as dirt, fingerprints, and oil, can negatively affect point cloud data quality. Please perform the following steps to remove the stains. Warnings · Turn OFF the power source before cleaning. ·...
  • Page 76 (Continued) 4) When the stains have loosened, dip a piece of lint-free wipe into the solvent made in Step 3, and gently wipe the cover lens 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 cover lens with clean water, and gently wipe off the remaining liquid with another piece of lint-free wipe.

  • Page 77: Troubleshooting

    7 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 · connection box is intact;...
  • Page 78 Symptoms Points to Check Verify that: · Ethernet cable is properly connected (by unplugging and plugging again); · Lidar's Destination IP is correctly set on the Settings page of web control; · horizontal FOV is properly set on the Azimuth FOV page of web control; Motor is running but ·...
  • Page 79 Symptoms Points to Check Verify that: · Ethernet cable is properly connected (by unplugging and plugging again); · Lidar's IP is in the same subnet with the PC's. Users may use WireShark to check the lidar's IP that broadcasts data packets; ·...
  • Page 80 · If no packet is missing and yet the point cloud flashes, please update PandarView to the latest version (see the FOV) Download page of Hesai's official website or contact Hesai technical support) and restart the PC. If the point cloud is still abnormal: ·...

  • Page 81: Appendix I Channel Distribution

    Appendix I Channel Distribution Notes to the table next page: ■ Angle Values · The design values of Horizontal Angle (Azimuth) Offsets and Vertical Angles (Elevation) are listed. · The accurate values are in this lidar unit's angle correction file, see Section 1.3 (Channel Distribution). ■...
  • Page 82 Channel Distribution (to be continued) Vertical Angle Range Capability Horizontal Resolution Channel No. Bank No. Horizontal Angle (Azimuth) Offset (Elevation) @10% Reflectivity @10 Hz 1 (bottom) Bank A 10.108° -52.627° 15 m 0.8° Bank A 9.720° -51.028° 15 m 0.8° Bank A 9.384°...
  • Page 83 Channel Distribution (to be continued) Vertical Angle Range Capability Horizontal Resolution Channel No. Bank No. Horizontal Angle (Azimuth) Offset (Elevation) @10% Reflectivity @10 Hz Bank A 6.785° -29.093° 20 m 0.8° Bank A 6.721° -28.149° 20 m 0.8° Bank A 6.660°...
  • Page 84 Channel Distribution (to be continued) Vertical Angle Range Capability Horizontal Resolution Channel No. Bank No. Horizontal Angle (Azimuth) Offset (Elevation) @10% Reflectivity @10 Hz Bank B -6.018° -11.608° 20 m 0.8° Bank B -6.000° -10.783° 20 m 0.8° Bank B -5.984°...
  • Page 85 Channel Distribution (to be continued) Vertical Angle Range Capability Horizontal Resolution Channel No. Bank No. Horizontal Angle (Azimuth) Offset (Elevation) @10% Reflectivity @10 Hz Bank B -5.911° 4.654° 20 m 0.8° Bank B -5.919° 5.466° 20 m 0.8° Bank B -5.927°...
  • Page 86 Channel Distribution (to be continued) Vertical Angle Range Capability Horizontal Resolution Channel No. Bank No. Horizontal Angle (Azimuth) Offset (Elevation) @10% Reflectivity @10 Hz Bank C 6.343° 21.362° 20 m 0.4° Bank C 6.384° 22.241° 20 m 0.4° Bank C 6.427°...
  • Page 87 Channel Distribution (to be continued) Vertical Angle Range Capability Horizontal Resolution Channel No. Bank No. Horizontal Angle (Azimuth) Offset (Elevation) @10% Reflectivity @10 Hz Bank D -6.405° 22.685° 20 m 0.4° Bank D -6.450° 23.575° 20 m 0.4° Bank D -6.498°...
  • Page 88 Channel Distribution (continued) Vertical Angle Range Capability Horizontal Resolution Channel No. Bank No. Horizontal Angle (Azimuth) Offset (Elevation) @10% Reflectivity @10 Hz -8.209° 42.852° 15 m 0.4° Bank D Bank D -8.396° 44.090° 15 m 0.4° Bank D -8.603° 45.369° 15 m 0.4°...

  • Page 89: Appendix Ii Absolute Time Of Point Cloud Data

    Appendix II Absolute Time of Point Cloud Data ■ Source of Absolute Time The lidar retrieves the current absolute time by connecting to an external clock source (PTP). · The lidar connects to a third-party PTP master to obtain the absolute time. ·...
  • Page 90 ■ Absolute Time of Point Cloud Data Packets Definition · Every time the lidar passes a fixed time Δt or azimuth interval Δα (see Section 4.2 Web Control – Trigger Method), it sends a command that triggers a round of firing. ·...
  • Page 91 ■ Start Time of Each Block Assuming that the absolute time of a Point Cloud Data Packet is t0, the start time of each block (i.e., the time when the first firing starts) can be calculated. Single Return Mode Block Start Time (μs) Block 1 t0 + 9...
  • Page 92 ■ Firing Sequences All channels are divided into four banks, see Appendix I (Channel Distribution). Two firing sequences are defined below and are executed alternately. Firing Sequence 1 Firing Sequence 2 Banks CDB fire; Bank A rests Banks CDA fire, Bank B rests The current firing sequence is indicated by the Mode Flag field in the Tail of Point Cloud Data Packets, see Section 3.1.2 (Point Cloud UDP Data).
  • Page 93 · The file contains 99 rows of effective data (3 header rows and 96 channel rows), appended by 32 all-zero rows (shown as ellipses in the table next page). To obtain the firetime correction file: · send PTC command 0xA9, as described in Hesai TCP API Protocol (Chapter 5); · or export the file using PandarView, see the PandarView user manual. -91-...
  • Page 94 Firetime Correction File (continued in the following pages) EEFF Horizontal Resolution Mode LoopNum Loop1 Firetime1 Loop2 Firetime2 1.456 1.456 2.312 2.312 3.768 3.768 4.624 4.624 5.48 5.48 6.936 6.936 7.792 7.792 8.648 8.648 10.104 10.104 10.96 10.96 11.816 11.816 13.272 13.272 14.128 14.128...
  • Page 95 22.776 22.776 23.632 23.632 24.488 24.488 25.944 25.944 26.8 26.8 27.656 27.656 29.112 29.112 29.968 29.968 30.824 30.824 32.28 32.28 33.136 33.136 33.992 33.992 35.448 35.448 36.304 36.304 37.16 37.16 38.616 38.616 39.472 39.472 40.328 40.328 41.784 41.784 42.64 42.64 43.496 43.496 44.952...
  • Page 96 49.832 49.832 51.288 51.288 52.144 52.144 54.456 54.456 55.312 55.312 56.168 56.168 57.624 57.624 58.48 58.48 59.336 59.336 60.792 60.792 61.648 61.648 62.504 62.504 63.96 63.96 64.816 64.816 65.672 65.672 67.128 67.128 67.984 67.984 68.84 68.84 70.296 70.296 71.152 71.152 72.008 72.008 73.464...
  • Page 97 77.488 77.488 78.344 78.344 79.8 79.8 80.656 80.656 81.512 81.512 82.968 82.968 83.824 83.824 84.68 84.68 86.136 86.136 86.992 86.992 87.848 87.848 89.304 89.304 90.16 90.16 91.016 91.016 92.472 92.472 93.328 93.328 94.184 94.184 95.64 95.64 96.496 96.496 97.352 97.352 98.808 98.808 99.664...

  • Page 98: Appendix Iii Power Supply Requirements

    Appendix III Power Supply Requirements To ensure the input voltage at the lidar's connector is within 9 to 55 V DC, please check the specifications of the power supply and cables. ■ Power Supply Should be able to provide at least 4 A, 30 W. ■...
  • Page 99 (Continued) Users may also estimate the minimum source voltage using the following lookup table. Cable Total Length L Minimum Source Voltage U 9.5 V 10.3 V 10 m 11.1 V 15 m 12.1 V When the lidar's input voltage approaches 55 V, make sure there is no additional overshoot in the external power system. Even a short period of overvoltage can cause irreversible damage to the lidar.

  • Page 100: Appendix Iv Legal Notice

    Hesai's official website are properties of their respective owners. The software included in this product contains copyright that is registered under Hesai Technology. Any third party is not permitted, except as expressly permitted by licensor or expressly required by applicable law, to decompile, reverse engineer, disassemble, modify, rent, lease, loan, distribute, sublicense, create derivative works based on the whole or any part of the software.
  • Page 101 MAP IV, Inc. sales: contact@map4.jp Website: https://www.map4.jp Address: #2702 JR Gate Tower, 1-1-3 Meieki, Nakamura-ku, Nagoya Website...

Table of Contents

Save PDF