Hesai Pandar128E3X User Manual
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Hesai Pandar128E3X User Manual

128-channel mechanical lidar
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Pandar128E3X
128-Channel
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Summary of Contents for Hesai Pandar128E3X

  • Page 1 Pandar128E3X 128-Channel Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents Safety Notice ....................1 Log ....................57 Security ..................58 1 Introduction ..................... 4 4.10 Login ....................63 Operating Principle ................ 4 4.11 Cybersecurity Configuration ............64 LiDAR Structure ................5 5 PandarView .................... 72 Channel Distribution ..............6 Specifications .................

  • Page 3: Safety Notice

    There are no user-serviceable parts inside the product. For repairs and maintenance inquiries, please contact an authorized Hesai Technology service provider. ■ Laser Safety Notice - Laser Class 1 This device satisfies the requirements of ·...
  • Page 4 Power Supply Use only the cables and power adapters provided by Hesai Technology. Using off-spec or damaged cables or adapters, or supplying power in a humid environment can result in fire, electric shock, personal injuries, product damage, or property loss.
  • Page 5 Vibration Strong vibration may cause damage to the product and should be avoided. If you need the mechanical vibration and shock limits of this product, please contact Hesai technical support. Radio Frequency Interference Please observe the signs and notices on the product that prohibit or restrict the use of electronic devices. Although the product is designed, tested, and manufactured to comply with the regulations on RF radiation, the radiation from the product may still influence electronic devices.

  • Page 6: Introduction

    1 Introduction This manual describes the specifications, installation, and data format of Pandar128E3X. 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 offsetted angles are recorded in this LiDAR unit's angle correction 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 ①③ 0.3 to 200 m (at 10% reflectivity) Ingress Protection IP6K7 & IP6K9K Range Accuracy ② ±8 cm (0.3 to 0.5 m, each channel) Dimensions Height: 123.7 mm...
  • Page 10 (Continued) ① Range Capability: Measured under 100 klux ambient intensity. ② Range Accuracy: May vary with range, temperature, and target reflectivity. ③ The range capability and horizontal resolution of each channel is shown in Appendix I (Channel Distribution).

  • Page 11: Setup

    2 Setup Mechanical Installation Figure 2.1 Front View (Unit: mm)
  • Page 12 Figure 2.2 Bottom View (Unit: mm) -10-...
  • Page 13 ■ Quick Installation Figure 2.3 Quick Installation -11-...
  • Page 14 ■ Stable Installation Figure 2.4 Stable Installation -12-...

  • Page 15: 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) -13-...
  • Page 16 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 17 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 18 · 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 19: 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) -17-...
  • Page 20 ■ 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 21 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 Connects to a 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...
  • Page 22 Figure 2.9 Connecting Box (Back) Port # Port Name Description Trigger Port Outputs external trigger signals for multi-sensor synchronization. Connector (socket): Molex, LLC 5023520300 Recommended wire connector (plug): Molex, LLC 5023510300 Voltage: 0 to 3.3 V Signal type: pulse Max. current output level: 12 mA Pin Description for the trigger port: Pin # Direction...
  • Page 23 2.3.2 Connection Figure 2.10 Connection Box - Connection NOTE Refer to Appendix III (PTP Protocol) when PTP is used. -21-...

  • Page 24: Get Ready To Use

    To set parameters, check device info, or upgrade firmware/software, see Chapter 4 (Web Control) To obtain the SDKs (Software Development Kits) for your product model, · please find the download link at: www.hesaitech.com/en/download (Product Documentation → select product model) · or visit Hesai's official GitHub page: https://github.com/HesaiTechnology -22-...

  • Page 25: 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. NOTE The Cyber Security field (32 bytes) in Point Cloud UDP Data is present only when point cloud signature is enabled. Ethernet Header: 42 bytes Pre-Header: 6 bytes Point Cloud Data Packet: 935 bytes...

  • Page 26: 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 27 3.1.2 UDP Data ■ Pre-Header Pre-Header: 6 bytes Field Bytes Description 0xEE SOP (start of packet) 0xFF SOP (start of packet) Protocol Version Major To distinguish between product models 0x01 for the Pandar128E3 series Protocol Version Minor For each product model, to indicate the current protocol version Currently 0x04 for the Pandar128E3 series Reserved -25-...
  • Page 28 ■ Header 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 0x02 (each channel can generate two returns maximum) Flags [7:5] is reserved [4:0] shows whether this data packet contains the following information [4] confidence...
  • Page 29 ■ Body Body: 776 bytes (2 blocks) Field Bytes Description Azimuth 1 For Block 1: current reference angle of the rotor, in little endian format (lower byte first) azimuth angle = Azimuth / 100° Block 1 For Block 1: measurements made by Channels 1 to 128, see table below Azimuth 2 For Block 2 Block 2...
  • Page 30 The Distance field is defined below: Description Up-Close Blockage Detection = OFF Distance≥75 Distance Value = Distance * 4 mm ≥ 0.3 m Distance = 0 No valid point cloud output Up-Close Blockage Detection = ON Description Distance≥75 Distance Value = Distance * 4 mm ≥ 0.3 m Distance = 0 No laser emission.
  • Page 31 Reserved CRC 2 CRC-32 checksum of Functional Safety (from the Lidar State field to the Fault Code field) NOTE The LiDAR states and fault codes are described in the Safety Manual. Please contact Hesai technical support for more information. -29-...
  • Page 32 ■ Tail Tail: 56 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 33 (Continued) Field Bytes Description Date & Time The absolute time of this data packet, accurate to the second. Each Byte Range (Decimal) Year (current year minus 1900) Positive integers Month 1 to 12 1 to 31 Hour 0 to 23 Minute 0 to 59 Second...
  • Page 34 (Continued) Field Bytes Description Factory Information 0x42 UDP Sequence Sequence number of this UDP packet 0 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 35 (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 36 3.1.3 Point Cloud Data Analysis The analysis of point cloud UDP data consists of three steps. ■ Analyze the vertical angle, horizontal angle, and distance of a data point Take Channel 5 in Block 2 as an example: 1) Vertical angle of Channel 5 is 12.165°, according to Appendix I (Channel Distribution) NOTE The accurate vertical angle is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution).
  • Page 37 (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 -35-...

  • Page 38: 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 the UTC time 00 01 01 00 00 00 (year, month, day, hour, minute, second) and increasing with the internal 1 Hz signal.
  • Page 39 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 40 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 Reserved 4 bytes GPRMC/GPGGA Data...
  • Page 41 ■ 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 42 ■ 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 43 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 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 NOTE Google Chrome and Mozilla Firefox are recommended.

  • Page 45: 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 46: Settings

    Settings 1. Reset All Settings By clicking the "Reset All Settings" button on the top-right corner, all configurable parameters on web control will be reset to factory defaults. The default values are shown in the screenshots in · Section 4.2 (Settings) ·...
  • Page 47 (Continued) Ethernet Slave / Master Comm. Only for automotive Ethernet (1000Base-T1). Mode Slave mode (default): · The receiving host should be in Master mode. · Connect the LiDAR directly or use a connection box. Master mode: · Connect the LiDAR to a Master host, select "Master"...
  • Page 48 (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 0.1°...
  • Page 49 (Continued) Reflectivity Linear / Nonlinear Mapping Mapping Linear: 1-byte reflectivity data linearly represents target reflectivity (0 ~ 255%). Nonlinear 1# and 2#: increases the contrast in low-reflectivity region, see Appendix IV. Rotation Clockwise / Counterclockwise Direction Dynamic / Constant Dynamic: automatic shifting between four states according to ambient temperature - Operational High Performance, Standard, Energy...
  • Page 50 5. Clock Source and PTP Parameters 5. Clock Source and PTP Parameters Clock Source GPS / PTP In PTP mode, LiDARs do not output GPS Data Packets (see Appendix III PTP Protocol) · When GPS is selected as the clock source: GPS Mode GPRMC / GPGGA Format of the NMEA data received from...
  • Page 51 (Continued) · When PTP is selected as the clock source: Profile 1588v2 (default) / 802.1AS / 802.1AS Automotive IEEE timing and synchronization standard Time Offset for 1 to 100 μs (integer) LiDAR Lock Specify the upper limit of the absolute offset between Slave and Master when the LiDAR is in PTP Locked status.
  • Page 52 (Continued) · When using the 1588v2 profile: -2 to 3 log seconds logAnnounceIn- Time interval between Announce terval messages (default: 1) -7 to 3 log seconds logSyncInterval Time interval between Sync messages (default: 1) -7 to 3 log seconds logMinDelayReq- Minimum permitted mean time between Interval Delay_Req messages (default: 0)

  • Page 53: 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 54 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 55: 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 56: 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. -54-...

  • Page 57: Monitor

    Monitor The LiDAR's input current, voltage, and power consumption are displayed. -55-...

  • Page 58: Upgrade

    Please contact Hesai technical support to receive encrypted and signed upgrade files. · Click the "Upload" button, select an upgrade file, 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 59: Log

    The process logs in this page can be used for software troubleshooting. pandar_control the LiDAR's control program diag_ff functional safety diagnosis program errors exceptions that may affect the LiDAR's normal operation warnings exceptions that do not affect the LiDAR's normal operation -57-...

  • Page 60: Security

    Security Cyber Security (Master Switch): OFF Cyber Security (Master Switch): ON -58-...
  • Page 61 As shown in the previous page: Cyber Security (Master Switch): OFF 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 4.10 (Login). Secure Connection Use PTC and HTTP (cleartext protocols). Use PTCS and HTTPS (encrypted protocols).
  • Page 62 · If TLS is selected for PTC Connection (detailed in the next page), users can only reset the password: Click on "Forgot password?" and it redirects to the Reset Password page. Contact Hesai technical support to obtain a verification code.
  • Page 63 TLS: 2. Master Switch ON: Secure Connection PTC Connection TLS (default) / mTLS TLS (one-way auth) mode: only the user authenticates the LiDAR. mTLS (two-way auth) mode: the user and the LiDAR authenticate each other. mTLS is recommended to enhance security, see Section 4.11.2 (mTLS).
  • Page 64 3. Point Cloud Signature Shared Secret 8 to 32 digits or letters (case sensitive) Used for negotiating a session key, see Section 4.11.3 (Cybersecurity Config - Point Cloud Signature). -62-...

  • Page 65: Login

    4.10 Login When the Cyber Security Master Switch on the Security page is ON, https://192.168.1.201 redirects to the Login page. · Username (fixed): admin · Default password: 123456 · To effectively implement login control, please change the default password (see Section 4.9 - 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. -64-...
  • Page 67 Comprised of the above root and intermediate certificates NOTE In case you need to obtain the CA certificates again, contact a sales representative or technical support engineer from Hesai. Below are the steps to import CA certificates into your browser, using Chrome and Firefox in Windows 10 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 4.11.2 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. · Before checking live point cloud data in PandarView, upload both the user certificate and the corresponding private key. See Section 5.2 (PandarView - Check Live Data).
  • Page 73 4.11.3 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 TCP command PTC_COMMAND_DP_SIG_SESSION_START , see Chapter 6 (Communication Protocol).

  • Page 74: 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 75: Check Live Data

    · In PandarView's PTC drop-down menu (see screenshot below), select PTCS. Thus PandarView automatically retrieves the LiDAR unit's calibration file using PTCS commands. · Click the "CA CRT" button (see screenshot below) and specify the file path of Hesai's CA certificate chain (Hesai_Ca_Chain.crt). ■ mTLS Mode ·...
  • Page 76 ■ Cybersecurity OFF · On the Security page of web control, turn OFF the Cyber Security Master Switch. · In PandarView's PTC drop-down menu (see screenshot below), select PTC. Thus PandarView automatically retrieves the LiDAR unit's calibration file using PTC commands. 5.2.2 Receive Live Data Click on...

  • Page 77: Record Point Cloud Data

    Record Point Cloud Data 1) Click on to pop up the "Choose Output File" window. 2) Specify the file directory and click on "Save" to begin recording a .PCAP file. 3) Click on again to stop recording. -75-...

  • Page 78: Play Point Cloud Data

    Play Point Cloud Data 1) Open a .PCAP File Click on to pop up the "Choose Open File" window. Select a .PCAP file to open. 2) Import a Correction File Each LiDAR unit has a corresponding calibration file (.CSV), see Section 1.3 (Channel Distribution). We recommend importing the calibration file of this LiDAR unit If the calibration file of this LiDAR unit is temporarily not at hand, into PandarView (File -- Import Correction File), in order to...
  • Page 79 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 80: 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 81 ■ 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 82 ■ Distance Reference Circles Click on to show/hide the 12 distance reference circles. The actual distances are marked below. To change the color and line width of these circles, click on "Tools" in the menu bar and open "Grid Properties". -80-...
  • Page 83 ■ 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 84 ■ 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 85 ■ 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 86: Communication Protocol

    6 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 87: 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 88 (Continued) 3) Spray the cover lens with warm, neutral solvent using a spray bottle Solvent type 99% isopropyl alcohol (IPA) or 99% ethanol (absolute alcohol) or distilled water NOTE When using IPA or alcohol, please ensure adequate ventilation and keep away from fire. Solvent temperature 20 to 25℃...

  • Page 89: 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 90 · 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 91 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 92: Appendix I Channel Distribution

    Appendix I Channel Distribution Channel Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- Horiz. Offset Vertical Enabled? @10% Reflectivity Enhanced? Instrument Range Res? ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ①...
  • Page 93 Channel Distribution (To Be Continued) Channel Angular Position Instrument Range 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 94 Channel Distribution (To Be Continued) Channel Angular Position Instrument Range 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 95 Channel Distribution (To Be Continued) Channel Angular Position Instrument Range 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 96 Channel Distribution (To Be Continued) Channel Angular Position Instrument Range 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 97 Channel Distribution (To Be Continued) Channel Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- 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 98 Channel Distribution (To Be Continued) Channel Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- 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 99 Channel Distribution (Continued) Channel Angular Position Instrument Range Near Field Max. Range Far Field Min. Reflectivity @ Max. High- 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 100: 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 101 ■ 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 Chapter 4 Web Control - High Resolution).
  • Page 102 ■ Firing Time Offset of Each Channel Assume that the start time of Block m is T(m), m ∈ {1, 2}, 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 103 Δt(n) – Firing Time Offset of Each Channel (Unit: ns) (continued on the next page) Operational State High Performance Standard or Energy Saving Azimuth Flag Firing Type Near Near Near Near Near Near 4436 5201 4436 4436 4436 5201 4436 4436 28554 28554...
  • Page 104 Δt(n) – Firing Time Offset of Each Channel (Unit: ns) (continued on the next page) Operational State High Performance Standard or Energy Saving Azimuth Flag Firing Type Near Near Near Near Near Near 2431 3196 2781 2781 2431 3196 2781 2781 2781 2781...
  • Page 105 Δt(n) – Firing Time Offset of Each Channel (Unit: ns) (continued on the next page) Operational State High Performance Standard or Energy Saving Azimuth Flag Firing Type Near Near Near Near Near Near 19521 19521 19871 19871 19521 19521 19171 19171 19521 19521...
  • Page 106 Δt(n) – Firing Time Offset of Each Channel (Unit: ns) (continued on the next page) Operational State High Performance Standard or Energy Saving Azimuth Flag Firing Type Near Near Near Near Near Near 10381 10381 10731 10731 10381 10381 10031 26706 38509 38509...
  • Page 107 Δt(n) – Firing Time Offset of Each Channel (Unit: ns) (continued on the next page) Operational State High Performance Standard or Energy Saving Azimuth Flag Firing Type Near Near Near Near Near Near 24091 24091 24441 24441 24091 24091 23741 23741 52219 52219...
  • Page 108 Δt(n) – Firing Time Offset of Each Channel (Unit: ns) (continued on the next page) Operational State High Performance Standard or Energy Saving Azimuth Flag Firing Type Near Near Near Near Near Near 4786 4786 4086 4086 32564 32564 31864 31864 2021 28554...
  • Page 109 Δt(n) – Firing Time Offset of Each Channel (Unit: ns) (continued) Operational State High Performance Standard or Energy Saving Azimuth Flag Firing Type Near Near Near Near Near Near 4436 4436 4436 4436 4436 4436 4436 4436 6441 6441 6091 6091 6441 6441...

  • Page 110: 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 -108-...
  • Page 111 ■ 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 112: 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 Chapter 4 (Web Control - Settings). ■ Nonlinear Mapping 1# This mapping increases the contrast in low-reflectivity region.
  • Page 113 Nonlinear Reflectivity Mapping 1# (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) 2.69 0.67 0.75 0.01 2.81 0.81 0.02 2.94 0.87 0.03 3.07 0.95 0.04 3.21 1.05 0.05 3.36 1.15...
  • Page 114 Nonlinear Reflectivity Mapping 1# (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...
  • Page 115 Nonlinear Reflectivity Mapping 1# (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 63.25 76.5 51.25 41.25 63.75 77.25 51.75 41.75 64.5 77.75 52.25 42.25 65.25 78.5 52.75 42.75 65.75...
  • Page 116 Nonlinear Reflectivity Mapping 1# (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 -114-...
  • Page 117 ■ Nonlinear Mapping 2# This mapping increases the resolution of low-reflectivity objects, especially lane markings. The nonlinear relationship is detailed below. Reflectivity Index (0~255) Figure IV.2 Nonlinear Reflectivity Mapping -115-...
  • Page 118 Nonlinear Reflectivity Mapping 2# (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) 0.0035 13.0064 19.4164 35.1218 2.9813 13.2965 19.7705 36.5585 4.1885 13.5898 20.1278 37.5323 5.047 13.8863 20.4883 38.5189 5.7914 14.186...
  • Page 119 Nonlinear Reflectivity Mapping 2# (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) 57.8564 80.395 102.65 102.65 59.0798 81.836 102.65 102.65 60.316 82.5613 102.65 102.65 61.565 84.0215 102.65 102.65 62.1943 84.7564...
  • Page 120 Nonlinear Reflectivity Mapping 2# (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) 102.65 151.8 151.8 200.95 102.65 151.8 151.8 200.95 102.65 151.8 151.8 200.95 151.8 151.8 151.8 200.95 151.8 151.8...
  • Page 121 Nonlinear Reflectivity Mapping 2# (Continued) Reflectivity Index Reflectivity (0~255) 200.95 200.95 200.95 200.95 200.95 200.95 200.95 200.95 200.95 200.95 250.1 250.1 250.1 250.1 250.1 299.25 -119-...

  • Page 122: Appendix V Certification Info

    Appendix V Certification Info ■ FCC Declaration FCC ID: 2ASO2PANDAR128 FCC Warning 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. FCC Statement 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 123: Appendix Vi Support And Contact

    NOTE Please leave your questions under the corresponding GitHub projects. ■ Legal Notice Copyright 2021 by Hesai Technology. All rights reserved. Use or reproduction of this manual in parts or its entirety without the authorization of Hesai is prohibited. Hesai Technology makes no representations or warranties, either expressed or implied, with respect to the contents hereof and specifically disclaims any warranties, merchantability, or fitness for any particular purpose.
  • Page 124 Hesai Technology Co., Ltd. Phone: +86 400 805 1233 Business Email: info@hesaitech.com Website: www.hesaitech.com Service Email: service@hesaitech.com Address: Building L2, Hongqiao World Centre, Shanghai, China HESAI Wechat...

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