Hesai PandarQT User Manual
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Hesai PandarQT User Manual

64-channel short-range mechanical lidar
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PandarQT
64-Channel Short-Range
Mechanical LiDAR
User Manual
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  • Page 1 PandarQT 64-Channel Short-Range Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents About This Manual ..................1 4 Web Control ..................33 Safety Notice ....................3 Home ..................... 34 1 Introduction ..................10 Settings ..................36 Azimuth FOV ................. 43 Operating Principle ..............10 Operation Statistics ..............47 Lidar Structure ................11 Upgrade ..................

  • 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 Interfaces 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. · To prevent breakdown, turn off the power source before connection and disconnection.
  • 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 PandarQT. 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

    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 View) Figure 1.4 Default Rotation Direction (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

    · Send this PTC command , as described in Hesai TCP API Protocol (Chapter 5). · Or export the file using PandarView, see the PandarView user manual. · Or contact a sales representative or technical support engineer from Hesai. -12-...

  • Page 15: Specifications

    Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 885 nm Channel Laser Class Class 1 Eye Safe Instrument Range 0.1 to 60 m Ingress Protection IP6K7 & IP6K9K Range Capability ① 20 m (at 10% reflectivity) Dimensions Height: 76.0 mm Range Accuracy ②...
  • Page 16 (Continued) ① Range capability · Test conditions: middle 48 channels (Channels 9~56) 100 klux ambient illuminance, PoD > 90%. ② Range Accuracy and Range Precision · May vary with range, temperature, and target reflectivity. · Range accuracy: difference between the average of multiple measurements and the true value, measured under the same conditions. ·...

  • Page 17: Setup

    2 Setup Mechanical Installation Figure 2.1 Isometric View (Unit: mm) Figure 2.2 Mounting Base (Unit: mm) -15-...
  • Page 18 2.1.1 Recommended Installation Figure 2.3 Recommended Installation -16-...
  • Page 19 2.1.2 Side Installation Figure 2.4 Side Installation -17-...
  • Page 20 2.1.3 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 21: Interfaces

    Interfaces PandarQT uses a 4-pin M8 male socket (with pins inside), which includes power wires and a 100BASE-T1 twisted-pair. Figure 2.5 Connector Dimensions (Unit: mm) Figure 2.6 Connector Figure 2.7 Connector Pinout (4-pin) Pin definition is listed below: Pin #...
  • Page 22 ■ Extension Cable (Optional) The default length is 6, 10, or 15 m. Contact Hesai if you need customized cables for connecting the lidars to your control units directly. Refer to Appendix IV (Power Supply Requirements) for wire gauge and cable length selection.

  • Page 23: Connection Box (Optional)

    Connection Box (Optional) Users may connect the lidar directly or using the connection box. The connection box converts automotive 100BASE-T1 to 100BASE-TX typical Ethernet, as well as providing a power port. Figure 2.9 Connection Box - Connection (Unit: mm) -21-...
  • Page 24 2.3.1 Connection Box Interfaces Figure 2.10 Connection Box (Front) Figure 2.11 Connection Box (Back) Port # Port Name Description Standard Ethernet Port RJ45, 100BASE-TX Ethernet Power Port Connects to a DC power adapter Connector part number: PJ-057AH Reserved -22-...
  • Page 25 2.3.2 Connection Figure 2.12 Connection with PTP (Software Device) -23-...
  • Page 26 Figure 2.13 Connection with PTP (Hardware Device) -24-...

  • Page 27: 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 -25-...

  • Page 28: Data Structure

    3 Data Structure The lidar outputs Point Cloud Data Packets using 100BASE-T1 Automotive Ethernet UDP/IP. Unless otherwise specified, all the multi-byte fields are unsigned values in little endian format. Ethernet Header: 42 bytes Pre-Header: 6 bytes Point Cloud Data Packet: 1114 bytes Header: 6 bytes UDP Data: 1072 bytes Body: 1032 bytes...

  • Page 29: 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 30 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 0x01 Reserved ■...
  • Page 31 ■ Body: 1032 byte 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 32 ■ Tail: 24 bytes Field Bytes Description Reserved Motor Speed Unit: RPM Timestamp The "μs time" part of the absolute time of this data packet (defined in Appendix II) Unit: μs Range: 0 to 1000000 μs (1 s) Return Mode 0x33 for the First Return mode 0x38 for the Last Return mode 0x3B for the Dual Return mode (first &...
  • Page 33 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 -43.848°, 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 34 ④ Firing time offset of the channel Look up the table in Appendix II (Absolute Time of Point Cloud Data). ⑤ Spin rate of the motor See Section 4.1 (Web Control – Home). ■ Analyze the distance of a data point Actual distance in real world millimeters = distance measurement * Distance Unit ·...

  • Page 35: 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 36: Home

    Home Status Spin Rate 600 rpm Free Run Device Info Device Log Model PandarQT QTXXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Hardware Version 2.2.0 Software Version 2.0.18 Sensor Firmware Version 2.0.13 Controller Firmware Version 2.0.20 Button Description Device Log Click to download a .JSON file that contains the lidar status, device info, all configurable parameters, and the upgrade log.
  • Page 37 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 38: 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 Return Mode Dual Return Sync Angle □ Trigger Method Time Based (Continued on the next page) -36-...
  • Page 39 (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） Rotation Direction Clockwise Standby Mode In Operation / Standby Save Button Description Reset All Settings Reset all the configurable parameters to factory defaults, including: ·...
  • Page 40 4.2.1 Network Settings Parameter Options Description Ethernet Comm. Slave (default) Only for automotive Ethernet (1000Base-T1). Mode Master Slave mode (default): · The receiving host shall be in Master mode. · Connect the lidar directly or use a connection box. Master mode: ·...
  • Page 41 4.2.2 Function Settings Parameter Options Description Return Mode First Also shown in Point Cloud Data Packets, see the Return Mode field in Section 3.1.2 Last (Point Cloud UDP Data). First and Last (default) Sync Angle 0° to 360° Phase lock angle ·...
  • Page 42 Parameter Options Description Retro Multi-Reflection OFF (default) To mitigate the false positives at twice the distance of a retroflector. Filtering Rotation Direction Clockwise (default) Direction of motor rotation Counterclockwise Anti-Interference Random (default) To minimize the interference between lidars. Mode Fixed Random Mode: For each firing, an anti-interference code is randomly assigned.
  • Page 43 4.2.3 Time Settings Clock Source Profile 1588v2 Time Offset for Lidar Lock PTP Network Transport UDP/IP PTP Domain Number PTP logAnnounceInterval PTP logSyncInterval PTP logMinDelayReqInterval Parameter Options Description Clock Source Detailed in Appendix III (PTP Protocol) Profile 1588v2 (default) IEEE timing and synchronization standard 802.1AS Time Offset for Lidar 1 to 100 μs (integer)
  • Page 44 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 Default: 1 Default: 1 log second (2 seconds) -7 to 3 Minimum permitted mean time between Delay_Req messages logMinDelayReqInterval...

  • Page 45: 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. The lidar outputs valid data only within the specified azimuth FOV ranges. Multi-section FOV Note ·...
  • Page 46 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. -44-...
  • Page 47 4.3.2 For each channel Users can configure one continuous angle range for each channel. Each channel outputs valid data only within its specified range. The "Status" button for each channel is gray by default, indicating that the channel does not output valid data. To activate the angle range configuration for each channel, click the corresponding button to make it green.
  • Page 48 4.3.3 Multi-section FOV Users can configure up to five continuous angle ranges (i.e. sections) for each channel. Each channel outputs valid data only within its specified ranges. The "Status" button for each channel is gray by default, indicating that the channel does not output valid data. To activate the angle range configuration for each channel, click the corresponding button to make it green.

  • Page 49: Operation Statistics

    Operation Statistics These operating parameters are shown in real time: Start-Up Counts Internal Temperature 32.10℃ 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 50: 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 leather cover (supplied with the lidar) or other opaque material over the lidar's cover lens.

  • Page 51: Communication Protocol

    5 Communication Protocol To receive Hesai lidar's PTC (Pandar TCP Commands) and HTTP API Protocols, please contact Hesai technical support. -49-...

  • Page 52: 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 53 (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 54 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 the connection box ·...
  • Page 55 · PC's firewall is disabled, or that PandarView is added to the firewall exceptions Wireshark but not on · the latest PandarView version (see the Download page of Hesai's official website or contact Hesai technical PandarView support) is installed on the PC Power on again to check if the symptom persists.
  • Page 56 Symptoms Points to Check Verify that · horizontal FOV is properly set on the Azimuth FOV page of web control · motor's spin rate is steady on the Home page of web control · Lidar's internal temperature is between -20℃ and 95℃ on the Operation Statistics page of web control ·...
  • Page 57 · 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 58: Appendix I Channel Distribution

    Appendix I Channel Distribution The Horizontal Angle (Azimuth) Offsets and Vertical Angles (Elevation) in the table next page are design values. The accurate values are in this lidar's unit's angle correction file, see Section 1.3 (Channel Distribution) and Section 3.1.3 (Point Cloud Data Analysis).
  • Page 59 Channel Distribution (To Be Continued) Channel # Horizontal Angle Vertical Angle Channel # Horizontal Angle Vertical Angle in UDP Data (Azimuth) Offset (Elevation) in UDP Data (Azimuth) Offset (Elevation) 01 (Bottom) 8.736° -52.121° -5.083° -16.865° 8.314° -49.785° -5.047° -15.368° 7.964° -47.577°...
  • Page 60 Channel Distribution (Continued) Channel # Horizontal Angle Vertical Angle Channel # Horizontal Angle Vertical Angle in UDP Data (Azimuth) Offset (Elevation) in UDP Data (Azimuth) Offset (Elevation) 5.611° 12.397° -6.887° 45.487° 5.642° 13.877° -7.163° 47.587° 5.676° 15.365° -7.493° 49.795° 5.716° 16.861°...

  • Page 61: 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 62 ■ 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 63 ■ 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 + 25.71...
  • Page 64 Δt(n)—Firing Time Offset of Each Channel (Unit: μs) (Continued on the Next Page) Firing Sequence Channel # Δt(n) Firing Sequence Channel # Δt(n) 2.31 44.84 4.37 46.90 6.43 48.95 8.49 51.01 10.54 53.45 12.60 55.52 14.66 57.58 16.71 59.63 19.16 61.69 21.22 63.74...
  • Page 65 Δt(n)—Firing Time Offset of Each Channel (Unit: μs) (Continued) Firing Sequence Channel # Δt(n) Firing Sequence Channel # Δt(n) 87.75 130.28 89.82 132.34 91.87 134.39 93.93 136.45 95.98 98.04 100.10 102.15 105.20 107.26 109.32 111.38 113.43 115.49 117.54 119.60 122.05 124.11 126.17 128.22...

  • Page 66: Appendix Iii Power Supply Requirements

    Appendix III Power Supply Requirements To ensure that the input voltage at the lidar's connector is within 12 to 48 V DC, please check the specifications of the power source and the voltage drop over cables. The lidar uses 22 AWG power cables. We recommend using 22 AWG cables or cables of thicker wire gauges. ·...
  • Page 67 ■ Power Consumption The lidar's peak power consumption is below 12 W in all operating conditions. Yet after a power-on in an ambient temperature of 0℃ or below, power consumption typically remains around 36 W for a period of time. ■...

  • Page 68: Appendix Iv Legal Notice

    Appendix IV 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 69 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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