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Hesai Pandar40M User Manual

40-channel mechanical lidar
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403-en-2001A4
Pandar40M
40-Channel
Mechanical LiDAR
User Manual
HESAI Wechat

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Summary of Contents for Hesai Pandar40M

  • Page 1 403-en-2001A4 Pandar40M 40-Channel Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents Safety Notice ......................... 1 5 PandarView ......................38 1 Introduction ......................4 5.1 Installation ........................38 1.1 Operating Principle ....................4 5.2 Use ..........................39 1.2 LiDAR Structure ......................5 5.3 Features ........................41 1.3 Channel Distribution ....................6 6 Communication Protocol .................. 45 1.4 Specifications .......................

  • Page 3: Safety Notice

    To avoid violating the warranty and to minimize the chances of getting electrically shocked, please do not disassemble the device. The device must not be tampered with and must not be changed in any way. There are no user-serviceable parts inside the device. For repairs and maintenance inquiries, please contact an authorized Hesai Technology service provider. ■ Laser Safety Notice – Laser Class 1 This device satisfies the requirements of ·...
  • Page 4 For maximum self-protection, avoid looking directly at the device when it is in operation. Repair DO NOT open and repair the device without direct guidance from Hesai Technology. Disassembling the device may cause degraded performance, failure in water resistance, or potential injuries to the operator.
  • Page 5 Vibration Strong vibration may cause damage to the device and should be avoided. If you need the mechanical vibration and shock limits of this product, please contact Hesai technical support. Radio Frequency Interference Please observe the signs and notices on the device that prohibit or restrict the use of electronic devices. Although the device is designed, tested, and manufactured to comply with the regulations on RF radiation, the radiation from the device may still influence other electronic devices.

  • Page 6: Introduction

    1 Introduction This manual describes the specifications, installation, and data output format of Pandar40M. This manual is under constant revision. Please contact Hesai for the latest version. 1.1 Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the object.

  • Page 7: Lidar Structure

    1.2 LiDAR Structure 40 pairs of 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 Rotation Direction (Top View) The LiDAR’s coordinate system is shown above. The Z-axis is the axis of rotation. The origin is shown as a red dot in Figure 1.6 on the next page.

  • Page 8: Channel Distribution

    Each channel has an intrinsic angle offset, both horizontally and vertically. The angle offsets are recorded in this LiDAR unit's calibration file. Users can obtain the calibration file by sending the TCP command PTC_COMMAND_GET_LIDAR_CALIBRATION, as described in Hesai TCP API Protocol...

  • Page 9: Specifications

    1.4 Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 905 nm Channel Laser Class Class 1 Eye Safe Range 0.3 to 120 m (at 10% reflectivity) Ingress Protection IP6K7 Range Accuracy ±5 cm (0.3 to 1 m) Dimensions Height: 104.7 mm ±2 cm (1 to 120 m) Top/Bottom Diameter: 118.00 / 116.00 mm FOV (Horizontal)

  • Page 10: Setup

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

  • Page 14: Interfaces

    2.2 Interfaces Lemo Contact is the default communication connector. (Another option is the Phoenix Contact, detailed in Appendix IV.) Lemo part number: FGG.2T.316.CLAC75Z (male, on the LiDAR) From the eye to the interface Figure 2.3 Lemo Connector (Male) Pin Description of the Lemo Connector: Pin # Function Color...

  • Page 15: Connection Box (Optional)

    2.3 Connection Box (Optional) Users may connect the LiDAR directly or using the connection box. The connection box comes equipped with a power port, a GPS port, and a standard Ethernet port. The cable length between the connector and the connection box is 1.7 m by default, and the cable diameter is 7.5±0.3 mm. Lemo part number: PHG.2T.316.CLLC75Z (female, on the connection box)
  • Page 16 2.3.1 Connection Box Interfaces Port # Port Name Description Standard Ethernet Port RJ45, 100 Mbps Ethernet Power Port Use DC-005 DC power adapter Input voltage ranges from 9 V to 48 V. Power consumption is 15 W GPS Port Connector type: JST SM06B-SRSS-TB Recommended connector for the external GPS module: JST SHR-06V-S-B Voltage standard: RS232 Baud rate: 9600 bps...
  • Page 17 2.3.2 Connection NOTE Refer to Appendix III when PTP protocol is used.

  • Page 18: Get Ready To Use

    2.4 Get Ready to Use The LiDAR does not have a power switch. It starts operating once connected to power and the Ethernet. To receive data on your PC, set the PC’s IP address to 192.168.1.100 and subnet mask to 255.255.255.0 For Ubuntu-16.04: For Windows: Use the ifconfig command in the terminal:...

  • Page 19: Data Structure

    3 Data Structure 100 Mbps Ethernet UDP/IP is used for data output. The output data includes Point Cloud Data Packets and GPS Data Packets. Figure 3.1 Data Structure with UDP Sequence OFF The UDP sequence feature is OFF by default. When UDP sequence is ON, the Additional Information in the UDP data changes from 22 bytes to 26 bytes.

  • Page 20: Point Cloud Data Packet

    3.1 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. The destination IP address is 0xFF FF FF FF and in broadcast form. Point Cloud Ethernet Header: 42 bytes Field Bytes Description...
  • Page 21 3.1.2 UDP Data All the multi-byte values are unsigned and in little endian format. ■ Ranging Data Ranging Data: 1240 bytes (10 blocks) Block 1 Block 2 Block 3 … Block 10 0xFFEE 0xFFEE 0xFFEE … 0xFFEE Azimuth 1 Azimuth 2 Azimuth 3 …...
  • Page 22 ■ Additional Information Additional Information: 22/26 bytes when UDP sequence is OFF/ON Field Bytes Description Reserved 0x01 for high temperature; 0x00 for normal operation · When high temperature is detected, the shutdown flag will be set to 0x01, and the system will shut down High Temperature Shutdown after 60 s.
  • Page 23 The analysis of point cloud UDP data consists of three steps. ■ Analyze the vertical angle, horizontal angle, and distance of a data point Take Pandar40M’s Channel 5 in Block 3 as an example: 1) Vertical angle of Channel 5 is 3.00°, according to Appendix I Channel Distribution NOTE The accurate vertical angle is recorded in this LiDAR’s unit’s calibration file...

  • Page 24: Gps Data Packet

    3.2 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 00 01 01 00 00 00 (year, month, day, hour, minute, second) and increasing with the internal 1 Hz signal.
  • Page 25 3.2.1 Ethernet Header The source IP is 192.168.1.201 by default. The destination IP address is 0xFF FF FF FF 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...
  • Page 26 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 μs Time 4 bytes In units of μs (lower byte first)
  • Page 27 ■ 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 Can be 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 …...
  • Page 28 ■ 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 Can be in hhmmss (hour, minute, second) format … <06> GPS Fix Quality 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix...
  • Page 29 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 30: Web Control

    4 Web Control Web control is used for setting parameters, checking device info, and upgrading. To access web control 1) Connect the LiDAR to your PC using an Ethernet cable 2) Set the IP address according to Section 2.4 Get Ready to Use 3) Enter this URL into your web browser: 192.168.1.201/index.html NOTE Google Chrome or Firefox is recommended.

  • Page 31: Home

    4.1 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 the 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 32: Settings

    4.2 Settings 1. Control IP VLAN Tagging can be used when the receiving host also supports VLAN function. · Check the VLAN checkbox and input a VLAN ID (range: 1~4094) for the LiDAR unit. · Set the VLAN ID of the receiving host to be the same. 2.
  • Page 33 (continued) Sync Angle 0~360 degrees By default, the LiDAR's 0° position (defined in Section 1.2) is not in sync with PPS. If syncing is needed, check the check box and input a sync angle. Trigger Method Angle-Based / Time-Based In the angle-based trigger mode, lasers fire every 0.2°...
  • Page 34 5. Clock Source and PTP Parameters · When GPS is selected as the clock source: GPS Mode GPRMC / GPGGA Clock Source GPS / PTP Format of the data received from the In the PTP mode, LiDARs do not output GPS Data external GPS module.

  • Page 35: Azimuth Fov

    4.3 Azimuth FOV For Azimuth FOV Setting, users can select one of the three modes. 4.3.1 For all channels A continuous angle range, specified by a Start Angle and an End Angle, will be applied to all the channels. Outside the specified angle range, there will be no laser firing or data generated.
  • Page 36 4.3.2 For each channel Users can configure one continuous angle range for each channel. Outside the specified range for each channel, there will be no laser firing or data generated in that channel. The “Status” button for each channel is gray by default, indicating that the angle range is [0°, 360°]. To activate the angle range configuration for each channel, click the corresponding button to make it green.
  • Page 37 4.3.3 Multi-section FOV Users can configure up to ten continuous angle ranges (i.e. sections) for each channel. Outside the specified range for each channel, there will be no laser firing or data generated in that channel. The “Status” button for each channel is gray by default, indicating that the angle range is [0°, 360°]. To activate the angle range configuration for each channel, click the corresponding button to make it green.

  • Page 38: Operation Statistics

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

  • Page 39: Upgrade

    The screenshot below shows the software and firmware versions described in this manual. Click the “Upload” button, select an upgrade file (provided by Hesai), and confirm your choice in the pop-up window. When the upgrade is complete, the LiDAR will automatically reboot, and the past versions will be logged in the Upgrade Log.

  • Page 40: Pandarview

    5 PandarView PandarView is a software that records and displays the point cloud data from Hesai LiDARs, available in 64-bit Windows 7/8/10 and Ubuntu-16.04. 5.1 Installation Copy the installation files from the USB disk included in the LiDAR’s protective case, or download these files from Hesai’s official website: www.hesaitech.com/en/download...

  • Page 41: Use

    5.2 Use Set the PC’s IP address according to Section 2.4 Use. ■ Check Live Data ■ Open a PCAP File Click on and select your LiDAR model to begin receiving data over Click on to pop up the “Choose Open File” window. Select a PCAP Ethernet.
  • Page 42 ■ Play a PCAP File Button Description Jump to the beginning of the file While paused, jump to the previous frame While playing, rewind. May click again to adjust the rewind speed (2x, 3x, 1/2x, 1/4x, and 1x) After loading a point cloud file, click to play the file While playing, click to pause While paused, jump to the next frame.

  • Page 43: Features

    5.3 Features ■ Viewpoint Selection ■ 3D Projection and Distance Measurement Users can select from the right view, front view, and top view. Both perspective projection (default) and orthographic projection are supported. The distance ruler is available only under orthographic projection. After clicking on , drag your mouse while holding the Ctrl key to make a measurement in units of meters.
  • Page 44 ■ Return Mode ■ UDP Port Users can select from Block 1 Return (i.e. Last Return), Block 2 Return Enter the UDP port number, and click “Set” to apply it. (i.e. Strongest Return), and Dual Return. ■ Channel Selection Click on to show/hide point cloud data from the selected laser channels.
  • Page 45 ■ 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 46 ■ 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 47: Communication Protocol

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

  • Page 48: Sensor Maintenance

    7 Sensor Maintenance ■ Storage Store the device in a dry, well ventilated environment. The ambient temperature should be between -40°C and +85°C, and the humidity below 85%. Please check the specifications page in this user manual for product IP rating, and avoid any ingress beyond that rating. ■...
  • Page 49 (Continued) 3) Spray the enclosure with warm, neutral solvent using a spray bottle Solvent type 99% isopropyl alcohol (IPA) or 99% ethanol (absolute alcohol) or distilled water Solvent temperature 40 to 60 ℃ 4) When the stains have loosened, dip a piece of lint-free wipe into the solvent made in Step 3, and gently wipe the enclosure back and forth along its curved surface 5) Should another cleaning agent be applied to remove certain stains, repeat Steps 3 and 4 6) Spray the enclosure with clean water, and gently wipe off the remaining liquid with another piece of lint-free wipe...

  • Page 50: Troubleshooting

    Wireshark nor PandarView · Check the firmware version of the sensor on the Upgrade page of web control. If the version is not shown properly but as “xxxx”, contact Hesai for further diagnostics Can receive data on Wireshark · Make sure the Destination IP and the Destination LiDAR Port are set correctly on the Settings page of web control but not on PandarView ·...
  • Page 51 Table 8.1 Troubleshooting (Continued) Symptoms Points to Check · Make sure the LiDAR’s enclosure is clean. If not, refer to Chapter 7 Sensor Maintenance for the cleaning method Abnormal point cloud · Make sure the LiDAR’s calibration file is imported. (Pandar40P automatically imports the calibration file, while (misaligned points, flashing Pandar40 requires manual importing) points, or incomplete FOV)

  • Page 52: Appendix I Channel Distribution

    Appendix I Channel Distribution ■ Horizontal Angle Each channel’s horizontal angle = current reference angle of the rotor + horizontal angle offset · The current reference angle of the rotor is the Azimuth field in the Body of Point Cloud UDP Data ·...
  • Page 53 Table 1.1 Pandar40M Channel Distribution (To Be Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity 01 (Top Beam) -1.042 15.00 120@10% -1.042 11.00 120@10% -1.042 8.00 120@10% -1.042...
  • Page 54 Table 1.1 Pandar40M Channel Distribution (Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity -5.208 -2.67 120@10% -1.042 -3.00 120@10% 3.125 -3.33 120@10% -5.208 -3.67 120@10% -1.042 -4.00...

  • Page 55: Appendix Ii Absolute Time And Laser Firing Time

    Appendix II Absolute Time and Laser Firing Time II.1 Absolute Time of Point Cloud Data Packets The absolute packing time of a Point Cloud Data Packet is the sum of date, time (accurate to the second) and μs time. · Date and Time can be retrieved either from the current Point Cloud Data Packet (6 bytes, year, month, date, hour, minute, second), or from the previous GPS Data Packet (6 bytes of Date and 6 bytes of time).
  • Page 56 ■ Single Return Mode The ranging data generated by one round of firing is stored in one block. The calculation of each Block's end time is as follows: Block End Time (μs) Block 10 t0 - 28.58 Block N t0 - 28.58 - 55.56 * (10 - N) Block 3 t0 - 28.58 - 55.56 * 7 Block 2...

  • Page 57: Ii.3 Laser Firing Time Of Each Channel

    II.3 Laser Firing Time of Each Channel Assuming that the end time of Block 6 is t6, the laser firing time can be calculated as follows. Firing Sequence Channel # Firing Time (μs) Firing Sequence Channel # Firing Time (μs) t6 - 54.67 t6 - 27.16 t6 - 52.7...

  • Page 58: Appendix Iii Ptp Protocol

    Appendix III PTP Protocol The Precision Time Protocol (PTP), also known as the IEEE 1588 standard, is used to synchronize clocks across a computer network. It can achieve sub- microsecond clock accuracy and is suitable for measurement and control systems. ■...
  • Page 59 ■ Absolute Packing Time When Using PTP To use PTP as the clock source, users need to connect a PTP master device to get the absolute time. If a PTP clock source is selected, the LiDAR will not transmit GPS Data Packets, but only Point Cloud Data Packets with 4-byte μs timestamps and 6-byte Date &...

  • Page 60: Appendix Iv Phoenix Contact

    Appendix IV Phoenix Contact Phoenix Contact can be used as the LiDAR’s communication connector, in place of the default Lemo Contact in Section 2.2 Interfaces. Phoenix part number: SACC-M12MS-8CON-PG 9-SH - 1511857 (male, on the LiDAR), SACC-M12FS-8CON-PG 9-SH – 1511860 (female, on the connecting box) From the eye to the interface...

  • Page 61: Appendix V Nonlinear Reflectivity Mapping

    Appendix V Nonlinear Reflectivity Mapping By default, the 1-byte reflectivity data in the Point Cloud Data Packet linearly represents target reflectivity from 0 to 255%. Alternatively, users can choose the Nonlinear Mapping mode on the Settings page of web control (see Section 4.2 Settings). The nonlinear relationship is detailed below.
  • Page 62 Table V.1 Nonlinear Reflectivity Mapping (To Be Continued) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 26.83 60.25 0.01 27.25 60.75 0.02 27.75 61.25 0.03 28.17 61.75 0.04 28.5 62.5 0.05 28.83 63.25 0.08 8.12...
  • Page 63 Table V.1 Nonlinear Reflectivity Mapping (To Be Continued) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 1.05 12.87 38.25 76.5 1.15 13.17 38.75 77.25 1.25 13.5 39.17 77.75 1.35 13.83 39.5 78.5 1.45 14.17 39.83...
  • Page 64 Table V.1 Nonlinear Reflectivity Mapping (Continued) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 4.08 21.17 51.25 94.5 4.25 21.5 51.75 95.5 4.42 21.83 52.25 96.25 4.58 22.17 52.75 96.75 4.75 22.5 53.5 97.5 4.92...

  • Page 65: Appendix Vi Certification Info

    Appendix VI Certification Info ■ FCC Declaration FCC ID: 2ASO2PANDAR40M 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 66: Appendix Vii Support And Contact

    NOTE Please leave your questions under the corresponding GitHub projects. ■ Legal Notice Copyright 2020 by Hesai Technology. All rights reserved. Use or reproduction of this manual in parts or its entirety without the authorization of Hesai is prohibited. Hesai Technology makes no representations or warranties, either expressed or implied, with respect to the contents hereof and specifically disclaims any warranties, merchantability or fitness for any particular purpose.
  • Page 67 Hesai Photonics Technology Co., Ltd. Phone: 400-805-1233 Business Email: info@hesaitech.com Website: www.hesaitech.com Service Email: service@hesaitech.com Address: Building L2, Hongqiao World Centre, Shanghai, China HESAI Wechat...

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