Hesai XT32M2X User Manual
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Hesai XT32M2X User Manual

32-channel medium-range mechanical lidar
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XT32M2X
32-Channel Medium-Range Mechanical
Lidar User Manual
Classification: Public
Doc Version: X03-en-240110

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  • Page 1 XT32M2X 32-Channel Medium-Range Mechanical Lidar User Manual Classification: Public Doc Version: X03-en-240110...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.3. Connection box (optional) ...................... ...
  • Page 4 5. Communication protocol...................... ...

  • Page 5: About This Manual

    Access to this manual To obtain the latest version, please do one of the following: Visit the Downloads page of Hesai's official website: https://www.hesaitech.com/downloads/ •...

  • Page 6: Safety Notice

    Should there be other agreements with specific users, the other agreements shall apply. • Before using a product, please confirm with Hesai the development maturity of the product in a timely manner. For products still in development, • Hesai makes no warranty of non-infringement nor assumes any responsibility for quality assurance.

  • Page 7: Operating Environment

    If any device or equipment in the nearby environment malfunctions. • Meanwhile, contact Hesai Technology or an authorized Hesai Technology service provider for more information on product disposal. Prohibition of disassembly Unless expressly agreed to in writing by Hesai Technology, do NOT disassemble the product.
  • Page 8 Vibration If significant mechanical shocks and vibration exist in the product's operating environment, please contact Hesai's technical support team to • obtain the shock and vibration limits of your product model. Exposure to over-the-limit shocks or vibration may damage the product.

  • Page 9: Personnel

    The product should be operated by professionals with engineering backgrounds or experience in operating optical, electrical, and mechanical instruments. Please follow the instructions in this manual when operating the product and contact Hesai technical support if needed. Medical device interference Some components in the product can emit electromagnetic fields.
  • Page 10 • To prevent breakdowns, turn off the power source before connection and disconnection. • If abnormalities already exist (such as bent pins, broken cables, and loose screws), stop using the product and contact Hesai technical support. • Eye safety The product is a Class 1 laser product. It satisfies the requirements of: IEC 60825-1:2014 •...
  • Page 11 • immediately and contact 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. • Certain product models contain high-speed rotating parts. To avoid potential injuries, do NOT operate the product if the enclosure is loose.
  • Page 12 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. Customized firmware and software Before using a customized version of firmware and software, please fully understand the differences in functions and performance between the •...

  • Page 13: Repair And Maintenance

    For product repair or maintenance issues, please contact Hesai Technology or an authorized Hesai Technology service provider. 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 injuries;...

  • Page 14: Introduction

    1. Introduction 1.1. Operating principle Distance measurement: Time of Flight (ToF) A laser diode emits a beam of ultrashort laser pulses onto the target object. The laser pulses are reflected after hitting the target object. The returning beam is detected by an optical sensor. Distance to the object can be accurately measured by calculating the time between laser emission and receipt.

  • Page 15: Lidar Structure

    1.2. Lidar structure The basic structure is shown in Figure 1. Partial cross-sectional diagram. Multiple pairs of laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1. Partial cross-sectional diagram Figure 2. Coordinate system (isometric view) Figure 3.

  • Page 16: Channel Distribution

    1.3. Channel distribution The vertical resolution is 1.3° across the FOV, as illustrated in Figure 4. Channel vertical distribution. Figure 4. Channel vertical distribution Figure 5. Laser emitter/receiver position (unit: mm) The optical center's exact position is shown as a yellow dot. •...

  • Page 17: Specifications

    1.4. Specifications SENSOR Scanning method Mechanical rotation Number of channels Instrumented range 0.5 to 300 m (all channels) Ranging capability ① 80 m @10% reflectivity (all channels) Range accuracy ② ±1 cm Range precision ③ 0.5 cm (typical, 1σ) 1 cm (standard) Horizontal FOV 360°...
  • Page 18 Ingress protection IP6K7 Dimensions Height: 75.0 mm Top/bottom: Φ89.0/93.0 mm Rated voltage range DC 9 to 36 V Power consumption ④ 10 W Operating temperature –20°C to 60°C Storage temperature –40°C to 85°C Weight 0.49 kg DATA I/O Data transmission Ethernet 100BASE-TX, Slave Mode Measurements...
  • Page 19 Notes to specifications ① Ranging capability (typical value) Measured under 100 klux ambient illuminance with PoD (probability of detection) > 90%. ②③ Range accuracy and precision May vary with range, temperature, and target reflectivity. • Typical values: the average values of all channels, measured outdoors within •...

  • Page 20: Range Accuracy

    1.4.1. Range accuracy Definition: The average differences between the measurements of a channel and the true distance to the target. Conditions: 30°C ambient temperature, outdoors, all channels -16-...

  • Page 21: Range Precision

    1.4.2. Range precision Definition: The standard deviation of the measurements of a channel. Conditions: 30°C ambient temperature, outdoors, all channels -17-...

  • Page 22: Setup

    2. Setup Before operating the lidar, strip away the protective cover on the cover lens. 2.1. Mechanical installation Figure 6. Front view (unit: mm) -18-...
  • Page 23 Figure 7. Bottom view (Side connector, unit: mm) -19-...

  • Page 24: Recommended Installation

    2.1.1. Recommended Installation Figure 8. Recommended installation -20-...

  • Page 25: Notes On Screw Installation

    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 it in place, wait for at least 12 hours before operating the lidar.

  • Page 26: Electrical Interface

    2.2. Electrical interface Lemo part number: EEG.0T.309.CLN (female socket, on the lidar) Figure 9. Lemo connector (unit: mm) 2.2.1. Pin description Pin # Signal Wire Color Voltage Wire Gauge Pin # Signal Wire Color Voltage Wire Gauge GPS PPS Black 3.3 to 12 V 28 AWG Ethernet TX-...

  • Page 27: Cables

    Timing requirements of GPS PPS and GPS Serial Data (NMEA) GPS PPS: signal cycle t3 = 1 s ± 50 μs (rising edge to rising edge) GPS PPS: pulse width t1 ≥ 1 ms (10 to 100 ms recommended) Timing relationship NMEA signal starts after the PPS rising edge of the current second, and ends after the PPS falling edge of the current second, as shown by the gray arrows in the figure above.

  • Page 28: Connector Use

    • connectors' shells, or even damage the contacts. If the 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 •...
  • Page 29 Connection Turn off the power source. Make sure the red dot on the cable's plug faces upward so that the alignment key matches the slot on the lidar side. Push the plug straight into the lidar's socket. Disconnection Turn off the power source. Hold the plug's shell and pull the plug straight from the socket.

  • Page 30: Connection Box (Optional)

    2.3. Connection box (optional) Users may connect to the lidar with or without a connection box. Lemo part number: FGG.0T.309.CLAC50Z (male plug, on the connection box) Figure 11. Connection box (unit: mm) -26-...

  • Page 31: Connection Box

    2.3.1. Connection box ports Figure 12. Connection box (front) Port No. Port name Description Standard Ethernet port RJ45, 100 Mbps Ethernet Power port Connects to a DC power adapter. GPS port Connector part number: JST SM06B-SRSS-TB Recommended connector for the external GPS module: JST SHR-06V-S-B Voltage standard: RS232 Baud rate: 9600 bps Pin description for the GPS port...
  • Page 32 Pin # Direction Description Requirements Input Receiving serial data from the external GPS module RS232 level Output Ground for the external GPS module Reserved Figure 13. Connection box (back) -28-...

  • Page 33: Connection

    2.3.2. Connection  The images below take the side connector lidar as an example. Figure 14. Connection with GPS -29-...
  • Page 34 Figure 15. Connection with PTP -30-...

  • Page 35: Network Settings On The Receiving Host

    Where to find it PandarView 2 (point cloud To record and display point cloud data Visit the Downloads page of Hesai's official website visualization software) contact Hesai technical support. web control and API To set parameters, check device info or upgrade...
  • Page 36 Tool Purpose Where to find it software development kits (SDKs) To assist development Visit Hesai's official GitHub page: https://github.com/ and ROS drivers HesaiTechnology -32-...

  • Page 37: Data Structure

    3. Data structure Unless otherwise specified, all the multi-byte fields are unsigned values in little-endian format. Pre-Header: 6 bytes Ethernet header: 42 bytes Header: 6 bytes Point Cloud Data Packet: 866 bytes Point cloud UDP data: 820 bytes Body: 780 bytes Tail: 24 bytes Ethernet tail: 4 bytes Additional information: 4 bytes...

  • Page 38: Point Cloud Data Packet

    3.1. Point Cloud Data Packet 3.1.1. Ethernet header Default IP address: Source IP 192.168.1.201 Destination IP 255.255.255.255 Point Cloud Data Packet: Ethernet header Field Bytes Description Ethernet II MAC Destination MAC: xx:xx:xx:xx:xx:xx (FF:FF:FF:FF:FF:FF for broadcast) Source MAC: xx:xx:xx:xx:xx:xx Ethernet Data Packet Type 0x08, 0x00 Internet Protocol Protocol parameters...

  • Page 39: Point Cloud Udp Data

    3.1.2. Point cloud UDP data 3.1.2.1. Pre-Header Field Bytes Description 0xEE Start of Packet 0xFF Start of Packet Protocol Version Major Main class of the point cloud UDP packet structure Current value: 0x06 Protocol Version Minor Subclass of the point cloud UDP packet structure Current value: 0x01 Reserved -35-...
  • Page 40 3.1.2.2. Header Field Bytes Description Channel Num Number of laser channels Fixed: 0x20 (32) Block Num Number of block(s) per packet Fixed: 0x06 (6) First Block Return Reserved Dis Unit Fixed: 0x05 (5 mm) Return Num Maximum number of returns per channel 0x03 (3) UDP Sequence [7:1] are reserved.
  • Page 41 3.1.2.3. Body Return mode In Dual or Triple Return mode, the measurements of each round of firing are stored in two or three adjacent blocks respectively. Azimuth • fields of these adjacent blocks are the same. The sequences of returns are shown in the table below. •...
  • Page 42 Body Field Bytes Description Block 1 For Block 1: Measurements made by each channel (starting from Channel 1) Refer to Each block in the body. Block 2 For Block 2: Measurements made by each channel (starting from Channel 1) … …...
  • Page 43 Field Bytes Description … … … Channel 32 Measurements of Channel 32 3.1.2.4. Tail Field Bytes Description Reserved Return Mode Return mode. Motor Speed Unit: RPM Date & Time Absolute UTC of this data packet, accurate to the second. In big-endian format: Each byte Range (decimal) Year (current year minus 1900)

  • Page 44: Ethernet Tail

    Field Bytes Description Timestamp "μs time" part of the absolute time of this data packet Unit: μs Range: 0 to 999 999 μs (1 s) Factory Information Fixed: 0x42 3.1.2.5. Additional information Field Bytes Description UDP Sequence Sequence number of this data packet Range: 0 to 0xFF FF FF FF 3.1.3.

  • Page 45: Point Cloud Data Analysis

    3.1.4. Point cloud data analysis Take Channel 5 in Block 2 as an example: 3.1.4.1. Analyze the vertical angle of a data point The designed vertical angle of Channel 5 is 14.3°, according to Appendix A Channel distribution data. The accurate vertical angles are recorded in the angle correction file of this lidar (see Section 1.3 Channel distribution).
  • Page 46 3.1.4.2. Analyze the horizontal angle of a data point  The Y-axis of the lidar coordinate system is 0°. The clockwise direction (as viewed from above) is defined as positive. Horizontal angle = ① + ② ① Angular position at the start time (see Section B.3 Start time of each block) of the current block ②...
  • Page 47 3.1.4.3. Analyze the distance of a data point Distance See the field of Block 2: Channel 5 in Section 3.1.2.3 Body. 3.1.4.4. Draw the data point in a spherical or rectangular coordinate system 3.1.4.5. Obtain the real-time point cloud data by analyzing and drawing every data point in each frame -43-...

  • Page 48: Gps Data Packet

    3.2. GPS Data Packet When GPS is selected as the clock source, a GPS Data Packet is triggered every second. When PTP is selected as the clock source, the lidar does not output GPS Data Packet.  To select the clock source, refer to Section 4.2.3 Time settings.

  • Page 49: Gps Udp Data

    3.2.2. GPS UDP data Field Bytes Description GPS Time Data GPS time, accurate to the second Field Bytes Description GPS Header 0xFFEE (0xFF first) Date Year, month, and day in ASCII (2 bytes each, lower byte first) Time Second, minute, and hour in ASCII (2 bytes each, lower byte first) Reserved NMEA Data NMEA sentence containing date and time...
  • Page 50 3.2.2.1. GPRMC data format $GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field No. Field Description <01> Hour, minute, and second Typically in hhmmss (hour, minute, second) format <02> Location Status A (hex = 41) — Active (valid position) V (hex = 56) — Void (invalid position) NUL (hex = 0) — GPS unlocked …...
  • Page 51 3.2.2.2. GNRMC data format Same as Section 3.2.2.1 GPRMC data format. 3.2.2.3. GPGGA data format $GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field No. Field Description <01> Hour, minute, and second Typically in hhmmss (hour, minute, second) format …...
  • Page 52 $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47 $GPGGA,134658.00,5106.9792,N,11402.3003,W,2,09,1.0,1048.47,M,-6.27,M,08,AAAA*60 -48-...

  • Page 53: Ethernet Tail

    3.2.3. Ethernet tail Field Bytes Description Frame check sequence -49-...

  • Page 54: Gps Time Data

    3.2.4. GPS time data analysis Figure 17. GPS Data packet: GPS time data (example) Date Field Data (in ASCII) Characters Meaning Year 0x30 0x32 '0', '2' Month 0x34 0x30 '4', '0' 0x37 0x30 '7', '0' Time Field Data (in ASCII) Characters Meaning Second...

  • Page 55: Web Control

    4. Web control Web control is used for setting parameters, checking device info, and upgrades. To access web control, follow the steps below: Connect the lidar to your PC using an Ethernet cable. Set the IP address according to Section 2 Setup.

  • Page 56: Home

    4.1. Home Status Spin Rate 600 RPM Unlock NMEA (GPRMC/GPGGA/GNRMC) Unlock Free Run Device Info  Device Log  Model XT32M2X XT32M2X-B01 XT32XXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Software Version 2.1.18 Sensor Firmware Version 2.1.7 Controller Firmware Version 2.0.18 Buttons and parameters Device Log Click to download a JSON file that contains the lidar status, device info, all configurable parameters, and the upgrade log.
  • Page 57 NMEA (GPRMC/GPGGA/GNRMC) NMEA status Lock: After receiving a valid NMEA message. • Unlock: Not receiving a valid NMEA message for over 2 seconds. • PTP status Free Run: No PTP master is selected. • Tracking: The lidar will sync with the selected PTP Master, but the absolute value of the offset will •...

  • Page 58: Settings

    4.2. Settings  Reset All Settings  Control IP IPv4 Address 192.168.1.201 IPv4 Mask 255.255.255.0 IPv4 Gateway 192.168.1.1 VLAN □ Settings Destination IP 255.255.255.255 Lidar Destination Port 2368 Spin Rate 600 RPM Return Mode First, Last, and Strongest Sync Angle □ Trigger Method Angle Based Clock Source     GPS Mode...
  • Page 59 Buttons Reset All Settings Reset all the configurable parameters to factory defaults, including: Settings • Azimuth FOV • Save Save and execute all the settings on this page. Exception: Standby Mode takes effect immediately without having to click [ Save ]. -55-...

  • Page 60: Network Settings

    4.2.1. Network settings Parameters Options Description VLAN Default: OFF To enable VLAN tagging: VLAN ID: 1 to 4094 make sure the receiving host also supports VLAN; • check the checkbox and input the lidar's VLAN ID (same as the receiving host's VLAN •...

  • Page 61: Function Settings

    4.2.2. Function settings Parameters Options Description Spin Rate Spin rate of the motor The set spin rate is also shown on the Home page and the Point Cloud Data Packets (see 600 (default) 1200 Return Mode Section 4.1 Home and the field in Section 3.1.2.4 Tail).
  • Page 62 Parameters Options Description Trigger Method Angle-Based (default) The way laser firings are triggered Time-Based Angle-based Lasers fire every 0.09° at 5 Hz, 0.18° at 10 Hz, or 0.36° at 20 Hz. Time-based Lasers fire every 50 μs. Reflectivity Mapping Linear Mapping (default) Linear Mapping Reflectivity field in Point Cloud Data Packets linearly...

  • Page 63: Time Settings

    4.2.3. Time settings With GPS selected Clock Source     GPS Mode GPRMC     GPS Destination Port 10110 With PTP selected Clock Source     Profile 1588v2     Time Offset for Lidar Lock     PTP Network Transport UDP/IP     PTP Domain Number     PTP logAnnounceInterval     PTP logSyncInterval     PTP logMinDelayReqInterval Parameters Options Description...
  • Page 64 4.2.3.1. With GPS selected Parameters Options Description GPS Mode GPRMC (default) Format of the NMEA data received from the external GPS module (see Section 3.2.2 GPS data.) GNRMC GPGGA ON (default) When this setting is ON, PPS must be locked (in addition to NMEA being locked) when Require PPS Lock updating the lidar's Date &...
  • Page 65 4.2.3.2. With PTP selected The lidar does NOT output GPS Data Packets. Parameters Options Description Profile 1588v2 (default) IEEE timing and synchronization standard 802.1AS 802.1AS Automotive Time Offset for Lidar Lock 1 to 100 μs (integer) Upper limit of the absolute offset between Slave and Master when the lidar is in PTP Default: 1 Locked status;...

  • Page 66: Azimuth Fov

    4.3. Azimuth FOV Azimuth FOV Setting For all channels ▼  Save  Buttons Save Save and execute all the settings on this page Parameters 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.

  • Page 67: For All Channels

    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. Azimuth FOV Setting For all channels Start: Azimuth FOV for All Channels End: 360.0  Save  4.3.2. Multi-section FOV Input multiple (≤...

  • Page 68: Operation Statistics

    4.4. Operation statistics These operating parameters are displayed in real time: Start-Up counts Internal Temperature 32.10℃ Internal Humidity 50.0% RH 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 ℃...

  • Page 69: Upgrade

    4.5. Upgrade Preparation Please contact Hesai technical support to receive the upgrade file. • During the upgrade, it is recommended to place a protective cover or other opaque material over the lidar's cover lens. • Upgrade Click the [ Upload ] button and select an upgrade file.

  • Page 70: Communication

    5. Communication protocol HTTP API and PTC (Pandar TCP Commands) API can be used to communicate with Hesai lidars.  To acquire the API reference manuals, please contact Hesai technical support. -66-...

  • Page 71: Sensor Maintenance

    6. Sensor maintenance Stains on lidar's cover lens, such as dirt, fingerprints, and oil will negatively affect point cloud data quality. Before cleaning the cover lens, please notice: Turn OFF the power source before cleaning.  • To avoid damaging the optical coating, do NOT apply pressure when wiping the cover lens. •...

  • Page 72: Troubleshooting

    7. Troubleshooting If the following procedures cannot solve your problem, please contact Hesai technical support. Points to check Symptoms Make sure that the following conditions are met: The power adapter is properly connected and in good condition; • Indicator light is off on the The connection box is intact;...
  • Page 73 Wireshark but not on or PTC commands; PandarView 2 The latest PandarView 2 is installed on the PC (see Downloads page of Hesai's official website or contact Hesai • technical support). Power on again to check if the symptom persists.
  • Page 74 If no packet is missing and the point cloud flashes, please update PandarView 2 to the latest version (see Downloads page of Hesai's official website or contact Hesai technical support); and then restart the PC. If the point cloud is still abnormal, connect the lidar to another PC and power on again to check if the symptom persists.
  • Page 75 Points to check Symptoms Make sure that the following conditions are met: GPS receiver is properly connected. • PPS signal is connected to the lidar. • GPS cannot be locked Destination GPS Port is correctly set (using either web control or PTC commands). •...

  • Page 76: Appendix A: Channel Distribution Data

    Appendix A: Channel distribution data Channel number counts from 1, from top to bottom. • The vertical angles (elevation) in the table are design values. • The accurate values are in this lidar's angle correction file (see Angle correction file Section 3.1.4 Point cloud data analysis).
  • Page 77 Horizontal Angle Offset Vertical Angle Channel number (Azimuth) (Elevation) 0° -1.3° 0° -2.6° 0° -3.9° 0° -5.2° 0° -6.5° 0° -7.8° 0° -9.1° 0° -10.4° 0° -11.7° 0° -13.0° 0° -14.3° 0° -15.6° 0° -16.9° 0° -18.2° 0° -19.5° 0° -20.8°...

  • Page 78: Appendix B: Absolute Time Of Point Cloud Data

    Appendix B: Absolute time of point cloud data B.1. Source of absolute time The lidar retrieves the current absolute time by connecting to an external clock source. B.1.1. GPS as the clock source The lidar connects to a third-party GPS module to obtain PPS (pulse-per-second) signal and NMEA sentences. NMEA sentence ($GPRMC or $GPGGA) can be select using either web control or PTC commands.

  • Page 79: Ptp As The Clock

    NMEA status Date and time (accurate Lidar behavior to the second) Locked Synchronized At each rising edge of the internal 1 Hz signal, the lidar obtains the actual date and time Extracting the date and time from the previous NMEA message, and •...
  • Page 80 PTP can be configured using either web control or PTC commands. • PTP signal status can be queried using either web control or PTC commands. • No GPS Data Packets. • The absolute time is updated as follows: PTP status Date and time (accurate Lidar behavior to the second)

  • Page 81: Absolute Time Of Point Cloud Data Packets

    B.2. Absolute time of Point Cloud Data Packets The Absolute time of Point Cloud Data Packets is t , where: Date & Time • is the whole second part (see the field). Timestamp • is the microsecond part (see the field).

  • Page 82: Laser Firing Time Of Each Channel

    Triple return mode Block Start time (μs) Block 6, 5, & 4 + 5.632 Block 3, 2, & 1 + 5.632 – 50 × 1 B.4. Laser firing time of each channel Given the start time (see Section B.3 Start time of each block) of Block m is T(m), m ∈...

  • Page 83: Appendix C: Power Supply Requirements

    Appendix C: Power supply requirements C.1. Input voltage To ensure that the input voltage at the lidar's Lemo connector is 9 to 36 V DC, please check the specifications of the power source and the voltage drop over cables. C.1.1. Calculate the cable voltage drop Using the estimation formula We recommend using 26 AWG cables, which is the thickest wire gauge supported by the lidar.

  • Page 84: Avoid Overvoltage

    C.1.2. Avoid overvoltage When the lidar's input voltage approaches 36 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. C.2. Power Consumption The lidar's peak power consumption is below 30 W in all operating conditions. After a power-on in an ambient temperature of 0°C or below, power consumption typically remains around 15 W for a period of time.
  • Page 85  During a power-down, the lidar's input voltage, after dropping below 1 V, should remain for more than 50 ms before the next power-up. -81-...

  • Page 86: Appendix D: Nonlinear Reflectivity Mapping

    Appendix D: Nonlinear reflectivity mapping Reflectivity By default, the field in Point Cloud Data Packets (see Section 3.1.2.3 Body) linearly represents target reflectivity. Reflectivity • Range of the field value: 0 to 255 Range of target reflectivity: 0 to 255% •...
  • Page 87 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 5.77 6.45 7.07 7.64 8.16 8.66 9.13 9.57 10.41 10.8 11.18 11.55 11.9 12.25 12.58 12.91 13.23 13.54 13.84 14.14 14.43 14.72 15.28...
  • Page 88 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 62.08 63.21 64.33 65.46 66.59 67.72 68.85 69.98 71.11 72.23 73.36 74.49 75.62 76.75 77.88 79.01 80.14 81.26 82.39 83.52 84.65 85.78 86.91...
  • Page 89 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 152.37 153.5 154.63 155.76 156.88 158.01 159.14 160.27 161.4 162.53 163.66 164.79 165.91 167.04 168.17 169.3 170.43 171.56 172.69 173.81 174.94 176.07 177.2...
  • Page 90 Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual Reflectivity field Actual reflectivity % reflectivity % reflectivity % reflectivity % 242.66 243.79 244.92 246.05 247.18 248.31 249.44 250.56 251.69 252.82 253.95 255.08 -86-...

  • Page 91: Appendix E: Legal Notice

    HESAI and HESAI logo are registered trademarks of Hesai Technology. All other trademarks, service marks, and company names in this manual or on Hesai's official website are properties of their respective owners.
  • Page 92 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...

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