Hesai FT120 User Manual
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Hesai FT120 User Manual

Fully solid-state short-range blind spot lidar
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FT120
Fully Solid-State Short-Range
Blind Spot Lidar User Manual
Classification: Public
Doc Version: F01-en-240510

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Summary of Contents for Hesai FT120

  • Page 1 FT120 Fully Solid-State Short-Range Blind Spot Lidar User Manual Classification: Public Doc Version: F01-en-240510...

  • Page 2: Table Of Contents

    Table of Contents ■ About this manual ........................ ...
  • Page 3 2.3.2. Connection ........................ ...
  • Page 4 Appendix C: Angle correction ...................... ...

  • Page 5: About This Manual

    Access to this manual To obtain the latest version, please do one of the following: Contact your sales representative of Hesai. • Contact Hesai technical support: service@hesaitech.com...

  • 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 or an authorized Hesai service provider for more information on product disposal. Prohibition of disassembly Unless expressly agreed to in writing by Hesai, do NOT disassemble the product.
  • Page 8 FT120 Vibration If significant mechanical shocks and vibration exist in the product's operating environment, please contact Hesai's technical support 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 Do NOT use out-of-spec or damaged cables or adapters. • You are recommended to use only the cables and power adapters provided by Hesai. If you are to design, configure, or select the power supply • system (including cables) for the product, make sure to comply with the electrical specifications in the product's user manual (refer to Section 1.5 Specifications...
  • 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 Firmware and software upgrading Make sure to use only the upgrade files provided by Hesai. 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 more product repair or maintenance issues, please contact Hesai or an authorized Hesai service provider. Repair Unless expressly agreed to in writing by Hesai, do NOT disassemble, repair, modify, or retrofit the product by yourself or entrust any third party to do so. Such a breach: can result in product damage (including but not limited to water resistance failure), property loss, and/or injuries;...

  • Page 14: Introduction

    FT120 1. Introduction 1.1. Applicability This manual applies to the following versions: Software c.00.pt5 or later Firmware 1.02.017 or later Config parameters 1.02.011 or later 1.2. Operating principle Distance measurement: Time of Flight (ToF) A laser diode emits a beam of ultrashort laser pulses onto the target object.

  • Page 15: Basic Structure

    FT120 1.3. Basic structure Figure 1. Axonometric view The lidar structure is shown in Figure The lidar's coordinate system is illustrated in Figure 3 Figure 4. All measurements are relative to the origin (Point O), which is also the optical center.
  • Page 16 FT120 Figure 2. Right view Figure 3. Front view (unit: mm) Figure 4. Top view (unit: mm) -12-...

  • Page 17: Field Of View

    FT120 1.4. Field of View The lidar's Field of View (FOV) can be simplified to the red rectangle in Figure All column channels and row channels are uniformly distributed; the design values of horizontal and vertical angular resolutions are 0.625°.
  • Page 18 FT120 The spherical and planar projections of the actual FOV are shown in Figure Figure 7 Figure Figure 6. Spherical and planar projections of the actual FOV -14-...
  • Page 19 FT120 Figure 7. FOV projection on the angular plane of the spherical coordinate Figure 8. FOV projection on the angular plane of the Cartesian system coordinate system -15-...

  • Page 20: Specifications

    FT120 1.5. Specifications SENSOR Scanning method Electronic scanning (fully solid-state) Ranging capability 0.1 to 22 m (at 10% reflectivity) Ranging accuracy ±5 cm (typical) Ranging precision 5 cm (1σ) Horizontal FOV 100° Horizontal resolution 0.625° Vertical FOV 75° (–37.5° to +37.5°) Vertical resolution 0.625°...
  • Page 21 FT120 Storage temperature –40℃ to 95℃ Weight ② 0.7 kg DATA I/O Data transmission Automotive Ethernet 100BASE-T1, slave mode Measurements Distance and reflectivity Valid data points Single Return: 192 000 points/sec Point cloud data rate ④ Single Return: 9.22 Mbps Clock source PTP (802.1AS Automotive, 802.1AS AUTOSAR)

  • Page 22: Setup

    FT120 2. Setup Before operating the lidar, strip away the transparent protective film on the optical window. The information in this section may be different for customized models. The mechanical drawings and data exclusively provided for  customized models shall prevail.
  • Page 23 FT120 Figure 9. Dimensions (unit: mm) The recommended positioning feature is marked by the red arrows. The dimensional chain from these two positioning structures to the optical window (exterior) is relatively short, leading to higher mounting accuracy. -19-...

  • Page 24: Electrical Interface

    FT120 2.2. Electrical interface Figure 10. Connector (male socket) 2.2.1. Pin description Pin description Signal Voltage Signal Voltage 9 to 16 V Reserved Reserved Reserved Reserved MDI-P MDI-N  Please avoid touching the reserved pins with bare hands. -20-...

  • Page 25: 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 26: Cables (Ethernet)

    FT120 the lidar's circuits. For further troubleshooting, please contact Hesai's technical support or obtain work instructions from the connector manufacturer. • The connector is designed to withstand at least 10 mating cycles; exceeding this number may increase the risk of connector damage.

  • Page 27: Connection Box (Optional)

    FT120 2.3. Connection box (optional) Users may connect the lidar with or without a connection box. Figure 12. Connection box (unit: mm) -23-...
  • Page 28 FT120 An additional cable is used for connecting the lidar (on the left) and the connection box (on the right), as shown below.  One cable's head cannot connect to another cable's tail, so each lidar can only use one cable.

  • Page 29: Ports

    FT120 2.3.1. Ports Figure 14. Connection box (front) Port No. Port name Description Standard Ethernet port RJ45, 100 Mbps Ethernet Power port Connects to a DC-005 DC adapter. Reserved port Do NOT connect this port to external signals. Figure 15. Connection box (back) Port No.

  • Page 30: Connection

    FT120 2.3.2. Connection Figure 16. Connection with PTP (software simulation) -26-...
  • Page 31 FT120 Figure 17. Connection with PTP (hardware device) -27-...

  • Page 32: Network Settings On The Receiving Host

    192.168.1.X and the subnet mask to 255.255.255.0. 2.5. Tools Tool Purpose Where to find it PandarView 2 (point cloud To record and display point cloud data. Visit the Download page of Hesai's official website visualization software) contact Hesai technical support. -28-...

  • Page 33: Data Structure

    FT120 3. Data structure Unless otherwise specified, all the multi-byte fields are unsigned values in little-endian format. Ethernet header: 42 bytes Pre-Header: 6 bytes Header: 19 bytes Lidar data Point Cloud Data Packet: 720 bytes UDP data: 674 bytes Body: 600 bytes...

  • Page 34: Point Cloud Data Packet

    FT120 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 Byte(s) 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...

  • Page 35: Point Cloud Udp Data

    FT120 3.1.2. Point cloud UDP data 3.1.2.1. Pre-Header Field Byte(s) Description 0xEE Start of Packet 0xFF Start of Packet Protocol Version Major Main class of the point cloud UDP packet structure Current value: 0x07 Protocol Version Minor Subclass of the point cloud UDP packet structure...
  • Page 36 FT120 Field Byte(s) Description First Block Return Indicating the return in the first block of this packet. 0x00 — Single Return mode 0x01 — Dual Return mode: The first block stores the No. 1 return of this return mode. 0x02 — Dual Return mode: The first block stores the No. 2 return of this return mode.
  • Page 37 FT120 Each row Field Byte(s) Description Block 1: Channel X Field Bytes Description Distance Distance Dis Unit Object distance = ×  Dis Unit is specified in Section 3.1.2.2 Header. Reflectivity Reflectivity Reflectivity = × 1% Range: 0 to 255 Reserved 3.1.2.4.
  • Page 38 FT120 Field Byte(s) Description Return Mode 0x37 — Strongest (default) 0x33 — First 0x3C — First and Strongest  Only the Single Return (Strongest) mode is recommended for this version. Frame Period 100 ms @ 10 Hz Unit: ms Date & Time Coordinated Universal Time (UTC) of this data packet, accurate to the second.

  • Page 39: Ethernet Tail

    FT120 Field Byte(s) Description CRC-32 checksum from Pre-Header to Tail Signature Point cloud signature Calculated using point cloud UDP data (from Pre-Header to the field) Algorithm: AES-128-CMAC This field is all zero by default. After users specify a Shared Secret Key and start a session, this ...

  • Page 40: Point Cloud Data Analysis

    FT120 3.1.4. Point cloud data analysis method Take Row 5 in a Point Cloud Data Packet as an example.  Both row numbers and column numbers count from 1. 3.1.4.1. Analyze the vertical angle and horizontal angle of a data point.
  • Page 41 FT120 3.1.4.3. Draw the data point in a spherical or rectangular coordinate system. 3.1.4.4. Obtain the real-time point cloud data by analyzing and drawing every data point in each frame -37-...

  • Page 42: Parameter Interfaces

    FT120 4. Parameter interfaces All the parameters in this section can be accessed using API. 4.1. Internet connection 4.1.1. Source Source IPv4 Address Option(s) Description Default: 192.168.1.201 Applies to both UDP and PTC ports. Source IPv4 Subnet Mask Option(s) Description Default: 255.255.255.0...

  • Page 43: Destination

    FT120 VLAN Option(s) Description OFF (default) To enable VLAN tagging, use the same VLAN ID on both the lidar and the receiving host. VLAN ID: 1 to 4094  Connection cannot be made if the lidar and the receiving host use different VLAN IDs.

  • Page 44: Functional Settings

    Option(s) Description ON (default) When ON, the lidar outputs Fault Message Packets and freeze frames. Fault Message Packets are described in the Safety Manual. Please contact Hesai technical support •  for more information. Freeze frames: See Freeze Frames in this section.

  • Page 45: State Settings

    FT120 Return Mode Option(s) Description Single Return: Return Mode The current return mode is shown in Point Cloud Data Packets; see the field in Section 3.1.2.4 Tail. First •  Strongest (default) • Only the Single Return (Strongest) mode is recommended for this version.
  • Page 46 FT120 Restart Option(s) Description Restart Afterward, the Start-Up Times in Section 4.6 Operation statistics increments by 1. Sleep Option(s) Description Sleep In Sleep mode: Wake-Up (by hardware) The lasers stop firing. • No communication exists between the lidar and other devices.

  • Page 47: Time Sync

    FT120 The domain controller PHY should satisfy this test specification: • OPEN ALLIANCE: Automotive Ethernet ECU Test Specification Layer 1 1000BASE-T1 – Revision 1.0 The domain controller PHY should satisfy these requirements (as specified in Section 97.5 and Section 97.7 in IEEE Std 802.3bp-2016): •...
  • Page 48 FT120 Read-only parameter Description 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. See PTP Lock Time Offset in this section. Locked The absolute offset is within the user-specified limit.

  • Page 49: Lidar Info

    FT120 PTP Network Transport Option(s) Description Network transport protocol Switch Type Option(s) Description TSN (default) Type of the network switch Non-TSN Time Sensitive Network, using Peer-to-Peer delay mechanism Non-TSN Using End-to-End delay mechanism 4.5. Lidar info Read-only parameter Description Serial Number...

  • Page 50: Operation Statistics

    FT120 4.6. Operation statistics Availability (Read-only parameter) Start-Up Times • System Uptime • Total Operation Time • Functional safety Read-only parameter Description Work mode Work mode Description Energy-Saving Laser power is 1/20 of that in Standard mode; no point cloud output.

  • Page 51: Upgrade

    FT120 4.7. Upgrade Upgrade Option(s) Description Upgrade Upgrade the lidar's firmware and software. -47-...

  • Page 52: Protocol

    FT120 5. Communication protocol Pandar TCP Commands (PTC) API can be used to communicate with Hesai lidars.  To acquire the API reference manuals, please contact Hesai technical support. 6. Maintenance Stains on lidar's optical window, such as dirt, fingerprints, and oil will negatively affect point cloud data quality. Please clean the optical window in time.
  • Page 53 FT120 When the stains have loosened, dip a piece of lint-free wipe or soft sponge into the solvent made in Step 3, and gently wipe the optical window back and forth along its surface. Should another cleaning agent be applied to remove certain stains, repeat Steps 3 and 4.

  • Page 54: Troubleshooting

    FT120 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 55 If no packet is lost yet the point cloud flashes, please follow the steps below: points, flashing points, or Update PandarView 2 to the latest version (see Downloads page of Hesai's official website or contact Hesai incomplete FOV. technical support).

  • Page 56: Appendix A: Performance Distribution

    FT120 Appendix A: Performance distribution Considering the characteristics of the lidar optical system and the performance requirements of different application scenarios, the distribution of ranging capability among row/column channels is designed as follows.  The optimal performance of a channel is defined as 100%.

  • Page 57: Appendix B: Absolute Time Of Point Cloud Data

    FT120 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. PTP as the clock source Users can configure PTP using PTC commands.

  • Page 58: Absolute Time Of Point Cloud Data Packets

    FT120 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 59 FT120 Appendix C: Angle correction Each lidar unit corresponds to an angle correction file, which contains the corrections of horizontal angles (azimuth) and vertical angles (elevation). Such corrections are used for: Point cloud data analysis • Point cloud display in PandarView 2 •...
  • Page 60 FT120 Field Byte(s) Type Description Protocol Version Minor uint Subclass of the point cloud UDP packet structure Currently 0x01 Reserved Total Column Number uint Number of column channels in each frame of Point Cloud Data, denoted as M. 0xA0 (160)
  • Page 61 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 62 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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