Hesai Photonics Technology PANDAR Users manual
Pandar40
40-Channel
Mechanical LiDAR
User’s Manual
www.hesaitech.com
403-en-1901A1
HESAI Wechat
Safety Notice
Please read and follow all instructions carefully and consult all relevant national and international safety regulations for your
application.
Caution
To avoid violating the warranty and to minimize the chances of getting electrically shocked, please do not disassemble the device on your
own accord. 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 Technologies service personnel.
CAUTION
Use of controls or adjustments or performance of
procedures other than those specified herein may result in
hazardous radiation exposure
Laser Safety Notice – Laser Class 1
The device satisfies the requirements of:
IEC 60825-1:2014;
21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No.50, dated June 24, 2007;
GB7247.1-2012
DISCLAIMER The information contained within this user’s manual and the functions offered are intended to provide information about
products. All reasonable efforts have been made to ensure the accuracy of the information. However, Hesai cannot be held responsible for
any errors. Hesai does not warrant the accuracy and reserves the right to make changes to the catalog and its functions at any time without
notice.
Contents
Introduction
1
1.1
1.2 Specifications
2
2.1
2.2
2.3
2.4
3
3.1
3.2
4
4.1
4.2
Operational Principles
Installation Guide
Mechanical Installation (Metric System)
Interface
Connecting Box (Optional Component)
Get Ready to Use
LiDAR Data Structure
Point Cloud Data Packet Ethernet Header/UDP Data
GPS Data Packet Ethernet Header/UDP Data
Web Control
Open Web Control
Setting
01-03
04
05-07
08
09-11
12
13-16
17-20
21
22
4.3
4.4
Device Info
Firmware Upgrade
Appendix I
Pandar40 Channel Distribution
Appendix II
Point Cloud Data Packet Absolute Time and
Laser Firing Time Calculations
Appendix III
PandarView
Appendix IV
FCC Statement
Appendix V
Support and Contact
23
24
25-27
28-31
32-39
40
41-42
Introduction1
Pandar40 is a 40-channel mechanical LiDAR. It creates 3D imaging by 360° mechanical rotating through 40 laser diodes inside the housing.
Pandar40’s unique channel distribution makes it more suitable for autonomous driving applications.
In addition to the specifications of Pandar40, this manual also describes the mechanical installation, data outputs format, and GPS
timestamp synchronization.
This manual is undergoing constant revision and improvement, please ask Hesai for the lastest version of the user’s manual.
Operational Principles
1.1
1.1.1 Distance Measurement: Time of Flight (ToF)
A laser diode emits a beam of ultrashort pulse laser on to the object.
1.
Diffuse reflection of the laser occurs upon contact with the target object. Reflected beams are detected by the optical sensor.
2.
Distance to object can be accurately measured by calculating the time between emission and receipt by the sensor.
3.
-01-
1
d= ct
2
d：Distance
c：Speed of light
t：Laser beam travel time
Figure 1.1 ToF Formula
1.1.2 Structure Description
40 pairs of laser emitters and receivers are attached to a rotating motor inside the LiDAR housing that perform horizontal scans in 360
degrees.
Z
270°
Laser Receiver
Laser Emitter
Figure 1.2 Partial Cross-Sectional Diagram
Shell
X Y
Figure 1.3 LiDAR Coordinate System and Rotation Direction
180°
Clockwise Rotation Direction
90°
Reference Center
0°
Cable
NOTE
1) Figure 1.3 shows the coordinate system and the z axis is along the rotation center of the LiDAR. The origin of the coordinate system is
shown as a red dot in Figure 1.5 (side view of the LiDAR). All the LiDAR measurement data are relative to the origin after geometry
transformation according to LiDAR’s optical and mechanical design.
2) Because of the intrinsic angle offset of each laser channel, the zero degree is defined as the azimuth angle in the corresponding block in
UDP packet when channel 12 passes y axis defined in Figure 1.3.
-02-
1.1.3 Pandar40 Channel Vertical Distribution
The vertical angular resolution is 0.33° between Channel 6 and Channel 30;
The vertical angular resolution is 1° between Channel 5 and Channel 6, Channel 30 and Channel 38;
The vertical angular resolution of the remaining channels is not evenly distributed.
Please see Appendix I for detailed channel distribution.
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Channel 1
Channel 6
Channel 12
Channel 30
Channel 38 - 14°
Channel 40
+ 15°
+ 2°
0°
- 6°
- 25°
Figure 1.4 Channel Vertical Distribution
181.640 mm
15°
45.400 mm
25°
99.002 mm
Figure 1.5 Laser Firing Position
1.2
Specifications
Scanning Method Mechanical Rotating
Channel 40
Wavelength 905 nm
Laser Class Class 1 Eye Safe
Measurement Range 0.3 m to 200 m (at 20% reflectivity)
Data Points Generated
Frame Rate (Configurable）
Measurement Accuracy
FOV (Horizontal) 360°
Angular Resolution (Horizontal)
FOV (Vertical)
*Specifications are subject to change without notice.
Single Return Mode: 720,000 points per second
Dual Return Mode: 1,440,000 points per second
10 Hz，20 Hz
±5 cm (0.3 m to 0.5 m)；
±2 cm (0.5 m to 200 m)
0.2° (10 Hz), 0.4° (20 Hz)
40° (-25° to +15°)
Table 1.1 Specifications of Pandar40
0.33° (-6° to +2°);
1° (+2° to +3°, -14° to -6°);
2° (+3° to +5°);
Angular Resolution (Vertical)
Data Transmission Method UDP/IP Ethernet (100 Mbps)
Operating Voltage 9 V to 48 V
Power Consumption 18 W
Enclosure Level IP67
Operating Temperature -20℃-60℃
Weight 1.46 kg
Dimensions
3° (+5° to +11°);
4° (+11° to +15°);
5° (-19° to -14°);
6° (-25° to -19°)
Height: 101.50 mm;
Top Diameter: 116.00 mm;
Bottom Diameter: 112.00 mm
-04-
2 Installation Guide
Mechanical Installation（Metric System）2.1
88.90mm
-05-
101.50mm
φ116.00mm
φ112.00mm
Figure 2.1 Pandar40 Side View Figure 2.2 Pandar40 Mounting Base
2×φ4mm 6mm
Forφ4mm PINS
φ98mm
3×M6 6mm(MOUNT)
M6 8mm(MOUNT)
Quick Installation
M6 screw
7~9mm over mounting base
2xΦ4PINS
5~6mm over mounting base
Figure 2.3 Diagram of Quick Installation
-06-
Stable Installation
M6 screw
7~9mm over mounting base
3xM6 screw
5~6mm over mounting base
2xΦ4PINS
5~6mm over mounting base
-07-
Figure 2.4 Diagram of Stable Installation
Interface2.2
the tip of the connector is 0.3 m.
Pandar40 uses Phoenix Contact (PN: SACC-M12FS-8CON-PG 9-SH) as the communication connector. The cable length from LiDAR exit to
the tip of the connector is 0.3 m.
Pin #
1
2
3
4
5
6
7
8
B
First View:
The direction from the
eye to the interface as
shown
A
Function Color Voltage (V)
Ethernet RXEthernet RX+
Ethernet TXEthernet TX+
GPS Serial Data
GPS PPS
+12V
Ground (Return)
Table 2.1 Communication Connector Description
Figure 2.5 Phoenix Contact
Blue
Light Blue (Blue/White)
Orange
Light Orange (Orange/White)
White
Yellow
Red
Black
B
-1V to 1V
-1V to 1V
-1V to 1V
-1V to 1V
-13V to +13V
3.3V/5V
Black
12V
-08-
2.3
Connecting Box (Optional Component)
Connecting box is the optional component of Pandar40. Users can choose to connect LiDAR using the connecting box.
The connecting box comes equipped with a power port, a GPS port, and a standard ethernet port. The cable length from
phoenix connector to the connecting box is 1.5 m.
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Figure 2.6 Connecting Box
2.3.1 Connecting Box Interfaces
1 2 3 4 5 6
c
a
b
Figure 2.7 Connecting Box Interfaces
a Standard Ethernet Port
RJ45, 100 Mbps Ethernet
b Power Portb Power Port
Use DC-005 DC power adapter
Input voltage ranges from 9V to 32V
Power consumption is 15W
c GPS Port
Connector type: JST SM06B-SRSS-TB
Recommended connector for external GPS module:
JST SHR-06V-S-B
Voltage standard: RS232
Baud rate: 9600bps
Cable
GPS port pin number from left to right is 1 to 6, and the specific
definition of each pin is shown as follows:
Pin No.
2 Output 5V power, to provide power for external GPS module
3 Output GND, to ground external GPS module
4 Input
5 Output GND, to ground external GPS module
6 Output
Direction Pin Description
1 Input
PPS synchronizing signal, to receive synchronized
pulses from the GPS module TTL 3.3V/5V
Receiving signal of serial port, to receive serial data
from external GPS module, RS232 level
Transmitting signal of serial port, to send serial data
to the external GPS module, RS232 level
Table 2.3 GPS Pin No. DescriptionTable 2.2 Connecting Box Interfaces Description
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2.3.2 How to Connect using Connecting Box
Power port and
standard Ethernet port
Pandar40
Connect the power port to the adapter.
Use an Ethernet cable to connect
the LiDAR’s and computer’s
Ethernet ports.
-11-
Computer Connecting Box
Figure 2.8 How to Connect Using Connecting Box
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