Hesai Photonics Technology PANDAR40P User Manual

Pandar40P

40-Channel

www.hesaitech.com

402-en-1902A3

Mechanical LiDAR User Manual

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. 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

• IEC 60825-1:2014

• 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No.50, dated June 24, 2007

NEVER LOOK INTO THE TRANSMITTING LASER THROUGH A MAGNIFYING DEVICE (MICROSCOPE, EYE LOUPE, MAGNIFYING GLASS, ETC.)

◼ Safety Precautions

In all circumstances, if you suspect that the device malfunctions or is damaged, stop using it immediately to avoid potential hazards and injuries. Contact an authorized Hesai Technology service provider for more information on device disposal.

Handling

This device contains metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, burning, piercing, and squeezing may cause damage to the device. Enclosure This device contains high-speed rotating parts. To avoid potential injuries, DO NOT operate the device if the enclosure is loose or damaged. Repair DO NOT open and repair the device without direct guidance from Hesai Technology. Disassembling the LiDAR may cause degraded performance, failure in water resistance, or potential injuries to the operator. Power Supply Use only the cables and power adapters provided by Hesai Technology.

Only the power adapters that meet the device’s power requirements and

the applicable safety standards can be used. Using damaged cables/adapters or supplying power in a humid environment can result in fire, electric shock, personal injuries, product damage, or property loss. Prolonged Exposure to Hot Surface

Prolonged exposure to the device’s hot surface may cause discomfort or

injury. If the device has been powered and operating for a long time, avoid skin contact with the device and its power adapter.

Vibration

Strong vibration may cause damage to the device and should be avoided. The device can withstand a sudden impact of 50 G for 11 milliseconds, or

3.21 Grms short-term vibration within 5 Hz to 2000 Hz for 4 hours.

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.

Medical Device Interference

Some components in the device can emit electromagnetic fields, which may interfere with medical devices such as cochlear implants, heart pacemakers and defibrillators. Consult your physician and medical device manufacturers for specific information regarding your medical device and whether you need to keep a safe distance from the LiDAR. If you suspect that the LiDAR is interfering with your medical device, stop using the LiDAR immediately.

Explosive Atmosphere and Other Air Conditions

Do not use the device 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. Exposing the device to high concentrations of industrial chemicals, including liquefied gases that are easily vaporized (such as helium), can

damage or weaken the device’s function. Please observe all the signs and

instructions on the device.

Light Interference

Some precision optical instruments may be interfered by the laser light emitted from the device.

Eye Safety

Although the device meets Class 1 eye safety standards, operators should still avoid looking directly at the LiDAR for maximum self-protection.

Contents

1 Introduction ............................................................................................................ 1

1.1 Operating Principle ................................................................................................. 1

1.2 LiDAR Structure ........................................................................................................ 2

1.3 Channel Distribution ............................................................................................... 3

1.4 Specifications ............................................................................................................ 4

2 Setup ......................................................................................................................... 5

2.1 Mechanical Installation ........................................................................................... 5

2.2 Interfaces .................................................................................................................... 8

2.3 Connection Box (Optional) ................................................................................... 9

2.4 Get Ready to Use ................................................................................................... 12

3 Data Structure ...................................................................................................... 13

3.1 Point Cloud Data Packet ...................................................................................... 14

3.2 GPS Data Packet ..................................................................................................... 17

4 Web Control ......................................................................................................... 23

4.1 Home ......................................................................................................................... 24

4.2 Settings ..................................................................................................................... 25

4.3 Azimuth FOV ........................................................................................................... 28

4.4 Operation Statistics ............................................................................................... 31

4.5 Upgrade .................................................................................................................... 32

5 PandarView ........................................................................................................... 33

5.1 Installation ................................................................................................................ 33

5.2 Use ............................................................................................................................. 34

5.3 Features .................................................................................................................... 36

6 Communication Protocol .................................................................................. 40

6.1 Packet Structure ..................................................................................................... 40

6.2 Command Description ......................................................................................... 41

7 Sensor Maintenance ........................................................................................... 49

8 Troubleshooting .................................................................................................. 50

Appendix I Channel Distribution ........................................................................ 52

Appendix II Absolute Time and Laser Firing Time ......................................... 54

Appendix III PTP Protocol .................................................................................... 57

Appendix IV Phoenix Contact ............................................................................. 59

Appendix V Nonlinear Reflectivity Mapping ................................................... 60

Appendix VI Certification Info ............................................................................ 64

Appendix VII Support and Contact .................................................................... 65

1 Introduction

This manual describes the specifications, installation, and data output format of Pandar40P.

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.

2) Diffuse reflection of the laser occurs upon contact with the target object. The beams are detected by the optical sensor.

3) Distance to object can be accurately measured by calculating the time between emission and receipt by the sensor.

Figure 1.1 ToF Formula

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. After geometric transforms, all the measurements are relative to the origin.

Each laser channel has an intrinsic horizontal angle offset. When Channel 12 passes the zero degree position (y-axis) illustrated in Figure 1.4, the azimuth data in the corresponding UDP data block will be 0°.

1.3 Channel Distribution

The vertical resolution is

• 0.33° between Channel 6 and Channel 30

• 1° between Channel 5 and Channel 6, Channel 30 and Channel 38

• not evenly distributed in the remaining channels, as detailed in Appendix I

Figure 1.5 Channel Vertical Distribution

Figure 1.6 Laser Firing Position

1.4 Specifications

NOTE Specifications are subject to change without notice. NOTE Range accuracy as the average range error across all channels may vary with range, temperature and target reflectivity.

SENSOR

MECHANICAL/ELECTRICAL/OPERATIONAL

Scanning Method

Mechanical Rotation

Wavelength

905 nm

Channel

40 Laser Class

Class 1 Eye Safe

Range

0.3 to 200 m (at 10% reflectivity)

Ingress Protection

IP6K7

Range Accuracy

±5 cm (0.3 to 1 m) ±2 cm (1 to 200 m)

Dimensions

Height: 116.7 mm Top/Bottom Diameter: 116.00 / 115.00 mm

FOV (Horizontal)

360°

Operating Voltage

DC 9 to 48 V

Resolution (Horizontal)

0.2° (10 Hz), 0.4° (20 Hz)

Power Consumption

18 W

FOV (Vertical)

40° (-25° to +15°)

Operating Temperature

-20℃ to 65℃

Resolution (Vertical)

0.33° (-6° to +2°); 1° (+2° to +3°, -14° to -6°); 2° (+3° to +5°); 3° (+5° to +11°); 4° (+11° to +15°); 5° (-19° to -14°); 6° (-25° to -19°)

Certifications

RoHS, REACH, WEEE CE, FCC, IC, EAC, KCC

Weight

1.52 kg

DATA I/O

Data Transmission

UDP/IP Ethernet (100 Mbps)

Frame Rate

10 Hz, 20 Hz

Data Outputs

Distance, Azimuth Angle, Intensity

Returns

Single and Dual Returns (Strongest, Last)

Data Points Generated

Single Return Mode: 720,000 points per second Dual Return Mode: 1,440,000 points per second

Clock Source

GPS / PTP

PTP Clock Accuracy

≤1 μs

PTP Clock Drift

≤1 μs/s

2 Setup

2.1 Mechanical Installation

Figure 2.1 Isometric View

Figure 2.2 Bottom View

◼ Quick Installation

Figure 2.3 Diagram of Quick Installation

◼ Stable Installation

Figure 2.4 Diagram of Stable Installation

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 2.5 Lemo Connector (Male)

Table 2.1 Pin Description of Lemo Connector

Pin #

Function

Color

Voltage

1 ~ 4

- - - 5 Ethernet RX-

BLUE

-1 V to 1 V

Ethernet RX+

BLUE/WHITE

-1 V to 1 V

Ethernet TX-

ORANGE

-1 V to 1 V

Ethernet TX+

ORANGE/WHITE

-1 V to 1 V

GPS Serial Data

WHITE

-13 V to +13 V

GPS PPS

YELLOW

TTL level 3.3 V/5 V Pulse width: 1 ms or longer is recommended Cycle: 1 s (from rising edge to rising edge)

P12V

RED

12 V

P12V

GRAY

12 V

Ground (Return)

BLACK

Ground (Return)

GRAY/WHITE

15 - PURPLE

16 - PURPLE/WHITE

The cable length from the LiDAR exit to the tip of the connector is 0.3 m.

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. Lemo part number: PHG.2T.316.CLLC75Z (female, on the connection box)

Figure 2.6 Connection Box

2.3.1 Connection Box Interfaces

Figure 2.7 Connection Box

Table 2.2 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 18 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

The GPS port pin numbers are 1 to 6 from left to right, defined as follows:

Table 2.3 GPS Pin Description

Pin #

Direction

Pin Description

Requirements

Input

PPS (pulse-per-second) signal for synchronization

TTL level 3.3 V/5 V Pulse width: 1 ms or longer is recommended Cycle: 1 s (from rising edge to rising edge)

Output

Power for the external GPS module

5 V 3 Output

Ground for the external GPS module

- 4 Input

Receiving serial data from the external GPS module

RS232 level

Output

Ground for the external GPS module

- 6 Output

Transmitting serial data to the external GPS module

RS232 level

2.3.2 Connection

Figure 2.8 LiDAR Connection When Using the Connecting Box

NOTE Refer to Appendix III when PTP protocol is used.

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: ~$ sudo ifconfig enp0s20f0u2 192.168.1.100 (replace enp0s20f0u2 with the local network port name)

1) Open the Network Sharing Center, click on “Ethernet”

2) In the “Ethernet Status” interface, click on “Properties”

3) Double-click on “Internet Protocol Version 4 (TCP/IPv4)”

4) Configure the IP address to 192.168.1.100 and subnet mask to 255.255.255.0

• To record and display point cloud data, see Chapter 5 PandarView

• To set parameters, check device info, or upgrade firmware, see Chapter 4 Web Control

• The SDK (Software Development Kits) download links can be found at www.hesaitech.com/en/download

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. Each data packet consists of an Ethernet header and UDP data.

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.

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.

Table 3.1 Point Cloud Data Packet – Ethernet Header

Ethernet Header: 42 bytes

Ethernet II MAC

12 bytes

Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx)

Ethernet Data Packet Type

2 bytes

0x08, 0x00

Internet Protocol

20 bytes

Shown in the figure below

UDP Port Number

4 bytes

UDP source port (0x2710, representing 10000) Destination port (0x0940, representing 2368)

UDP Length

2 bytes

0x04F6 when UDP sequence is OFF, representing 1270 bytes (8 bytes more than the size of the Point Cloud UDP Data, shown in Figure 3.1) 0x04FA when UDP sequence is ON, representing 1274 bytes

UDP Checksum

2 bytes

Figure 3.2 Point Cloud Ethernet Header – Internet Protocol

3.1.2 UDP Data

All the multi-byte values are unsigned and in little endian format.

Ranging Data

Table 3.2 Point Could UDP Data – Ranging Data

Ranging Data: 1240 bytes (10 blocks)

Block 1

Block 2

Block 3

…

Block 10

0xFFEE

…

0xFFEE

Azimuth 1

Azimuth 2

Azimuth 3

…

Azimuth 10

Channel 1

…

Channel 1

Channel 2

…

Channel 2

… … … … …

Channel 40

…

Channel 40

Table 3.3 Point Cloud UDP Data - Block Definition

Each block in the Ranging Data: 124 bytes

0xFFEE

2 bytes

Header, meaningless, 0xFF first

Azimuth

2 bytes

Current reference angle of the rotor Azimuth[15:0]: lower byte Azimuth_L[7:0], upper byte Azimuth_H[15:8] Azimuth Angle = [Azimuth_H, Azimuth_L] / 100° = Azimuth / 100°

Channel XX

3 bytes 2-byte distance data

Distance[15:0]: lower byte Distance_L[7:0], upper byte Distance_H[15:8] Distance Value = [Distance_H, Distance_L] * 4 mm = Distance * 4 Maximum Distance Value = (2 ^ 16 – 1) * 4 mm = 262.14 m

1-byte reflectivity data

Reflectivity, in percentage (0 to 255%)

NOTE Under the Dual Return mode, the ranging data from each firing is stored in two adjacent blocks: the odd number block is the last return, and the even number block is the strongest return. If the last and strongest returns coincide, the second strongest return will be placed in the even number block. The azimuth changes every two blocks.

Additional Information

Table 3.4 Point Cloud UDP Data – Additional Information

Additional Information: 22/26 bytes when UDP sequence is OFF/ON

Reserved

5 bytes

High Temperature Shutdown Flag

1 byte

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 after 60 s. The flag remains 0x01 during the 60 s and the shutdown period

• When the system is no longer in high temperature status, the shutdown flag will be reset to 0x00 and

the system will automatically return to normal operation

Reserved

2 bytes

Motor Speed

2 bytes

speed_2_bytes[15:0] = speed (RPM)

GPS Timestamp

4 bytes

Packing time of this data packet, in units of 1 μs Range: 0 to 1000000 μs (1 s)

Return Mode Information

1 byte

0x37 for Strongest Return mode, 0x38 for Last Return mode, and 0x39 for Dual Return mode

Factory Information

1 byte

0x42 (or 0x43)

UTC

6 bytes

UTC time in decimal: year, month, date, hour, minute, second

UDP Sequence

4 bytes

Added only when UDP sequence is ON Label the sequence number of Point Cloud UDP packets, 1 to 0xFF FF FF FF in little endian format

Example of UDP Data Analysis in Point Cloud Data Packets Take Pandar40P’s Channel 5 in Block 3 of the UDP Data as an example:

1) Vertical angle of Channel 5 is 3.00°, according to Appendix I Channel Distribution

2) Horizontal angle is the current reference angle of the rotor (Azimuth of Block 3) plus the horizontal angle offset (-1.042°, according to Appendix I).

Define clockwise in the top view as the horizontal angles’ positive direction

3) The 2-byte distance data in the UDP Data Packet, multiplied by 4 mm, is the actual distance in real world millimeters

After determining the horizontal angle, vertical angle, and distance of a data point, this point can be drawn in a polar or rectangular coordinate system. The real-time point cloud data is drawn by analyzing every point in the UDP data.

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.

Once the LiDAR receives the PPS (pulse-per-second) signal and NMEA messages

The internal 1 Hz signal will be locked to the PPS. Each rising edge still triggers a GPS Data Packet. Meanwhile, the LiDAR will extract the actual UTC time and date from NMEA messages ($GPRMC or $GPGGA), and stamp them into both Point Cloud Data Packets and GPS Data Packets.

• Point Cloud Data Packets: 6-byte UTC Time (year, month, day, hour, minute, second) in decimal

• GPS Data Packets: 6-byte Date (year, month, day) and 6-byte Time (second, minute, hour) in ASCII

The GPS module sends first the PPS signal and then the NMEA message. At the rising edge of the PPS pulse, the corresponding NMEA message is not yet available. Therefore, the LiDAR extracts UTC information from the previous NMEA message and automatically adds 1 full second.

When GPS signal is lost

The LiDAR will still trigger GPS Data Packets by the rising edge of the internal 1 Hz signal. However, the GPS time in the packets will be counted by the internal 1 Hz signal and will drift from the actual GPS time.

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