Hesai Photonics Technology PANDARQT User Manual

www.hesaitech.com

1902A1

64-Channel Short-Range

PandarQT

Mechanical LiDAR

Q01-en-

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 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 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 conformance with IEC 60825-1 Ed.3, as described in Laser Notice No.56, dated May 8, 2019

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 or its power adapter.

Vibration

Strong vibration may cause damage to the device and should be avoided.

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 .................................................................................................................... 7

2.3 Connecting Box (Optional) ................................................................................... 9

2.4 Use ............................................................................................................................. 12

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

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

3.2 GPS Data Packet ..................................................................................................... 18

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

4.1 Homepage ............................................................................................................... 23

4.2 Settings ..................................................................................................................... 24

4.3 Angle Range ............................................................................................................ 25

4.4 Device Info ............................................................................................................... 27

4.5 Time Statistics ......................................................................................................... 28

4.6 Firmware Upgrade ................................................................................................. 29

6 Sensor Maintenance ........................................................................................... 37

7 Troubleshooting .................................................................................................. 38

Appendix I PTP Protocol ....................................................................................... 40

Appendix II FCC Statement .................................................................................. 42

Appendix III Support and Contact ..................................................................... 43

5 PandarView ........................................................................................................... 30

5.1 Installation ................................................................................................................ 30

5.2 Use ............................................................................................................................. 31

5.3 Features .................................................................................................................... 33

1 Introduction

This manual describes the specifications, installation, and data output format of PandarQT, a 64-channel mechanical LiDAR.

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

64 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 transform, all the measurements are relative to the origin.

Each laser channel has an intrinsic horizontal angle offset. When Channel 18 passes the zero degree position 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 unevenly distributed across all channels.

Figure 1.5 Channel Vertical Distribution Figure 1.6 Laser Firing Position

1.4 Specifications

SENSOR

MECHANICAL/ELECTRICAL/OPERATIONAL

Scanning Method

Mechanical Rotation

Laser Class

Class 1 Eye Safe

Channel

64 Waterproof Grade

IPX7

Range

0.1 to 20 m (at 10% reflectivity)

Weight

0.4 kg

±5 cm (0.1 to 0.5 m)

FOV (Horizontal)

360°

Operating Voltage

9~65 VDC

Resolution (Horizontal)

0.6°

Power Consumption

7 W

FOV (Vertical)

104.6° (-52.3° to +52.3°)

Operating Temperature

-20℃ to 65℃

Resolution (Vertical)

Finest at 1.4°

Frame Rate

10 Hz

DATA I/O

Returns

Single/Dual

Data Transmission

UDP/IP Ethernet (100BASE-T1 Slave Mode)

Distance, Azimuth Angle, Background

Single Return Mode: 384,000 pts/s

Clock Source

GPS / PTP

PTP Clock Accuracy

≤1 μs

PTP Clock Drift

≤1 μs/s

Range Accuracy

±2.5 cm (0.5 to 15 m)

Dimensions

±10 cm (15 to 30 m)

Data Outputs

Data Points Generated

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.

Height: 75.0 mm Diameter: 80.2 mm

Illumination

Dual Return Mode: 768,000 pts/s

2 Setup

2.1 Mechanical Installation

Figure 2.1 Isometric View Figure 2.2 Mounting Base

 Installation

Figure 2.3 Installation Diagram

2.2 Interfaces

PandarQT by default uses a 4-pin M8 male socket (with needles inside), which includes power wires and 100BASE-T1 twist-pairs. Another option is an 8-

pin male socket with the same size. The use of 4-pin M8 sockets is strongly recommended.

Figure 2.4 Connector Dimensions

Connector 4-pin 8-pin

Figure 2.5 PandarQT Connector Options (Male socket, on the LiDAR)

The 4-pin male socket (recommended):

GPS_RX

Pin # Description

1 VIN

2 GND

3 Ethernet_TRX+

4 Ethernet_TRX-

The 8-pin male socket (optional, not recommended):

Pin # Description

1 VIN

2 Ethernet_TRX-

3 Ethernet_TRX+

5 GPS_PPS

6 Sync_N

7 Sync_P

8 GND

Cables

The optional cable for connecting QT to the connection box is 2 m in length.

Contact Hesai if you need customized cables for connecting the LiDARs to your control units directly. The maximum allowable diameter of power wires is

0.511 mm, 24 AWG.

When choosing cables, please check their voltage drop and power consumption to ensure a minimum of 9 V DC input to the LiDARs.

TYPE

Diameter

(mm)

Resistance/meter

(Ohm)

Max Voltage Drop

over 1 m cable (V)

Max Voltage Drop

over 6 m cable (V)

Average Power Consumption

over 1 m cable (W)

Average Power Consumption

over 6 m cable (W)

24AWG 0.511 0.0894 0.1788 1.0728 0.064368 0.386208

2.3 Connecting Box (Optional)

This device converts automotive 100BASE-T1 to 100BASE-TX typical Ethernet, as well as providing a power port with 5.5 mm X 2.1 mm socket and a GPS

port.

Users may connect the LiDAR directly or use the connecting box.

The cable length from the connector to the connecting box is 2 m by default.

NOTE The GPS port only supports 8-pin cables.

Figure 2.6 Connecting Box

2.3.1 Connecting Box Interfaces

Port #

Port Name

Description

Output

Ground for the external GPS module

Table 2.2 Connecting Box Interfaces

b Power Port DC power adapter with voltage ranging from 12 V to 48 VDC and a minimum power output of 18 W is suggested

c GPS Port Connector type: JST SM06B-SRSS-TB

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

Pin # Direction Pin Description Requirements

1 Input PPS (pulse-per-second) signal for synchronization TTL level 3.3 V/5 V

2 Output Power for the external GPS module 5 V

4 Input Receiving serial data from the external GPS module RS232 level

5 Output Ground for the external GPS module -

6 Output Transmitting serial data to the external GPS module RS232 level

Standard Ethernet Port

RJ45, 100BASE-TX Ethernet

Recommended connector for the external GPS module: JST SHR-06V-S-B

Voltage standard: RS232

Baud rate: 9600 bps

Table 2.3 GPS Pin Description

Pulse width: 1 ms or longer is recommended

Cycle: 1 s (from rising edge to rising edge)

2.3.2 Connection

Figure 2.7 LiDAR Connection When Using the Connecting Box

NOTE Refer to Appendix I when PTP protocol is used.

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