Hesai PandarQT - Default Chapter; Table of Contents

Contents
Safety Notice ................................................................................................................. 1
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 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 ....................................................................................................... 19
4 Web Control ......................................................................................................... 25
4.1 Home ............................................................................................................................ 26
4.2 Settings ........................................................................................................................ 27
4.3 Azimuth FOV .............................................................................................................. 30
4.4 Operation Statistics .................................................................................................. 33
4.5 Upgrade .......................................................................................................................34
5 PandarView ........................................................................................................... 35
5.1 Installation ...................................................................................................................35
5.2 Use .................................................................................................................................36
5.3 Features ........................................................................................................................38
6 Communication Protocol .................................................................................. 42
6.1 Packet Structure ........................................................................................................42
6.2 Frequently Used Commands ................................................................................43
7 Sensor Maintenance ........................................................................................... 51
8 Troubleshooting .................................................................................................. 52
Appendix I Absolute Time and Laser Firing Time .......................................... 54
I.1 Absolute Time of Point Cloud Data Packets.....................................................54
I.2 Laser Firing Time ........................................................................................................54
Appendix II PTP Protocol...................................................................................... 58
Appendix III Certification Info ............................................................................. 60
Appendix IV Support and Contact ..................................................................... 61