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Hesai PandarXT-16 User Manual

Hesai PandarXT-16
100 pages
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www.hesaitech.com
PandarXT-16
16-Channel Mid-Range
Mechanical Lidar User Manual
Classification: Public
Doc Version: X02-en-240210

Table of Contents

Questions and Answers:

Hesai PandarXT-16 Specifications

General IconGeneral
BrandHesai
ModelPandarXT-16
CategoryScanner
LanguageEnglish

Summary

About this manual

Access to this manual

How to obtain the latest version of the user manual.

Technical support

Contact information for technical assistance and troubleshooting.

Legends and format

Explanation of symbols, warnings, and formatting conventions used in the manual.

Safety notice

Special warnings

Specific warnings related to product operation, safety, and compliance.

Operating environment

Hot surface

Warning about hot surfaces on the lidar during and after operation.

Abnormalities

Procedures to follow when the product exhibits malfunctions or causes environmental issues.

Prohibition of disassembly

Instruction against disassembling the product without prior written agreement.

Radio frequency interference

Considerations for radio frequency interference and compliance with regulations.

Vibration

Explosive atmosphere and other air conditions

Precautions for use in environments with potentially explosive atmospheres or hazardous chemicals.

Chemical environment

Warnings against exposing the product to corrosive liquids.

Ingress protection (IP)

Reference to specifications for IP rating and avoiding ingress beyond limits.

Operating temperature

Reference to specifications for operating temperature range.

Recommended storage conditions

Guidelines for storing the lidar in a dry and well-ventilated environment.

Personnel

Light interference

Information on potential interference with optical instruments and laser emission blocking.

Recommended operator qualifications

Qualifications required for operating the lidar product.

Medical device interference

Precautions regarding electromagnetic fields and medical devices.

Installation and operation

Power supply

Requirements and recommendations for the lidar's power supply and cables.

Electrical interface

Instructions for connecting and handling electrical interfaces to prevent damage.

Eye safety

Information on the lidar's laser class and safety precautions for eye protection.

Product enclosure

Product enclosure: cover lens

Guidelines for handling and cleaning the product's cover lens to maintain data quality.

Peripherals

Hot surface

Warning about hot surfaces on the lidar during and after operation.

Firmware and software upgrading

Customized firmware and software

Considerations for using customized firmware and software versions.

Point cloud data processing

Repair and maintenance

Repair

Procedures for product repair and maintenance, and consequences of unauthorized actions.

1. Introduction

1.1. Operating principle

Explanation of the lidar's distance measurement method based on Time of Flight (ToF).

1.2. Basic structure

1.2.1. Side connector lidar

Description of the side connector lidar variant, including coordinate system and position.

1.2.2. Bottom connector lidar

Description of the bottom connector lidar variant, including coordinate system and position.

1.3. Channel distribution

1.3.1. Side connector lidar

Details on vertical channel distribution and laser emitter/receiver positions for the side connector.

1.3.2. Bottom connector lidar

Details on vertical channel distribution and laser emitter/receiver positions for the bottom connector.

1.3.3. Angle correction file

Information on obtaining and using the angle correction file for accurate measurements.

1.4. Specifications

Notes to specifications

Clarifications and additional notes for the technical specifications.

1.4.1. Ranging accuracy

Definition and conditions for measuring the lidar's ranging accuracy.

1.4.2. Ranging precision

Definition and conditions for measuring the lidar's ranging precision.

2. Setup

2.1. Mechanical installation

Instructions for physically mounting the lidar unit, including screw types and torque.

2.1.2. Side connector lidar

Mechanical dimensions and mounting details for the side connector lidar.

2.1.3. Bottom connector lidar

Mechanical dimensions and mounting details for the bottom connector lidar.

2.2. Electrical interface

Instructions for connecting and handling electrical interfaces to prevent damage.

2.2.2. Bending of cables

Specifications for minimum bend radius and handling of cables to prevent damage.

2.2.3. Connector use

Guidelines for proper connection and disconnection of the lidar's connector.

2.3. Connection box (optional)

Information on the optional connection box for the lidar.

2.3.1. Ports

Description of the ports available on the optional connection box and GPS port pinout.

2.3.2. Connection

Diagrams and instructions for connecting the lidar with GPS or PTP.

2.3.2.1. Side connector lidar

Diagram and instructions for connecting the side connector lidar with GPS.

2.3.2.2. Bottom connector lidar

Diagram and instructions for connecting the bottom connector lidar with GPS.

2.4. Network settings on the receiving host

Configuration steps for PC network settings to receive data from the lidar.

2.5. Software tools

Overview of software tools for visualization, control, and development with the lidar.

3. Data structure

3.1. Point Cloud Data Packet

Detailed breakdown of the structure and fields within a Point Cloud Data Packet.

3.1.1. Ethernet header

Description of the Ethernet II MAC, IP, and UDP header fields in the data packet.

3.1.2. Point cloud UDP data

Details on the UDP data structure, including Pre-Header, Header, Body, and Tail fields.

3.1.3. Ethernet tail

Description of the Frame Check Sequence (FCS) in the Ethernet tail.

3.1.4. Point cloud data analysis method

Methodology for analyzing vertical angle and other data points in the point cloud.

Body

Details on the data body structure, including return modes and measurements per channel.

Return mode

Explanation of different return modes and how measurements are stored in blocks.

3.1.2.4. Tail

Description of the Tail fields, including Return Mode and Motor Speed.

3.1.2.5. Additional information

Details on UDP Sequence and FCS in the data packet.

3.1.4.2. Analyze the horizontal angle of a data point

Methodology for calculating the horizontal angle of a data point using various offsets.

3.1.4.3. Analyze the distance of a data point

Reference to the Distance field for analyzing data point distances.

3.1.4.4. Draw the data point in a spherical or rectangular coordinate system

Visualization of data points in spherical or rectangular coordinate systems.

3.2. GPS Data Packet

Structure of GPS Data Packets, including header and UDP data.

3.2.1. Ethernet header

Ethernet header structure for GPS Data Packets, including IP and MAC addresses.

3.2.2. GPS UDP data

Structure of GPS UDP data, including GPS Time, NMEA, and status information.

3.2.2.1. GPRMC data format

Format specifications for GPRMC NMEA sentences used for GPS data.

3.2.2.2. GPGGA data format

Format specifications for GPGGA NMEA sentences used for GPS data.

3.2.3. Ethernet tail

Description of the Ethernet tail, including the Frame Check Sequence (FCS).

3.2.4. GPS time data analysis method

Example analysis of GPS data packet content for time information.

4. Web control

4.1. Home

Overview of the web interface's home page, displaying device status and parameters.

4.2. Settings

Configuration options for network parameters like IP address, subnet mask, and VLAN.

4.2.1. Network

Detailed configuration options for VLAN tagging and destination IP settings.

4.2.2. Function

Configuration options for lidar functions like Spin Rate and Return Mode.

Spin Rate

Setting the motor's rotation speed (RPM) for the lidar.

Sync Angle

Configuration of phase lock angle for synchronizing multiple lidar units.

Trigger Method

Selection of methods for triggering laser firings (Angle-Based or Time-Based).

Interstitial Points Filtering

Option to enable filtering of interstitial points in point cloud data.

Reflectivity Mapping

Choice between linear or nonlinear mapping for target reflectivity representation.

Standby Mode

Enabling standby mode to stop motor and laser operations.

4.2.3. Time sync

Configuration settings for time synchronization using GPS or PTP.

With GPS selected

Configuration settings when GPS is used as the clock source for time synchronization.

4.2.3.1. With GPS selected

Detailed parameters and logic for GPS time synchronization and PPS lock requirements.

4.2.3.2. With PTP selected

Configuration settings and parameters when PTP is used as the clock source for time synchronization.

4.3. Azimuth FOV

Configuration settings for the azimuth Field of View (FOV).

Azimuth FOV Setting

Configuration mode for azimuth Field of View (FOV).

4.3.1. For all channels

Setting a continuous angle range for the azimuth FOV across all channels.

4.3.2. Multi-section FOV

Configuring multiple continuous angle ranges for the azimuth FOV.

4.4. Operation statistics

Display of operational statistics, including uptime, temperature, and operation time.

4.5. Upgrade

Procedures for upgrading the lidar's firmware and software.

Upload

Procedure for uploading firmware files to upgrade the lidar's software.

Restart

Function to perform a software reboot of the lidar.

5. Communication protocol

6. Maintenance

Perform the following steps to remove the stains

Detailed steps for cleaning the lidar's cover lens to maintain data quality.

7. Troubleshooting

Indicator light is off on the connection box

Troubleshooting steps for when the connection box indicator light is off.

Motor is not running

Troubleshooting steps when the lidar's motor fails to operate.

Motor is running but no output data is received

Troubleshooting steps when data is not received despite the motor running.

Can receive data on Wireshark but not on PandarView 2

Troubleshooting steps when data is received in Wireshark but not PandarView 2.

Cannot open web control

Troubleshooting steps for accessing the lidar's web control interface.

Abnormal packet size (missing packets)

Troubleshooting steps for issues related to abnormal packet size or missing packets.

Abnormal point cloud (misaligned points, flashing, incomplete FOV)

Troubleshooting steps for issues with point cloud data quality and alignment.

GPS cannot be locked

Troubleshooting steps when the GPS signal cannot be locked by the lidar.

Appendix A: Channel distribution data

Appendix B: Absolute time of point cloud data

B.1. Source of absolute time

Explanation of how the lidar obtains absolute time from external clock sources.

B.1.1. GPS as the clock source

Details on using GPS as a clock source for time synchronization, including NMEA and PPS signals.

B.1.2. PTP as the clock source

Details on using PTP as a clock source for time synchronization.

B.2. Absolute time of Point Cloud Data Packets

Formula for calculating the absolute time of Point Cloud Data Packets.

B.3. Start time of each block

Calculation of start times for each data block in single and dual return modes.

B.4. Laser firing time of each channel

Calculation of laser firing times for each channel within a block.

Appendix C: Power supply requirements

C.1. Input voltage

Requirements for the lidar's input voltage and cable voltage drop calculations.

C.1.1. Calculate the cable voltage drop

Methods for estimating and calculating voltage drop over cables based on length and resistance.

C.2. Power Consumption

Information on the lidar's power consumption under various operating conditions.

C.3. Power Up/Down

Voltage requirements during the power-up sequence of the lidar.

Appendix D: Nonlinear reflectivity mapping

Nonlinear mapping

Explanation and data table for nonlinear mapping of target reflectivity.

Appendix E: Legal notice