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Manual
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Hesai Technology Co., Ltd.
Phone: +86 400 805 1233
Website: www.hesaitech.com
Address: Building L2, Hongqiao World Centre, Shanghai, China
Business Email: info@hesaitech.com
Service Email: service@hesaitech.com
99
Table of Contents
Main Page
Default Chapter
2
Table of Contents
2
About this Manual
5
Access to this Manual
5
Technical Support
5
Legends and Format
5
Safety Notice
6
Special Warnings
6
Operating Environment
7
Personnel
9
Installation and Operation
9
Repair and Maintenance
13
1 Introduction
14
Operating Principle
14
Basic Structure
15
Side Connector Lidar
15
Bottom Connector Lidar
16
Channel Distribution
17
Side Connector Lidar
17
Bottom Connector Lidar
18
Angle Correction File
18
Specifications
19
Ranging Accuracy
22
Ranging Precision
24
2 Setup
25
Mechanical Installation
25
Notes on Screw Installation
25
Side Connector Lidar
27
Bottom Connector Lidar
29
Electrical Interface
31
Pin Description
31
Bending of Cables
32
Connector Use
33
Connection Box (Optional)
35
Ports
36
Connection
38
Network Settings on the Receiving Host
42
Software Tools
42
3 Data Structure
44
Point Cloud Data Packet
45
Ethernet Header
45
Point Cloud UDP Data
46
Ethernet Tail
52
Point Cloud Data Analysis
53
GPS Data Packet
56
Ethernet Header
56
GPS UDP Data
57
Ethernet Tail
60
GPS Time Data Analysis Method
61
4 Web Control
62
Home
63
Settings
65
Network
67
Function
68
Time Sync
71
Azimuth FOV
74
For All Channels
75
Multi-Section FOV
75
Operation Statistics
76
Upgrade
77
5 Protocol
78
6 Maintenance
79
7 Troubleshooting
80
Appendix A: Channel Distribution Data
84
Appendix B: Absolute Time of Point Cloud Data
86
Source of Absolute Time
86
GPS as the Clock Source
86
PTP as the Clock
87
Absolute Time of Point Cloud Data Packets
89
Start Time of each Block
89
Laser Firing Time of each Channel
90
Appendix C: Power Supply Requirements
91
Input Voltage
91
Calculate the Cable Voltage Drop
91
Avoid Overvoltage
92
Power Consumption
92
Power Up/Down
92
Appendix D: Nonlinear Reflectivity Mapping
94
Appendix E: Legal Notice
99
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