User's Manual
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HESAI Manuals
Electronics
Rangefinder
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Table Of Contents
Contents
Safety Notice
1 Introduction
1.1 Operating Principle
1.2 LiDAR Structure
1.3 Channel Distribution
1.4 Specifications
2 Setup
2.1 Mechanical Installation
2.2 Interfaces
2.3 Connection Box (Optional)
2.3.1 Connection Box Interfaces
2.3.2 Connection
2.4 Get Ready to Use
3 Data Structure
3.1 Point Cloud Data Packet
3.1.1 Ethernet Header
3.1.2 UDP Data
3.1.3 Point Cloud Data Analysis
3.2 GPS Data Packet
3.2.1 Ethernet Header
3.2.2 UDP Data
3.2.3 GPS Data Analysis
4 Web Control
4.1 Home
4.2 Settings
4.3 Azimuth FOV
4.3.1 For all channels
4.3.2 For each channel
4.3.3 Multi-section FOV
4.3.4 Note
4.4 Operation Statistics
4.5 Upgrade
5 PandarView
5.1 Installation
5.2 Use
5.3 Features
6 Communication Protocol
6.1 Packet Structure
6.2 Frequently Used Commands
6.2.1 PTC_COMMAND_GET_LIDAR_CALIBRATION
6.2.2 PTC_COMMAND_PTP_DIAGNOSTICS
6.2.3 PTC_COMMAND_GET_INVENTORY_INFO
6.2.4 PTC_COMMAND_GET_CONFIG_INFO
6.2.5 PTC_COMMAND_GET_LIDAR_STATUS
7 Sensor Maintenance
8 Troubleshooting
Appendix I Absolute Time and Laser Firing Time
I.1 Absolute Time of Point Cloud Data Packets
I.2 Laser Firing Time
I.2.1 Start Time of Each Block
I.2.2 Laser Firing Time of Each Channel
Appendix II PTP Protocol
Appendix III Certification Info
Appendix IV Support and Contact
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2
Setup
2.1
Mechanical Installation
Figure 2.1
Iso
metric View
Figure 2.2 Mo
u
nting B
ase
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