LSLIDAR M10 User manual

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M10
Navigation & Obstacle Avoidance LiDAR Manual
V1.1

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Catologue
Safety Tips........................................................................................4
1. Introduction................................................................................ 7
2. Operating Principle.....................................................................7
2.1 Ranging Principle.........................................................................7
2.2 Two-dimensional Display............................................................. 8
2.3 Optical Principle........................................................................... 9
2.3.1 Laser Properties..........................................................................9
2.3.2 Optical Structure...................................................................... 10
2.3.3 Light Spot Property.................................................................. 11
3. Product Parameter................................................................... 12
4. Component Connection............................................................13
4.1 Installation and Mechanical Dimensions（Unit：mm）........13
4.2 Interface Definition..................................................................... 14
4.2.1 LiDAR Side Connector Size Specifications.............................14
4.2.2 Interface Definition................................................................. 15
4.2.3 Adapter Board.......................................................................... 16
5. Electrical Parameter.................................................................18
6. Communication Protocol..........................................................18
7. Development Tool and Supports............................................. 19
7.1 Point Cloud Display Software under Windows........................19
7.1.1 Software Interface Introduction............................................... 19
7.1.2 LiDAR Data Reception, Point Cloud Display......................... 21
7.1.3 Menu Function Introduction.....................................................22
7.1.4 Display of Data Bar.................................................................24
7.1.5 Point Cloud Display Interface Instruction................................25
7.1.6 Offline Data Display................................................................ 25
7.1.7 Windows Software and Supporting Software Information.....28
7.1.8 Problems of LiDAR Settings...................................................29
7.2 ROS Driver.................................................................................. 37
7.2.1 Hardware Connection and Testing...........................................37
7.2.2 Software Operation Example................................................... 37
8. Instrument Maintenance......................................................... 39
8.1 Transportation requirement...................................................... 39
8.2 Installation................................................................................... 39
8.3 Storage Conditions......................................................................39

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8.4 Clean.............................................................................................39
9. Remark History......................................................................... 40

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Safety Tips
Before using the product, please follow all instructions carefully and consult all relevant national and international safety regulations for your
application.
Notice
Please do not disassemble the LiDAR in any way. It is forbidden to watch the transmitting laser through a magnifying device (such as microscope,
eye loupe or other magnifying glass). For repairs and maintenance inquiries, please contact authorized agents or the technical support staff of LS
LiDAR. Unauthorized open may cause risk and loss of the warranty of the product.
Laser Safety Class 1
The device satisfies the requirement of
IEC60825-1:2014
21 CFR 1040.10 & 1040.11 standards, except for the deviations (IEC 60825-1 Edition 3 ) described in Laser Notice No. 56 issued on May
8, 2019

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Safety Warning
In any case, if you suspect that the product has malfunctioned or been damaged, please stop using it immediately to avoid injury to the user.
Handling
This product consist of metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, piercing or squeezing
may cause irreversible damage to the product.
Power Supply
Only the cables and cable junction box were provided by LS LiDAR. Please make sure the power adapters that meet the product voltage 9~36VDC
（Typical 12～24VDC). Using damaged cables, adapters or supplying power in a humid environment can result in fire, electric shock, personal
injuries, product damage, or property loss.
High Temperature of Housing
When the product is running or after running，touching the housing may cause discomfort or even scald. At this time, avoid direct skin contact
with the product; if you use this LiDAR product as part of your product, please be sure to inform the user of your product about the high
temperature risk of the housing.
Light Interference
Some precision optical instruments may be interfered by the laser emitted from the product.Please pay attention to it.

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Vibration Conditions
The product is designed to withstand specified vibration and shock condition defined in the specification of the product. Damage caused by
vibration and/or beyond the specified value is not covered by warranty.
RF Interference
Please observe the signs and notices on the product that prohibit or restrict the use of electronic devices. Although the product is designed, tested,
and manufactured to comply with the regulations on RF radiation, the radiation from the product may still influence other electronic devices.
Medical Device Interference
Some components in the product 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 devices
and whether you need to keep a safe distance from the product. If you suspect that the product is interfering with your medical device, stop using
the product immediately.
Explosive Atmosphere and Other Air Conditions
Do not use the product in any area where is 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 product to high concentrations of industrial chemicals,
including liquefied gases that are easily vaporized (such as helium), can damage or weaken the product’s function. Please observe all the signs and
instructions on the product.

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1. Introduction
This manual describes the operating principle, specifications, parameters, installation, and data format of the M10 LiDAR. The product manual is
updated with the product technical upgrade. For the latest version, please contact LeiShen's technical support.
The M10 LiDAR adopts TOF (time of flight) principle to capable of 2 D scanning detection of the surrounding 360 ° environment. M10 uses
wireless power supply and optical communication, measuring frequency for 10khz. The accuracy is to reach the ± 3cm with the maximum range
from 10 meters. It is mainly used in indoor service robot, cleaning robot, UAV and other precise positioning and obstacle avoidance applications.
2. Operating Principle
2.1 Ranging Principle
Distance Measurement: Time of Flight (TOF)
(1) A laser diode emits a beam of ultrashort laser pulses onto the target object.
(2) The laser pulses are diffusely reflected after hitting the target object. The returning beam is detected by an optical sensor.
(3) Distance to the object can be accurately measured by calculating the time between laser emission and receipt.
The working principle is shown in the figure below:
Ranging formula: D=1/2C(T2-T1)
(D=distance C=speed of light T1=Emission time T2=Receiving time)

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2.2 Two-dimensional Display
The distance value of the detected object is calculated by the signal processing unit inside the M10. Combined with the angle information output by
the angle measurement module, the two-dimensional plane information of the surrounding 360-degree environment in the range can be obtained.
The two-dimensional plane display effect diagram is shown in the figure below:

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2.3 Optical Principle
2.3.1 Laser Properties
The optical parameters of N series LiDAR are as follows:
Item
Minimum
Typical Value
Maximum
Remarks
Laser Wavelength
895 nm
905nm
915nm
Peak Power
-
25W
-
Average Power
-
0.8mW
-
FDA
Class I
IEC 60825-1:2014

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2.3.2 Optical Structure
M10 adopts the telescope-type optical structure placed in parallel at the receiving and emission level. In the installation of LiDAR and the
integration into the robot system, the internal optical structure should be considered in order to fulfill the LiDAR function in high accuracy. In order
to facilitate the customer's use, especially the calculation of geometric relationship, we define a polar coordinate system at the center point of the
LiDAR . It turns clockwise and the zero degree angle start from the cable outlet.
Following is the figure of the M10 LiDAR (top view)：

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2.3.3 Light Spot Property
The light spot of M10 LiDAR is an oval shape placed vertically,And the divergence angle is 6.8mrad in vertical direction and 2.5mrad in horizontal
direction. The spot size at any distance can be calculated by multiplying the divergence angle by the distance. For example, the calculation method
of spot at 10m as follow:：
Vertical direction at 10m：10*6.8*10-3=0.068m
Horizontal direction at 10m：10*2.5*10-3=0.025 m

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3. Product Parameter
Model
M10
Type
Short-range
Range
12m@70%
Scanning Angle
360°
Angular Resolution
0.36°
Scan Frequency
10HZ
Measurement Accuracy
±3cm
Output Data Resolution
1mm
Wavelength
905nm
Data Content
direction，distance，reflectivity
Ambient Temperature
Operating：-10℃~50℃，storage：-40℃~80℃
Power Supply
5V DC(4.75V±5.25V, ripple within 80MV)
Motor
Brushless Motor
Communication Interface
Standard serial port (baud rate: 460800 bps)
Size
Φ80*38.9mm
weight
200g ±10g

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4. Component Connection
A set of laser emitting and receiving modules are installed on the rotor of the LiDAR, and the internal motor rotates to achieve 360° scanning in the
horizontal direction.
4.1 Installation and Mechanical Dimensions（Unit：mm）

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4.2 Interface Definition
The external physical interface of M10 is HY2.0-6P, which realizes system power supply and data communication.
4.2.1 LiDAR Side Connector Size Specifications
Unit: mm

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4.2.2 Interface Definition
PIN
Description
Typical Value
Range
Note
VCC
Supply voltage
positive
5
4.75~5.25
Ripple within 80MV
GND
Supply voltage
negative
0
0V
RX
System serial input
TTL
Data flow: peripheral →
LiDAR
TX
System serial output
TTL
Data flow:
LiDAR→peripheral
PPS
GPS second signal
TTL
REC
GPS latitude and
longitude
RS232

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4.2.3 Adapter Board
The adapter board was offered as accessory, transfer HY2.0-6P to Type-C USB, which realizes TTL TO USB data conversion. It is to facilitate
customers for debugging use. However, this adapter board is not a necessary device for LiDAR operation.
Following picture is the instruction for each module in adapter board.
①Type-C USB: data communication and system power supply;
②Micro USB: Power supply only. When the power supply capacity of the Type-C USB port is insufficient, the port can be
③used for additional auxiliary power supply;
④K1: Power switch;
⑤LIDAR: connect to radar;
⑥GPS: Connect GPS module

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Following the GPS interface specification of the adapter board, SM06B-SRSS-TB from JST Company and the recommended interface for external
GPS module is SHR-06V-S-B from JST Company.
Interface Definition
S/N
Function Definition
I/O
Requirements
1
PPS Synchronization
Signal
I
TTL Electrical Level Range3.3V to 12V，period 1s，Recommended pulse
width over 5MS
2
GPS Power Supply
5V
O
Do not plug or unplug with power
3
GPS Power GND
O
Good contact
4
GPS Latitude and
Longitude
I
RS232 electrical level，Baud rate 9600 bps
5
GPS Power GND
O
Good contact
6
NC
-
-

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5. Electrical Parameter
This product does not have a power switch, once powered on, the LiDAR will be in accordance with the factory default parameters to start working.
6. Communication Protocol
When M10 is working, each set of sample data is output through the communication interface. The output data has a uniform message format. If a
detailed communication protocol is required, the M10 Communication Protocol V1.7 data message is required. Please contact LeiShen's Technical
Support.
Item
Minimum
Typical Value
Maximum
Remarks
Supply Voltage
4.75V
5V
5.25
If the supply voltage is not within this range, it may cause inaccurate or irreversible damage,
the output power of the external power supply shall be at least 5W
Voltage Ripple
-
-
80MV
Ripple too large causes irreversible damage to the hardware. The smaller the ripple, the
better
Working Current
-
400mA
450mA
LiDAR is at maximum power consumption
Signal High Level
2.0
-
3.3
Threshold 2V
Signal Low Level
0
-
0.8
Threshold 0.8V
Baud Rate
460800 bps
Pay attention to the stability of data communication
GPS PPS
3V
12V
period 1s，Recommended pulse width over 5MS
GPS REC
3V
12V
RS232 electrical level，Baud rate 9600 bps

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7. Development Tool and Supports
LeiShen provides customers with SDK development kit of M10 LiDAR , which can process scanning data in real time and offer a visual display.
The SDK kit can help users to get familiar with the products and shorten the project development cycle. At present, only SDK kit based on Linux,
ROS and windows X86 platform can be provided. For future versions of Android, mac os and other platforms, please pay attention to the official
website www.lslidar.com.
7.1 Point Cloud Display Software under Windows
The Windows point cloud display software of M10 LiDAR are introduced here, including the point cloud display software, parameter configuration,
LiDAR test, etc.
7.1.1 Software Interface Introduction
The software interface includes menu area, toolbar area,3D window area, data table area, company website link, etc.
Double-click the shortcut icon on the desktop. The initial interface is shown below:

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