LSLIDAR M10P User manual

M10P
User Manual
V2.0.0
2022.07
LeiShen Intelligent System Co., LTD
http://www.lslidar.com/

Safety Instruction
Before using the product, please read and follow the instructions of this manual
carefully, and refer to relevant national and international safety regulations.
∆Attention
Please do not disassemble or modify the Lidar privately. If you need special
instructions, please consult the technical support staff of LSLiDAR.
∆Laser Safety Level
The laser safety of this product meets the following standards:
● IEC 60825-1:2014
● 21 CFR 1040.10 and 1040.11 standards, except for the deviations (IEC 60825-
1, third edition) stated in the Laser Notice No. 56 issued on May 8, 2019. Please
do not look directly at the transmitting laser through magnifying devices (such
as microscope, head-mounted magnifying glass, or other forms of magnifying
glasses).
Eye Safety
The product design complies with Class 1 human eye safety standards. However,
to maximize self-protection, please avoid looking directly at running products.
∆Safety Warning
In any case, if the product is suspected to have malfunctioned or been damaged,
please stop using it immediately to avoid injury or further product damage.
Housing
The product contains high-speed rotating parts, please do not operate unless
the housing is fastened. Do not use a product with damaged housing in case of
irreparable losses. To avoid product performance degradation, please do not
touch the photomask with your hands.
Operation
This product is composed of metal and plastic, which contains precise circuit
electronic components and optical devices. Improper operations such as high
temperature, drop, puncture or squeeze may cause irreversible damage to the
product.
Power Supply
Please use the connecting cable and matching connectors provided by LeiShen

Intelligent to supply power. Using cables or adapters that are damaged or do not
meet the power supply requirements, or supply power in a humid environment
may cause abnormal operation, fire, personal injury, product damage, or other
property loss.
Light Interference
Some precise optical equipment may be interfered with by the laser emitted by
this product, please pay attention when using it.
Vibration
Please avoid product damage caused by strong vibration. If the product's
mechanical shock and vibration performance parameters are needed, please
contact LSLiDAR for technical support.
Radio Frequency Interference
The design, manufacture and test of this product comply with relevant
regulations on radiofrequency energy radiation, but the radiation from this
product may still cause other electronic equipment to malfunction.
Deflagration and Other Air Conditions
Do not use the product in any area with potentially explosive air, such as areas
where the air contains high concentrations of flammable chemicals, vapours or
particles (like fine grains, dust or metal powder). Do not expose the product to
the environment of high-concentration industrial chemicals, including near
evaporating liquefied gas (like helium), so as not to impair or damage the product
function.
Maintenance
Please do not disassemble the Lidar without permission. Disassembly of the
product may cause its waterproof performance to fail or personal injury.

Table of Contents
1Product Profile.......................................................................................................... 1
1.1 Overview ........................................................................................................ 1
1.2 Mechanism ..................................................................................................... 1
1.2.1 Time of Flight...................................................................................... 1
1.2.2 Grid Map Presentation...................................................................... 1
1.3 Specifications................................................................................................. 2
1.4 Dimensions..................................................................................................... 3
1.5 Interface Definition ...................................................................................... 3
1.5.1 LiDAR Base Connector ..................................................................... 3
1.5.2 Interface Box....................................................................................... 4
2Electrical Parameters............................................................................................... 5
3Communication Protocol........................................................................................ 6
4Optical Features ....................................................................................................... 6
4.1 Laser Feature ................................................................................................. 6
4.2 Light Spot ....................................................................................................... 6
4.3 Optical Structure........................................................................................... 7
5Development tools and supports ......................................................................... 8
5.1 Point Cloud Display Software on Windows............................................. 8
5.1.1 Software Interface Introduction...................................................... 8
5.1.2 Software Operation........................................................................... 9
5.1.3 Software Interface Introduction...................................................... 9
5.2 Notes .............................................................................................................10
6ROS Driver Operation Under Linux OS.............................................................11
6.1 Hardware Connection and Test................................................................12
6.2 Software Operation Example ...................................................................13
7LiDAR Maintenance...............................................................................................14
7.1 Shipping Requirements..............................................................................14
7.2 Installation.................................................................................................... 14
7.3 Cleaning ........................................................................................................ 14
Revision History ............................................................................................................ 16

M10P
1
1Product Profile
1.1 Overview
Based on TOF (time of flight), the M10P lidar can two-dimensionally scan and
detect the environment across 360°. The lidar uses wireless power supply and
wireless communication internally, and the pulse repetition frequency (PRF) is
20KHz. The lidar reaches a measurement accuracy of ±3 cm with a maximum
range of 25 m. With such high performance, the lidar mainly applies to scenarios
that require precise location and obstacle avoidance, including indoor service
robots, AGV, cleaning and sterilization robots, drones, and so on.
1.2 Mechanism
1.2.1 Time of Flight
Based on the TOF (time of flight) methodology, the M10P lidar measures the
distance between a target object and the sensor, by calculating the difference
between the emission and return times of modulated laser. The laser emitter
sends out the modulated pulse laser, and an internal timer starts timing(t1). The
laser encounters the target object, part of the energy returns. When the lidar
receives the return laser signal, the timer will stop timing(t2). The formula for
distance between the lidar and the target object:
Distance = Speed of Light*(t2 – t1)/2
Figure 1.1 Mechanism of M10P
1.2.2 Grid Map Presentation
You can get the 2D grid map information of the surrounds across 360° within

M10P
2
the detecting distance, based on the combination of the distance value
calculated in real-time by the signal processing unit embedded in the M10P and
the angle information output by the highly accurate self-adjusted angle
measuring module.
Figure 1.2 Demonstration of Ranging Function
*Note: The figures only demonstrate the function of the distance measuring
system. They are not proportional.
1.3 Specifications
Table 1.1 Specifications of M10P
Model
M10P
scanning angle
360°
PRF
20 KHz
Data Generating Rate
20,000 pts/sec
Angular Resolution
0.22°
Scanning Rate
12 Hz
Measurement
Accuracy
±3 cm
Output Data
Resolution
1 mm
Wavelength
905 nm
Laser Safety Level
CLASS I
Detection Range
10 m @10%
Data Content
Azimuth, Distance, High Reflector Recognition
Network Power
Supply
5 V ~ 15 VDC
Operating
Temperature
-10 ~ 50
Noise
Starting-up: <60 dB, Operating:<50dB
Motor
Built-in Brushless Motor
Communication
Interface
Standard Serial Port (Baud Rate: 512000 bps)
Shock Test
500 m/sec², lasting for 11 ms

M10P
3
Vibration Test
5 Hz 2000 Hz, 3G rms
Dimensions
79.3*39 mm
Weight
About 200 g
1.4 Dimensions
A set of laser transmitting and receiving devices is fixed to the rotor of the lidar,
which is rotated by an internal motor to achieve a 360° scan in the horizontal
direction.
Figure 1.3 Lidar Mounting and Mechanical Dimensions (unit: mm)
1.5 Interface Definition
The specification of M10’s base connector is HY2.0-6P. The M10 lidar gets data
transmission, system power and data communication via a network interface box.
1.5.1 LiDAR Base Connector
Figure 1.4 Dimensions of Lidar Base Connector (unit: mm)
The M10P lidar supports GPS function. See the GPS port definition below:

M10P
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Figure 1.5 Lidar GPS Port
Table 1.2 GPS Port Definition
Pin
Description
Typical Value
Range
Remark
VCC
Power+
5V
4.75~5.25
Ripple within 80 MV
GND
Power-
0V
0V
RX
System serial input
TTL
Data Stream:
External Device → LiDAR
TX
System serial output
TTL
Data Stream:
LiDAR → External Device
PPS
GPS second signal
REC
GPS latitude, longitude,
hour, minute and
second
1.5.2 Interface Box
A TTL to Ethernet adapter module is available for the M10 lidar to enable the
conversion of TTL to network data. This Interface box is not a necessary
accessory for lidar operation. The function of each port of the box is described
as follows:
⚫Power port: system power supply.
⚫Standard Ethernet port: connection of the lidar to the host computer
network port via a network cable.
⚫Lidar port: connection to the lidar.
⚫GPS port: connection to the GPS module.
The GPS port specification of the interface box is JST company's SM06B-SRSS-
TB. It is recommended to use JST's SHR-06V-S-B as the external GPS module.

M10P
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Figure 1.6 Connect All Modules Through Interface Box
Table 1.3 GPS Port Definition
Pin
Definition
I/O
Description
1
PPS Sync Signal
I
TTL level range from 3.3V to 12V; its cycle is 1
second, and the recommended pulse width is more
than 5 ms
2
GPS Power Supply 5V
O
No hot plug or unplug
3
GPS_GND
O
Good contact
4
GPS
(latitude/longitude,
hour/minute/second)
I
RS232 level, baud rate 9600 bps
5
GPS_GND
O
Good contact
6
NC
-
-
2Electrical Parameters
The M10P lidar communicates with Fast Ethernet. An M10P lidar is made of a
high frequency ranging core, a wireless transmission system, and a rotating
subsystem. The rotating subsystem is driven by a brushless DC motor spinning
inside the system. The signal cable of M10P can be interfaced with the UART
port of the FPGA/DSP/ARM/SCM without the need for the conversion of
RS232, 422 chips. You connect an external system and the lidar and follow the
communication protocol of the lidar system to obtain the scanned point cloud
data, device information and status, and set the working mode in real-time.
Table 2.1 Electrical Parameters
Item
Minimum
Recommended
Maximum
Note
Power
Supply
Voltage
4.75V
5V
5.25V
The power supply not in the
range may lead to inaccurate
ranging or irreversible damage.
The output of external power
supply should be at least 5W.
Voltage
Ripple
-
-
80MV
Too much ripple can cause
irreversible damage to the
hardware.

M10P
6
Operating
Current
-
400mA
450mA
Lidar at maximum power
consumption
High Signal
Level
2.0V
-
3.3V
Threshold value: 2V
Low Signal
Level
0V
-
0.8V
Threshold value: 0.8V
Baud Rate
512000 bps
Note the stability of data
communication
GPS PPS
3V
12V
Cycle time 1 second,
recommended pulse width
over 5MS
GPS REC
3V
12V
RS232 level, baud rate: 9600
bps
3Communication Protocol
When the M10P is working, each set of data is output through the
communication interface. The output data has uniform message formats. If you
need the detailed communication protocol, please contact LSLiDAR support.
4Optical Features
4.1 Laser Feature
Dependent on a 905 nm laser, M10P emits high-frequency pulsed lasers through
the optical assembly, receives the laser signal through the optical assembly, and
completes the photoelectric conversion by the receiver board. The distance
value calculation is completed by the master control chip and the laser optical
parameters are as follows:
Table 4.1 Laser Optical Parameters
Item
Minimum
Recommended
Maximum
Note
Wavelength
895nm
905nm
915nm
-
Peak Power
-
25W
-
-
Average Power
-
0.8mW
-
-
FDA
Class I
IEC 60825-1:2014
4.2 Light Spot
The light spot of the M10P lidar is a vertical oval. Its vertical divergence angle is
6.8 mrad, and the horizontal divergence angle is 2.5 mrad. The spot size at any
distance can be calculated by multiplying the divergence angle by the distance.