LSLIDAR LS01B User manual

LS01B
User Manual
V1.0.0
2022.09
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
1.3 Specifications................................................................................................. 2
1.4 Dimensions..................................................................................................... 2
1.5 System Components .................................................................................... 3
2Interface..................................................................................................................... 3
3Communication Protocol........................................................................................ 4
3.1 Communication Parameters ....................................................................... 4
3.2 Data Message Format .................................................................................. 5
3.3 Basic Communication Protocol .................................................................. 5
3.3.1 Communication Mode....................................................................... 5
3.3.2 Single Request - Multiple Answers................................................. 5
3.3.3 Single Request - Single Answer....................................................... 6
3.3.4 Single Request - No Answer ............................................................ 7
3.3.5 Request Message Format ................................................................. 7
3.4 Answer Message Format ............................................................................. 8
3.5 Operating States ........................................................................................... 8
3.6 Request Commands and Data Acquisition............................................... 9
3.6.1 Start Request (Start) ........................................................................ 10
3.6.2 Stop Request (Stop) ......................................................................... 10
3.6.3 Request and Reply Data Format for Obtaining Single-Lap Data
(Scan) .............................................................................................................10
3.6.4 Request and Reply Data Format for Continuous Sending of
Scanned Data (Data_Scan)..........................................................................12
3.6.5 Stop Sending Data Request (Data_Stop) .....................................13
3.6.6 Angle and Intensity Switch Request (Switch) .............................13
3.6.7 Request for Change of Motor Speed (Change Speed) ..............13
3.6.8 Change Resolution Request (Change Resolution)...................... 14

3.6.9 Query Version Request (Query Version) ...................................... 14
3.7 Use Flow ....................................................................................................... 14
3.8 Troubleshooting........................................................................................... 15
4Power Supply Information.................................................................................... 15
5Applications ............................................................................................................16
6Development Tools and Supports....................................................................... 16
7Safety and Product Protection ............................................................................17
Revision History ............................................................................................................ 18

LS01B
1
1Product Profile
1.1 Overview
LS01B lidar is a low-cost 2D scanning and ranging product developed by
Shenzhen LeiShen Intelligent Systems Co. ltd. The LiDAR achieves 360° 2D
plane scanning and generates point cloud information of the scanned space,
which can be used for mapping, autonomous positioning and navigation of
robots, obstacle avoidance of intelligent devices and other scenarios. The lidar
uses a triangulation ranging mechanism and performs well in all indoor
environments and outdoor environments with up to 25,000 lux of light.
1.2 Mechanism
The LS01B lidar adopts the laser triangulation ranging mechanism. During each
ranging, the LS01B's pulse modulated laser emits an infrared laser signal, which
generates a reflected light spot after irradiating the target object. The light spot
is received by the LS01B's image acquisition and processing system after passing
through a set of optical lenses and is then solved in real time by the LS01B's
embedded signal processing module. The distance between the target object
and the LS01B and the relative azimuth values are output from the
communication interface.
Figure 1.1 Mechanism of LS01B
Driven by the mechanical rotation module, the LS01B's high frequency core
ranging module will rotate clockwise to achieve a 360° scanning range of the

LS01B
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surrounding environment.
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 LS01B
Model
LS01B
Scanning Rate
10 Hz
Detection Range
8 m/12 m/16 m
Detection Accuracy
18 mm (target with in 1 m), < 2.5% of the actual distance (over 1 m)
Data point
generating rate
14,400 points/sec
Scanning Angle
360°
Angular Resolution
0.25°
Maximum
Acceptable
Ambient Light
Intensity
20,000 lux
Power Supply
4.75-5.25 V
Communication
Interface
UART serial port
Weight
180 g
Dimensions (D*H)
Ф75.54 * 40.37 mm
1.4 Dimensions
To facilitate your product integration, some of the parts in the LS01B can be
customised according to your requirements. The figure below shows the
structure of the LS01B. For more detailed structural parameters, please contact
us.

LS01B
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Figure 1.3 Lidar Mounting and Mechanical Dimensions (unit: mm)
1.5 System Components
The LS01B LiDAR consists mainly of a high frequency ranging core, a wireless
transmission system and a rotating subsystem. The rotation subsystem is driven
by a brushless stepper motor mid-axis, which rotates inside the system. The
LS01B’s signal line can be directly interfaced with the UART port of the
FPGA/DSP/ARM/single-chip microcontroller without the need to convert
through RS232, 422 and other chips. Once the system is correctly powered up,
the high frequency ranging core can access the lidar's scanning and ranging data
via the LS01B's communication interface (RS232/USB etc.).
The LS01B system comes with a speed detection function, so you can get the
speed information and control the speed in real time through commands. The
system has a built-in motor speed stabilisation algorithm, which has a strong
ability to correct for speed changes caused by external environmental changes.
2Interface
The LS01B lidar comes standard with a 3.3V UART serial interface and can be
switched to USB, Bluetooth etc. depending on your needs. The table below
shows the specifications based on the UART serial interface, please contact us
for SDK, detailed communication protocols, parameter customisation
information etc.
The LS01B lidar is connected to external systems using a UART serial to USB 2.0

LS01B
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data cable and communicates via the UART serial signal. The external system
can access the lidar's scan data, device status and set the operating mode in real
time.
Figure 2.1 Lidar and External System Connection
Table 2.1 Electrical Parameters
Item
Unit
Minimum
Recommended
Maximum
Note
Baud rate
bps
-
460800
-
Serial communication
baud rate
Operating mode
-
-
8 bits data, 1
stop bit, no
parity
-
-
Output high
level voltage
Volts (v)
3
3.3
3.6
Output the voltage value
of high-level signal
Output low
level voltage
Volts (v)
0
-
0.3
Output the voltage value
of low-level signal
Input high level
voltage
Volts (v)
3
3.3
3.6
Input the voltage value
of high-level signal
Input low level
voltage
Volts (v)
0
-
0.3
Input the voltage value
of low-level signal
3Communication Protocol
3.1 Communication Parameters
Baud rate: 460800 bps
Check bit: NONE
Data bit: 8 bits
Stop bit: 1 bit
Data format: hexadecimal (HEX)

LS01B
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3.2 Data Message Format
When the LS01B is in operation, each set of sampling data is output via the
communication interface. The output data has a uniform message format.
Table 3.1 Data Message Format
Data type
Unit
Description
Distance value
mm
The actual distance between the LS01B lidar and the
current sampling point
Clip angle
degrees
The angle of the current sampling point in relation to the
LS01B lidar's reference orientation
New data frame flag bit
(Boolean)
Indicates whether the current sampling point is part of a
new scan
Figure 3.1 Data Message Format
The measurement data of the LS01B is output in the above message format, and
the external system can control the output of the LS01B with commands such
as request or stop, or configure the format of the output data.
3.3 Basic Communication Protocol
3.3.1 Communication Mode
The communication of this lidar is in the form of binary data messages in non-
textual form, with a uniform format for the data messages. The communication
process is initiated entirely by the external system and the lidar does not actively
send data to the external system after it has been powered on.
The data sent by the external system to the lidar is a request; the data sent by
the lidar to the external system is an answer. After receiving the request data
from the external system, the lidar executes the command. The LS01B lidar has
three response modes according to the different request types.
3.3.2 Single Request - Multiple Answers
This mode is used for external systems to continuously acquire scan data from