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

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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

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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)

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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

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the LS01B lidar. Upon receipt of this request, the lidar sends an answer packet
and continues to send automatically until it receives a request to stop sending.
Every automatically-sent packet is in the same format.
Figure 3.2 Single Request - Multiple Answers Mode
3.3.3 Single Request - Single Answer
This mode is used for external systems to obtain relevant data from the LS01B
lidar, e.g. to obtain scan data, lidar status, etc. The lidar will send the
corresponding data packet upon receipt of such a request. The external system
should avoid sending another request before the lidar has responded to the
previous request. Otherwise the second request may not receive a response.

LS01B
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Figure 3.3 Single Request - Single Answer Mode
3.3.4 Single Request - No Answer
For commands such as start scan, stop scan, restart lidar, etc., the lidar uses a
single request, but no answer communication mode. In this case, the external
system needs to wait for a while after sending the request and wait for the lidar
to complete the previous request before continuing with the next request.
Otherwise the second request may be discarded.
Figure 3.4 Single Request - No Answer Mode
3.3.5 Request Message Format
The following table shows the message format for all requests sent from external

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systems.
Start flag
Request command
Request load data
1 byte
1 byte
2 bytes
Each message starts with a fixed 0xA5 byte, which will be used by the LS01B
lidar as the start of the message. The request load data item may be absent, but
the other two items are mandatory.
3.4 Answer Message Format
The answer message is divided into a start answer message and a data answer
message. If a request message is received and an answer message needs to be
sent, the LS01B lidar will first send the answer message and then the
corresponding data. Each turn of data is divided into 24 packets, i.e. 1 turn of
data corresponds to 24 start answer and data answer messages.
Structure of the start answer message:
Start flag
Speed
Packet start angle and angular resolution
0xA5, 0x5A/0x6A
2 bytes
2 bytes
Start flag: two bytes, the first byte is fixed to 0xA5, the second byte is 0x5A or
0x6A. When the packet is the start data (i.e. the packet starts with 1° data), the
flag bit is 0x6A, otherwise it is 0x5A.
Speed: two bytes, of which the lower 15 bits – speed [14:0] indicates the lidar
speed information (unit: rpm), i.e. the number of lidar revolutions in 1 minute;
speed [15] is used to determine whether the output is angle information or
intensity information. When speed [15]=0, the subsequent data outputs angle
information. When speed [15]=1, the subsequent data outputs intensity
information.
The starting angle of the packet and the angle resolution: two bytes of 16 bits,
of which the high 7 bits, i.e. [15:9], indicate the angle resolution, the unit is 0.01°.
If the value is 25, it means the angle resolution is 0.25°; and the low 9 bits, i.e.
[8:0], represent the starting angle of the packet, the unit is 1°. If the value is 0, it
means the starting angle of the packet is 0°. If the value is 15, it means the
starting angle of the packet is 15°.
3.5 Operating States
The LS01B operates in the following states: standby, start scanning, request
processing and fail-safe. The transition relationships are shown in the following
diagram.

LS01B
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Figure 3.5 Transition Relationships of LS01B States
Standby mode is the mode that the LS01B enters after being powered on, when
the ranging system and laser are switched off. When the LS01B receives the
command to start working, the ranging system and laser turn on and keep
sampling. When the command to acquire data is received, the LS01B starts to
upload the starting answer message and data answer message. The data answer
message is generally all the data obtained after the LS01B has scanned one circle.
After the LS01B has finished uploading, it will wait for the next command to
acquire data and repeat the previous steps.
If the LS01B system detects a fault, it will stop working and enter fault protection
mode. At this point, the external system can still communicate with the LS01B
and can query the current operating status, but cannot perform scanning and
ranging. Normally the LS01B system will automatically resume scanning and
ranging when it detects the fault has been eliminated. If this is not possible, try
rebooting. If ranging is still not possible, check the status and then check the
current fault.
When in start scanning mode, the LS01B monitors the motor's operating
conditions in real time. The lidar will only send sampling data if the motor is
running steadily.
3.6 Request Commands and Data Acquisition
The following table lists the request commands for the LS01B lidar system, the
details of how to use them and how to answer them are described below.
Table 3.2 Request Commands for LS01B Lidar System
Command
Value
Load Data
Answer Mode
Description
Start
0x2C
None
None
Start scanning
Stop
0x25
None
None
Stop scanning
Scan
0x22
None
Single answer
Get single lap scan data
Data_Scan
0x20
None
Multiple
Answers
Keep sending scan data

LS01B
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Data_Stop
0x21
None
No
Stop data transmission
Switch
0x50/0x5C
None
None
Switch between angle and
intensity information
ChangeSpeed
0x26
2 bytes
None
Modify motor speed
ChangeResolution
0x30
2 bytes
None
Modify angular resolution
Queryversion
0x7F
None
Single answer
Query the machine version
number
3.6.1 Start Request (Start)
Request message: 0xA5 0x2C
When the LS01B lidar system is powered on, the ranging core and the laser are
in standby mode, only the motor and the UART serial port work normally. When
the start command is received, the lidar turns on the ranging core and the laser
and the system starts working normally.
The LS01B lidar will not send an answer message for this request and it is
recommended that the external system sends this command and then delays the
next request by more than 1 ms.
3.6.2 Stop Request (Stop)
Request message: 0xA5 0x25
When the stop command is received, the lidar system switches off the ranging
core, laser and motor and the system goes into hibernation.
3.6.3 Request and Reply Data Format for Obtaining Single-Lap
Data (Scan)
Request message: 0xA5 0x22
Answer data header: 0xA5 0x5A/0x6A Speed (2 bytes) angle (2 bytes)
Data answer: single point packet (3 bytes) * output the number of points
When the LS01B goes into operation and the external system sends a scan
request, the LS01B will send one turn of lidar data in 24 packets. Each packet
consists of a data header and data, the exact format of the packet is as follows.

LS01B
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Figure 3.6 Data Packet Format
Response data header format description.
Each packet contains 15° of data, and the number of data points is related to the
angular resolution. When the angular resolution is 0.25°, the number of data
points is 15/0.25 = 60. Each data point is represented by three bytes, with the
first byte Angle_or_Strength[7:0] indicating the angular offset or strength
information. When Flag=0, it indicates the angular offset in units of angular
resolution, e.g. when it is 2, it means the offset is two angular resolutions of the
angle, e.g. Angular_Resolution[6:0]=25, Start_angle[8:0]=1,
Angle_or_Strength[7:0]=0 means 1+0*0.25=1° data;
Angular_Resolution[6:0]=25, Start_ angle[8:0]=16, Angle_or_Strength[7:0]=5
means 16+5*0.25=17.25° data. When Flag=1, it means intensity information,
the value range is 0~255, the smaller the value means the weaker the signal is.
The 2nd byte and 3rd byte - Distance[15:0] indicate the distance value in
millimetres. When the measurement distance is 6 m, Distance[15:8]=0x17,
Distance[7:0]=0x70.
Examples:
Example 1: A56A025832000003E80107D0030FA0...3A17703B2710
This packet represents the start packet for the whole revolution, outputting the
angle information, the speed is 600 rpm, the angle resolution is 0.25°, the start

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angle is 0°, where the distance for 0.25° is 1000 mm, for 0.5° is 2000 mm, for
0.75° is 4000 mm, ...14.75° is 6000 mm The distance at 15° is 10000 mm; the
packet has a total of 6+(15/0.25)*3=186 bytes, of which 6 bytes are in the data
header and 60 data points, each with 3 bytes, so the data part has 60*3=180
bytes.
Example 2: A55A01F4643C0003E80107D0030FA0...1C17701D2710
This packet is a non-start packet and outputs angle information with a speed of
500 rpm, an angle resolution of 0.5° and a start angle of 60°, where the distance
is 1000 mm for 60.5°, 2000 mm for 61°, 4000 mm for 61.5°,...6000 mm for 74.5°
and 75° The distance is 10000 mm; the packet has a total of 6+(15/0.5)*3=96
bytes, of which 6 bytes are in the data header and 30 data points, each with 3
bytes, so the data part has 30*3=90 bytes.
Example 3: A55A825832966403E89607D0FF0FA0...321770502710
The packet is a non-start packet, outputting strength information, the speed is
600 rpm, the angular resolution is 0.25°, the start angle is 150°, where the
distance at 150.25° is 1000 mm and the signal strength is 100, the distance at
150.5° is 2000 mm and the signal strength is 150, the distance at 150.75° is
4000 mm and the signal strength is 255, ...164.75° distance is 6000 mm, signal
strength is 50, 165° distance is 10000 mm, signal strength is 80; the packet has
a total of 6+(15/0.25)*3=186 bytes, of which 6 bytes are in the data header, 60
data points, each data point has 3 bytes, so the data part There are 60*3=180
bytes. (Note: When outputting intensity information, there is no angular offset
information in the single point data. However, the angular resolution and starting
angle of the data header are given, so the offset of each data point can be
obtained by counting the data in the packet to obtain the angle corresponding
to each data point).
3.6.4 Request and Reply Data Format for Continuous Sending of
Scanned Data (Data_Scan)
Request message: 0xA5 0x20
Answer data header: 0xA5 0x5A/0x6A Speed (2 bytes) angle (2 bytes)
Data answer: single point packet (3 bytes) * output the number of points
When the LS01B enters the operating state and the external system sends a
Data_Scan request, the lidar will automatically and continuously send the start
answer and data answer, the sending format is exactly the same as the answer
data format of the scan request, the only difference is: for a scan request, only
one circle of data is sent, a total of 24 packets; for a Data_Scan request, data is
continuously sent until after the Data_Stop request is received, no more data is

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sent. The data format is exactly the same as that of the scan request, please refer
to 3.6.3 Request and Reply Data Format for Obtaining Single-Lap Data (Scan)
for details.
3.6.5 Stop Sending Data Request (Data_Stop)
Request message: 0xA5 0x21
After the Data_Stop request is sent by the external system, the LS01B will exit
the ongoing state of continuously sending scan data. The LS01B will stop
sending data after receiving the request and sending the current lap data to
completion.
The LS01B will not send an answer message for this request and it is
recommended that the external system send this command and then delay for
more than 1 ms before sending the next request.
3.6.6 Angle and Intensity Switch Request (Switch)
Request message: 0xA5 0x50
The system outputs the angle and distance information by default. When the
0x50 command is sent, the lidar will change the angle offset to intensity
information.
Request message: 0xA5 0x5C
When the 0x5C command is sent, the lidar will output the intensity information
as an angular offset.
3.6.7 Request for Change of Motor Speed (Change Speed)
Request message: 0xA5 0x26 0xXX 0xXX
The system’s default initial motor speed is 10 revolutions per second (600 rpm).
When the 0xA50x260xXX0xXX command is sent, the system modifies the
motor speed. 0x26 is the command byte, the next two bytes are the motor speed
to be modified, the most significant value in the sequence is stored first, at the
lowest storage address while the least significant value is stored at the highest
storage address, the unit is rpm (revolutions per minute). The speed range of
LS01B lidar is 3 rps (revolutions per second) to 10 rps, i.e. 180 rpm to 600 rpm,
the setting is invalid if the value is outside this range. For example, if you need
to change the speed to 8 rps (480 rpm), send the command: 0xA5 0x26 0x01
0xE0 (speed calculation method: 480 rpm is converted to 0x01E0 in
hexadecimal, higher bit is sent first).

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3.6.8 Change Resolution Request (Change Resolution)
Request message: 0xA5 0x30 0x00 0xXX
The default angular resolution of the output data is 0.25°. Sending the command
0xA5 0x30 0x00 0xXX can modify the angle resolution of the system, 0x30 is
the command byte, the next two bytes are the angle resolution to be modified,
the first byte is fixed to 0x00, the second byte is the value of the set angle
resolution, the unit is 0.01°. The angle resolution of the LS01B lidar can be set
to 0.25°, 0.5° or 1°, i.e. the set value can only be 0x19, 0x32 or 0x64, other
values are invalid. If the lidar is sending data when the command is received, the
new angular resolution will not take effect until the current circle of data has
been sent. For example, if the resolution needs to be modified to 0.5°, send the
command 0xA5 0x30 0x00 0x32.
3.6.9 Query Version Request (Query Version)
Request message: 0xA5 0x7F
Answer message:
Data header
Lidar model
Software
version
Hardware
version
Reserved bits
A5
2 bytes
2 bytes
2 bytes
2 bytes
Data header: fixed at 0xA5
Lidar model: 2 bytes, different values represent different models, where 0x01
0x3B represents the model LS01B3; 0x01 0x2B represents the model LS01B2,
0x01 0x1B represents the model LS01B1.
Software version: 2 bytes, high bit in front, low bit at the end, where [15:12]
indicates the first level version number, [11:8] indicates the second level version
number, and [7:0] indicates the third level version number. For example, 0x1208
means V1.2.08;
Hardware version: 2 bytes, the same as software version, e.g. 0x2412 means
V2.4.18;
Reserved bit: fixed to 0x0000
3.7 Use Flow
The use flow of the LS01B lidar is shown in the diagram below. It is
recommended to use the Data_Scan request and the single request - multiple
response mode to avoid frame loss. For testing, a scan request and the single
request-single response mode can be used.

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Figure 3.7 Flow Chart
3.8 Troubleshooting
This is only a description of faults with the LS01B lidar’s core software, for other
faults please refer to the operating instructions or call for advice.
Table 3.3 Faults with the LS01B Lidar’s Core Software
Failure
Cause
Treatment
Send scan request but no
data output
Serial port not connected
properly
Check the connection
LS01B lidar power supply
abnormal
Check power supply
Other
Contact us
All data received is 0
Motor speed abnormal
Check the power supply
Laser blocked
Check the distance
measurement core
Start not sent
Resend start
Other
Contact us
4Power Supply Information
The LS01B is powered independently by the HF ranging core and the mechanical
rotation subsystem. External systems need to supply power to both components
to ensure the accuracy of the scanning data. Please refer to the table below for