LSLIDAR N10 PLUS User manual

N10 PLUS
User Manual
V2.0.2
2022.12
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 our technical support staff.
∆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 with the
lidar 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 us 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 CONTECTS
1Product Profile.......................................................................................................... 1
1.1 Overview ........................................................................................................ 1
1.2 Mechanism ..................................................................................................... 1
1.2.1 Time of Flight...................................................................................... 1
1.2.2 Grid Map Presentation...................................................................... 2
1.3 Specifications................................................................................................. 2
1.4 Dimensions..................................................................................................... 3
1.5 Interface Definition ...................................................................................... 4
1.5.1 LiDAR Base Connector ..................................................................... 4
1.5.2 Adapter Board..................................................................................... 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......................................................................... 7
5.1 Point Cloud Display Software on Windows............................................. 8
5.1.1 Software Interface Introduction...................................................... 8
5.1.2 Software Operation........................................................................... 8
5.1.3 Menu Function Description ............................................................. 9
5.2 Notes .............................................................................................................11
6ROS Driver Operation Under Linux OS.............................................................12
6.1 Check Serial Connection & Read/Write Permission Settings ............12
6.2 ROS Driver Operation Example ............................................................... 12
7LiDAR Maintenance...............................................................................................13
Revision History ............................................................................................................ 15

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1Product Profile
1.1 Overview
Based on TOF (time of flight), the N10 PLUS lidar can conduct 360° two-
dimensional scan and detection of the environment. The lidar uses wireless
power supply and wireless communication internally, and the pulse repetition
frequency (PRF) is 5.4 KHz. The lidar reaches a measurement accuracy of ±3 cm
with a maximum range of 15 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 more.
1.2 Mechanism
1.2.1 Time of Flight
Based on the TOF (time of flight) methodology, the N10 PLUS 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 = Velocity of Light*(t2 – t1)/2
Figure 1.1 Mechanism of N10 PLUS

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1.2.2 Grid Map Presentation
You can get the 2D grid map information of the surrounds across 360° within
the detecting distance, based on the combination of the distance value
calculated in real-time by the signal processing unit embedded in the N10 PLUS
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 N10 PLUS
Model
N10 PLUS
Wavelength
905 nm
Laser Safety Level
CLASS I
scanning angle
360°
PRF
5.4 KHz
Angular Resolution
0.4°~0.8°
Scanning Rate
6 Hz ~ 12 Hz
Measurement
Accuracy
3 cm @70%
Detection Range
0.02 m ~ 15 m @70%
Data Content
Azimuth, Distance, Intensity
Network Power
Supply
5 VDC 4.75 V ~ 5.25 V
Operating
Temperature
-10 ~ 40
Storage Temperature
-30 ~70
Maximum Acceptable
Ambient Light
Intensity
80K Lux

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Motor
Built-in Brushless Motor
Communication
Interface
Standard Serial Port (Baud Rate: 460800 bps)
IP Grade
IPX-4
Dimensions
52*36.1 mm
Weight
About 60 g
Echo Mode
Dual echo
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 Optical Window (unit: mm)
Figure 1.4 Lidar Mounting and Mechanical Dimensions (unit: mm)

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1.5 Interface Definition
The specification of N10 PLUS’s base connector is A1257H-5P (male),
A1257WR-S-5P-LCP (female).
1.5.1 LiDAR Base Connector
Figure 1.5 Lidar Base Connector
Figure 1.6 Lidar Cable
Table 1.2 Wire Definition
S/N
PIN
Color
Definition
Minimum
Recommended
Maximum
1
GND
Black
Power-
0V
0V
0V
2
TX
Yellow
Lidar data output
0V
3.3V
3.5V
3
RX
Green
Function control
0V
3.3V
3.5V
4
VCC
Red
Power+
4.75V
5V
5.25V
5
NetP1_1
Blue
Connect to the
lidar shell
-
-
-
1.5.2 Adapter Board
A TTL to Type-C USB adapter module is available for the N10 PLUS series lidar
to enable TTL to USB data conversion. This adapter board is not a necessary
accessory for lidar operation. The function of each interface of the adapter board
is described as follows.

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Figure 1.7 Adapter Board
Note:
POWER DATA: data communication and system power supply.
LIDAR: connection to lidar.
2Electrical Parameters
The N10 PLUS lidar communicates with serial port of 3.3 V. An N10 PLUS 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 N10 PLUS 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
Min.
Recommended
Max.
Note
Power Supply
Voltage
4.75 V
5 V
5.25 V
The power supply not in the
range may lead to inaccurate
ranging or irreversible damage.
Voltage Ripple
-
100 mV
-
By default, powered by USB
Operating
Current
-
340 mA
-
360 mA
Power
Consumption
-
1.7 W
-
High Signal
Level
2.9 V
3.3
3.5 V
Low Signal
Level
-0.3 V
-
0.4 V
Baud Rate
-
460800 bps
-
Square signal; note the stability
of the data communication
Pitch Angle
0°
0.3°
1.5°

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3Communication Protocol
When the N10 PLUS 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, N10 PLUS 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
Min.
Recommended
Max.
Note
Wavelength
895 nm
905 nm
915 nm
-
Peak Power
-
25 W
-
-
Average Power
-
5.5 mW
-
-
Laser Pulse Width
-
1.6 ns
-
FDA
Class I
IEC 60825-1: 2014
4.2 Light Spot
The light spot of the N10 PLUS lidar is a vertical oval. Its vertical divergence
angle is 11.4 mrad, and the horizontal divergence angle is 8.4 mrad. The spot
size at any distance can be calculated by multiplying the divergence angle by the
distance.
For example, the calculation of a spot at 10 m is as follows
Vertical direction at 10 m: 10*11.4*10-3=114 mm
Horizontal direction at 10 m: 10*8.4*10-3=84 mm

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Figure 4.1 Light Spot Demonstration
4.3 Optical Structure
The N10 PLUS lidar uses a telescopic optical structure with the receiver and
transmitter placed horizontally side by side. When designing the lidar installation
and robot system integration, it is necessary to focus on the internal optical
structure of the lidar so that the effective detection angle of the lidar can be
designed accurately. To facilitate your use, especially in terms of the calculation
of geometric relationships, LSLiDAR defines a polar coordinate system with the
center point of the lidar as the pole, clockwise as positive, and the triangle mark
as the zero-degree angle.
Figure 4.2 Lidar's Polar Coordinate (Top View)
5Development Tools and Supports
Made for the N10 PLUS lidar, LSLiDAR provides you with the SDK capable of
processing scan data in real-time and displaying it as an image. This SDK

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facilitates you to get familiar with the lidar and helps to shorten the project
development cycle. At present, LSLiDAR only provides SDK for Linux, ROS, and
Windows X86. We will release versions for Android, Mac OS, and other
platforms later. Please follow the official website of LSLiDAR for the latest
information.
5.1 Point Cloud Display Software on Windows
This section introduces the point cloud display and software usage of N10 PLUS
lidar on Windows OS. This point cloud display software can be used for
parameter configuration, simple lidar testing, etc.
5.1.1 Software Interface Introduction
The software interface contains a menu area, a toolbar area, a 3D view area, a
data table area, a company website link, etc.
Click the icon to open the software. The initial interface is shown below
Figure 5.1 Software Interface
5.1.2 Software Operation
Choose the designated serial port to receive data. After the connection
of lidar’s power supply and serial cable, click to receive the data in real-time.
The data table contains PointID, Points_m_XYZ, Azimuth, Distance, Intensity,
Laser_id, and timestamp. PointID is the point number and Points_m_XYZ is the

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spatial x, y, and z coordinates. Azimuth indicates the azimuth angle, Distance
indicates the distance between the lidar and the measured target, Intensity
indicates the reflection intensity of the measured target, Laser_id indicates
which laser channel, and timestamp indicates the time.
Figure 5.2 Real-time Point Cloud Image
5.1.3 Menu Function Description
▉ Introduction to Point Cloud Display
The point cloud display interface supports the following actions:
1) Scroll the mouse wheel to zoom in/out the display image; you can also hold
the right mouse button and drag the image up/down to zoom in/out the
display image.
2) Hold the left mouse button and drag the display image to adjust the viewing
angle.
3) Hold the mouse wheel and drag the image to move the display image; you
can also hold both the shift key on the keyboard and the left mouse button
to move the display image.
▉ Introduction to Menu Bar Buttons
⚫Lidar Menu
Table 5.1 Lidar Menu Button Description
Button
Description
Click to start receiving and displaying data
Show/hide the measurement grid

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Mark the selected points in the point cloud image;
Select point clouds from different angles
Set the range
Pause the live point cloud image and data
Clear screen
Show/hide the coordinate
Show/hide the data column on the left
Three-view option: set the observation angle from top, front, and left.
Set the display mode of the point cloud
Choose whether to filter or not
Set speed
Choose to start or stop
Stop data parsing
View the software version
Open lidar parameter form
Save the data in .csv format
Select the angle of view, the software will only display the set angle
point cloud, with the ability to accumulate multiple frames
⚫Offline Menu
Table 5.2 Offline Menu Button Description
Button
Description
Open offline data
Start/Stop saving data, available only when the lidar receives data in
real-time
Skip to the beginning
When paused, view the previous frame;
When playing, rewind (click multiple times to select 2x, 3x, 1/2x, 1/4x
and 1x speed)
Click to start playing after the point cloud file is loaded;
When playing, click to pause
When paused, view the next frame;
When playing, fast forward (click multiple times to select 2x, 3x, 1/2x,
1/4x and 1x speed)
Skip to the end
Drag the progress bar or enter the frame number to skip to the
specified position

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5.2 Notes
▉ Notice about the Lidar setting and usage
1) It is not possible to use the N10 PLUS Windows client to receive data in two
processes (open twice at the same time) on the same computer. The port
occupancy of the PC is generally exclusive, so after a process is bound to a
specified port number, the other software using the same process or the
same port number cannot work normally. When the N10 PLUS Windows
client detects that the port is occupied, it will prompt that the
communication network port configuration has failed, and automatically
close the software. You need to close the software process that occupied
the port, and reopen the N10 PLUS Windows client to use it normally.
2) Meanwhile, since Qt is adopted in the low-level software development,
please create English paths when naming files and path folders.
▉ Notice about computer graphics settings
The information about dual graphics cards can be viewed in the computer
configuration. In My Computer > Right Click > Properties > Device Manager, you
can see the computer's display adapter information:
You need to manually set a high-performance discrete graphics card as the
applicable graphics card of the software. The setting steps are as follows:
1) Take a laptop with Intel(R)HD Graphics 530 integrated graphics and NVIDIA
GeForce GTX 960 discrete graphics as an example. Right-click on a blank
space on the desktop to pop up a right-click menu and select “NVIDIA
Control Panel”.
2) Select the “Manage 3D Settings” in the NVIDIA Control Panel interface.
3) Click the “Program Settings” button in the Manage 3D Settings interface.
4) Click the “Add” button on the Manage 3D Settings interface.
5) Click the “Browse” button in the pop-up interface.
6) Find the application file (.exe file) of the software according to its installation
path in the pop-up browsing interface.
7) Click “OK” to automatically return to the NVIDIA control panel, select the
high-performance NVIDIA processor in the combo box of the preferred
graphics processor for this program in Option -2., and click “Apply” in the
lower right corner. After the computer application is set, close the NVIDIA
Control Panel to complete the setting.

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6ROS Driver Operation Under Linux OS
This section introduces the point cloud display and driver usage of LSLiDAR N10
PLUS lidar on Linux. You can acquire the ROS driver from LSLiDAR technical
support. The N10 PLUS ROS driver is applicable for point cloud display,
parameter configuration, etc.
6.1 Check Serial Connection & Read/Write Permission
Settings
Check in the /dev directory to see if there is a corresponding USB device
connected, and give the device read and write access.
Figure 6.1 /dev directory
6.2 ROS Driver Operation Example
1) Establish a workspace and build a compilation environment
mkdir -p ~/leishen_ws/src
Note: The workspace can be named arbitrarily. (But the path of workspace
shall be in English only.) For example, “leishen_ws” can be changed to any
name.
2) Download the LiDAR ROS driver
The ROS driver can also be obtained directly from our website or customer
service. Copy the obtained driver file to the newly created workspace “src”,
and use the “tar-xvf” order to decompress it.
3) Compile and package
cd ~/leishen_ws
catkin_make
4) Run the program
source devel/setup.bash
roslaunch lsn10 plus .launch

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Figure 6.2 open_port /dev/ttyUSB0 ERROR !
Note: The appearance of “open_port /dev/ttyUSB0 ERROR !” means that
the USB device cannot be opened. Please check whether the USB device is
connected and whether read and write permissions are granted.
Open a new terminal and execute the command: rviz
5) Display the data detected by the LiDAR
In the “Displays Window” that pops up, modify the value "Fixed Frame" to
“laser_link”. Click the “Add” button at the same time, and click “LaserScan”
under “By topic” to add a single-beam point cloud node.
6) Set parameters
In the /src/lsn10 plus_ros/launch/lsn10 plus.launch file, you can set the
corresponding serial device name, topic, etc.
7LiDAR Maintenance
Shipping Requirements
LSLiDAR has customized the package for the N10 PLUS lidar to withstand a
certain amount of vibration and impact. Special packages must be used for long-
distance transportation to avoid irreversible damage during transportation.
Installation
Fix the lidar to the base using screws that meet the specifications, and pay
attention to the base heat dissipation. Wear powder-free and clean gloves when
installing, so as not to cause the optical window to be dirty, and not to cause
mechanical damage to the optical window.

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Storage
The storage temperature of N10 PLUS series products is -30°C ~ 70°C. It is
recommended to store the products in a ventilated and dry place where the
temperature is 23±5°C, and the relative humidity is 30% ~ 70%. Do not store in
environments where humidity, pH, etc. exceed the protection level.
Cleaning
When using the lidar, if the optical window is polluted by fingerprints, mud,
leaves, insect corpses, etc., it will affect the lidar ranging effect. Please follow
the following steps for cleaning.
Tools: PVC gloves, dust-free cloth, anhydrous ethanol (99%)
Environment: ventilated and dry, away from fire sources
1) Wear the PVC gloves and secure the lidar base with your fingers; For a stain
that is not stubborn, use a dust-free cloth to gently wipe it off or dry air to
blow it off.
2) For a stubborn stain, fill the spray bottle with ethanol, spray evenly on the
stain, wait for a while until the stain is dissolved, and then use a dust-free
cloth dipped in ethanol to gently wipe the optical window. If the dust-free
cloth is polluted, replace it immediately. After cleaning off the stain, use a
new dust-free cloth to wipe off the remaining liquid.

Revision History
Rev.
Release Date
Revised Content
Issued/Revised By
V2.0.0
2022-09-14
Initial version
LS1286
V2.0.1
2022-11-07
Modification of Table 1.2
wire definition
LS1286
V2.0.2
2022-12-12
Optical Window added;
Lidar Mounting and
Mechanical Dimensions
modified
LS1286

*This product information is subject to change without notice.
Copyright ©2022 LeiShen Intelligent System Co., Ltd. All rights reserved.
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Company Website: www.lslidar.com