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

N10 PLUS
1
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

N10 PLUS
2
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

N10 PLUS
3
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)

N10 PLUS
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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.

N10 PLUS
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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°

N10 PLUS
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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