LSLIDAR M10 Manuale utente
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M10
Navigation & Obstacle Avoidance LiDAR Manual
V1.1
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Catologue
Safety Tips........................................................................................4
1. Introduction................................................................................ 7
2. Operating Principle.....................................................................7
2.1 Ranging Principle.........................................................................7
2.2 Two-dimensional Display............................................................. 8
2.3 Optical Principle........................................................................... 9
2.3.1 Laser Properties..........................................................................9
2.3.2 Optical Structure...................................................................... 10
2.3.3 Light Spot Property.................................................................. 11
3. Product Parameter................................................................... 12
4. Component Connection............................................................13
4.1 Installation and Mechanical Dimensions（Unit：mm）........13
4.2 Interface Definition..................................................................... 14
4.2.1 LiDAR Side Connector Size Specifications.............................14
4.2.2 Interface Definition................................................................. 15
4.2.3 Adapter Board.......................................................................... 16
5. Electrical Parameter.................................................................18
6. Communication Protocol..........................................................18
7. Development Tool and Supports............................................. 19
7.1 Point Cloud Display Software under Windows........................19
7.1.1 Software Interface Introduction............................................... 19
7.1.2 LiDAR Data Reception, Point Cloud Display......................... 21
7.1.3 Menu Function Introduction.....................................................22
7.1.4 Display of Data Bar.................................................................24
7.1.5 Point Cloud Display Interface Instruction................................25
7.1.6 Offline Data Display................................................................ 25
7.1.7 Windows Software and Supporting Software Information.....28
7.1.8 Problems of LiDAR Settings...................................................29
7.2 ROS Driver.................................................................................. 37
7.2.1 Hardware Connection and Testing...........................................37
7.2.2 Software Operation Example................................................... 37
8. Instrument Maintenance......................................................... 39
8.1 Transportation requirement...................................................... 39
8.2 Installation................................................................................... 39
8.3 Storage Conditions......................................................................39
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8.4 Clean.............................................................................................39
9. Remark History......................................................................... 40
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Safety Tips
Before using the product, please follow all instructions carefully and consult all relevant national and international safety regulations for your
application.
Notice
Please do not disassemble the LiDAR in any way. It is forbidden to watch the transmitting laser through a magnifying device (such as microscope,
eye loupe or other magnifying glass). For repairs and maintenance inquiries, please contact authorized agents or the technical support staff of LS
LiDAR. Unauthorized open may cause risk and loss of the warranty of the product.
Laser Safety Class 1
The device satisfies the requirement of
IEC60825-1:2014
21 CFR 1040.10 & 1040.11 standards, except for the deviations (IEC 60825-1 Edition 3 ) described in Laser Notice No. 56 issued on May
8, 2019
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Safety Warning
In any case, if you suspect that the product has malfunctioned or been damaged, please stop using it immediately to avoid injury to the user.
Handling
This product consist of metal, glass, plastic, as well as sensitive electronic components. Improper handling such as dropping, piercing or squeezing
may cause irreversible damage to the product.
Power Supply
Only the cables and cable junction box were provided by LS LiDAR. Please make sure the power adapters that meet the product voltage 9~36VDC
（Typical 12～24VDC). Using damaged cables, adapters or supplying power in a humid environment can result in fire, electric shock, personal
injuries, product damage, or property loss.
High Temperature of Housing
When the product is running or after running，touching the housing may cause discomfort or even scald. At this time, avoid direct skin contact
with the product; if you use this LiDAR product as part of your product, please be sure to inform the user of your product about the high
temperature risk of the housing.
Light Interference
Some precision optical instruments may be interfered by the laser emitted from the product.Please pay attention to it.
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Vibration Conditions
The product is designed to withstand specified vibration and shock condition defined in the specification of the product. Damage caused by
vibration and/or beyond the specified value is not covered by warranty.
RF Interference
Please observe the signs and notices on the product that prohibit or restrict the use of electronic devices. Although the product is designed, tested,
and manufactured to comply with the regulations on RF radiation, the radiation from the product may still influence other electronic devices.
Medical Device Interference
Some components in the product can emit electromagnetic fields, which may interfere with medical devices such as cochlear implants, heart
pacemakers, and defibrillators. Consult your physician and medical device manufacturers for specific information regarding your medical devices
and whether you need to keep a safe distance from the product. If you suspect that the product is interfering with your medical device, stop using
the product immediately.
Explosive Atmosphere and Other Air Conditions
Do not use the product in any area where is potentially explosive atmospheres are present, such as high concentrations of flammable chemicals,
vapors, or particulates (including particles, dust, and metal powder) in the air. Exposing the product to high concentrations of industrial chemicals,
including liquefied gases that are easily vaporized (such as helium), can damage or weaken the product’s function. Please observe all the signs and
instructions on the product.
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1. Introduction
This manual describes the operating principle, specifications, parameters, installation, and data format of the M10 LiDAR. The product manual is
updated with the product technical upgrade. For the latest version, please contact LeiShen's technical support.
The M10 LiDAR adopts TOF (time of flight) principle to capable of 2 D scanning detection of the surrounding 360 ° environment. M10 uses
wireless power supply and optical communication, measuring frequency for 10khz. The accuracy is to reach the ± 3cm with the maximum range
from 10 meters. It is mainly used in indoor service robot, cleaning robot, UAV and other precise positioning and obstacle avoidance applications.
2. Operating Principle
2.1 Ranging Principle
Distance Measurement: Time of Flight (TOF)
(1) A laser diode emits a beam of ultrashort laser pulses onto the target object.
(2) The laser pulses are diffusely reflected after hitting the target object. The returning beam is detected by an optical sensor.
(3) Distance to the object can be accurately measured by calculating the time between laser emission and receipt.
The working principle is shown in the figure below:
Ranging formula: D=1/2C(T2-T1)
(D=distance C=speed of light T1=Emission time T2=Receiving time)
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2.2 Two-dimensional Display
The distance value of the detected object is calculated by the signal processing unit inside the M10. Combined with the angle information output by
the angle measurement module, the two-dimensional plane information of the surrounding 360-degree environment in the range can be obtained.
The two-dimensional plane display effect diagram is shown in the figure below:
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2.3 Optical Principle
2.3.1 Laser Properties
The optical parameters of N series LiDAR are as follows:
Item
Minimum
Typical Value
Maximum
Remarks
Laser Wavelength
895 nm
905nm
915nm
Peak Power
-
25W
-
Average Power
-
0.8mW
-
FDA
Class I
IEC 60825-1:2014
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2.3.2 Optical Structure
M10 adopts the telescope-type optical structure placed in parallel at the receiving and emission level. In the installation of LiDAR and the
integration into the robot system, the internal optical structure should be considered in order to fulfill the LiDAR function in high accuracy. In order
to facilitate the customer's use, especially the calculation of geometric relationship, we define a polar coordinate system at the center point of the
LiDAR . It turns clockwise and the zero degree angle start from the cable outlet.
Following is the figure of the M10 LiDAR (top view)：
Indice
Altri manuali LSLIDAR Accessori
