Related Manuals for LSLIDAR M10
Summary of Contents for LSLIDAR M10
- Page 1 Navigation & Obstacle Avoidance LiDAR Manual V1.1 E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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Page 2: Table Of Contents
8. Instrument Maintenance............39 4.2.1 LiDAR Side Connector Size Specifications......14 8.1 Transportation requirement............39 4.2.2 Interface Definition..............15 8.2 Installation................... 39 4.2.3 Adapter Board................16 8.3 Storage Conditions..............39 5. Electrical Parameter..............18 E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... - Page 3 8.4 Clean.....................39 9. Remark History................. 40 E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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Page 4: Safety Tips
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 E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... - Page 5 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. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
- Page 6 (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. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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Page 7: Introduction
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. -
Page 8: Two-Dimensional Display
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. -
Page 9: Optical Principle
The optical parameters of N series LiDAR are as follows: Item Minimum Typical Value Maximum Remarks Laser Wavelength 895 nm 905nm 915nm Peak Power Average Power 0.8mW Class I IEC 60825-1:2014 E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... -
Page 10: Optical Structure
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 . -
Page 11: Light Spot Property
2.3.3 Light Spot Property The light spot of M10 LiDAR is an oval shape placed vertically,And the divergence angle is 6.8mrad in vertical direction and 2.5mrad in horizontal direction. The spot size at any distance can be calculated by multiplying the divergence angle by the distance. For example, the calculation method of spot at 10m as follow:：... -
Page 12: Product Parameter
Data Content direction，distance，reflectivity Ambient Temperature Operating：-10℃~50℃，storage：-40℃~80℃ Power Supply 5V DC(4.75V±5.25V, ripple within 80MV) Motor Brushless Motor Communication Interface Standard serial port (baud rate: 460800 bps) Size Φ80*38.9mm weight 200g ±10g E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... -
Page 13: Component Connection
A set of laser emitting and receiving modules are installed on the rotor of the LiDAR, and the internal motor rotates to achieve 360° scanning in the horizontal direction. 4.1 Installation and Mechanical Dimensions（Unit：mm） E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... -
Page 14: Interface Definition
4.2 Interface Definition The external physical interface of M10 is HY2.0-6P, which realizes system power supply and data communication. 4.2.1 LiDAR Side Connector Size Specifications Unit: mm E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... -
Page 15: Interface Definition
Ripple within 80MV positive Supply voltage negative System serial input Data flow: peripheral → LiDAR System serial output Data flow: LiDAR→peripheral GPS second signal GPS latitude and RS232 longitude E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... -
Page 16: Adapter Board
② Micro USB: Power supply only. When the power supply capacity of the Type-C USB port is insufficient, the port can be ③ used for additional auxiliary power supply; ④ K1: Power switch; ⑤ LIDAR: connect to radar; ⑥ GPS: Connect GPS module E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... - Page 17 GPS Power Supply Do not plug or unplug with power GPS Power GND Good contact GPS Latitude and RS232 electrical level，Baud rate 9600 bps Longitude GPS Power GND Good contact E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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Page 18: Electrical Parameter
6. Communication Protocol When M10 is working, each set of sample data is output through the communication interface. The output data has a uniform message format. If a detailed communication protocol is required, the M10 Communication Protocol V1.7 data message is required. Please contact LeiShen's Technical Support. -
Page 19: Development Tool And Supports
7. Development Tool and Supports LeiShen provides customers with SDK development kit of M10 LiDAR , which can process scanning data in real time and offer a visual display. The SDK kit can help users to get familiar with the products and shorten the project development cycle. At present, only SDK kit based on Linux, ROS and windows X86 platform can be provided. - Page 20 E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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Page 21: Lidar Data Reception, Point Cloud Display
After the LiDAR is powered on and the Serial cable is connected, click on to get real-time receiving LiDAR data. The data receiving interface is shown in the figure. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... -
Page 22: Menu Function Introduction
(8) Click the icon to pop up LiDAR parameter setting form。 (9) Click the button to save the 3D data of the point cloud. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... - Page 23 (11) Select the button to mark the selected point in the point cloud image (12) Click view windows software and company logo. (13) Offline data saving, opening, playing, stopping, multiples, etc. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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Page 24: Display Of Data Bar
The data sheet contains PointID, Points_m_XY, Azimuth, Distance, Reflectivity. In particular, Point ID is the point number, Points_m_XY is the 2D coordinate. Intensity is the object’s materials reflection intensity, And the timestamp is the time parsed by the device package and the data package. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... -
Page 25: Point Cloud Display Interface Instruction
The LiDAR saves the real-time data.Select the save name and path, click "Save" and start recording. Click the button again to end the recording.。 E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... - Page 26 Note：When playing an offline pcap file, the button is grayed out and the feature is unavailable. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
- Page 27 .txt file to be played, and click the Open button. Click the button tostart playing the LiDAR offline point cloud file and visualize the point cloud data.。 E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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Page 28: Windows Software And Supporting Software Information
The data in the display box is the number of frames currently played. 7.1.7 Windows Software and Supporting Software Information Click to view the company logo and Windows version information. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... -
Page 29: Problems Of Lidar Settings
The LiDAR display software is running based on a PC with dual display cards. However, under global settings, the computer operating system’s default is Integrated Graphics. Please set it into dual display card mode. Following the instruction: my PC-> Right-> Properties-> Device Manager: E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... - Page 30 （1）Take the dual display cards for example, click the right mouse button on the desktop to pop up the right menu and select the NVDIA control panel. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
- Page 31 (2)Select the pop-up NVDIA control panel program interface, select the Manage 3D Settings button, as shown in the figure below. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
- Page 32 (3)Select the program settings button in the management 3D settings interface as shown in the figure below. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
- Page 33 (4)Click the Add button on the management 3D setup interface as shown in the figure below. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
- Page 34 (5)Click the browse button in the pop-up add interface, as shown in the figure below. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
- Page 35 (6)In the pop-up browse interface, locate the application file (.exe file) of the software according to the installation path of the software: E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
- Page 36 (7)Select the high-performance NVDIA processor in the drop-down box of Option-2 and click Apply in the lower right corner. After setting, close the NVDIA control panel and complete the setting as shown in the figure below. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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Page 37: Ros Driver
The workspace can be named arbitrarily, for example, leishen_ws can be changed to any name. （2）LiDAR Drive download and unzip copy the obtained rosdriver.tar to the newly created working space XXX_ws / src, and extract the .tar file. （3）Compile Package cd~/leishen_ws catkin_make E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System... - Page 38 Please change the value of "Fixed Frame" to “laser_link”, click the “add” button, and click “pointcloud2” under “by topic” to add the multi-lines point cloud. (6)Parameter setting In the /src/lsm10_ros/launch/lsm10_V2.launch file, the corresponding serial device name, topic and other information can be set. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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Page 39: Instrument Maintenance
8.3 Storage Conditions M10’s storage temperature is -40°C~85°C. It is recommended to store the products in a ventilated and dry place, at normal temperature (23±5°C) and relative humidity (30~70%). The products are not waterproof, and cannot be stored in humid environment malaise of pH. - Page 40 9. Remark History Version Number Revision Date Revised Content Fiction V1.0 2021.6.22 Initial Version LeiShen Ranging distance, laser properties, V1.1 2021.8.15 LeiShen Scan frequency revised. E-mail: support@lslidar.com Phone: 0086-0755-23242821 Website: www. lslidar.com Linkedin: LeiShen Intelligent System...
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