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LDS-02
The previous LDS sensor(LDS-01) is discontinued and replaced with LDS-02 since 2022.
Overview
- 360 Laser Distance Sensor LDS-02 is a 2D laser scanner capable of sensing 360 degrees that collects a set of data around the robot to use for SLAM (Simultaneous Localization and Mapping) and Navigation.
- The LDS-02 is used for TurtleBot3 Burger and Waffle Pi models.
- Only Tx UART interface is available for the LDS-02 sensor.
- The USB interface(USB2LDS) supports easier connection to a PC or SBC.
Specifications
General Specifications
| Items | Specifications |
|---|---|
| Operating supply voltage | 5V DC ± 10% |
| PWM Frequency | 10 ~ 30 KHz (Square wave, High : 3.3V, Low : 0V) |
| PWM Duty Cycle | 0 ~ 100% |
| LASWER Wave Length | Low powered Infrared Laser (λ=793 nm) |
| LASER safety | Class I, 21 CFR 1040.10 and 1040.11 |
| Current consumption | 240 mA (Start up current 400 mA) |
| Detection distance | 160 ~ 8,000 mm |
| Interface | 3.3V USART (115200 bps, 8 data bits, no parity, 1 stop bit), Tx Only |
| Ambient Light Resistance | 25,000 lux |
| Life Time | 1,000 hrs |
| Sampling Rate | 2.3kHz (Fixed) |
| Operating Temperature | -10 ~ 40 °C |
| Storage Temperature | -30 ~ 70 °C |
| Dimensions | 70(W) X 90(D) X 42(H)mm |
| Mass | 131 g |
Measurement Performance Specifications
| Items | Specifications |
|---|---|
| Distance Range | 160 ~ 8,000mm |
| Distance Accuracy (160 ~ 300 mm) | ±10mm |
| Distance Accuracy(300 ~ 6,000 mm) | ±3.0% |
| Distance Precision(6,000 ~ 8,000 mm) | ±5.0% |
1 Scan Frequency |
5Hz or above |
| Angular Range | 360 ° |
2 Angular Resolution |
1 ° |
NOTE :
1 Scan Frequency may vary by each product.
2 Due to the fixed sampling rate, the Angular Resolution may vary by the Scan Frequency.
Data Packet
The LDS-02 adopts one-way communication and begins to send measuring data packet once working stably without any instruction packet.
| Header | Length | Speed (2Byte) | Start Angle (2Byte) | Data (36Byte) | End Angle (2Byte) | Timestamp (2Byte) | CRC |
|---|---|---|---|---|---|---|---|
| 0x54 | 0x2C | Speed_L, Speed_H | Angle_L, Angle_H | Data | Angle_L, Angle_H | Time_L, Time_H | CRC |
The Data (36Byte) consists of 12 point measurements for distance(2Byte) and confidence(1Byte) as below.
| Point1 Distance (2Byte) | Point1 Confidence | Point2 Distance (2Byte) | Point2 Confidence | … | Point12 Distance (2Byte) | Point12 Confidence |
|---|---|---|---|---|---|---|
| Distance_L, Distance_H | Confidence | Distance_L, Distance_H | Confidence | … | Distance_L, Distance_H | Confidence |
- Packet Example
- Speed : 0x0868 (2152 °/s)
- Start Angle : 0x7EAB (32427 divide by 100 = 324.27 °)
- End Angle : 0x82BE (33470 divide by 100 = 334.70 °)
- Timestamp : 0x1A3A (6714 ms)
| Header | Length | Speed (2Byte) | Start Angle (2Byte) | Data (36Byte) | End Angle (2Byte) | Timestamp (2Byte) | CRC |
|---|---|---|---|---|---|---|---|
| 0x54 | 0x2C | 0x68, 0x08 | 0xAB, 0x7E | Data | 0xBE, 0x82 | 0x3A, 0x1A | 0x50 |
- Data Example
- Point1 Distance : 0x00E0 (224 mm)
- Point1 Confidence : 0xE4 (228)
- Point2 Distance : 0x00DC (220 mm)
- Point2 Confidence : 0xE2 (226)
- Point12 Distance : 0x00B0 (176 mm)
- Point12 Confidence : 0xEA (234)
| Point1 Distance (2Byte) | Point1 Confidence | Point2 Distance (2Byte) | Point2 Confidence | … | Point12 Distance (2Byte) | Point12 Confidence |
|---|---|---|---|---|---|---|
| 0xE0, 0x00 | 0xE4 | 0xDC, 0x00 | 0xE2 | … | 0xB0, 0x00 | 0xEA |