WitMotion 360° TOF LiDAR Sensor Module 12m Range, 60KLux, up to 5000Hz, ROS1/ROS2 UART Arduino/STM32

Overview

This WitMotion TOF/dTOF LiDAR sensor module provides 360° rotating scanning for outdoor robotics sensing tasks such as mapping, navigation, and obstacle avoidance. It is designed for high ambient-light environments (up to 60KLux, model dependent) and supports ROS1/ROS2 integration, with UART communication for embedded platforms such as Arduino/STM32 (integration depends on the host system and drivers).

Key Features

• TOF ranging with 360° rotation/scanning
• Outdoor anti-ambient light intensity up to 60KLux (model dependent)
• Sampling frequency up to 5000Hz (model dependent)
• ROS1/ROS2 compatibility; SDKs and ROS development documents are provided
• UART serial communication; 230400bps communication rate
• Built-in brushless motor driving method; stated motor lifetime over 10,000 hours
• Supports scanning motor start/stop control to reduce power consumption when idle
• Data content includes: Angle, Distance, Intensity (COIN-D6)
• 4-pin 1.5mm standard interface for power, rotation control, and data reception (COIN-D6)
• 3D model is provided (COIN-D6)

Specifications

Model Comparison (TOF LiDAR)

Model	D6 LiDAR	D300 LiDAR	D500 LiDAR
Ranging Principle	TOF Ranging
Scanning Angle	360°
Sampling Frequency	4000Hz	4500Hz	5000Hz
Measurement Angle Accuracy	0.9°	0.8°	0.72°
Scanning Frequency	10Hz	5-13Hz	6-13Hz
Anti-Ambient Light Intensity	30KLux	30KLux	60KLux
Dimensions	52.7mm*45.2mm*34.4mm	39.59mm*39.59mm*34.8mm	39.59mm*39.59mm*34.8mm
Weight	40g	42g	45g
Ranging Accuracy	±40mm (0.05-12m)	±45mm (0.02-12m)	±20mm (0.03-12m)
Measurement Radius	Black Object: 12m	Black Object: 13.4m	White Object: 12m; Black Object: 8m
Minimum Range	0.05m	0.02m	0.03m
Communication Rate	230400bps
Communication Interface	UART
Driving Mode	Built-in Brushless Motor

Guoke Optics COIN-D6 LiDAR (Detailed Parameters)

Ranging Principle	TOF Ranging
Sampling Frequency	4000 times/s
Scanning Frequency	10Hz
Scanning Angle	360°
Angle Resolution	0.9°
Measurement Range	0.05-12m
Ranging Accuracy	±10mm (0.05-1m); ±40mm (1-12m)
Driving Method	Brushless Motor
Communication Interface	Standard Asynchronous Serial Port (UART)
Baud Rate	230400bps
Light Source	905nm Laser
Data Content	Angle, Distance, Intensity
Certification	Class IEC-60825-1
Lifespan	10000H
Operating Temperature	-10~50°C
Storage Temperature	-30~70°C
Dimensions	52.7x45.2x34.4mm
Weight	40g
Light Environment	60000Lux
ROS Support	ROS1/ROS2
Supply Voltage	Minimum: 4.5V, Typical: 5.0V, Maximum: 5.5V
Windows Support	Provide Windows Host Testing Software
Motor Start/Stop Control	Supports motor start/stop control to reduce power consumption when idle

COIN-D6 Interface (4-pin, 1.5mm)

VCC	Power supply pin, supports 4.5~5.5V
GND	Power ground pin
RXD	UART receive pin
TXD	UART transmit pin

For pre-sales compatibility questions (model selection, wiring, ROS package/SDK notes), contact support via https://voltaspir.com/ or email [email protected].

Applications

• Autonomous vehicles and drones: navigation, obstacle avoidance, path planning (outdoor)
• Robotics and industrial automation: mapping, localization, object detection; ROS1/ROS2 projects
• Smart agriculture and environmental monitoring: terrain mapping and drone-based surveying
• Perimeter monitoring and site safety systems requiring 360° ranging data
• Research and development: robotics and autonomous system prototyping and testing

Integration Notes

• Coordinate system description (COIN-D6): left-hand rule; origin at the rotation center of the ranging core; rotation angle increases clockwise.
• Motor control note: the scanning motor supports start/stop control to minimize standby drain when not in use.

Details

Compare key differences across the D6, D300, and D500 TOF LiDAR options before selecting a scanning module for your robot.

Built for mobile robotics projects, the D6 supports 360° scanning and is positioned for ROS1/ROS2 workflows.

Mechanical dimensions and mounting layout help with enclosure design and bracket planning.

Core specifications include TOF ranging, 360° scanning, UART serial communication, and reported motor lifetime details.

The 4‑pin 1.5 mm connector carries power plus UART TX/RX for data output and integration.

Angle output follows a defined coordinate convention to keep mapping and navigation math consistent.

A 3D model is provided to speed up CAD fit checks and mechanical iteration.

Time‑of‑flight ranging supports continuous scanning data for tasks like obstacle avoidance and mapping.

Distance is derived from the laser pulse round‑trip time, supporting fast updates for real‑time perception.

Detection range is highlighted from 0.05 m up to 12 m for indoor and outdoor robotics sensing needs.

Higher ambient‑light resistance and a brushless motor design help maintain scanning stability outdoors.

Compact form factor makes it easier to mount on small UGVs and lightweight robotics platforms.

ROS1/ROS2 support materials are emphasized alongside key performance specs for development planning.

SDKs and documentation are positioned for ROS1/ROS2 integration, depending on your host platform and drivers.

Motor start/stop control can reduce idle power draw, which is useful for battery‑powered robots.

Along with angle and distance, intensity output can support additional perception and tuning workflows.

Continuous 360° rotation helps generate environmental contour maps and obstacle point clouds.

Embedded integration resources include STM32 application examples for UART data handling and development.

The included host computer software provides a circular scan view with point cloud data for quick LiDAR setup and debugging.

WitMotion’s 360° TOF LiDAR is positioned for developer builds with support for ROS1/ROS2, Raspberry Pi and NVIDIA Jetson platforms, plus STM32 control.

WitMotion 360° TOF LiDAR is commonly used for navigation and obstacle detection across home, commercial, special, and industrial robots, as well as UAV platforms.

The download package includes D6 LiDAR manual materials, ROS/ROS2 function package materials, STM32 driver code, Windows host software, and LiDAR 3D model files.

The 360° TOF LiDAR kit includes the COIN-D6 LiDAR unit along with a UART module and Dupont cable for quick connection.