This paper presents an analytic expression for optimizing a monostatic, incoherent pulsed LiDAR scanner for small object detection. Using a hexagonal raster-scan pattern, we constrained the link budget by the need of detecting a distant object at a defined refresh rate with a 100% probability of detection, independently of its position on the scene. From the obtained expression, we minimized the needed laser mean power by playing on the beam divergence and collection efficiency via a drilled-hole mirror diameter. An expression for the probability of detection of said object was also deduced. The impact of both the refresh rate and the distance on the probability of detection was then studied, defining an expression for the cutoff distance and giving a complete overview of the system capabilities.