mcdiscovery is a Python library and CLI tool for discovering Minecraft LAN worlds / servers on your local network. This works in accordance to @tomsik68's protocol description here.
To install, ensure your system has python3 and python3-pip, then run:
python3 -m pip install mcdiscoverymcdiscovery can be used as a CLI tool by running python3 -m mcdiscovery, or as a library with import mcdiscovery. API documentation can be found here.