Datasheet

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
those specified herein may result in hazardous radiation exposure.
The modulated laser can effectively prevent ambient light and sunlight during
ranging scanning process. This make RPLIDAR A1 work excellent in all kinds of
indoor environment and outdoor environment without sunlight.
Data Output
During the working process, the RPLIDAR A1 will output the sampling data via the
communication interface. And each sample point data contains the information in
the following table. If you need detailed data format and communication protocol,
please contact SLAMTEC.
Figure 1-4 The RPLIDAR A1 Sample Point Data Information
Figure 1-5 The RPLIDAR A1 Sample Point Data Frames
The RPLIDAR A1 outputs sampling data continuously and it contains the sample
point data frames in the above figure. Host systems can stop RPLIDAR A1 output
data by sending stop command. When using 4k and above sampling frequency,
the transmission data structure is different. For more information please contact
SLAMTEC.
Data Type
Unit
Description
Distance
mm
Current measured distance value between the rotating
core of the RPLIDAR A1 and the sampling point
Heading
degree
Current heading angle of the measurement
Quality
level
Quality of the measurement
Start Flag
(Boolean)
Flag of a new scan
…
(d
ሾ
n − 1
ሿ
, θ
ሾ
n − 1
ሿ
)
(d
ሾ
n
ሿ
, θ
ሾ
n
ሿ
)
(d
ሾ
0
ሿ
, θ
ሾ
0
ሿ
)
(d
ሾ
1
ሿ
, θ
ሾ
1
ሿ
)
…
Start Flag
A new scan