2021-04-02 rev.2.6 www.slamtec.com Shanghai Slamtec.Co.
Contents CONTENTS ................................................................................................................................................... 1 INTRODUCTION ......................................................................................................................................... 3 SYSTEM CONNECTION ........................................................................................................................................ 4 MECHANISM ........................
Introduction The RPLIDAR A2 is the latest generation low cost 360 degree 2D laser scanner (LIDAR) solution developed by SLAMTEC. It can take up to 8000 samples of laser ranging per second with high rotation speed. And equipped with SLAMTEC patented OPTMAG technology, it breakouts the life limitation of traditional LIDAR system so as to work stably for a long time. RPLIDAR A2M8 is the enhanced version of 2D laser range scanner(LIDAR).The system can perform 2D 360 degree scan within a 12-meter range.
passed the strict testing to ensure the laser output power meet the standards of FDA Class I. System connection The RPLIDAR A2 consists of a range scanner core and the mechanical powering part which makes the core rotate at a high speed. When it functions normally, the scanner will rotate and scan clockwise. And users can get the range scan data via the communication interface of the RPLIDAR and control the start, stop and rotating speed of the rotate motor via PWM.
Mechanism The RPLIDAR A2 is based on laser triangulation ranging principle and adopts the high-speed vision acquisition and processing hardware developed by SLAMTEC. The system ranges more than 8000 times per second. Figure 1-2 The RPLIDAR Working Schematic During every ranging process, the RPLIDAR emits modulated infrared laser signal and the laser signal is then reflected by the object to be detected.
*Note：The LIDAR scan image is not directly relative to the environment showed here. Illustrative purpose only. Figure 1-3 The Obtained Environment Map from RPLIDAR Scanning Safety and Scope The RPLIDAR A2 system uses a low power infrared laser as its light source, and drives it by using modulated pulse. The laser emits light in a very short time frame Class I which can ensure its safety to human and pet, and it reaches Class I laser safety standard. Complies with 21 CFR 1040.10 and 1040.
the following table. If you need detailed data format and communication protocol, please contact SLAMTEC. Figure 1-4 The RPLIDAR Sample Point Data Information … (d[n − 1], θ[n − 1]) (d[n], θ[n]) (d[0], θ[0]) (d[1], θ[1]) … Start Flag A new scan Figure 1-5 The RPLIDAR Sample Point Data Frames The RPLIDAR outputs sampling data continuously and it contains the sample point data frames in the above figure. Host systems can configure output format and stop RPLIDAR by sending stop command.
Application Scenarios The RPLIDAR can be used in the following application scenarios: o General robot navigation and localization o Environment scanning and 3D re-modeling o Service robot or industrial robot working for long hours o Home service /cleaning robot navigation and localization o General simultaneous localization and mapping (SLAM) o Smart toy s localization and obstacle avoidance 8 / 20 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Specification Measurement Performance For Model A2M8 Only Figure 2-1 RPLIDAR Performance Note: the triangulation range system resolution changes along with distance. Laser Power Specification For Model A2M8 Only Figure 2-2 RPLIDAR Optical Specification Note: the laser power listed above is the peak power and the actual average power is much lower than the value. 9 / 20 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Optical Window To make the RPLIDAR A2 working normally, please ensure proper space to be left for its emitting and receiving laser lights when designing the host system. The obscuring of the host system for the ranging window will impact the performance and resolution of RPLIDAR A2. If you need cover the RPLIDAR A2 with translucent materials or have other special needs, please contact SLAMTEC about the feasibility.
θ [0,360] Interface Lead Figure 2-4 RPLIDAR Scanning Data Coordinate System Definition Communication interface The RPLIDAR A2 uses separate 5V DC power for powering the range scanner core and the motor system. And the standard RPLIDAR A2 uses XH2.54-5P male socket. Detailed interface definition is shown in the following figure: Red Figure 2-5 RPLIDAR Power Interface Definition 11 / 20 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Figure 2-6 RPLIDAR External Interface Signal Definition Power Supply Interface RPLIDAR A2 takes the only external power to power the range scanner core and the motor system which make the core rotate. To make the RPLIDAR A2 work normally, the host system needs to ensure the output of the power and meet its requirements of the power supply ripple.
Note: When the lidar is connected to the power supply, there is a process of charging the input capacitor. The maximum transient current of charging can reach 2500mA. After stable operation, the working current does not exceed 600mA. Data communication interface The RPLIDAR A2 takes the 3.3V-TTL serial port (UART) as the communication interface. The table below shows the transmission speed and the protocol standard.
The following table describes the requirement for the input PWM signal of MOTOCTL: Figure 2-9 RPLIDA Specification for PWM Signal of MOTOCTL Note: the typical value is tested when the scanner rotating frequency is 10Hz. With the same rotating speed, the PWM duty cycle of every RILIDAR A2 may vary slightly. If a precise rotating speed is required, users can perform a closed-loop control.
Self-protection and Status Detection To ensure the laser of RPLIDAR always working in the safety range (<3mW) and avoid any other damage caused by device, the RPLIDAR comes with laser power detection and sensor healthy check feature. It will shut down the laser and stop working automatically when any of the following errors has been detected.
SDK and Support To facilitate the usage of RPLIDAR A2M8 in the product development and speed up the development cycle for users, SLAMTEC has provided the Framegrabber plugin in RoboStudio for testing and debugging as well as the SDK available under Windows, x86 Linux and Arm Linux. Please contact SLAMTEC for detail information. Figure 4-1 the Framegrabber Plugin in RoboStudio 16 / 20 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Mechanical Dimensions The mechanical dimensions of the RPLIDAR A2 are shown as below: Note: the 4 M3 screws in the bottom should be no longer than 4mm, or the internal module would be damaged. Figure 5-1 RPLIDAR Mechanical Dimensions 17 / 20 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
/ 20 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Revision history （ ） （ ） （ ） （ ） （ ） （ ） （ ） （ ） “ ， ” （ ） 19 / 20 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Appendix Image and Table Index FIGURE 1-1 RPLIDAR SYSTEM COMPOSITION ..................................................................................................... 4 FIGURE 1-2 THE RPLIDAR WORKING SCHEMATIC ............................................................................................... 5 FIGURE 1-3 THE OBTAINED ENVIRONMENT MAP FROM RPLIDAR SCANNING ................................................... 6 FIGURE 1-4 THE RPLIDAR SAMPLE POINT DATA INFORMATION ...............................
