2021-3-15 rev.1.7 www.slamtec.com Shanghai Slamtec.Co.
Contents CONTENTS ................................................................................................................................................... 1 INTRODUCTION ......................................................................................................................................... 3 SYSTEM CONNECTION ........................................................................................................................................ 4 MECHANISM ........................
Introduction The RPLIDAR S1 is the next generation low cost 360 degree 2D laser scanner (LIDAR) solution developed by SLAMTEC. It can take up to 9200 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. The system can perform 2D 360-degree scan within a 40-meter range.
System connection The RPLIDAR S1 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. Figure 1-1 RPLIDAR S1 System Composition The RPLIDAR S1 comes with a rotation speed detection and adaptive system.
embedded in RPLIDAR starts processing the sample data and outputs distance value and angle value between object and RPLIDAR S1 via communication interface. Figure 1-2 The RPLIDAR S1 Working Schematic When drove by the motor system, the range scanner core will rotate clockwise and perform the 360-degree scan for the current environment. *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 S1 Scanning Safety and Scope Class I The RPLIDAR S1 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 which can ensure its safety to human and pet, and it reaches Class I laser safety standard. Complies with 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No. 50, dated June 24, 2007.
… (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 S1 Sample Point Data Frames The RPLIDAR S1 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. For detailed operations please contact SLAMTEC.
Specification Measurement Performance For Model S1 Only ° ° ° ± Figure 2-1 RPLIDAR S1 Performance Note: * means the accuracy of the full range under white diffuse surface. Laser Power Specification For Model S1 Only Figure 2-2 RPLIDAR S1 Optical Specification Optical Window To make the RPLIDAR S1 working normally, please ensure proper space to be left for its emitting and receiving laser lights when designing the host system.
materials or have other special needs, please contact SLAMTEC about the feasibility. Emissive Window Optical Window Receiving Window Figure 2-3 RPLIDAR S1 Optical Window You can check the Mechanical Dimensions chapter for detailed window dimensions. Coordinate System Definition of Scanning Data The RPLIDAR S1 adopts coordinate system of the left hand. The dead ahead of the sensors is the x axis of the coordinate system; the origin is the rotating center of the range scanner core.
Communication interface The RPLIDAR S1 uses separate 5V DC power for powering the range scanner core and the motor system. And the standard RPLIDAR S1 uses SH1.0-6P female receptacle and interface lead as communication interface. A Cable will be provided. One end of the cable uses a SH1.0-6P male socket. The other end of the cable uses the XH2.54-5P male socket.
Power Supply Interface RPLIDAR S1 takes the only external power to power the range scanner core and the motor system which make the core rotate. To make the RPLIDAR S1 work normally, the host system needs to ensure the output of the power and meet its requirements of the power supply ripple. For Model S1 Only ， ， Figure 2-8 RPLIDAR S1 Power Supply Specification Data communication interface The RPLIDAR S1 takes the 3.3V-TTL serial port (UART) as the communication interface.
Figure 2-9 RPLIDAR S1 Serial Port Interface Specifications Note: the RX input signal of S1 is current control type. In order to ensure the reliable signal identification inside the system, the actual control node voltage of this pin will not be lower than 1.6v. Scanner Motor Control The RPLIDAR S1 is embedded with a closed motor control system which realize accurate rotating speed control. Users can control the start, the stop and the rotating rate by sending protocol commands to RPLIDAR.
Self-protection and Status Detection To ensure the laser of RPLIDAR always working in the safety range 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 S1 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 14 / 17 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Mechanical Dimensions The mechanical dimensions of the RPLIDAR S1 are shown as below: Figure 5-1 RPLIDAR S1 Mechanical Dimensions Note: the 4 M2.5 screws in the bottom should be no longer than 6mm, or the internal module would be damaged. 15 / 17 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Revision history ， 16 / 17 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Appendix Image and Table Index FIGURE 1-1 RPLIDAR S1 SYSTEM COMPOSITION ................................................................................................ 4 FIGURE 1-2 THE RPLIDAR S1 WORKING SCHEMATIC ......................................................................................... 5 FIGURE 1-3 THE OBTAINED ENVIRONMENT MAP FROM RPLIDAR S1 SCANNING ............................................. 6 FIGURE 1-4 THE RPLIDAR S1 SAMPLE POINT DATA INFORMATION ....................................
