RPLIDAR
A2
Low Cost 360 Degree Laser Range Scanner
2016-10-28 rev.1.0
Introduction and Datasheet
Model: A2M5
A2M6
OPTMAG
4K
www.slamtec.com
Shanghai Slamtec.Co.,Ltd
Contents
CONTENTS
................................................................................................................................................... 1
INTRODUCTION
......................................................................................................................................... 3
S
YSTEM CONNECTION
........................................................................................................................................ 4
M
ECHANISM
....................................................................................................................................................... 5
S
AFETY AND
S
COPE
............................................................................................................................................ 6
D
ATA
O
UTPUT
.................................................................................................................................................... 6
H
IGH
S
PEED
S
AMPLING
P
ROTOCOL AND
C
OMPATIBILITY
................................................................................. 7
A
PPLICATION
S
CENARIOS
................................................................................................................................... 8
SPECIFICATION
........................................................................................................................................... 9
M
EASUREMENT
P
ERFORMANCE
......................................................................................................................... 9
L
ASER
P
OWER
S
PECIFICATION
............................................................................................................................ 9
O
PTICAL
W
INDOW
........................................................................................................................................... 10
C
OORDINATE
S
YSTEM
D
EFINITION OF
S
CANNING
D
ATA
................................................................................ 10
C
OMMUNICATION INTERFACE
.......................................................................................................................... 11
MISC
................................................................................................................................................................ 14
SELF-PROTECTION AND STATUS DETECTION
................................................................................. 15
SDK AND SUPPORT
................................................................................................................................. 16
MECHANICAL DIMENSIONS
................................................................................................................. 17
REVISION HISTORY
................................................................................................................................. 18
APPENDIX
.................................................................................................................................................. 19
I
MAGE AND
T
ABLE
I
NDEX
................................................................................................................................. 19
Introduction
The RPLIDAR A2 is the next generation low cost 360 degree 2D laser scanner
(LIDAR) solution developed by SLAMTEC. It can take up to 4000 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 A2M5/A2M6 is the enhanced version of 2D laser range scanner(LIDAR).
The system can perform 2D 360-degree scan within a 16-meter range. The
generated 2D point cloud data can be used in mapping, localization and
object/environment modeling.
The typical scanning frequency of the RPLIDAR A2 is 10hz (600rpm). Under this
condition, the angular resolution will be 0.9°. And the actual scanning frequency
can be freely adjusted within the 5-15hz range according to the requirements of
users.
The RPLIDAR A2 adopts the low cost laser triangulation measurement system
developed by SLAMTEC, which makes the RPLIDAR A2 has excellent performance
in all kinds of indoor environment and outdoor environment without direct
sunlight exposure. Meanwhile, before leaving the factory, every RPLIDAR A2 has
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
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.
Range Scanner
Core
Communication and
Power Interface
Mechanical
Powering Part
Figure 1-1 RPLIDAR System Composition
The RPLIDAR A2 comes with a rotation speed detection and adaptive system. The
system will adjust the angular resolution automatically according to the actual
rotating speed. And there is no need to provide complicated power system for
RPLIDAR. In this way, the simple power supply schema saves the BOM cost. If the
actual speed of the RPLIDAR is required, the host system can get the related data
via communication interface.
The detailed specification about power and communication interface can be
found in the following sections.
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
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 4000 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. The returning
signal is then sampled by vision acquisition system in RPLIDAR and the DSP
embedded in RPLIDAR starts processing the sample data and outputs distance
value and angle value between object and RPLIDAR via communication interface.
When drove by the motor system, the range scanner core will rotate clockwise
and perform the 360-degree scan for the current environment.
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
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