SLAMTEC RPLIDAR A1M8 Datasheet

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Shanghai Slamtec.Co.,Ltd

RPLIDAR A1

Low Cost 360 Degree Laser Range Scanner

Introduction and Datasheet

Model: A1M8

2019-02-14 rev.2.

2

CONTENTS ................................................................................................................................................... 1

INTRODUCTION ......................................................................................................................................... 3

SYSTEM CONNECTION .................................................................................................................................. 3

MECHANISM ................................................................................................................................................ 4

SAFETY AND SCOPE ...................................................................................................................................... 5

DATA OUTPUT ............................................................................................................................................. 6

APPLICATION SCENARIOS ............................................................................................................................. 7

SPECIFICATION ........................................................................................................................................... 8

MEASUREMENT PERFORMANCE .................................................................................................................... 8

LASER POWER SPECIFICATION ...................................................................................................................... 9

COMMUNICATION INTERFACE ....................................................................................................................... 9

POWER SUPPLY AND CONSUMPTION .......................................................................................................... 11

MISC......................................................................................................................................................... 12

SELF-PROTECTION AND STATUS DETECTION ................................................................................. 13

SDK AND SUPPORT ................................................................................................................................. 14

MECHANICAL AND CUSTOMIZATION OPTIONS ............................................................................ 15

REVISION HISTORY ................................................................................................................................. 16

APPENDIX .................................................................................................................................................. 18

IMAGE AND TABLE INDEX ........................................................................................................................... 18

Contents

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RPLIDAR A1 is a low cost 360 degree 2D laser scanner (LIDAR) solution developed

by SLAMTEC. The system can perform 360 degree scan within 12-meter range

（6-meter range of A1M8-R4 and the belowing models）. The produced 2D

point cloud data can be used in mapping, localization and object/environment

modeling.

RPLIDAR A1’s scanning frequency reached 5.5 hz when sampling 1450 points each

round. And it can be configured up to 10 hz maximum.

RPLIDAR A1 is basically a laser triangulation measurement system. It can work

excellent in all kinds of indoor environment and outdoor environment without

direct sunlight exposure.

System connection

RPLIDAR A1 contains a range scanner system and a motor system. After power on

each sub-system, RPLIDAR A1 start rotating and scanning clockwise. User can get

range scan data through the communication interface (Serial port/USB).

Figure 1-1 RPLIDAR A1 System Composition

RPLIDAR A1 comes with a speed detection and adaptive system. The system will

adjust frequency of laser scanner automatically according to motor speed. And

Introduction

Range Scanner

System

Motor system

Fix platform

(customizable)

(clockwise rotation)

Motor System

power supply 5-10V

Digital System

power supply 5V

Communication

Interface:

UART/USB

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host system can get RPLIDAR A1’s real speed through communication interface.

The simple power supply saves LIDAR system’s BOM cost and makes RPLIDAR A1

much easier to use. Detailed specification about power and communication

interface can be found in the following sections.

Mechanism

RPLIDAR is based on laser triangulation ranging principle and uses high-speed

vision acquisition and processing hardware developed by SLAMTEC. The system

measures distance data in more than 8000 times’ per second① and with high

resolution distance output (<1% of the distance).

RPLIDAR emits modulated infrared laser signal and the laser signal is then

reflected by the object to be detected. The returning signal is sampled by vision

acquisition system in RPLIDAR A1 and the DSP embedded in RPLIDAR A1 start

processing the sample data and output distance value and angle value between

Figure 1-2 The RPLIDAR A1 Working Schematic

①

R1 and R2 models only support the radar 2k times per second ranging frequency.R3 and R4 models need to

update the firmware to 1.24 to support 8k times per second ranging frequency.

𝐝

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object and RPLIDAR A1 through communication interface.

The high-speed ranging scanner system is mounted on a spinning rotator with a

build-in angular encoding system. During rotating, a 360 degree scan of the

current environment will be performed.

Figure 1-3 The Obtained Environment Map from RPLIDAR A1 Scanning

Safety and Scope

RPLIDAR A1 system use a low power (<5mW) infrared laser as its light source, and

drives it using modulated pulse. The laser emits in a very short time frame which

can make sure its safety to human and pet and reach Class I laser safety standard.

Complies with 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser

*Note：The LIDAR scan image is not directly

relative to the environment showed here.

Illustrative purpose only.

Class I

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Notice No. 50, dated June 24, 2007.

Caution: Use of controls or adjustments or performance of procedures other than

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,

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

…

(dሾn − 1ሿ, θሾn − 1ሿ)

(dሾnሿ, θሾn

ሿ

)

(dሾ0ሿ, θሾ0

ሿ

)

(dሾ1ሿ, θሾ1

ሿ

)

…

Start Flag

A new scan

SLAMTEC RPLIDAR A1M8 Datasheet

Specifications and Main Features

Frequently Asked Questions

User Manual