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Shanghai Slamtec.Co.,Ltd
RPLIDAR A2
Low Cost 360 Degree Laser Range Scanner
Introduction and Datasheet
Model: A2M7
A2M8
OPTMAG
4K-8K
2018-03-23 rev
.1.1
CONTENTS ................................................................................................................................................... 1
INTRODUCTION ......................................................................................................................................... 3
SYSTEM CONNECTION ........................................................................................................................................ 4
MECHANISM ....................................................................................................................................................... 5
SAFETY AND SCOPE ............................................................................................................................................ 6
DATA OUTPUT .................................................................................................................................................... 6
HIGH SPEED SAMPLING PROTOCOL AND COMPATIBILITY ................................................................................. 7
APPLICATION SCENARIOS ................................................................................................................................... 7
SPECIFICATION ........................................................................................................................................... 9
MEASUREMENT PERFORMANCE ......................................................................................................................... 9
LASER POWER SPECIFICATION ............................................................................................................................ 9
OPTICAL WINDOW ........................................................................................................................................... 10
COORDINATE SYSTEM DEFINITION OF SCANNING DATA ................................................................................ 10
COMMUNICATION INTERFACE .......................................................................................................................... 11
MISC ................................................................................................................................................................ 14
SELF-PROTECTION AND STATUS DETECTION ................................................................................. 15
SDK AND SUPPORT ................................................................................................................................. 16
MECHANICAL DIMENSIONS ................................................................................................................. 17
REVISION HISTORY ................................................................................................................................. 18
APPENDIX .................................................................................................................................................. 19
IMAGE AND TABLE INDEX ................................................................................................................................. 19
Contents
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
The RPLIDAR A2 is the next 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.
The system can perform 2D 360-degree scan within a 12-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 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
passed the strict testing to ensure the laser output power meet the standards of
FDA Class I.
Introduction
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
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.
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.
Range Scanner Core
Mechanical
Powering Part
Communication and
Power Interface
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2017 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 up to 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. 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) 2013-2017 Shanghai Slamtec Co., Ltd.
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 which can ensure its safety to human and pet, and
it reaches Class I laser safety standard.
The modulated laser can effectively avoid the interference from ambient
light and sunlight during ranging scanning process, which makes
RPLIDAR work excellent in all kinds of indoor environment and outdoor
environment without sunlight.
Data Output
During the working process, the RPLIDAR 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.
*Note：The LIDAR scan image is not
directly relative to the environment
showed here. Illustrative purpose only.
Class I
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