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2017-05-15 rev.1.0 RPLIDAR A2 Low Cost 360 Degree Laser Range Scanner Introduction and Datasheet Model: A2M7 A2M8 OPTMAG 4K www.slamtec.com Shanghai Slamtec.Co.,Ltd Contents 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 ................................................................................................................................... 8 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 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. The system can perform 2D 360-degree scan within a 8-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. 3 / 19 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. 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. 4 / 19 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 more than 4000 times per second. 𝒅 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. 5 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd. *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 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 Class I 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. 6 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd. Data Type Unit Description Distance mm Current measured distance value between the rotating core of the RPLIDAR and the sampling point Heading degree Current heading angle of the measurement Start Flag (Bool) Flag of a new scan Checksum The Checksum of RPLIDAR return data Figure 1-4 The RPLIDAR Sample Point Data Information … (dሾn − 1ሿ, θሾn − 1ሿ) (dሾnሿ, θሾnሿ) (dሾ0ሿ, θሾ0ሿ) (dሾ1ሿ, θሾ1ሿ) … 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. For detailed operations please contact SLAMTEC. High Speed Sampling Protocol and Compatibility The RPLIDAR A2 adopts the newly extended high speed sampling protocol for outputting the 4000 times per second laser range scan data. Users are required to update the matched SDK or modify the original driver and use the new protocol to use the 4000 times per second mode of RPLIDAR A2. Please check the related protocol documents for details. The RPLIDAR A2 is compatible with all the communication protocols of previous versions. Users can directly replace the previous RPLIDAR with RPLIDAR A2 and use it in the original system. But in this scenario, the RPLIDAR A2 will work in compatible mode and the system will take range 2000 times per second. 7 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd. 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 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd. Specification Measurement Performance  For Model A2M7/A2M8 Only Item Distance Range Angular Range Distance Resolution Angular Resolution Sample Duration Sample Frequency Scan Rate Unit Min Typical Max Comments Meter(m) 0.15 - 8 Based om white objects with 70% reflectivity Degree - 0-360 - - mm -