Datasheet

ManualsBrandsSlamtec ManualsLIDARRPLidar A1M8 - 360 Degree Laser Scanner Development Kit

w .slam tec.com

ShanghaiSlam te c.C o.,Ltd

RPLIDAR A1

Low Cost 360 Degree Laser Range Scanner

Introduction and Datasheet

Model: A1M8

2020-10-15 rev.3.0

Summary of content (19 pages)

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2020-10-15 rev.3.0 RPLIDAR A1 Low Cost 360 Degree Laser Range Scanner Introduction and Datasheet Model: A1M8 w w w .sla m te c.com S h anghaiS lam tec.C o.
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Contents CONTENTS ............................................................................................................................................... 1 INTRODUCTION ..................................................................................................................................... 3 SYSTEM CONNECTION ........................................................................................................................................ 3 MECHANISM ................................
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Introduction 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. The produced 2D point cloud data can be used in mapping, localization and object/environment modeling. RPLIDAR A1’s scanning frequency reached 5.5hz when sampling 1450 points each round. And it can be configured up to 10hz① maximum. RPLIDAR A1 is basically a laser triangulation measurement system.
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RPLIDAR A1 comes with a speed detection and adaptive system. The system will adjust frequency of laser scanner automatically according to motor speed. And 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.
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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. *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 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.
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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.
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Application Scenarios The RPLIDAR A1 can be used in the following application scenarios: o Home service /cleaning robot navigation and localization o General robot navigation and localization o Smart toy’s localization and obstacle avoidance o Environment scanning and 3D re-modeling o General simultaneous localization and mapping (SLAM) 7 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
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Specification Measurement Performance o For Model A1M8 Only Item Distance Range Angular Range Scan Field Flatness Distance Resolution Angular Resolution Sample Duration Sample Frequency Scan Rate Unit Min Typical Max Meter(m) TBD 0.15-12 TBD Degree n/a 0-360 n/a Degree -1.5 mm n/a <0.5 <1% of the distance n/a Degree n/a ≤1 n/a Millisecond(ms) n/a 0.125 n/a Hz n/a ≥8000 8010 Hz 1 Comments White objects 1.5 5.5 10 <1.5 meters All distance range* 5.
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Laser Power Specification o For Model A1M8 Only Item Unit Laser wavelength Nanometer(nm) Laser power Milliwatt (mW) Pulse length Microsecond(us) Min Typical Max Comments 775 785 795 TBD 3 5 Infrared Light Band Peak power TBD 110 300 Figure 2-3 RPLIDAR A1 Optical Specification Communication interface RPLIDAR A1 uses 3.3V-TTL serial port (UART) as the communication interface. Other communication interface such as USB can be customized according to customer’s requirement.
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Item Unit Min Typical Max Comments Band rate bps - 115200 - Working mode - - 8N1 - 8n1 Output high voltage Volt (V) 2.9 - 3.5 Logic High Output low voltage Volt (V) - - 0.4 Logic Low Input high voltage Volt (V) 1.6* - 3.5 Logic High Input low voltage Volt (V) -0.3 - 0.4 Logic Low Figure 2-5 RPLIDAR External Interface Signal Definition Note: the RX input signal of A1M8 is recognized by the current.
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User Manual for detailed specifications. Power Supply and Consumption Ranging scanner system and motor system are powered separately in RPLIDAR A1. External system should provide power supply for them separately in order to ensure data accuracy. Below chart showed a recommended power mode. More specification is provided in the following table. RPLIDAR Scanner System 4.9V-5.
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MISC o For Model A1M8 Only Item Unit Weight Gram (g) Temperature range Degree Celsius (oC) Min Typical Max TBD 170 TBD 0 20 40 Comments Figure 2-9 RPLIDAR A1 MISC Specification 12 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
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Self-protection and Status Detection To make sure RPLIDAR A1’s laser always working in the safety range (<5mW) and avoid any other damage caused by device, RPLIDAR A1 comes with laser power detection and sensor healthy check feature. RPLIDAR A1 will shut down the laser and stop working when any of below errors has been detected.
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SDK and Support SLAMTEC provides Framegrabber graphical debugging interface terminal for A1M8.SLAMTEC provides RoboStudio for testing and debugging.In addition, SLAMTEC also provides SDK development kit under x86 windows, x86 Linux, arm Linux and other platforms.Please contact SLAMTEC for detail information. Figure 4-1 the Framegrabber Plugin in RoboStudio 14 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
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Mechanical and Customization Options For the ease of customer side integration, RPLIDAR A1’s structure is designed to decouple the core ranging system and fixed platform which can be customized. The part marked red in the below figure is the fixed platform that can be customized according to customer requirement. Figure 5-1 The fixd platform of RPLIDAR A1 15 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
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The RPLIDAR A1M8 assemble size showed below: Figure 5-2 The Mechanical Dimensions of RPLIDAR A1 16 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
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Revision History Date Description 2013-3-13 Initial draft 2013-5-16 1. Updated the laser class information 2. Updated motor voltage range 3. Updated size chart according to Rev1.
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2； 4. Delete the lidar model with the typical range measurement range in Figure 2-1; 5. Corrected the PH2.54-7P socket used by the lidar development kit in the last paragraph of P11 to 5267-7A; 6. Modify "5V~10V DC" in Figure 2-7 to "5V~9V DC"; 7. Modify the maximum voltage of the motor system from 10V to 9V in Figure 2-8; 8.
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Appendix I-mage and Table IndexFIGURE 1-1 RPLIDAR A1 SYSTEM COMPOSITION ............................................................................................... 3 FIGURE 1-2 THE RPLIDAR A1 WORKING SCHEMATIC ......................................................................................... 4 FIGURE 1-3 THE OBTAINED ENVIRONMENT MAP FROM RPLIDAR A1 SCANNING ............................................. 5 FIGURE 1-4 THE RPLIDAR A1 SAMPLE POINT DATA INFORMATION .....................................