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 6-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.
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.
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.
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.
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.
Safety and Scope
The RPLIDAR A2 system uses a low power infrared laser as its light source, and drives it by usting 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.
The RPLIDAR can be used in the following application scenarios:
General robot navigation and localization
Environment scanning and 3D re-modeling
Service robot or industrial robot working for long hours
Home service /clean robot navigation and localization
General simultaneous localization and mapping (SLAM)
Smart toy's localization and obstacle avoidance
For Model A2M3/A2M4 Only
Note: the triangulation range system resolution changes along with distance, and the theoretical resolution change of RPLIDAR is shown as below:
The Trend Graph of RPLIDAR Resolution
Laser Power Specification
For Model A2M3/A2M4 Only
RPLIDAR Optical Specification
The RPLIDAR A2 uses separate 5V DC power for powering the range scanner core and the motor system. And the standard RPLIDAR A2 uses XH2.54-5P male socket. Detailed interface definition is shown in the following figure:
RPLIDAR Power Interface Definition
RPLIDAR External Interface Signal Definition
For Model A2M3/A2M4 Only
RPLIDAR Power Supply Specification
Data Communicaation Interface
The RPLIDAR A2 takes the 3.7V-TTL serial port (UART) as the communication interface. The table below shows the transmission speed and the protocol standard.
RPLIDAR Serial Port Interface Specifications
1x RPLIDAR A2
1x USB Adapter
3D Models (RPLIDAR A2M4-R1 Development Kit)
SDK (RPLIDAR Version: v1.5.4 Published At: 2016-6-2)
Application Notes (ROS Package Notice: You still need RPLIDAR SDK to use this package)
Documentation and Resources:
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