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1 什么是LiDARLiDAR，是Light Detection and Ranging的缩写，常用作代表激光雷达。
LiDAR是一种传感技术，可发射低功率，人眼安全的激光进行脉冲测量，并测量激光完成传感器与目标之间往返所需的时间。
所得的聚合数据用于生成3D点云图像，同时提供空间位置和深度信息以识别，分类和跟踪运动对象。
LiDAR工作原理：LiDAR的工作原理是检测并测量返回传感器接收器的光。
一些目标比其他目标反射的光线更好，这使它们更容易可靠地检测和测量到传感器的最大范围。
比如，黑色表面善于吸收更多光，而白色表面能够反射更多的光。
这样一来，与目标主题颜色相对较暗的目标相比，相对颜色较亮的目标更容易在更长的距离上受到可靠地检测或测量。
对于窗户等像镜子一样的目标在检测和测量方面颇具挑战性，因为与在多个方向上分散光的漫射目标不同，类似镜子的物体只能反射很小的聚焦光束，而不会直接反射到传感器的接收器中。
同时，诸如路标和车牌之类的可反光目标将高百分比的光返回接收器，并且是LiDAR传感器的良好目标。
由于存在这些差异，LiDAR传感器的实际性能和最大有效范围可能会根据目标的表面反射率而有所不同。
1.1点云点云是在同一空间参考系下表达目标空间分布和目标表面特性的海量点集合，在获取物体表面每个采样点的空间坐标后，得到的诸多特征点的集合，称之为“点云”（Point Cloud）。
点云是由3D点数据组成的大型数据集，由激光测量原理得到。
车载激光雷达产生的点云包含来自周围环境的原始数据，这些原始数据是从移动物体（例如车辆和人）以及静止物体（例如建筑物，树木和其他永久性结构）扫描而来的。
然后可以通过软件系统转换包含数据点的点云，以创建给定区域的基于LiDAR的3D图像。
激光测量得到的点云内容包括三维坐标（XYZ）和激光反射强度（Intensity），强度信息与目标的表面材质、粗糙度、入射角方向，以及仪器的发射能量，激光波长有关参数等。
RPLIDAR A2 2016-10-28 rev.1.0Low Cost 360 Degree Laser Range ScannerIntroduction and DatasheetModel: A2M5A2M6OPTMAG 4KCONTENTS (1)INTRODUCTION (3)S YSTEM CONNECTION (4)M ECHANISM (5)S AFETY AND S COPE (6)D ATA O UTPUT (6)H IGH S PEED S AMPLING P ROTOCOL AND C OMPATIBILITY (7)A PPLICATION S CENARIOS (8)SPECIFICATION (9)M EASUREMENT P ERFORMANCE (9)L ASER P OWER S PECIFICATION (9)O PTICAL W INDOW (10)C OORDINATE S YSTEM D EFINITION OF S CANNING D ATA (10)C OMMUNICATION INTERFACE (11)MISC (14)SELF-PROTECTION AND STATUS DETECTION (15)SDK AND SUPPORT (16)MECHANICAL DIMENSIONS (17)REVISION HISTORY (18)APPENDIX (19)I MAGE AND T ABLE I NDEX (19)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.RPLIDAR A2M5/A2M6 is the enhanced version of 2D laser range scanner(LIDAR). The system can perform 2D 360-degree scan within a 16-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 angular 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 haspassed the strict testing to ensure the laser output power meet the standards of FDA Class I.System connectionThe 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 CoreCommunication andPower Interface MechanicalPowering PartFigure 1-1 RPLIDAR System CompositionThe 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.MechanismThe 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.dFigure 1-2 The RPLIDAR Working SchematicDuring 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.Figure 1-3 The Obtained Environment Map from RPLIDAR ScanningSafety and ScopeThe 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 pets, 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 OutputDuring 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 IFigure 1-4 The RPLIDAR Sample Point Data InformationFigure 1-5 The RPLIDAR Sample Point Data FramesThe 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 CompatibilityThe 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.Data TypeUnitDescriptionDistance 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 scanChecksumThe Checksum of RPLIDAR return data…(d ሾn −1ሿ,θሾn −1ሿ)(d ሾn ሿ,θሾn ሿ) (d ሾ0ሿ,θሾ0ሿ) (d ሾ1ሿ,θሾ1ሿ)…Start FlagA new scanApplication ScenariosThe RPLIDAR can be used in the following application scenarios:o General robot navigation and localizationo Environment scanning and 3D re-modelingo Service robot or industrial robot working for long hourso Home service /cleaning robot navigation and localization o General simultaneous localization and mapping (SLAM)o Smart toy’s localization and obstacle avoidanceMeasurement Performance●For Model A2M5/A2M6 OnlyFigure 2-1 RPLIDAR PerformanceNote: the triangulation range system resolution changes along with distance. Laser Power SpecificationFigure 2-2 RPLIDAR Optical SpecificationNote: the laser power listed above is the peak power and the actual average power is much lower than the value.Optical WindowTo make the RPLIDAR A2 working normally, please ensure proper space to be left for its emitting and receiving laser lights when designing the host system. The obscuring of the host system for the ranging window will impact the performance and resolution of RPLIDAR A2. If you need cover the RPLIDAR A2 with translucent materials or have other special needs, please contact SLAMTEC about the feasibility.Optical WindowFigure 2-3 RPLIDAR Optical WindowYou can check the Mechanical Dimensions chapter for detailed window dimensions.Coordinate System Definition of Scanning DataThe RPLIDAR A2 adopts coordinate system of the left hand. The dead ahead of the sensors is the x axis of the coordinate system; the origin is the rotating center of the range scanner core. The rotation angle increases as rotating clockwise. The detailed definition is shown in the following figure:Figure 2-4 RPLIDAR Scanning Data Coordinate System DefinitionCommunication interfaceThe 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:Figure 2-5 RPLIDAR Power Interface Definitionθ ሾ0,360)Interface LeadRedXH2.54-5PVCCTXRXGND MOTOCTLFigure 2-6 RPLIDAR External Interface Signal DefinitionPower Supply InterfaceRPLIDAR A2 takes the only external power to power the range scanner core and the motor system which make the core rotate. To make the RPLIDAR A2 work normally, the host system needs to ensure the output of the power and meet its requirements of the power supply ripple.Figure 2-7 RPLIDAR Power Supply SpecificationData communication interfaceThe RPLIDAR A2 takes the 3.3V-TTL serial port (UART) as the communication interface. The table below shows the transmission speed and the protocol standard.Figure 2-8 RPLIDAR Serial Port Interface SpecificationsNote: the RX input signal of A2M5/A2M6 is current control type. In order to ensure the reliable signal identification inside the system, the actual control node voltage of this pin will not be lower than 1.6v. Scanner Motor ControlThe RPLIDAR A2 is embedded with a motor driver which has speed tuning feature. Users can control the start, the stop and the rotating speed for the motor via MOTOCTL in the interface. MOTOCTL can be supplied using PWM signal with special frequency and duty cycle, and in this mode, the rotating speed is decided by the duty cycle of the input MOTOCTL PWM Signal.The following table describes the requirement for the input PWM signal of MOTOCTL:Figure 2-9 RPLIDA Specification for PWM Signal of MOTOCTLNote: the typical value is tested when the scanner rotating frequency is 10Hz. With the same rotating speed, the PWM duty cycle of every RILIDAR A2 may vary slightly. If a precise rotating speed is required, users can perform a closed-loop control.If the host system only need to control the start and stop of the motor, please use the direct current signal in high level and low level to drive MOTOCTL. Under this condition, when the MOTOCTL is the low level signal, the RPLIDAR A2 will stop rotating and scanning; when the MOTOCTL is the high level signal, the RPLIDAR A2 will rotated at the highest speed.MISCFor Model A2M5/A2M6 OnlyFigure 2-10 RPLIDAR MISC SpecificationTo ensure the laser of RPLIDAR always working in the safety range (<3mW) and avoid any other damage caused by device, the RPLIDAR comes with laser power detection and sensor healthy check feature. It will shut down the laser and stop working automatically when any of the following errors has been detected.o Laser transmit power exceeds limited valueo Laser cannot power on normallyo Scan speed of Laser scanner system is unstableo Scan speed of Laser scanner system is too slowo Laser signal sensor works abnormallyThe host systems can check the status of the RPLIDAR via the communication interface and restart the RPLIDAR to try to recover work from error.SLAMTEC provides debug GUI tool and SDK (available for Windows, x86 Linux and Arm Linux) to speed up the product development for users. Please contact SLAMTEC for detail information.Figure 4-1 The Debugging GUI of RPLIDARThe mechanical dimensions of the RPLIDAR A2 are shown as below:Figure 5-1 RPLIDAR Mechanical DimensionsNote: the 4 * M3 screws in the bottom should be no longer than 4mm, or the internal module would be damaged.Image and Table IndexF IGURE 1-1RPLIDAR S YSTEM C OMPOSITION (4)F IGURE 1-2T HE RPLIDAR W ORKING S CHEMATIC (5)F IGURE 1-3T HE O BTAINED E NVIRONMENT M AP FROM RPLIDAR S CANNING (6)F IGURE 1-4T HE RPLIDAR S AMPLE P OINT D ATA I NFORMATION (7)F IGURE 1-5T HE RPLIDAR S AMPLE P OINT D ATA F RAMES (7)F IGURE 2-1RPLIDAR P ERFORMANCE (9)F IGURE 2-2RPLIDAR O PTICAL S PECIFICATION (9)F IGURE 2-3RPLIDAR O PTICAL W INDOW (10)F IGURE 2-4RPLIDAR S CANNING D ATA C OORDINATE S YSTEM D EFINITION (11)F IGURE 2-5RPLIDAR P OWER I NTERFACE D EFINITION (11)F IGURE 2-6RPLIDAR E XTERNAL I NTERFACE S IGNAL D EFINITION (12)F IGURE 2-7RPLIDAR P OWER S UPPLY S PECIFICATION (12)F IGURE 2-8RPLIDAR S ERIAL P ORT I NTERFACE S PECIFICATIONS (13)F IGURE 2-9RPLIDA S PECIFICATION FOR PWM S IGNAL OF MOTOCTL (13)F IGURE 2-10RPLIDAR MISC S PECIFICATION (14)F IGURE 4-1T HE D EBUGGING GUI OF RPLIDAR (16)F IGURE 5-1RPLIDAR M ECHANICAL D IMENSIONS (17)。
RPLIDAR A3低成本360度激光扫描测距雷达2018-01-31 rev.1.0开发套装使用手册型号： A3M1目录 (1)简介 (3)套件包含的组件 (3)RPLIDAR A3模组 (4)USB转接器 (4)模组连接与使用介绍 (5)设备连接 (5)USB适配器驱动程序安装 (5)使用评估软件 (7)故障排除 (9)电机调速 (9)开发参考与SDK使用 (11)RPLIDAR A3模块引脚规格与定义 (11)USB转接器引脚定义 (12)电源适配器规格说明 (12)对RPLIDAR A3扫描频率进行控制 (14)使用SDK进行开发 (15)操作建议 (16)预热与最佳工作时间 (16)环境温度 (16)环境光照 (16)修订历史 (17)附录 (18)图表索引 (18)简介RPLIDAR A3开发套装包含了方便用户对RPLIDAR A3进行性能评估和早期开发所需的配套工具。
用户只需要将RPLIDAR A3模组通过USB线缆和USB转接器与PC机连接，并将电源适配器连接至电源和USB转接器，即可通过机器人管理与开发软件RoboStudio中的Lidars插件观测RPLIDAR工作时采集得到的环境扫描点云画面或者使用SDK进行开发。
套件包含的组件RPLIDAR A3开发套装包含了如下组件：o RPLIDAR A3模组（内置PWM电机驱动器）o USB适配器o Micro-USB线缆o电源适配器RPLIDAR电源适配器USB 适配器Micro-USB线缆图表 1-1 RPLIDAR A3开发套件实物图RPLIDAR A3模组图表 1-2 RPLIDAR A3模组实物图RPLIDAR A3开发套装中包含了标准版本的RPLIDAR A3模组(A3M1)。
同时，模组内集成了可以使用逻辑电平驱动的电机控制器。
开发者可以使用该电机驱动器使用PWM信号对电机转速进行控制，而从控制RPLIDAR扫描的频率或者在必要时刻关闭电机节能。
RPLIDAR A2低成本360度激光扫描测距雷达开发套装使用手册型号：A2M4目录目录 (1)1.简介 (3)套件包含的组件 (3)RPLIDAR A2模组 (4)USB转接器 (4)2.模组连接与使用介绍 (5)设备连接 (5)USB适配器驱动程序安装 (5)使用评估软件 (7)故障排除 (9)电机调速 (9)3.开发参考与SDK使用 (10)RPLIDAR A2模块引脚规格与定义 (10)USB转接器引脚定义 (11)对RPLIDAR A2扫描频率进行控制 (11)使用SDK进行开发 (11)4.操作建议 (12)预热与最佳工作时间 (12)环境温度 (12)环境光照 (12)5.修订历史 (13)附录 (14)图表索引 (14)RPLIDAR A2开发套装包含了方便用户对RPLIDAR A2进行性能评估和早期开发所需的配套工具。
用户只需要将RPLIDAR A2模组通过USB 线缆和USB 转接器与PC 机连接，即可在配套的评估软件中观测RPLIDAR 工作时采集得到的环境扫描点云画面或者使用SDK 进行开发。
套件包含的组件RPLIDAR A2开发套装包含了如下组件：o RPLIDAR A2模组（内置PWM 电机驱动器） o USB 适配器图表 1-1 RPLIDAR A2开发套件实物图1. 简介 RPLIDARUSB 适配器RPLIDAR A2模组图表 1-2 RPLIDAR A2模组实物图RPLIDAR A2开发套装中包含了标准版本的RPLIDAR A2模组(A2M4-R1)。
同时，模组内集成了可以使用逻辑电平驱动的电机控制器。
开发者可以使用该电机驱动器使用PWM信号对电机转速进行控制，而从控制RPLIDAR扫描的频率或者在必要时刻关闭电机节能。
关于模组的使用、接口信号定义等请参考后续介绍。
USB转接器图表 1-3 RPLIDAR A2 USB 转接器实物图2.模组连接与使用介绍设备连接1)将开发套装中提供的RPLIDAR A2模组的连接线与USB适配器进行连接。
RPLIDAR S1 Low Cost 360 Degree Laser Range ScannerDevelopment Kit User Manual Model：S12019-06-18 rev.1.1CONTENTS (1)OVERVIEW (3)I TEMS IN THE D EVELOPMENT K IT (3)RPLIDAR S1 ...................................................................................................................... 错误!未定义书签。
USB A DAPTER. (4)CONNECTION AND USAGE (6)C ONNECTION (6)I NSTALL D RIVER FOR THE USB A DAPTER (6)R UN D EMO A PPLICATION (8)T ROUBLESHOOTING (10)M OTOR S PEED A DJUSTMENT (10)SDK INTRODUCTION AND USAGE (12)RPLIDAR S1P IN D EFINITION AND S PECIFICATION (12)P IN D EFINITION FOR THE USB A DAPTER (13)C ONFIGURE RPLIDAR S1S CAN F REQUENCY (15)SDK U SAGE (15)OPERATION RECOMMENDATION (16)P RE-H EATING FOR B EST P ERFORMANCE (16)A MBIENT T EMPERATURE (16)A MBIENT L IGHT (16)REVISION HISTORY (17)APPENDIX (18)I MAGE AND T ABLE I NDEX (18)OverviewRPLIDAR S1 development kit includes the matched tools used for evaluating RPLIDAR’s performance and initial development. After connecting the RPLIDAR S1 with PC via USB cable and connecting the power adapter to the USB cable, users can observe the cloud map of the environment scanning point collected by the RPLIDAR in RoboStudio and start development based on the SDK.Items in the Development KitRPLIDAR Development Kit contains:o RPLIDAR（PWM motor driver embedded）o USB Adaptero Micro-USB cableo Power cableRPLIDAR S1Power cableUSB adapterMicro-USBcableFigure 1-1 Items in the RPLIDAR Development KitRPLIDAR S1Figure 1-2 The RPLIDARThe RPLIDAR S1 development kit contains standard RPLIDAR S1 unit (S1M1). The RPLIDAR is embedded with logic IO drivable motor controller which can be used to configure the scan frequency by tuning motor speed. Developers can also choose to turn off the motor for power saving purpose.RPLIDAR usage and interface definition will be introduced in the coming sections. USB AdapterThe USB adapter comes with a dial switch. It can be used to switch the Baud rate from 115200 to 256000 or vice versa, which is compatible with RPLIDAR S1 and former RPLIDAR series. Please note that the Baud rate should be set as 256000 if the USB adapter is connected with RPLIDAR S1..Figure 1-3 RPLIDAR AdapterConnection and UsageConnectionRPLIDAR S1 can be easily connected to PC according to the following steps.1)Connect RPLIDAR S1 with the USB adapter.Figure 2-1 Connect RPLIDAR S1 and USB Adapter2)Connect the USB adapter to your PC via the Micro-USB cable. If the PC ison, after connecting the USB cable to your PC and connecting the poweradapter to the USB cable, the indicator light of the USB will light up but theRPLIDAR will not start scanning.Figure 2-2 Connect the USB Adapter to PC via Micro-USB Cable Install Driver for the USB AdapterThe USB adapter converts UART to USB by using CP2102 chip. You need to install the device driver for the chip. The driver can be found in the provided SDK package or downloaded from Silicon Labs’ official website:/products/mcu/Pages/USBtoUARTBridgeVCPDrivers.aspxHere’s the installation steps in Windows: after connecting the RPLIDAR with PC, please find the driver file “CP210x VCP Windows” and choose correct operating system version accordingly: x86 for 32-bit OS and x64 for 64-bit OS.Figure 2-3 Choose USB Adapter Driver for InstallationFigure 2-4 Start Page of USB Adapter Driver InstallationAfter Installing the driver according to the above installation steps, you will see corresponding serial port name in the [Control Panel] -> [Device and Printers]. Please refer to the below figure.Figure 2-5 Recognized Serial Port Name Matched with the USB AdapterRun Demo ApplicationSLAMTEC provides a Lidars plugin in RoboStudio for users in test and evaluation. You can view the scan result directly in the UI and save the scan result to files for further processing.This GUI demo can only run under Windows. For Linux and MacOS users, please refer to the other simple demo provided in the SDK.Please make sure you have connected RPLIDAR to PC by using USB adapter and installed the device driver correctly before running the demo application in RoboStudio. Launch RoboStudio and log in.Figure 2-6 RoboStudio Login PageIf the connection is ok, you shall see the user interface is shown as below.1. Click File->Lidars to open the lidar control panel in the left;2. Click Serial Ports to extend the lidar lists and you’ll find the RPLIDAR S1 previously connected to your PC;3. Click the RPLIDAR S1 icon to extend the tool buttons below the icon: the left one is to adjust the motor speed while the right one is to open the tool bar in the major work area as shown in Figure 2-7.Figure 2-7 The Lidar Plugin in RoboStudioThe serial number, version and model of the RPLIDAR S1 will show next with its icon in the lidar control panel. The supported commands of RPLIDAR are showed in the tool bar. The descriptions are listed in the bellow table.ButtonFigure 2-8 The Supported Commands of RPLIDAR in RoboStudioPress the Start Scan button，the scan data will be displayed as below(by default, the motor rotating speed should be about 10Hz.):Figure 2-9 The Scan Outline by RPLIDAR in RoboStudioRight click in the major working area to choose a range so as to zoom in or out the view.The scan frequency is also showed in the above interface. TroubleshootingWhen the scan core or the laser power works abnormally, the scan core will enter protection mode. This state can be retrieved via SDK API. If such scenariohappened, please send restart command to reset the scan core.Motor Speed AdjustmentDuring the running process, different motor rotating speed can be achieved bypressing the button, which can fit in different working environments or meet specific requirements. There will be a speed adjustment dialog box and dash board popped up for users to enter required speed. After entering a value, the motor will work as the settled rotating speed automatically. User can also drag the sliding handle to the required rotating speed.The current actual rotating speed will show in the upper left corner of the major work area. For instance, the actual rotating speed in the following screenshot is 12.88Hz.Figure 2-10 The Motor Speed Adjustment Dialogue of RPLIDAR in RoboStudioRPLIDAR S1 Interface Definition and SpecificationThe standard RPLIDAR S1 uses SH1.0-6P female receptacle and interface lead as communication interface. Detailed interface definition is shown in the following figure:Figure 3-1 RPLIDAR S1 InterfaceFigure 3-2 RPLIDAR Pin Definition and SpecificationSDK Introduction and UsageColor Signal NameTypeDescriptionMinTypicalMaxBrownVCCPowerTotal Power4.8V5V5.5VPurple OrangeGNDPowerGND0V0V0VYellow Green RX Input Serial port input of thescanner core0V3.3V 3.5V BlueTXOutputSerial port output ofthe scanner core0V3.3V3.5VRPLIDAR S1 uses the one 5V DC power supply for powering the scan motor and the scan core at the same time. No extra power is required.With build-in and speed-adjustable motor driver, RPLIDAR S1 can control the start, the stop and the rotating speed of the motor via the MOTOCTL signal.o Reference Design for RPLIDAR developmentFigure 3-3 RPLIDAR S1 Pins Reference DesignPin Definition for the USB AdapterThe USB adapter is also using XH2.54-5P specification socket, and it can be connected with RPLIDAR S1 directly. The pin definition is the same as the RPLIDAR S1.Power adapter specificationInputItem Unit Min Typical Max CommentsInput voltage VAC 90 100-240 264 Single phaseInput frequency Hz 47 50-60 63Input current A - - 0.4 When the input is 100Vac and in maximum loadInrush current (cold boot)A - - 30When the input is 230Vac and inmaximum loadV5.0GNDTXRXMOTOCTLPower(5V DC)UARTPWM GeneratorMCU/DSPRPLIDARFigure 3-4 RPLIDAR Power Adapter Input SpecificationOutputFigure 3-5 RPLIDAR Power Adapter Output SpecificationRipple wave and noise: When testing the ripple and noise, choose20Mhz wideband when setting the oscilloscope, and the output end should have a 0.1uF ceramic capacitor and a 10uF electrolytic capacitor connected in parallel. (the input should be in 100Vac-240Vac).Line/load regulationFigure 3-6 RPLIDAR Power Adapter Line/Load RegulationTurn-on delay3s when the input is 100Vac and at maximum load.2s when the input is 240Vac and at maximum load.Holdup timeAt least 30ms when shut the input is between 240Vac/50Hz and at maximum load.Rise time40ms when the input is between 100Vac-240 Vac and at maximum load.Output overshoot/undershoot7% is a maximum when powering on or off.Output load transient responseWhen the voltage output is between 4.75V and 5.25V, the load will change from 25% at maximum to 50% then back to 25%, or from 50% at maximum to 75% then back to 50%. The slope is 0.5A/us. The frequency is 100Hz. Output overshoot is lower than ±5%.Protection requirementShort circuit protection: when outputting short circuit, the input power will lower and will not have any affect. After ending the short circuit, the system will recover automatically.Overcurrent protectionOCSET: within 110%-180% of maximum load (with rated voltage), when outputting overcurrent, the output will go to hiccup mode. After ending the overcurrent, the system will recover automatically.Configure RPLIDAR S1 Scan FrequencyThe RPLIDAR S1’s scan frequency can be modified by invoking the related functions in the SDK to configure the motor speed.Please refer to the RPLIDAR protocol and application note for more information and the SDK for the sample code on RPLIDAR scan frequency.SDK UsageSLAMTEC provides RPLIDAR SDK support on both Windows and Linux platform. And users can embed the SDK source code to other operational system or embedded system quickly. Please refer to the SDK document for more information.Pre-Heating for Best PerformanceThe scan core will be heating when start working. We recommend pre-heating RPLIDAR (Start the scan mode and the scan motor is rotating) for more than 2 minutes to get the best measurement accuracy.Ambient TemperatureRPLIDAR’s measurement resolution is sen sitive to the ambient temperature. Improper use may even damage the sensor. Please avoid using RPLIDAR in extreme high temperature (>40 degree) and too low temperature (<-10 degree).Ambient LightCompared with RPLIDAR A series, RPLIDAR S1 performs better to resist ambient light interference, which supports it to work properly in outdoor environment.Image and Table IndexF IGURE 1-1I TEMS IN THE RPLIDAR D EVELOPMENT K IT (3)F IGURE 1-2T HE RPLIDAR (4)F IGURE 1-3RPLIDAR A DAPTER (5)F IGURE 2-1C ONNECT RPLIDAR S1 AND USB A DAPTER (6)F IGURE 2-2C ONNECT THE USB A DAPTER TO PC VIA M ICRO-USB C ABLE (6)F IGURE 2-3C HOOSE USB A DAPTER D RIVER FOR I NSTALLATION (7)F IGURE 2-4S TART P AGE OF USB A DAPTER D RIVER I NSTALLATION (7)F IGURE 2-5R ECOGNIZED S ERIAL P ORT N AME M ATCHED WITH THE USB A DAPTER (7)F IGURE 2-6R OBO S TUDIO L OGIN P AGE (8)F IGURE 2-7T HE L IDAR P LUGIN IN R OBO S TUDIO (9)F IGURE 2-8T HE S UPPORTED C OMMANDS OF RPLIDAR IN R OBO S TUDIO (9)F IGURE 2-9T HE S CAN O UTLINE BY RPLIDAR IN R OBO S TUDIO (10)F IGURE 2-10T HE M OTOR S PEED A DJUSTMENT D IALOGUE OF RPLIDAR IN R OBO S TUDIO (11)F IGURE 3-1RPLIDAR S1I NTERFACE (12)F IGURE 3-2RPLIDAR P IN D EFINITION AND S PECIFICATION (12)F IGURE 3-3RPLIDAR S1P INS R EFERENCE D ESIGN (13)F IGURE 3-4RPLIDAR P OWER A DAPTER I NPUT S PECIFICATION (14)F IGURE 3-5RPLIDAR P OWER A DAPTER O UTPUT S PECIFICATION (14)F IGURE 3-6RPLIDAR P OWER A DAPTER L INE/L OAD R EGULATION (14)。
徕卡激光测距仪A2简介徕卡激光测距仪A2是一款高精度、高性能的手持式激光测距仪，适用于建筑、室内设计、园林、装修、地形测量、工程测量、公路桥梁等领域。
徕卡激光测距仪A2采用了先进的激光测距技术，能够准确、快速地测量距离、角度和海拔高度，同时具有良好的抗干扰和防水性能。
技术指标•测量范围：0.05米~200米•最小显示单位：1毫米•精度（标准偏差）：±1.5毫米•测量时间：0.5秒•激光波长：650nm•激光输出功率：＜1mW•自动关机时间：30秒•显示屏：2英寸高清彩色液晶屏•电源：2节AAA电池•重量：170克功能特点1.高性能激光测距技术徕卡激光测距仪A2采用了先进的激光测距技术，能够测量距离、角度和海拔高度，具有高精度和快速测量的特点。
在距离测量方面，精度可以达到±1.5毫米。
同时，该仪器采用数字降噪技术，使得测量更为准确。
2.多种测量模式徕卡激光测距仪A2可以满足不同测量需求，提供了多种测量模式。
包括单次测量、连续测量、面积测量、体积测量等，同时支持最大、最小值测量。
3.显示屏清晰可见，操作简单方便徕卡激光测距仪A2的显示屏采用了2英寸高清彩色液晶屏，清晰可见。
此外，该仪器操作简单方便，具有自动校准、自动关机、储存数据等多种功能，用户可以轻松掌握。
4.抗干扰、防水性能好徕卡激光测距仪A2具有良好的干扰抗性能和防水性能，能够正常工作在复杂的环境中。
5.轻便易携带徕卡激光测距仪A2重量仅为170克，体积小巧，便于携带，不会给用户带来负担。
使用注意事项1.使用时要避免直接照射人眼，以免对眼睛造成伤害。
2.使用前要确保目标物与测距仪之间没有障碍物，以免影响测距精度。
3.在雨天或高温环境下使用时，注意保护仪器，避免受潮或过热。
4.使用后应及时清理仪器，避免灰尘或杂物沉积在激光发射器上，影响下次使用。
总结徕卡激光测距仪A2是一款高精度、高性能的手持式激光测距仪，具有多种测量模式、清晰可见的显示屏、良好的抗干扰、防水性能以及轻便易携带等优点。
