XR01 360度二维激光扫描雷达测距系统产品介绍
激光雷达主要参数.
25米
30 35 85米 米米
光束发 散度
2mR(0.125度)
最大扫 描扇区
105度
光束倾 0/2/4/6
0度
0/2/4/6度
0度
斜角
度
同时跟
踪目标
数量
最小室 外识别 时间
480~500毫秒
自过滤
是
规律性
运动物
体
（树、 灌木丛 等）
扫描频 率
脉冲重 复频率
安装方 式
相对扫 描平面 激光发 散度
激光波 长
运行温 度
存储温 度
干节点/RS485 Class 1( eye safe)
905nm -25℃~+50℃ -35℃~+70℃
激光周界系统共有A、B、C3个产品系列 - LFS A系列产品没有内置摄像机，提供50米、70米、120
米，180米4种配置。可指挥控制第三方PTZ摄像机跟踪目标 - LFS B系列产品内置1个或多个固定角度的摄像机，提供30
安装高 0~25米 度
红外灯
无
CCD敏 感度 (LED 开/关)
内置摄 像机数 量
视频输 出
不适用 无 无
4.5Hz 6.5Hz 垂直/水平 平行/垂直
0~50 0~7米 米
0~20米
24LED
无
±60°
0.01LUX/0LU
0.01LUX
1
234
1V p-p @75欧姆
数据输 出接口
激光安 全等级
参数 A-50 A- A- A70 120 180
最大识 别距离 （人体
50米 70 120 180 米米 米
B-30
Slamtec RPLIDAR A2 360度激光雷达扫描仪产品说明
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)。
(完整版)无人机激光雷达扫描系统
(完整版)无人机激光雷达扫描系统Li-Air无人机激光雷达扫描系统可以实时、动态、大量采集空间点云信息。
根据用户不同应用需求可以选择多旋翼无人机、无人直升机和固定翼无人机平台,可快速获取高密度、高精度的激光雷达点云数据。
硬件设备Li-Air无人机激光雷达系统可搭载多种类型扫描仪，包括Riegl,Optech,MDL,无人机激光雷达扫描系统设备参数见表格1:三维激光雷达扫描仪长距扫描仪中距扫描仪短距扫描仪扫描距离920m500m70m扫描精度1cm15cm2cm飞行速度20-60km/h20-60km/h20-60km/h扫描角度330°360°360°每秒发射激光点数50万3.6万70万扫描仪重量3.85kg4.65kg1kg配备我公司自主研发的Li-Air数据处理系统设备检校Velodyne等，同时集成GPSIMU和自主研发的控制平台。
图1扫描仪、GPS、IMU、控制平台图2八旋翼无人机激光雷达系统图3固定翼无人机激光雷达系统公司提供完善的设备检较系统，在设备使用过程中，定期对系统的各个组件进行重新标定，以保证所采集数据的精度。
图1扫描仪检校前（左）扫描仪检校后（中）检校前后叠加图（右）图4（左）为检校前扫描线：不连续且有异常抖动；图4（中）为检校后扫描线:数据连续且平滑变化；图4（右）为检校前后叠加图，红线标记的部分检校效果对比明显图5（左）为检校前扫描线：不在同一平面；图4（中）为检校后扫描线:在同一平面；图4（右）为检校前后叠加图。
成熟的飞控团队公司拥有成熟的软硬件团队以及经验丰富的飞控手，保证数据质量以及设备的安全性，大大节约了外业成本和时间图6无人机激光雷达系统以及影像系统完善的数据预处理软件公司自主研发的无人机系统配备有成套的激光雷达数据预处理软件Li-Air，该软件可对无人机实时传回的激光雷达数据进行航迹解算、数据生成、可视化等。
图7Li-Air数据预处理功能成功案例2022年7月，本公司利用Li-Air无人机激光雷达扫描系统进行中关村软件园园区扫描项目，采集园区高清点云以及影像数据。
北洋激光雷达 说明书
北洋激光雷达说明书北洋激光雷达是一种高精度、高分辨率的三维激光扫描系统，主要用于室内和室外的环境感知、建图和定位。
本说明书将为用户提供有关北洋激光雷达的详细说明和使用指南。
一、系统构成北洋激光雷达主要由激光发射器、接收器、光学系统、扫描控制系统、数据处理系统等部分组成。
激光发射器：北洋激光雷达采用固态激光发射器，发射波长为905nm，具有高功率、高效率、长寿命等特点。
接收器：北洋激光雷达采用高灵敏度、高分辨率的接收器，能够准确接收反射回来的激光信号。
光学系统：北洋激光雷达采用高质量的光学系统，具有高透过率、低散射率、高反射率等优点，能够保证高精度的扫描结果。
扫描控制系统：北洋激光雷达采用高速电机和精密控制系统，能够实现高速、高精度的扫描。
数据处理系统：北洋激光雷达采用高性能的处理器和专业的算法软件，能够实现快速、准确的数据处理和分析。
二、使用方法1. 连接设备：将北洋激光雷达与电脑或其他设备连接。
2. 启动设备：按下电源开关，启动设备。
3. 调整参数：根据需要，调整扫描参数，如扫描速度、扫描角度、扫描分辨率等。
4. 开始扫描：按下扫描按钮，开始进行扫描。
5. 获取数据：扫描完成后，可以通过数据接口获取扫描数据。
6. 数据处理：使用专业的数据处理软件，对扫描数据进行处理和分析。
三、使用注意事项1. 使用前，请先仔细阅读本说明书，了解设备的使用方法和注意事项。
2. 在使用设备时，应注意安全，避免直接照射人眼。
3. 在使用设备时，应注意保护设备，避免碰撞和摔落。
4. 在使用设备时，应注意环境光的影响，避免在强光环境下使用。
5. 在使用设备时，应注意保持设备干燥、清洁。
6. 在使用设备时，应避免在易爆、易燃的环境中使用。
四、使用范围北洋激光雷达主要应用于室内和室外的环境感知、建图和定位，适用于机器人导航、智能制造、智慧城市、安防监控等领域。
五、总结本说明书为用户提供了北洋激光雷达的详细说明和使用指南，希望能够帮助用户更好地理解和使用北洋激光雷达。
SLAMTEC思岚科技RPLIDAR A2 360度激光扫描测距雷达开发套装使用手册
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 低成本360度2D激光雷达系统开发套装使用手册说明书
RPLIDARLow Cost 360 degree 2D Laser Scanner (LIDAR) SystemDevelopment Kit User Manual2014-2Rev.1Contents:1.OVERVIEW (2)I TEMS IN D EVELOPMENT K IT (2)RPLIDAR (2)USB A DAPTER (3)2.CONNECTION AND USAGE (4)C ONNECTION (4)I NST ALL D RIVER FOR THE USB A DAPTER (5)R UN D EMO A PPLICATION (6)T ROUBLE SHOOTING (8)3.DEVELOPMENT GUIDE AND SDK INTRODUCTION (9)P IN D EFINITION FOR RPLIDAR (9)P IN D EFINITION FOR USB A DAPTER (10)C ONFIGURE RPLIDAR S CAN F REQUENCY (10)SDK U SAGE (11)4.OPERATION RECOMMENDATION (12)P RE-H EATING FOR BEST PERFORMANCE (12)A MBIENT T EMPERATURE (12)A MBIENT L IGHT (12)5.REVISION HISTORY (13)1. OverviewThank you for purchasing RPLIDAR development kit. By using this kit, customers can easilyevaluating RPLIDAR’s performance. RoboPeak also provides SDK code to help customers integrate RPLIDAR to their system.Items in Development KitRPLIDAR Development Kit contains ：● RPLIDAR （PWM motor driver embedded ）● USB Adapter● RPLIDAR communication cable ● Micro-USB cableRPLIDARUSB AdapterMicro-USB cableRPLIDARRPLIDAR communication cableRPLIDAR development kit contains standard RPLIDAR unit (A1M1-R1). The RPLIDAR embedded logic IO drivable (3.3V) motor controller which can be used to configure scan frequency by tuning motor speed. Developer also can choose to turn off motor for power saving purpose.RPLIDAR usage and interface definition will be introduced in the coming sections. USB AdapterRPLIDAR development kit contains a USB adapter to provide power supply for RPLIDAR and convert RPLIDAR internal UART serial interface to USB interface.2. Connection and UsageConnectionRPLIDAR can be easily connect to PC by following bellow steps.1) Connect RPLIDAR with the USB adapter using provided communication cable.Thesocket is in the bottom of RPLIDAR.2)Connect the USB adapter to your PC using the Micro-USB cableAfter connecting RPLIDAR to your PC through the USB cable, the LED in the bottom of the RPLIDAR will light up and RPLIDAR start scanning.Install Driver for the USB AdapterThe USB adapter converts UART to USB using CP2102 chip. You need to install the device driver for the chip. The driver can be found in the provided SDK package or download from Silicon Labs’s official website:/products/interface/usbtouart/Pages/usb-to-uart-bridge.aspx Here’s the installation steps in Windows:After connecting the RPLIDAR with PC, 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.After Installing the driver according to installation steps, you should see corresponding serial port name in the [Control Panel] -> [Device and Printers]. Please refer to the bellow figure.in If the connection is ok, you shall see the UI like this:The firmware/hardware version and serial number of the RPLIDAR will show in the title line of the GUI. The supported commands of RPLIDAR are showed in the tool bar. The descriptions are listed in the bellow table.Button Function DescriptionStart Scan Scan data will be displayed after scan core startingworkStop Scan Scan core enter power save modeSave Scan Data Save current scan data to the local fileRestart RPLIDAR Restart scan core to clear internal errorsPress the Start Scan button，the scan data will be displayed in the UI：Use the mouse wheel to zoom in and out. Move the cursor to any sample point, the distance and degree value to the RPLIDAR will be showed in the screen with red font. The scan frequency also showed in the UI.T rouble shootingWhen scan core or laser power works abnormally, scan core will enter protection mode. This state can be retrieved using SDK API. If such scenario happened, sending restartcommand can let scan core reset.3. Development Guide and SDK IntroductionPin Definition for RPLIDARThe socket in the bottom of RPLIDAR is using 5267-7A specification: 2.5mm spacing 7 pin.Any communication cable has 5264-7 terminal block can be used to connect with RPLIDAR. Please find the detail pin definition in the bellow table:PinSignal name Type DescriptionMinimum TypicalMaximum P1 VMOTO Power Power supply for the RPLIDAR scan motor- 5V 9V P2MOTOCTLInputEnable pin for RPLIDAR scan motor/PWM control signal (active high)0V-VMOTOP3 GND Power GND signal for RPLIDAR scan motor - 0V - P4 V5.0 Power Power supply for RPLIDAR scan core 3.6V 5V 6V P5 TX Output Serial output for RPLIDAR scan core 0V - 5V P6 RX Input Serial input for RPLIDAR scan core 0V - 5V P7 GND PowerGND signal for RPLIDAR scan core- 0V V5.0External system must provide required VMOTO and V5.0 power to make scan motor and scan core work correctly. In most of scenarios, VMOTO and V5.0 can share the same power supply.MOTOCTL Pin used to control scan motor speed to adjust RPLIDAR’s scan frequency , PWM signal also can be applied. The equivalent circuit showed as bellow:You can also refer to the bellow Reference Design for RPLIDAR development.P1P7…5267-7ADescription Since USB adapter ’s contr ol signal MOTOCTL is fixed to high level, RP LIDAR’s scan motor is always rotating at its highest speed which makes RPLIDAR working on a relative high scan frequency. You can configure RPLIDAR’s scan freque ncy by controlling motor speed.By connecting MOTOCTL signal to the device has PWM output function such as MCU’s PWM output I/O port, RPLIDAR’s scan frequency can be locked in a proper value by adjust duty ratio of PWM using the scan frequency feedback provided by RPLIDAR core.VMOTO GND V5.0 GND TX RXMOTOCTLPower (4-9V DC)Power (5V DC)UART PWM Generator MCU/DSPRPLIDAR P1P7…5267-7APlease refer to RPLIDAR protocol and application note for more information. SDK also contains the sample code.SDK UsageRoboPeak provides RPLIDAR SDK support both Windows and Linux platform. The SDK contains sample code. Please refer to SDK document for more information.4.Operation RecommendationPre-Heating for best performanceThe scan core will heating when start working. We recommended pre-heating RPLIDAR (Start scan mode, the scan motor is rotating) for more than 2 minutes to get the best measurement accuracy.Ambient T emperatureRPLIDAR’s measurement resolution is sensitive to t he 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 LightAlthough RPLIDAR is not sensitive to ambient light, improper use may still lead to errors.In indoor environment, please avoid lighting RPLIDAR with strong light source such as high-power laser.In outdoor environment, please avoid facing RPLIDAR directly into sun light. This may leads to permanent damage to the image sensor of RPLIDAR.The standard version of RPLIDAR may have less measurement range in strong sun light environment. Please contact RoboPeak for any customization options.5.Revision History。
激光雷达测量系统介绍
激光雷达测量系统介绍激光雷达是一种能够通过发射和接收激光束来测量目标位置和形状的传感器。
它使用激光束在目标表面上形成回波并测量返回时间来计算目标与激光雷达的距离。
激光雷达主要由激光发射器、接收器、控制装置和数据处理器组成。
激光发射器发射出一束激光，经过目标后产生回波，回波由接收器接收。
控制装置负责控制激光发射和接收的时间间隔，数据处理器则负责处理接收到的数据，并计算出目标的位置和形状。
激光雷达测量系统具有许多优点。
首先，激光束是光电信号，传输速度快，能够实时获取目标的位置信息。
其次，激光雷达能够在长距离范围内进行测量，同时精度也很高。
再次，激光雷达可以工作在各种环境下，包括光照不好或恶劣天气条件。
最后，激光雷达的测量结果不受目标颜色、形状和纹理的影响，适用于各种不同的目标。
激光雷达测量系统在许多领域有广泛的应用。
在自动驾驶车辆中，激光雷达能够实时感知车辆周围的环境，帮助车辆避免障碍物并规划最优路径。
在机器人领域，激光雷达能够提供环境的三维地图，帮助机器人进行定位和导航。
在建筑工程中，激光雷达可以用于测量建筑物的形状和尺寸，帮助设计和施工过程中的精确测量。
在激光雷达的发展过程中，随着技术的进步，激光雷达的性能和精度也不断提高。
目前，已经出现了多线激光雷达和相位调制激光雷达等新型激光雷达技术。
多线激光雷达能够同时发射多束激光，并在接收端同时接收多个回波，从而提高测量效率。
相位调制激光雷达则能够通过测量激光的相位信息，实现更高的距离分辨率和测量精度。
总之，激光雷达测量系统是一种非常重要的传感技术，它在机器人、自动驾驶车辆、建筑工程等领域有着广泛的应用前景。
随着技术的不断发展，激光雷达的性能和精度将会进一步提高，为各个领域的应用提供更好的支持。
纬创激光测距仪说明书
纬创激光测距仪说明书
纬创激光测距仪是一种用于测量距离的仪器，它利用激光束进行测距。
1. 产品概述：纬创激光测距仪主要由激光发射器、接收器、计算处理器和显示屏等部分组成。
它采用高精度的激光技术，能够快速、准确地测量目标物体与测距仪之间的距离。
2. 产品特点：
- 高精度：纬创激光测距仪具有高精度的测量能力，可以达到亚毫米级别的测量精度。
- 快速测量：它可以在几毫秒的时间内完成一次测量，非常适合于需要快速、多次测量的场合。
- 大测距范围：纬创激光测距仪可以测量不同距离范围内的目标物体，通常可以达到几米到几百米的测量范围。
- 易于操作：操作简单、方便，只需要按下测量按钮即可进行测量。
3. 使用方法：
- 打开电源开关，确保激光测距仪正常工作。
- 瞄准目标物体，并按下测量按钮，激光测距仪将会发射一束激光束，并接收返回的激光信号。
- 激光测距仪会根据接收到的激光信号计算出目标物体与测距仪之间的距离，并在显示屏上显示出来。
- 若需要继续测量其他目标物体的距离，可以重新瞄准目标并按下测量按钮进行测量。
4. 注意事项：
- 在使用激光测距仪进行测量时，避免直接对准人眼，以防危险。
- 在测量过程中，尽量保持激光测距仪与目标物体之间没有遮挡物，以确保准确测量。
- 在存放激光测距仪时，应放置在干燥、防尘的环境中，避免长时间暴露在强光下。
以上就是纬创激光测距仪的简单说明书，希望能够对您有所帮助。
如果您还有其他问题，可以随时向我们咨询。
- 1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。
一、简介
新软汇通XR01 360度二维激光扫描雷达测距系统:是一款低成本二维激光雷达解决方案。
它可以实现360度6米范围内的激光测距扫描，产生所在空间的平面点云地图信息用于地图测绘、机器人定位导航、物体/环境建模等应用。
在进行360点采样/周的设置下，XR01扫描频率达6hz，并且最高可达10hz的扫描频率。
XR01采用的激光三角测距系统，可以在各类室内环境以及无日光直接照射的室外环境下应用。
产品图片：
规格（长*宽*高）：170 *150*80
二、说明
供电与动力
XR01自身带有转速检测与自适应系统，雷达的扫描频率会自动随着实际的电机转速做出调整。
无需使用者为XR01提供复杂的供电系统，降低了总体成本。
并且外部系统可以通过通讯接口获取当
前雷达的实际转速。
⏹安全性与适用范围
采用低功率(<5mW)的红外线激光器作为发射源，并采用调制脉冲方式驱动，激光器仅在极短的时间内进行发射动作。
因而可以确保对人类及宠物的安全性，可以达到Class I级别的激光器安全标准。
调制的激光可以有效避免在测距扫描过程当中的环境光与日光干扰。
可以在各类室内环境以及无日光直接照射的室外环境下应用
⏹输出数据
在XR01工作时，每次采样的数据将通过通讯接口输出。
每个采样点的数据将包括如下的信息。
如果需要具体的数据格式和通讯接口的协议，请与新软汇通联系联系。
三、测量性能
*注：三角测距系统距离分辨率将随着实际距离值变化，XR01的理论具体变化情况如下图所示：
四、光学信息
五、工作环境
⏹预热与最佳工作时间
由于测距核心在工作中将产生热量，建议在XR01工作（开启扫描模式、扫描电机开始运转）2分钟后使用。
此时测距精度将达到最佳水平。
⏹环境温度
当环境温度与常温差距过大将影响测距系统的精度，并可能对扫描系统的结构产生损害。
请避免在高温（>40摄氏度）以及低温（<-10摄氏度）的条件中使用。
⏹环境光照
XR01的理想工作环境为室内，室内环境光照（包含无光照）不会对XR01工作产生影响。
但请避免使用强光源（如大功率激光器）直接照射XR01的视觉系统。
如果需要在室外使用，请避免XR01的视觉系统直接面对太阳照射，这将这可能导致视觉系统的感光芯片出现永久性损伤，从而使测距失效。
XR01标准版本在室外强烈太阳光反射条件下的测距范围将缩短。