SLAMTEC Mapper Datasheet - M2M2 - v1.1 - en

SLAMTEC Mapper
2022-10-28 rev.1.1
Laser Mapping Sensor
Introduction and Datasheet(PREVIEW)

Model: M2M2
40M SLAM 3.0 SharpEdge

w w w .sla m te c.com
S h angh aiS lam te c.C o .,L td

Contents
CONTENTS ................................................................................................................................................................... 1
INTRODUCTION .......................................................................................................................................................... 3
SYSTEM COMPOSITION AND CONNECTION ................................................................................................................................ 4

MECHANISM .................................................................................................................................................................................. 4
SAFETY AND SCOPE ....................................................................................................................................................................... 6
DATA OUTPUT ............................................................................................................................................................................... 6
APPLICATION SCENARIOS ............................................................................................................................................................. 6
SPECIFICATION ........................................................................................................................................................... 7
MEASUREMENT PERFORMANCE ................................................................................................................................................... 7

LASER POWER SPECIFICATION ...................................................................................................................................................... 7
OPTICAL WINDOW ........................................................................................................................................................................ 8
COORDINATE SYSTEM DEFINITION OF SCANNING DATA .......................................................................................................... 8
COMMUNICATION INTERFACE ...................................................................................................................................................... 9
OTHER PARAMETERS ................................................................................................................................................................... 10
SELF-PROTECTION AND STATUS DETECTION ................................................................................................. 11
SDK AND SUPPORT ................................................................................................................................................. 12
MECHANICAL DIMENSIONS.................................................................................................................................. 13
REVISION HISTORY .................................................................................................................................................. 14
APPENDIX ................................................................................................................................................................... 15
IMAGE AND TABLE INDEX............................................................................................................................................................ 15

Introduction
SLAMTEC Mapper is a new type of laser sensor introduced by SLAMTEC, which is

different from traditional LIDAR. It has built-in functions of simultaneous
localization and mapping (SLAM), and is suitable for many applications such as
robot navigation and positioning, environmental mapping and hand-held
measurement.
SLAMTEC Mapper uses high-performance SLAM map optimization engine and

SharpEdge™ fine mapping technology, which can actively detect and correct
closed-loop, and achieve 100,000 square meters high-precision map and pose.
SLAMTEC Mapper can work without additional sensors or data input. Because of
the built-in 9-DOF inertial navigation system, SLAMTEC Mapper in the hand-held
mapping mode can work normally in fluctuating environment with inclination, to
ensure the best map data quality.
SLAMTEC Mapper provides a complete SDK development kit, mobile phone and
PC-side evaluation tools to facilitate users to expand development and data
acquisition. At the same time, combined with the supporting ROS driver, the
generated map and pose data can be directly used in the ROS environment, which
is fully compatible.
SLAMTEC Mapper can be directly used as a LIDAR sensor in addition to its own
mapping and positioning functions. Through SDK or ROS node, the LIDAR data
can be quickly accessed to users'existing systems.
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
System Composition and Connection
SLAMTEC Mapper kit includes LIDAR sensors and data processing units. Users only
need to connect to 5V DC power supply, then with Ethernet or WiFi SLAMTEC
Mapper can be easily communicated.
SLAMTEC Mapper kit supports DC power supply for DC sockets. Users can obtain
real-time map and pose data generated by SLAMTEC Mapper through WiFi signal,
and can also realize high-speed and stable data path through Ethernet interface.
LIDAR
r
Data Processing Unit
Figure 1-1 SLAMTEC Mapper System Composition
Mechanism
SLAMTEC Mapper kit uses SLAMTEC's unique SLAM optimization algorithm and
high-performance LIDAR to fuse map data more than 10 times per second and
construct up to 100,000 square meters of mapping area. The LIDAR carries out
9200 measurements per second, and the longest ranging distance can reach 40
meters. The built-in processing system can process data in real time and output
high-precision map and pose.
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Figure 1-2 Block Diagram of working principle of SLAMTEC Mapper
Driven by the motor mechanism, the SLAMTEC Mapper's ranging core will rotate
clockwise to achieve 360-degree omni-directional map of the surrounding
environment.
* Note: There is no direct connection

and disproportionate relationship
between the sensor mapping and the
environmental schematic here. This is
for illustrative purposes only.
Figure 1-3 The Obtained Environment Map from SLAMTEC Mapper
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Safety and Scope
SLAMTEC Mapper uses a low-power infrared laser as the emission source and is
driven by a modulated pulse mode. The laser can only launch in a very short time.
Class I Therefore, it can ensure the safety of humans and pets, and can meet the Class I
level of laser safety standards. The product conforms to 21 CFR 1040.10 and
1040.11, except for deviation according to Laser Notice No. 50 of 24 June 2007.
Caution: Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous radiation exposure.
The modulated laser can effectively avoid the interference from ambient light and
sunlight during ranging scanning process, which makes SLAMTEC Mapper work
excellent in all kinds of indoor environment and outdoor environment without
direct sunlight.
Data Output
SLAMTEC Mapper kit can achieve 0.05m resolution and less than 0.02m
positioning accuracy, and can actively detect and correct the closed-loop by using
SLAMTEC's high-performance SLAM map optimization engine and SharpEdge™
fine mapping technology. The output data includes real-time LIDAR scanning data,
real-time map data, real-time pose coordinates (x, y, theta) and positioning
quality.
With SLAMWARE SDK or ROS Node driver, relevant data can be obtained.
Application Scenarios
SLAMTEC Mapper can be used in the following application scenarios:
o General robot navigation and localization
o Environment mapping
o Architectural engineering
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Specification
Measurement Performance
For Model M2M2 Only
Item Detail Parameter

Distance Range1 The largest distance measured by radar 40m
Sample Rate Laser points sampled per second by radar 9200 Hz
Maximum Area Maximum Mapping Area 300m * 300m
2
Mapping resolution 0.05m
Maximum moving Maximum Linear Speed of Product
2 m/s
speed Mobility
Maximum rotation Maximum angular velocity of product
TBD
speed rotation
3
Accuracy < 0.02m
Graph Optimizing
About 1hr
Working Time4
Maximum Inclination Maximum Inclination Angle in Mapping
±3°
Angle Process
Frequency of data Frequency of data and location
10 Hz
refresh information updates
Figure 2-1 SLAMTEC Mapper Performance
Laser Power Specification

For Model M2M2 Only
Item Unit Min Typical Max Comments

Laser Infrared Light
Nanometer(nm) 895 905 915
wavelength Band
Laser power5 Watt (W) - 28 - Peak power
Pulse length Nanosecond(ns) - 10 - -
Duty Ratio % 0.0092
Laser Safety IEC-60825

- - - -
Class Class 1
Figure 2-2 SLAMTEC Mapper Specification
1
Measured at 92% reflectivity
2
Each pixel in the map represents an area of 0.05m x 0.05m
3
Ideal laboratory environment data
4
Depending on the difference of environment, beyond the time limit, it will enter the non-graph optimization
mapping mode.
5
Laser power is instantaneous, and the actual average power will be much lower than this value.
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Optical Window
To make SLAMTEC Mapper working normally, please ensure proper space to be
6
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 SLAMTEC Mapper. If you need cover the SLAMTEC Mapper with
translucent materials or have other special needs, please contact SLAMTEC about
the feasibility.
Emissive Window
Optical Window
Receiving Window
Figure 2-3 SLAMTEC Mapper Window
Coordinate System Definition of Scanning Data

SLAMTEC Mapper adopts a coordinate system that follows the right-hand rule.
The front of the sensor is defined as the x-axis of the coordinate system, and the
origin of the coordinate system is the rotation center of the ranging core. Specific
coordinate system definitions are shown in the following figure:
Figure 2-4 SLAMTEC Mapper Scanning Data Coordinate System Definition
6
You can check the Mechanical Dimensions chapter for detailed window dimensions.
8 / 15
Communication interface
SLAMTEC Mapper uses a separate 5V DC power supply. Through simple plug-
and-play functions, users can connect it to mobile devices such as mobile phones
to create an integrated portable measurement scheme.
Specific interface definitions and ontology lines are shown in the following figure:
Figure 2-5 SLAMTEC Mapper Kit Interface Definition Diagram
Figure 2-6 SLAMTEC Mapper Kit Power Wire Diagram
Power Supply Interface

SLAMATEC Mapper kit supports DC socket DC power supply. External power
supply needs to ensure that the current output ability and ripple characteristics of
the power supply meet the requirements of the table below to ensure the normal
use of the map sensor.
9 / 15
For Model M2M2 Only
Item Unit Min Typical Max Remark

If the voltage exceeds the max
Power Voltage V 4.95 5.1 5.3
value, it may damage the core
Power Voltage High ripple may cause the
mV - 50 100
Ripple core working failure.
System Start Current mA 1400 1500 1600
TBD 40 50 5V Power，power off

Power Current mA
TBD 750 1300 5V Power，power on
Figure 2-7 SLAMTEC Mapper Power Supply Specification
Data communication interface

SLAMTEC Mapper communicates with Wi-Fi over Ethernet. Its transmission
standards and rates are shown in the following table:
Interface Standard Rate
Ethernet 802.3/802.3u 10/100M
Wi-Fi 802.11a/b/g/n/ac -
Figure 2-8 SLAMTEC Mapper Interface Specification
Other parameters
For Model M2M2 Only
Item Unit Min Typical Max Comments
Weight Gram (g) TBD TBD TBD
Working temperature o
Degree Celsius ( C) -5 25 45
range
Storage temperature
Degree Celsius (oC) TBD TBD TBD
range
Figure 2-9 SLAMTEC Mapper Other Parameters
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Self-protection and Status Detection
When SLAMTEC Mapper is not working properly, users can get the working status
of the system through SDK health data acquisition interface, and try to restart
SLAMTEC Mapper to restore work.
11 / 15
SDK and Support
In order to facilitate users to use SLAMTEC Mapper for product development and
accelerate the development cycle, SLAMTEC provides RoboStudio, a software for
robot management and development, which can be debugged graphically
through network connection. In addition, SDK development kit which can run on
X86 windows, x86 Linux, arm Linux and other platforms is also provided to users.
For specific information, please contact SLAMTEC.
Figure 4-1 RoboStudio
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Mechanical Dimensions
The mechanical dimensions of the SLAMTEC Mapper are shown as below:
Figure 5-1 SLAMTEC Mapper Mechanical Dimensions
Note: the 4*M2.5 screws in the LIDAR bottom should be no longer than 6mm, or
the internal module would be damaged.
13 / 15
Revision history
Date Version Description
2021-7-17 1.0 Initial version for SLAMTEC Mapper M2M2
2022-10-28 1.1 Modify the parameters of power supply interface
14 / 15
Appendix
Image and Table Index

FIGURE 1-1 SLAMTEC MAPPER SYSTEM COMPOSITION.............................................................................................. 4
FIGURE 1-2 BLOCK DIAGRAM OF WORKING PRINCIPLE OF SLAMTEC MAPPER............................................................... 5
FIGURE 1-3 THE OBTAINED ENVIRONMENT MAP FROM SLAMTEC MAPPER ................................................................. 5
FIGURE 2-1 SLAMTEC MAPPER PERFORMANCE ......................................................................................................... 7
FIGURE 2-2 SLAMTEC MAPPER SPECIFICATION.......................................................................................................... 7
FIGURE 2-3 SLAMTEC MAPPER WINDOW ................................................................................................................. 8
FIGURE 2-4 SLAMTEC MAPPER SCANNING DATA COORDINATE SYSTEM DEFINITION ................................................... 8
FIGURE 2-5 SLAMTEC MAPPER KIT INTERFACE DEFINITION DIAGRAM ........................................................................ 9
FIGURE 2-6 SLAMTEC MAPPER KIT POWER WIRE DIAGRAM ...................................................................................... 9
FIGURE 2-7 SLAMTEC MAPPER POWER SUPPLY SPECIFICATION ................................................................................ 10
FIGURE 2-8 SLAMTEC MAPPER INTERFACE SPECIFICATION ....................................................................................... 10
FIGURE 2-9 SLAMTEC MAPPER OTHER PARAMETERS ............................................................................................... 10
FIGURE 4-1 ROBOSTUDIO........................................................................................................................................ 12
FIGURE 5-1 SLAMTEC MAPPER MECHANICAL DIMENSIONS...................................................................................... 13
Manufacturer: SHANGHAI SLAMTEC CO., LTD.
Address: D-501 Shengyin Tower, 666 Shengxia Rd., Shanghai, China
Made in China
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SLAMTEC Mapper

Laser Mapping Sensor

Introduction and Datasheet(PREVIEW)

40M SLAM 3.0 SharpEdge

S h angh aiS lam te c.C o .,L td

SYSTEM COMPOSITION AND CONNECTION ................................................................................................................................ 4

MEASUREMENT PERFORMANCE ................................................................................................................................................... 7

SELF-PROTECTION AND STATUS DETECTION ................................................................................................. 11

SDK AND SUPPORT ................................................................................................................................................. 12

REVISION HISTORY .................................................................................................................................................. 14

IMAGE AND TABLE INDEX............................................................................................................................................................ 15

SLAMTEC Mapper is a new type of laser sensor introduced by SLAMTEC, which is

SLAMTEC Mapper uses high-performance SLAM map optimization engine and

Data Processing Unit

Figure 1-1 SLAMTEC Mapper System Composition

* Note: There is no direct connection

Figure 1-3 The Obtained Environment Map from SLAMTEC Mapper

o General robot navigation and localization

Item Detail Parameter

Figure 2-1 SLAMTEC Mapper Performance

Laser Power Specification

Item Unit Min Typical Max Comments

Laser power5 Watt (W) - 28 - Peak power

Pulse length Nanosecond(ns) - 10 - -

Duty Ratio % 0.0092

Laser Safety IEC-60825

Figure 2-2 SLAMTEC Mapper Specification

Figure 2-3 SLAMTEC Mapper Window

Coordinate System Definition of Scanning Data

Figure 2-4 SLAMTEC Mapper Scanning Data Coordinate System Definition

Figure 2-5 SLAMTEC Mapper Kit Interface Definition Diagram

Figure 2-6 SLAMTEC Mapper Kit Power Wire Diagram

Power Supply Interface

Item Unit Min Typical Max Remark

System Start Current mA 1400 1500 1600

TBD 40 50 5V Power，power off

Figure 2-7 SLAMTEC Mapper Power Supply Specification

Data communication interface

Interface Standard Rate

Ethernet 802.3/802.3u 10/100M

Figure 2-8 SLAMTEC Mapper Interface Specification

Item Unit Min Typical Max Comments

Weight Gram (g) TBD TBD TBD

Figure 2-9 SLAMTEC Mapper Other Parameters

Figure 4-1 RoboStudio

Figure 5-1 SLAMTEC Mapper Mechanical Dimensions

Date Version Description

2021-7-17 1.0 Initial version for SLAMTEC Mapper M2M2

2022-10-28 1.1 Modify the parameters of power supply interface

Image and Table Index

Manufacturer: SHANGHAI SLAMTEC CO., LTD.

Address: D-501 Shengyin Tower, 666 Shengxia Rd., Shanghai, China

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