3irobotix Delta-2A LiDAR Distance Sensor (Used/Refurb)

This laser distance sensor fits some Ecovac Deebot, Xiaomi and other vacuum cleaner models as a replacement part.

Open-source engineering community has also interfaced this LiDAR model to various MCU and computers to capture distance data.

The LiDAR comes in used and/or refurbished condition. I have tested each unit using ROS2 RViz to make sure the LiDAR spins and outputs a distance image.

Each unit comes with a Maker’s Pet breakout cable for 3irobotix Delta-2A LiDARs for easy connection to a microcontroller or micro-computer, including ESP32, Raspberry Pi Pico, Raspberry Pi proper, etc. The micro-controller can be Arduino-based.

Recommended usage

• Use 3irobotix Delta-2A with Maker`s Pet BDC-30P board or BDC-38C4 board

Here is a live demo of 3irobotix Delta 2G LiDAR connected to Maker`s Pet BDC 30P board running Arduino and ROS2. Delta-2A operates in a similar way.

Technical Specifications

• To the best of my knowledge, there is no official datasheet available for 3irobotix Delta-2A because Delta-2A is sold as a replacement part for vacuum cleaner repairs. Therefore, all specifications below are unofficial.
• Distance measurement method: triangulation
• Range: 0.13-8m (white target with 100% reflection)
• Rotation frequency: 4-10Hz, 6.2Hz default (revolutions per second)
• Scan rate: 2-5KHz
• Angular resolution 0.3~0.8°
• Communication protocol: TTL 3.3V(?) RS232 8 bit, 1 stop bit, no parity, 115200 baud
• Laser emitter: 780nm, 3mW max power, Han Laser manufacturer(?)
• Power consumption: 5V, up to 500mA
• Ambient illumination: 1,000 Lux max
• Accuracy: <1%@5m
• Distance Variance Coefficient: DCV<0.2%
• Safety: manuals of vacuum cleaner using 3irobotix Delta-2A state that the LiDAR has Class 1 safety.
• Weight: approx. 175g LiDAR without cable
• Dimensions: approx. 107mm by 76mm by 53mm

Documentation

• Step-by-step instructions: “How to Connect Delta-2A, 2B and 2G LiDAR to Maker’s Pet ESP32 Boards”
• Video of 3irobotix Delta-2G connected to ESP32 running Arduino and ROS2, streaming live. Delta-2G operates in a similar way.
• Dimensions drawing
• See this repo for the latest collection of technical references

Software

• Kaia.ai Arduino LDS library supports various LiDAR models including 3irobotix Delta-2A. This example sketch specifically illustrates data capture using 3irobotix Delta-2A (115200 baud) and an ESP32.
• Kaia.ai is ready-to-use robot software for Arduino/ROS2 robots equipped with a LiDAR, including 3irobotix Delta-2A. Kaia.ai includes firmware (ESP32) and ROS2-based software that runs ROS2 SLAM, Navigation, frontier exploration, etc. out-of-the-box. Kaia.ai supports Maker’s Pet robots including Maker’s Pet Mini.
• Arduino micro-ROS library is available for transferring the captured LiDAR data to a ROS2 PC

• Please visit our support forum
• Browse, file software issues in the Arduino LDS library repo

Warnings:

• This product contains small parts. Keep away from small children.
• This product contains a laser. Do not disassemble this product.