> ## Documentation Index
> Fetch the complete documentation index at: https://docs.mrdvs.com/llms.txt
> Use this file to discover all available pages before exploring further.

# M4系列iToF 3D相机

> M4 Mega、M4 和 M4 Pro iToF RGB-D 相机的主要规格、开发资料、模型文件和适用方案。

M4 系列采用 iToF RGB-D 成像方案，可同步输出深度图、RGB 图和幅度图。系列包括 M4 Mega、M4 和 M4 Pro，覆盖室内外的物体识别、定位、测量与机器人集成需求。

> [!NOTE]
>
> 完整产品资料可在[下载中心](https://docs.mrdvs.com/resources/downloads/specifications-and-user-guides.md)获取。

## 型号选择

| 型号 | 适用特点 | 典型接口与防护 |
| - | - | - |
| M4 Mega | 较高帧率、全局快门 RGB 与 4 路 I/O | 千兆以太网、CAN、4 路 I/O；IP67 |
| M4 | 通用型 RGB-D 感知 | 千兆以太网、CAN；IP42 |
| M4 Pro | 适合需要 RS485 通信的集成 | 千兆以太网、RS485；IP50 |

## 产品特点

* **RGB-D 同步输出**：融合纹理与几何信息，支持物体检测、定位和抓取。
* **实时成像**：不同型号支持最高 15–25 fps 的深度与 RGB 数据输出。
* **HDR 成像**：适用于高反差和复杂反射表面。
* **开放开发环境**：提供 C/C++ 和 ROS SDK，支持 Windows、Linux 和 Arm Linux。

## 主要规格

| 参数 | M4 Mega | M4 | M4 Pro |
| - | - | - | - |
| 激光器 | 940 nm VCSEL | 940 nm VCSEL | 940 nm VCSEL |
| 输出数据 | 深度图、RGB 图、幅度图 | 深度图、RGB 图、幅度图 | 深度图、RGB 图、幅度图 |
| 深度分辨率与帧率 | 640 × 480；最高 25 fps，典型 15 fps | 640 × 480；最高 15 fps，典型 12 fps | 640 × 480；最高 15 fps，典型 12 fps |
| 深度视场角 | 81° × 61°，±3° | 81° × 61°，±3° | 81° × 61°，±3° |
| RGB 分辨率与帧率 | 1280 × 960；最高 25 fps，典型 15 fps | 1920 × 1080；最高 15 fps，典型 12 fps | 1920 × 1080；最高 15 fps，典型 12 fps |
| RGB 视场角 | 86° × 55°，±3° | 88° × 56°，±3° | 88° × 56°，±3° |
| RGB 快门 | 全局快门 | 滚动快门 | 滚动快门 |
| 工作范围 | 0.2–5 m | 0.3–5 m | 0.3–5 m |
| 测距精度 | ±3 mm + 0.25% × 深度值 | ±4 mm + 0.25% × 深度值 | ±4 mm + 0.25% × 深度值 |
| 平均功耗 | 6.8 W（24 VDC） | 6.2 W（24 VDC） | 8.7 W（24 VDC） |
| 外形尺寸（长 × 宽 × 高） | 92 × 47 × 51 mm | 88 × 47 × 47 mm | 95 × 80 × 41 mm |
| 重量 | 449 g | 333 g | 428 g |
| 供电 | 24 VDC / 2 A | 24 VDC / 2 A | 24 VDC / 3 A |
| 通信接口 | 千兆以太网、CAN、4 路 I/O | 千兆以太网、CAN | 千兆以太网、RS485 |
| 防护等级 | IP67 | IP42 | IP50 |
| 工作温度 | −20–60 °C | −20–60 °C | −20–60 °C |
| 存储温度 | −40–85 °C | −40–85 °C | −40–85 °C |

## 快速开始与开发

> **[M4 Mega 快速入门](https://docs.mrdvs.com/products/m-series/m4-mega-quickstart)**
>
> 连接相机、配置网络并获取第一帧数据。

> **[M4 Pro 快速入门](https://docs.mrdvs.com/products/m-series/m4-pro-quickstart)**
>
> 完成供电、网络与上位机配置。

> **[M4 快速入门](https://docs.mrdvs.com/products/m-series/m4-quickstart)**
>
> 快速接入 M4 相机。

> **[M4 用户手册](https://docs.mrdvs.com/products/m-series/m4-user-guide)**
>
> 查看 M4 的接口、安装、精度与软件配置说明。

> **[M4 Mega 用户手册](https://docs.mrdvs.com/products/m-series/m4-mega-user-guide)**
>
> 查看触发、I/O 与软件配置说明。

> **[M4 Pro 用户手册](https://docs.mrdvs.com/products/m-series/m4-pro-user-guide)**
>
> 查看 M4 Pro 系列的接口、安装与配置说明。

## 产品模型下载

### M4 Mega

* [尺寸图](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/111911c984aed132a468d6abec3a316550d682c7a7ad56bc1a62d770ab464663/m4_mega_dimension_drawing.pdf)
* [视场角图](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/a2caf21d9ce31bed8af5afce3bba5d7f345b12c45254bdaa0ddc6ead4eb35dcd/m4_mega_fov_drawing.pdf)
* [三维模型](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/b419fea11ab235d98aa505adec18b774412c8a88b9348ad7b962cf7dd3d489cf/m4_mega_omitted_range_3d_model_v1_0.step)

### M4

* [尺寸图](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/3a2f7222b69a779f698e25bab95366d5029c6d5ba13d7fca9d4f7a7e4f309b84/m4_dimension_drawing.pdf)
* [视场角图](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/b7900bf1094d9b55f3d7ae1d23bfe37a5c11ccd94d30c74e2e6f41a3c820dbc3/m4_fov_drawing.pdf)
* [三维模型](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/c219178317d2d8f55e55902da769652f2c9238cd17a54ce8605bc6c048eea237/m4_3d_model_v1_0.step)

### M4 Pro

* [M4 Pro 尺寸图](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/8ceb3a6357685a26b21ec3fe89ab603e2fe96303cbdae72673a031c2f225dd04/m4_pro_dimension_drawing.pdf)
* [M4 Pro 视场角图](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/22056debb30648422ed83d6e2d1409f504d01a1146890ad5a347893bc70cc62c/m4_pro_fov_drawing.pdf)
* [M4 Pro Wfov 视场角图](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/bdb5c304f61f2f68bea050a43937dbb22bf45a8f8b59582a1de405047ee3ba80/m4_pro_wfov_drawing.pdf)
* [M4 Pro 850 视场角图](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/e683f93b367bbf0f290e065cee9bd212112b8485c09901f426cd9e01774e5f97/m4_pro_850_fov_drawing.pdf)
* [M4 Pro 三维模型](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/b4916b199478771a9b979ee284299bc81a62a49eb23bcfb8f8b5dda1baa4a2c5/m4_pro_3d_model_v1_0.step)

> [!NOTE]
>
> M4 Pro、M4 Pro Wfov 和 M4 Pro 850 的外观尺寸相同。

## 相关方案

> **[智能叉车托盘识别](https://docs.mrdvs.com/solutions/warehouse/pallet-recognition.md)**

> **[AGV 叉车料筐堆垛](https://docs.mrdvs.com/solutions/warehouse/bin-stacking.md)**

> **[库位状态识别](https://docs.mrdvs.com/solutions/warehouse/bin-location-status.md)**

> **[拆垛算法](https://docs.mrdvs.com/solutions/warehouse/soft-package-depalletizing.md)**

> **[3D 视觉体积测量](https://docs.mrdvs.com/solutions/warehouse/volume-measurement.md)**

> **[3D 视觉助力立库安全](https://docs.mrdvs.com/solutions/warehouse/automated-storage-safety.md)**

## 认证资料

### M4 Mega

* [CE EMC 证书（TÜV）](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/0364bebaa8002f48bbc3b477d0a29e4e36f11e2457cd6e1a01f847a8eb5378c8/m4_ce_emc_certificate_tuv_02.pdf)
* [EMC 测试报告（TÜV）](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/8df9cf58fc1f723087a92ed546fbf2eeeaa6efcb243f85aaf7fa9dcb74a2f9fe/m4_emc_test_report_tuv_01.pdf)

### M4 Pro

* [CE EMC 证书（CTB）](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/c7a9f8b8217c0ca3fa3769bcfd70400613b7e114e118d82ff68bf491ebc2be33/m4_ce_emc_certificate_ctb_01.pdf)
* [EMC 测试报告（CTB）](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/e7b37adba48ba4b6bd36c5d0eea2c41207a08bd6f8dd5ce51a75a101c60cd1cf/m4_emc_test_report_ctb_02.pdf)

### M4

* [CE EMC 证书（TÜV）](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/61db29a45452faf55356689c23b5cbc31518c11ce8ddbdc69f762a29cfcbe9af/m4_ce_emc_certificate_tuv_01.pdf)
* [EMC 测试报告（TÜV）](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/ad7a83df466bf5971ed90cdfdcdc10bb51239c863107e6426ad02e57f5659ceb/m4_emc_test_report_tuv_02.pdf)
* [CE EMC 证书（CTB）](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/5b1f4e7540a92f93c59a2670788217118ce62b9a078478fba8a3b41bde090ac4/m4_ce_emc_certificate_ctb_02.pdf)
* [EMC 测试报告（CTB）](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/61b86668cd121f5ebecc43d4209a004e355d9ca6a00b76453571fc5877e7c0a5/m4_emc_test_report_ctb_01.pdf)

## 产品规格书与用户手册

| 型号 | 资料 | 版本 | 下载 |
| - | - | - | - |
| M4 系列 | 产品规格书 | V2.1 | [中文 PDF](https://hub.mrdvs.cn/static-file/685398b1-8c4d-4c8c-82cd-dfb534ecdd50/64e408a2-2410-46a3-a387-10bda8f09162.pdf) |
| M4 系列 | 用户手册 | V2.1 | [中文 PDF](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/1bd377694b3f2bdd05ca3007ecf112384b1154e65f036811a1371a3ed6c485ce/%E8%BF%88%E5%B0%94%E5%BE%AE%E8%A7%86_M4%E7%B3%BB%E5%88%973D%E8%A7%86%E8%A7%89%E4%BC%A0%E6%84%9F%E5%99%A8_%E4%BA%A7%E5%93%81%E7%94%A8%E6%88%B7%E6%89%8B%E5%86%8CV2.1.pdf) |
| M4 Mega | 产品规格书 | V2.1 | [中文 PDF](https://hub.mrdvs.cn/static-file/685398b1-8c4d-4c8c-82cd-dfb534ecdd50/64e408a2-2410-46a3-a387-10bda8f09162.pdf) |
| M4 Mega | 用户手册 | V2.0 | [中文 PDF](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/9c7c45a4600f1e766d97d450933242041f51e7ca6cfef67d4817dd5e0c0db617/%E8%BF%88%E5%B0%94%E5%BE%AE%E8%A7%86_M4Mega%203D%E8%A7%86%E8%A7%89%E4%BC%A0%E6%84%9F%E5%99%A8_%E4%BA%A7%E5%93%81%E7%94%A8%E6%88%B7%E6%89%8B%E5%86%8CV2.0.pdf) |
| M4 Pro | 产品规格书 | V2.1 | [中文 PDF](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/ba691e23cd6a49cfa98211c73ce360f06de9fbb1bcd86e2c1172ed4bc4f46eca/%E8%BF%88%E5%B0%94%E5%BE%AE%E8%A7%86_M4Pro%203D%E8%A7%86%E8%A7%89%E4%BC%A0%E6%84%9F%E5%99%A8_%E4%BA%A7%E5%93%81%E8%A7%84%E6%A0%BC%E4%B9%A6_V2.1.pdf) |
| M4 Pro | 用户手册 | V2.1 | [中文 PDF](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/f1d9d988fc6f6e73f2da664bd669340af46b399cd62d42f5d5dcaaebb1cc3793/%E8%BF%88%E5%B0%94%E5%BE%AE%E8%A7%86_M4Pro%203D%E8%A7%86%E8%A7%89%E4%BC%A0%E6%84%9F%E5%99%A8_%E4%BA%A7%E5%93%81%E7%94%A8%E6%88%B7%E6%89%8B%E5%86%8CV2.1.pdf) |

### 其他适用手册

M4 Mega 独立手册 V2.0，2026-04-13；与 M4 系列共用手册分别保留。 [下载 PDF](https://mrdvs.oss-cn-hangzhou.aliyuncs.com/knowledge-community/CameraSDK/knowledge-hub-docs-2026-10-15/d794ae88c54d4bec45d223d7a0e8ac8efb77aec964431141f0c3cdc59f35a290/%E8%BF%88%E5%B0%94%E5%BE%AE%E8%A7%86_M4Mega%E7%9B%B8%E6%9C%BA_%E4%BA%A7%E5%93%81%E7%94%A8%E6%88%B7%E6%89%8B%E5%86%8C_V2.0.pdf)

[查看对应型号认证资料](https://docs.mrdvs.com/resources/downloads/certifications.md)


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