資料來源:https://www.seeedstudio.com/DE-LIDAR-TF01-p-2789.html
This product is discontinued, please consider the DE-LIDAR TF02 as analternative.
DE-LIDAR TF01 is based on ToF (Time of Flight) principle, with unique characteristic of optics, electronics, and design. It can also achieve stable, accurate, high-sensitivity and high-speed distance measurement.
Key Features | Sensitivity | High |
Detection range | 10m max(@90% Reflection ) | |
Detection frequency | 500Hz | |
Anti – ambient light | Function under 100k Lux ambient light | |
Shape | Exquisite size,light weight(< 50 g) | |
Accuracy | Centimeter-level(1% Relative error) | |
Applications |
UAV(drones) floating at fix height Terrain Followin |
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Machine control, security sensor | ||
Distance measurement |
Picture below is reference design,the size is 51mm*36mm*48mm.
1: Shell 2:Assembly hole 3:Wire
DELiDAR TF01 Mechanical Dimensions(reference design)
DELiDAR TF01 contour dimension(unit:mm)
Time of Flight (ToF) is a distance measurement method. The modulated near-infrared light emitted from sensor is reflected by the object. By calculating the time difference or phase difference between emission and reflection, the distance from the object can be deduced and so does the depth information.
Parameter | Symbol | Typ. | Unit |
Supply voltage | DC | 7.4-12(±5%) | V |
Power Consumption | P | ≤1 | W |
LED peak current | Imax | 200 | mA |
TTL | VTTL | 0~3.3 | V |
Parameter | Symbol | Conditions/Comments | Typ. | Unit |
Operating range | L | 100Klux ambient light @90% Reflection | 30-1000 | cm |
Emitting half-angle | α | Customizable | 1 | Degree |
Receiving half-angl |
β | Customizable | 1 | Degree |
Detection | De | Minimum detectable object size @ 5m | 4 - 6 | cm |
Resolution | Re | Sensitivity to distance change | 0.5 | cm |
Operating temperature | T | -10~60 | ︒C | |
Peak Wavelength | λ | 850 | nm |
Test conditions: stable working for 8 hours.
Table below is protocol for DELiDAR TF01
Protocol | UART |
Baud rate | 115200 |
Data bit | 8 |
Checksum bit | 1 |
Data is output in hexadecrimal format, 9 bytes per frame,including one distant info,called “Dist”;Every “Dist” has a seriel number info to it,called Sequence;Frame end bit is checksum bit.
Byte1 - 2 | Byte3 | Byte4 | Byte5 | Byte6 | Byte7 | Byte8 | Byte9 |
0x59 59 | Dist_L | Dist_H | Strength_L | Strength_H | Sequence_L | Sequence_H | CheckSum_L |
Data coding information | |||||||
Byte1 | 0x59,frame head,same in every frame | ||||||
Byte2 | 0x59,frame head,same in every frame | ||||||
Byte3 |
Dist_L distance value lower eight bit Distance is shown by HEX,eg.1000cm=03 E8 (HEX) |
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Byte4 | Dist_H distance value upper eight bit | ||||||
Byte5 |
Strength_L Lower eight bit Strength stands for signal quality, scale 0-2000,indoor<3 reject, outdoor<10 reject |
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Byte6 | Strength_H Uppereight bit | ||||||
Byte7 |
Sequence _L Serial number lower eight bit Sequence scale vary from 00 00 to FF FF,stands for 0 to 65535,to mark the continuity of the data |
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Byte8 | Sequence _H Serial number upper eight bit | ||||||
Byte9 | Checksum check lower eight bit,Checksum = Byte1 + Byte2 + ... + Byte8,Checksum is the sum of the former eight bit,we only send the lower eight bit. |
Strength | Correction Dist standard deviation/cm |
>110 | < 0.7 |
80 – 100 | 0.7 – 1.1 |
50 – 80 | 1.1 – 2 |
20 – 50 | 2 – 5 |
< 20 | >5 |
correction dist standard deviation-strength curve
Technical requirement:
Connect model Molex 43025-0400
Cable should be 4 core shielded RVV wire, inner core diameter 0.2
Windows TF-Module Data Display Program UI
① “Start” button, press the button to record TF-01 HEX data, the data will be saved in the same directory with the GUI;
② “Display Range”, click 5m or 20m to switch display scale between 5m and 20m;
③ “Data Amount for Distance”, Data amount to get an average distance(DAGAD)
④ Device command input area, input HEX command in this window and press Enter to send, to change functions or setting;
⑤ Scale to display the real-time measurement;
⑥ Area to display average distance-number of measurements;
⑦ the amount of the data rejected.
⑧ Data Detail area:Dist stands for distance,unit cm;Effective Point stands for data quantity of TF-01 output;Strength stands for signal strength.
(1)What is the spread of the laser beam?
At very close distance (<0.5m), the beam diameter is about the size of the aperture of the lens. For distance larger than 0.5m, the beam diameter can be estimated using the following equation:
distance / 20 = beam diameter at the this distance
The actual spread is ~52 milli-radians or ~3 degree.
(2)How do distance, target size, aspect, and reflectivity affect returned signal strength?
The device transmits a focused IR beam that reflects off a target, among which a portion of which returns to the receiver. The distance between the device and the target is determined by the difference between the moment of signal transmission to the moment of signal reception. The effective reception of a reflected signal is influenced by, but not limited to, the following factors:
Target distance
Returned signal strength ~ 1/D2
D: distance
Target size
Returned signal strength ~ 1/C4
C: cross section of a target
Aspect
The orientation of the target to the sensor influences the observable cross section.
Reflectivity
The reflective characteristics of the surface of the target influence the amount of returned signal.
Generally, it is difficult to detect a small target, especially when it is distant, poorly reflective, and its aspect is away from the normal. Nevertheless, the returned signal strength can be improved by attaching an IR reflector to the target, enlarging the size of the target, modifying its orientation, or reducing its distance from the sensor.
(3)How does the device work with different reflective surfaces?
Generally speaking, the reflective characteristics of the surface of an object can be dedvided into threee categories: diffuse reflective, specular and retro-reflective.
Diffuse reflective surface
For surfaces of materials like paper, matte walls and granite, their textured quality results in the uniform dispersion of reflected energy. Therefore the reflected energy of the dispersed laser is relaatively predictable in percentage. As a result, these materials can be read very well.
Specular surface
For specular surfaces, only a small amout or even none of the reflected light reaaches the receiver, depending on the smoothness of the surface and the observation angle. The suggestion is to view the object from the normal.
Any technical problems please contact us since it is customized optical instrument with high precision.
Operating temperature:-10-60℃,storage temperature:0-70℃
The operating environment must be kept clean. Prevent dust or other stuff from getting into the lens.
Keep away from high temperature and high humidity environment for storage, transportation or operation.
Keep away from acid or strong sulfur environment.
Weight | G.W 58.5g |
Battery | Exclude |
DE-LIDAR TF01 | 1 |
DE-LIDAR TF01是基於飛行時間(飛行時間)的原則,與光學,電子和設計獨特的特點。它也可以實現穩定,準確,高靈敏度和高速距離測量。
主要特徵 | 靈敏度 | 高 |
檢測範圍 | 10米最大(@ 90%反射) | |
檢測頻率 | 500Hz的 | |
反-環境光 | 作用下,10萬勒克斯環境光 | |
形狀 | 精緻小巧,重量輕(<50克) | |
準確性 | 厘米級(1%的相對誤差) | |
應用 |
UAV(無人機)在浮動高度修復 地形富林偉業 |
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機械控制,安全傳感器 | ||
距離測量 |
下面的圖片是參考設計,尺寸為51毫米*36毫米*48毫米。
1:2殼牌:安裝孔3:電線
DELiDAR TF01機械尺寸(參考設計)
DELiDAR TF01外形尺寸(單位:mm)
飛行時間(TOF)是一個距離測量方法。從傳感器射出的調製的近紅外光被對象反射。通過計算發射和反射之間的時間差或相位差,從物體的距離可以推斷也是如此深度信息。
參數 | 符號 | 典型。 | 單元 |
電源電壓 | DC | 7.4-12(±5%) | V |
能量消耗 | P | ≤1 | W¯¯ |
LED的峰值電流 | 我最大 | 200 | 嘛 |
TTL | V TTL | 0〜3.3 | V |
參數 | 符號 | 條件/註釋 | 典型。 | 單元 |
工作範圍 | 大號 | 100Klux環境光@ 90%的反思 | 30-1000 | 厘米 |
發射半角 | α | 可定制 | 1 | 度 |
接受半ANGL |
β | 可定制 | 1 | 度 |
發現 | 德 | 最小可檢測物體尺寸@5米 | 4 - 6 | 厘米 |
解析度 | 回覆 | 敏感性距離的變化 | 0.5 | 厘米 |
工作溫度 | ŧ | -10〜60 | ︒C | |
峰值波長 | λ | 850 | 納米 |
測試條件:穩定的8小時工作。
下面的表是用於DELiDAR TF01協議
協議 | UART |
波特率 | 115200 |
數據位 | 8 |
校驗位 | 1 |
數據是hexadecrimal格式,每幀的9個字節,其中一個遙遠的信息,被稱為“DIST”輸出;每一個“DIST”有一些系列動力的信息吧,叫序列幀結束位為校驗位。
字節1 - 2 | 字節3 | 字節4 | 字節5 | 字節6 | 字節7 | Byte8 | 字節9 |
0x59 59 | Dist_L | Dist_H | Strength_L | Strength_H | Sequence_L | Sequence_H | CheckSum_L |
數據的編碼信息 | |||||||
字節1 | 0x59,幀頭,在每一幀同 | ||||||
字節2 | 0x59,幀頭,在每一幀同 | ||||||
字節3 |
Dist_L距離值低八位 距離由HEX,eg.1000cm所示= 03 E8(HEX) |
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字節4 | Dist_H距離值高八位 | ||||||
字節5 |
Strength_L的低8位 實力代表信號質量,規模0-2000,室內<3拒收,戶外<10拒絕 |
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字節6 | Strength_H Uppereight位 | ||||||
字節7 |
序列_L序號低八位 序列有所不同規模從00 00到FF FF,代表0到65535,以紀念數據的連續性 |
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Byte8 | 序列_H序號上八位 | ||||||
字節9 | 校驗和檢查低八位,校驗字節1 =字節2 + ... + Byte8,校驗和是前8位的總和,我們只派低8位。 |
強度 | 修正DIST標準差/厘米 |
> 110 | <0.7 |
80 - 100 | 0.7 - 1.1 |
50 - 80 | 1.1 - 2 |
20 - 50 | 2 - 5 |
<20 | > 5 |
修正DIST標準偏差強度曲線
技術要求:
連接模式Molex公司43025-0400
電纜應該是4芯屏蔽線RVV,內芯直徑0.2
窗戶TF-模塊數據顯示程序UI
①“開始”按鈕,按下按鈕錄製TF-01 HEX數據,該數據將被保存在與GUI相同的目錄;
②“顯示範圍”,單擊5米甚至20米切換5米和20M之間的顯示比例;
③“數據量的距離”,數據量來獲得的平均距離(DAGAD)
在此窗口中,按④設備指令輸入區,輸入十六進制命令回車發送,改變功能或設置;
⑤縮放以顯示實時測量;
⑥區域要顯示的測量結果的平均距離數;
⑦拒絕的數據量。
⑧數據詳細信息區域:距離代表的距離,單位厘米;高點的代表TF-01輸出的數據量,強度代表信號強度。
(1)這是在激光束的傳播?
在非常近的距離(<0.5米),光束直徑大約是透鏡的孔徑的大小。對於距離小於0.5m時,光束直徑可以使用以下等式來估算:
在這個距離的距離/ 20 =光束直徑
實際價差為52〜毫弧度或3〜度。
(2)如何距離,目標大小,坡向和反射影響返回信號的強度?
該裝置發送反映切換的目標,其中其一部分返回到接收器的聚焦紅外光束。該設備與目標之間的距離由到信號接收的時刻的信號傳輸的時刻之間的差來確定。反射信號的有效接收是通過影響,但不限於以下因素:
目標距離
返回信號強度〜1 / D2
D:距離
目標大小
返回信號強度〜1 / C4
C:一個目標的橫截面
方面
目標到傳感器的取向影響的可觀察的橫截面。
反射率
靶的表面的反射特性影響返回信號的量。
一般來說,它是很難檢測的小目標,特別是當它是遙遠的,反射很差,並且它的方面是從正常的路程。然而,返回的信號強度可通過一個IR反射附著到目標,擴大的目標的大小,改變其方向,或從傳感器減少其距離來改善。
(3)如何與不同的反射面的設備?
一般來說,一個物體的表面的反射特性可以dedvided成threee類:漫反射,鏡面和向後反射。
漫反射面
對於像紙,啞光牆面和花崗岩,它們的紋理質量導致反射能量的均勻分散材料的表面。因此分散的激光的反射能量是在百分比relaatively預測的。其結果是,這些材料可以讀取很好。
鏡面
為鏡面,只有小量甚至沒有反射光的reaaches接收機,根據表面的光滑度和觀察角。該建議是從正常查看對象。
任何技術上的問題,因為它是定制的光學儀器具有精度高,請與我們聯繫。
工作溫度:-10-60℃,存儲溫度:0-70℃
操作環境必須保持清潔。從進入鏡頭防止灰塵或其他的東西。
從高溫和高濕度環境中儲存,運輸或操作保持遠離。
酸性或強硫環境保持距離。