TOF Laser Range Sensor
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Introduction
TOF Laser Range Sensor is one laser ranging sensor based on TOF (time of flight). The measuring scope is 1cm~5m, and the range resolution is 1mm. The data update frequency is 10Hz; Adjustable FOV with the maximum field angle is 27°; Supports UART and CAN communication; Support the active and query output data; Support the multi-sensor cascade ranging; Support I/O complementary output.
Feature
- Based on TOF (Time of Flight) laser ranging technology.
- Support UART, CAN communication( UART and CAN shared interface).
- Measuring scope: 1cm~5m
- Adjustable field angle (FOV): 15~27°
- Support the output of distance, distance status dis status, signal strength, and other information.
- Supports two output methods: active output and query output.
- Support multi-module cascade.
- One-click upgrade firmware.
- 3.7~5.2V power supply with anti-reverse protection.
- Power consumption is about 290mW.
- 940nm laser in compliance with Class1 Standard stipulated in IEC 60825-1:2014 Version 3.
Specification
| Product | TOF Laser Range Sensor | TOF Laser Range Sensor (C) | TOF Laser Range Sensor (D) | TOF Laser Range Sensor Mini | |
|---|---|---|---|---|---|
| Typical range of distance measurement | Short distance: 0.012 ~ 2.16m | 0.05 ~ 25.0m | 0.05 ~ 50.0m | 0.02 ~ 7.8m | |
| Medium distance: 0.012 ~ 3.60m | |||||
| Long distance: 0.01 ~ 5.00m | |||||
| Typical ranging accuracy | Short distance: Accuracy ±1.0cm, Standard deviation <0.3cm | ±3cm standard deviation <1.0cm @0.05~10m,<6.0cm @10~25m | ±3cm standard deviation <1.0cm @0.05~10m,<6.0cm @10~50m | ±4cm standard deviation <2.0cm @0.02~1m,<8.7cm @1~7.8m | |
| Medium distance: Accuracy ±1.0cm, Standard deviation <1.5cm | |||||
| Long distance: Accuracy ±1.5cm, Standard deviation <[email protected]~3m,
Standard deviation <8cm@3~5m | |||||
| Refresh rate | 30Hz | 100Hz | 50Hz | ||
| Supply voltage | 4.3 ~ 5.2V (Anti reverse connection protection) | ||||
| Operating temperature | -20°C ~ 65°C | -10℃~60℃ | |||
| Wavelength | 940nm (Compliant with Class1 standard) | 905nm (Wavelength under review) | 940nm (Wavelength under review) | ||
| Field of View (FOV) | 15° ~ 27° (Multi-position adjustable) | 1° ~ 2° | 2° ~ 3° (Multi-position adjustable) | ||
| Communication interface | UART (TTL signal cable electrical level 3.3V) | ||||
| CAN (Two interfaces can simultaneously serve as CAN interfaces) | I2C (Support parallel connection of multiple devices, with slave address 0x08+module ID) | ||||
| I/O (Output complementary electrical level) | |||||
| Baud rate | UART: 115.2Kbps ~ 3000Kbps (default 921.6Kbps) | ||||
| CAN: 100K, 250K, 500K, 1M (default 1M) | I2C: Up to 400Kbps | ||||
| Cascade quantity | UART interface supports up to 8 cascades, CAN interface supports up to 7 cascades | Up to 8 can be connected in parallel through I2C | |||
| Resistant to ambient light | Weak, about 10K LUX, only supports indoor use | Approximately 100K LUX illumination (suitable for both indoor and outdoor use) | |||
| Product power consumption | 290mW (UART active output, long-distance mode power supply voltage 5.0V, current 58mA) | 250mW (UART active output, power supply voltage 5.0V, current 50mA) | 100mW (UART active output, long-distance mode power supply voltage 5.0V, current 20mA) | ||
| Product weight | 2.7g | 7.5g | 1g | ||
| Length, Width and Height | 35.58mm × 12mm × 8.05mm | 22.7mm × 28mm × 13.6mm | 18.8mm ×12.0mm × 10.3mm | ||
Applications
- Ceiling detection
- Robot obstacle avoidance
- Measuring and detecting
- Intelligent gesture control
- 1-dimension gesture identification
Technology Overview
TOF is one absolute distance detecting technology, that is the sensor emits the near-infrared light to be debugged, and it will reflect after encountering the object. The sensor calculates the distance of the subject being photographed by calculating the time difference or phase difference for the emission and reflection of light so as to produce depth information. Compared with the binocular plan and 3D structural light plan, TOF has the advantages of long working distances, wide application scenarios, and high precision of long distances, etc. Therefore, it is always applied to personnel proximity detection, robot obstacle avoidance, camera automatic focusing, etc. The near-infrared light coming from the sunlight in the outdoor environment will generate an impact on the measuring effect of the module.
Function description
【ID】
- ID is one variable set up for distinguishing the different sensors, which is used to identify each sensor during the cascade connection.
【Interface & Baudrate】
TOFSense supports two communication modes with configurations UART and CAN.
- UARTThe communication baud rate setting range is as follows:
| UART Baud Rate | Note |
|---|---|
| 115200, 230400, 460800, 921600, 1000000, 1200000, 2000000, 3000000 | Baud Rate is 921600 in default |
- Under CAN output mode, the setting range of the Baud rate shall be shown as：
| CAN Baud Rate | Note |
|---|---|
| 100000, 250000, 500000, 1000000, 2000000, 3000000 | Baud Rate is 1000000 in default |
Interface data output mode setting：
- Active Output:
- The active output mode can only be used with a single module. In this mode, the module actively outputs measurement information at a frequency of 10 Hz.
- The active output mode configuration is as shown below:
- Query Output:
- The query output mode can be used in a single module and cascade connection. In this mode, the controller sends a query command containing the module ID to the desired query module, and the module can output one frame of measurement information.
- Query output mode configuration as shown below：
【Distance Status】
The module can output the current distance status, the user can perform the data processing with the combination of distance status. The meaning of distance status is as follows：
| Value | Note |
|---|---|
| 0 | Measuring distance is valid |
| 1 | Standard deviation is more than 15mm |
| 2 | Signal strength is lower than 1Mcps |
| 4 | Phase exceeds boundary |
| 5 | HW or VCSEL has fault |
| 7 | Phase is not matched |
| 8 | Internal algorithm underflow |
| 14 | Measuring distance is invalid |
【Signal Strength】
Indicate the strength of the current return signal, and the larger this value indicates the stronger the return signal.
【FOV】
- The field angle FOV determines the vision scope of TOFSense. The module can change the field angle at X direction fov.x, field angle at Y direction fov.y, offset at X direction fov.x_offset and offset at Y direction fov.y_offset. The setting scope for field angle at X, and Y directions is 15°~27°. The setting scope of offset for field angle at X, Y directions is -6°~ 6°.
- Module initial field of view parameters: fov.x=27°, fov.y=27°, fov.x_offset=0°, fov.y_offset=0°.
By setting the X-direction field of view angle of 25°, Y-direction field of view angle of 15°, X-direction offset 1°, Y-direction offset -1°.
The area of interest of the module can be changed as shown in the figure below：
Note: A smaller FOV can improve the detection performance of the module in a small space and small objects, but the change of the FOV field of view will also affect the module's farthest ranging distance.The smaller the field of view, the smaller the farthest ranging distance.
【Indicator Light】
- The indicator includes two flashing statuses in total, including the fast flash once per 0.1S and slow flash once per 1S. LED status and meaning are as follows:
| Status | Note |
|---|---|
| Fast Flash (interval 0.1S) | Module starting stage |
| Fast Flash (interval 0.1S) | Module firmware update |
| Slow Flash (interval 1S) | Module normal working |
【Function Key】
- It is used for the parameter setup under CAN communication mode. Press the power-on key until the indicator has a slow flash, and then compulsively enter UART configuration mode. This operation will not change the module setting parameter. If changing the module setup, it is required to rewrite the parameter.
【CascadeRanging】
- Multiple sensors are configured with different IDs and connected in series, and the ranging information of all sensors can be read through one communication interface. The connection diagram is as follows:
Note: Under cascade ranging, it is suitable for UART query, CAN query, and CAN active output.。
Protocol analysis
- The protocol is composed of Frame Header, Function Mark, Data, and Sum Check.
- The Frame Header and Function Mark are fixed values;
- Data is the content of the transmitted data;
- Sum Check is the lowest byte after the addition of Frame Header, Function Mark, and Data (that is, the addition of all the previous bytes).
- Agreement composition:
Frame Header + Function Mark + Data + Sum Check
Note: Protocol packets follow the principle of little-endian mode, that is, the low byte is first and the high byte is last.
- TOFSense _UART_Frame:
- Data Sources: Connect the module to the host computer and configure the UART as active output mode.
- Raw data:
57 00 ff 00 9e 8f 00 00 ad 08 00 00 03 00 ff 3a
- Analysis table:
- Analysis table:
| Data | Type | Length (Bytes) | Hex | Result |
|---|---|---|---|---|
| Frame Header | uint8 | 1 | 57 | 0x57 |
| Function Mark | uint8 | 1 | 00 | 0x00 |
| reserved | uint8 | 1 | ff | * |
| id | uint8 | 1 | 00 | 0 |
| System_time | uint32 | 4 | 9e 8f 00 00 | 36766ms |
| dis*1000 | uint24 | 3 | ad 08 00 | 2.221m |
| dis_status | uint8 | 1 | 00 | 0 |
| signal_strength | uint16 | 2 | 03 00 | 3 |
| reserved | * | 1 | ... | * |
| Sum Check | uint8 | 1 | 3a | 0x3a |
- TOFSense _UART_Read_Frame:
- Data Sources: Connect the module to the host computer, configure it as UART query output mode, id is 0, and send the following data through the host computer to achieve data query.
- Raw data:
57 10 FF FF 00 FF FF 63
- Analysis table:
- Analysis table:
| Data | Type | Length (Bytes) | Hex | Result |
|---|---|---|---|---|
| Frame Header | uint8 | 1 | 57 | 0x57 |
| Function Mark | uint8 | 1 | 00 | 0x00 |
| reserved | uint8 | 2 | ff | * |
| id | uint8 | 1 | 00 | 0 |
| reserved | uint8 | 2 | ff | * |
| Sum Check | uint8 | 1 | 3a | 0x3a |
- TOFSense _CAN_Frame:
- Data Sources: The module is configured as CAN active output mode, id is 1, connect to CAN receiving device.
- Raw data:
AD 08 00 00 03 00 FF FF
- Analysis table:
- Analysis table:
| Field name | Part | Level | Type | Length(bits) | Hex | Result |
|---|---|---|---|---|---|---|
| Start Of Frame | SOF | * | 1 | * | * | |
| Arbitration Field | ID | * | 11 | 0x200+id | 0x201 | |
| Arbitration Field | RTR | * | 1 | * | * | |
| Control Field | IDE | * | 1 | * | * | |
| Control Field | r0 | * | 1 | * | * | |
| Control Field | DLC | * | 4 | * | * | |
| Data Field | dis*1000 | uint24 | 24 | ad 08 00 | 2.221m | |
| Data Field | dis_status | uint8 | 8 | 00 | 0 | |
| Data Field | signal_strength | uint16 | 16 | 03 00 | 3 | |
| Data Field | reserved | * | 16 | * | * | |
| CRC Field | CRC | * | 15 | * | * | |
| CRC Field | CRC_delimiter | * | 1 | * | * | |
| ACK Field | ACK Slot | * | 1 | * | * | |
| ACK Field | ACK_delimiter | * | 1 | * | * | |
| End Of Frame | EOF | * | 7 | * | * |
- TOFSense _CAN_Read_Frame:
- Data source: The module is configured in CAN query output mode, id is 1, connected to CAN query device, and id_s is configured as 2。
- Date Sources:
FF FF FF 01 FF FF FF FF
- Analysis table:
- Analysis table:
| Field name | Part | Level | Type | Length(bits) | Hex | Result |
|---|---|---|---|---|---|---|
| Start Of Frame | SOF | * | 1 | * | * | |
| Arbitration Field | ID | * | 11 | 0x400+id_s | 0x402 | |
| Arbitration Field | RTR | * | 1 | * | * | |
| Control Field | IDE | * | 1 | * | * | |
| Control Field | r0 | * | 1 | * | * | |
| Control Field | DLC | * | 4 | * | * | |
| Data Field | reserved | uint24 | * | * | * | |
| Data Field | id | uint8 | 8 | 01 | id = 1 | |
| Data Field | reserved | uint16 | * | * | * | |
| CRC Field | CRC | * | 15 | * | * | |
| CRC Field | CRC_delimiter | * | 1 | * | * | |
| ACK Field | ACK Slot | * | 1 | * | * | |
| ACK Field | ACK_delimiter | * | 1 | * | * | |
| End Of Frame | EOF | * | 7 | * | * |
- TOFSense _Setting_Frame:
- Analysis table:
- Analysis table:
Software
TOF Assistant is the accessory debug software for TOFSense with the main functions: debug configuration, status display, function application, and firmware upgrade:
- Debug configuration: Used for configuring the relevant parameters of nodes, e.g. ID, working mode, baud rate, etc.
- Function application: Used for the application development, e.g. data import and export, motion trail storage, historical trial replay, etc.
- Firmware upgrade: Used for carrying out the wired firmware upgrade for the product.
- Hardware connection reference (you also need a USB TO TTL module):
- Software setup video:
Dimensions
Working with Raspberry Pi
Environment Debugging
- Raspberry Pi Serial Port Setting
Due to the serial port of the Raspberry Pi being for terminal debugging by default, you need to modify the Raspberry Pi setting when using the serial port. Please execute the following demand to enter the Raspberry Pi setting:
sudo raspi-config
Choose Interfacing Options -> Serial -> no -> yes and close the serial debugging function.
Reboot:
sudo reboot
Open the /boot/config.txt file, and find the following configuration statement to enable the serial port, if not, add it at the end of the file:
enable_uart=1
Reboot it to take effect.
Hardware connection
Software settings
Module baud rate setting: 115200.
Working with Jetson Nano
Hardware Connection
Software settings
Module baud rate setting: 115200
Working with Arduino
Hardware connection
Software settings
Module baud rate setting: 115200
Resources
Demo code
Software
- TOF Assistant PC Assistant (Windows 7/10 64-bit machine)
- TOF AssistantPC Assistant (Windows 7/10 32-bit machine)
FAQ
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1. Increase the output power of the power supply.
2. Adopt a star-shaped power supply configuration. For example, when cascading seven modules:
First, split the power supply into four output lines:
The first line connects to the VCC and GND of modules 1 and 2.
The second line connects to the VCC and GND of modules 3 and 4.
The third line connects to the VCC and GND of modules 5 and 6.
The fourth line connects to the VCC and GND of module 7.
Then, connect the communication pins of all seven modules in series and link them to the bus. Testing has shown that connecting two modules per power line is the most stable configuration. For short-term testing, up to three modules per power line can be used.
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Support
Technical Support
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