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Product Manual of TFmini-S

TFmini-S LiDAR Module

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Содержание SEN-16977

Страница 1: ...Product Manual of TFmini S TFmini S LiDAR Module ...

Страница 2: ... PRC Copyright The Copyright of this document is protected All the rights involved herein belong to Benewake Beijing Co Ltd Any copy activity of this document no matter in whole or in part should be in conformity of the Copyright Law The actives of Modification omission or translation of this document are not allowed unless a written permission from Benewake Beijing Co Ltd All rights reserved Bene...

Страница 3: ...manual covers the product operation introduction and common problem solutions but it is really hard to covers all the problems you maybe meet So if you have any further questions or problems please feel free to consult our technical support service support benewake com We will do our best to solve any problem related to the product If you have any other good advice or suggestion welcome to visit o...

Страница 4: ...EASUREMENT CHARACTERISTICS 8 3 APPEARANCE AND STRUCTURE 9 3 1 PRODUCT APPEARANCE AND STRUCTURE 9 4 ELECTRICAL CHARACTERISTICS 10 5 LINE SEQUENCE AND DATA COMMUNICATION PROTOCOL 10 5 1 DESCRIPTION ABOUT LINE SEQUENCE AND CONNECTION 10 5 2 SERIAL PORT COMMUNICATION PROTOCOL 11 5 3 DATA OUTPUT FORMAT OF SERIAL PORT 11 5 4 DESCRIPTIONS OF DEFAULT OUTPUT DATA 12 5 5 I2 C DATA COMMUNICATION 12 5 6 TIMIN...

Страница 5: ...ETER CONFIGURATION 15 7 1 FUNCTION OVERVIEW 15 7 2 COMMAND CONVENTION 16 7 3 COMMAND FRAME DEFINITION 16 7 4 GENERAL PARAMETER CONFIGURATION AND DESCRIPTION 16 8 REMOTE UPGRADING 19 9 MALFUNCTION CAUSES AND TROUBLESHOOTING 20 10 Q A 22 ATTACHMENT 1 INTRODUCTION OF TF SERIES PC SOFTWARE 23 ...

Страница 6: ...rmance do not open the product shell or remove the IR pass filter 1 3 Conditions with Potential Malfunction Detecting object with high reflectivity such as the mirror or the smooth floor tile may cause a system malfunction The product will malfunction if there is any transparent object between it and the detecting object such as glass or water The product will be subject to risk of failure if its ...

Страница 7: ...cted after contacting object The product obtains the time of flight by measuring round trip phase difference and then calculates relative range between the product and the detection object as shown in Figure 1 Figure 1 Schematics of ToF Principle 2 3 Main Characteristic Parameters Table 1 Main Characteristic Parameters of TFmini S Description Parameter value Operating range 0 1m 12m Accuracy 6cm 0...

Страница 8: ...environment illumination intensity and the reflectivity of detection object The detection blind zone of TFmini S 0 10cm within which the output data is unreliable The operating range of TFmini S detecting black target with 10 reflectivity 0 1 7m The operating range of TFmini S detecting white target with 90 reflectivity 0 1 12m The diameter of light spot depends on the FOV of TFmini S the term of ...

Страница 9: ...alue will be a value between the actual distance values of the two objects For a high accuracy requirement in practice the above situation should be noticed to avoid the measurement error Figure 2 Distance Measurement in the case of Two Objects of Different Distances 3 Appearance and Structure 3 1 Product Appearance and Structure Figure 3 Dimension of TFmini S Unit mm ...

Страница 10: ...tterns more specifically its current is around 50mA under short distance mode and it is around 140mA under long distance mode 5 Line Sequence and Data Communication Protocol 5 1 Description about Line Sequence and Connection Table5 The Function and Connection Description of each pin No Color Function Comment Black GND Ground Red 5V Power supply White RXD SDA Receiving Data Green TXD SCL Transmitti...

Страница 11: ...ure of chip and data check byte Checksum etc Data format is hexadecimal HEX Data codes are detailed in Table 7 Table 7 Data Format and Code Explanation Byte0 1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 Byte8 0x59 59 Dist_L Dist_H Strength_L Strength_H Temp_L Temp_H Checksum Data code explanation Byte0 0x59 frame header same for each frame Byte1 0x59 frame header same for each frame Byte2 Dist_L distance...

Страница 12: ...TFmini S Degree centigrade Temp 8 256 Table 8 Description of abnormal data values Dist Strength Comment 65535 1 100 Strength 100 65534 2 65535 1 Signal strength saturation 65532 4 Other value Ambient light saturation 5 5 I2C data communication Table 9 Data Communication Protocol of TFmini S I C Interface I C Max transmission rate 400kbps Master slave mode Slave mode Default address 0x10 Address ra...

Страница 13: ... 7 4 Command open mode Mode critical distance Dist and hysteresis zone Zone could be configurable Mode 0 data output mode 1 I O mode high level near and low level far 2 I O mode low level near and high level far default value is 0 Dist critical value near end value in hysteresis zone unit is cm default number is 0 Zone hysteresis zone range unit is cm default value is 0 there is no hysteresis zone...

Страница 14: ... Make sure there is no loose connection Then connect USB cable with PC Figure 4 Schematic Diagram of Correct Connection Connection to the Test software and data output Open the PC software and select TFmini and select automatically recognized occupied serial port here it is COM9 as shown in Figure 5 Then click CONNECT Upon successful connection The continuous images of the output data will be disp...

Страница 15: ...omatically c The value of distance output Dist may vary with the output unit which is cm by default If the unit of distance is changed to the unit mm with specific command and the PC software will be unable to identify it and so the unit of TIME LINE CHART will still be cm For example the actual TFmini S measurement is 1m the distance value of TFmini S is 1000 in mm the value read by the PC softwa...

Страница 16: ...on Caution All configuration commands are sent as hexadecimal digits HEX Table 11 Command frame definition Byte0 Byte1 Byte2 Byte3 ByteN 2 ByteN 1 Head Len ID Payload Checksum Remarks Byte0 Head frame header 0x5A Byte1 Len the total length of the frame include Head and Checksum unit byte Byte2 ID identifier code of command Byte3 N 2 Data data segment Little endian format ByteN 1 Checksum sum of al...

Страница 17: ... this command Output format 5A 05 05 01 65 5A 05 05 01 65 Standard 9 bytes cm 5A 05 05 02 66 5A 05 05 02 66 Pixhawk 5A 05 05 06 6A 5A 05 05 06 6A Standard 9 bytes mm Baud rate 5A 08 06 H1 H2 H3 H4 SU 5A 08 06 H1 H2 H3 H4 SU Set baud rate E g 256000 DEC 3E 800 HEX H1 00 H2 E8 H3 03 H4 00 115200 Enable Disabl e output 5A 05 07 00 66 5A 05 07 00 66 Disable data output 5A 05 07 01 67 5A 05 07 01 67 En...

Страница 18: ...de off Strength Threshold and Distance under threshold 5A 07 22 XX LL HH 00 5A 07 22 XX LL HH SU E g When strength is below 100 make distance output 1200cm XX 100 10 10 D EC 0A HEX 1200 DEC 4B0 HEX LL B0 HH 04 Strength Threshold 100 Distance under threshold 65535 1 Restore factory settings 5A 04 10 6E 5A 05 10 00 6F Succeeded 5A 05 10 01 70 Failed Save settings 5A 04 11 6F 5A 05 11 00 70 Succeeded...

Страница 19: ...s below 100 8 Remote Upgrading TFmini S supports the remote upgrade When the user s product cannot satisfy the current application requirements and Benewake official website has relevant firmware upgrades the user may upgrade the product firmware via remotely upgrading the PC software Please contact us to get the Updater The tools for the firmware upgrade of TFmini S are mostly the same as the Qui...

Страница 20: ...eshooting check data communication interpretation means In case of such error please check the data format to adjust interpretation means Cause Due to the physical principles of TFmini S the above phenomenon is likely to occur if the detection object is the material with high reflectivity such as mirror smooth floor tile etc or transparent substance such as glass and water etc Troubleshooting Plea...

Страница 21: ...of serial port is not correctly installed Troubleshooting Plug and unplug USB cable again Try to reinstall the driver or directly download and install a driver from the internet If the PC software still work abnormally please contact our technical support 5 The accuracy of TFmini S gets worse at 12m and the data fluctuation becomes larger Cause There are metal objects around the front lens barrel ...

Страница 22: ...t board will slightly up after a continuous operation which is a normal case Q3 Can TFmini S be connected with Arduino or Raspberry Pi for use A3 Yes it can TFmini S adopts serial communication protocol so that it can connect to any control board supporting serial port communication Q4 Will TFmini S affect each other when there are 2 TFmini S work together A4 When they are face the same direction ...

Страница 23: ...onnect the LiDAR via TTL USB board to the PC As shown in the figure select TFmini S Serial port COM select the right serial port number corresponding to the LiDAR Baud rate is set to 115200 as default CONNECT DISCONNECT Click CONNECT button to establish the connection with LiDAR Click DISCONNECT button to terminate the connection 2 Function Zone FUNCTION Pix Mode check the checkbox to enable Pix m...

Страница 24: ...ere the data file is saved Note when the frame rate of LiDAR is too high like 1000Hz the time stamp will be asymmetric due to the massive data stream 4 Time Line Chart Zone TIME LINE CHART The PC software will draw the continuous distance measurement curves based on the received data where y coordinates represent the current distance data while x coordinates represent effective data 5 Real time Da...

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