TOFSense -  0.1~8m Lidar Sensor

• Quick Start[SDK&Tools]:youyeetoo.com/blog/tofsense-lidar-kxhdptofs001-kxhlidar-139
• Tutorital: [ardupilot ] https://ardupilot.org/copter/docs/common-rangefinder-nooploop-tofsense-f.html
• Tips
  • The UART interface supports a maximum of 8 cascades, and the CAN interface supports 7 cascades at most. Under cascade distance measuring, it is suitable for UART query, CAN query, and CAN active output.
  • Tech Feedback: forum.youyeetoo.com

Introduction

TOF Sense is a TOF-based (Time of Flight) laser ranging sensor that offers 1cm-5m detection range, 1mm resolution, ± 1.5cm error, and 10Hz data update frequency. The sensor supports 15 ° ~ 27 ° adjustable FOV, UART and CAN communication (selected by setting). Besides, it allows users to actively query the output data, making data acquisition much easier. With a size of 35.58 * 12 * 8.05mm, this small and compact sensor can be used as a distance-measuring tool for distance detection, a robot to avoid obstacles, and can also be used in drone areas such as altitude setting and route planning.
The difference from other ranging sensors is that this sensor reserves two identical communication interfaces. When setting IDs for each sensor and connecting multiple sensors in series, the ranging information of all sensors can be read by just one communication interface.

Features

• Based on TOF (Time of Flight) laser ranging technology
• Adjustable FOV (Field of view) with 15~27°
• Supports UART, CAN, and I/O communication with the shared physical interface
• Support multi-module cascade connection
• Support active and query output
• Supports 3 distance measuring modes (short, medium, long)
• 3.7~5.2V power supply with anti-reverse protection
• Low power consumption (290mW)
• 940nm laser in compliance with Class1 Standard stipulated in IEC 60825-1:2014Version 3

Shipping List

• TOFSense x1
• Connector x1

Applications

• Unmanned aerial vehicle height setting, ceiling detection
• Robot obstacle avoidance
• Measuring and detecting

Specification

• Operating Voltage: 5V
• Operating Current: 0.06A
• Communication Interface: UART, CAN
  • UART (two interfaces can be used as UART simultaneously, 3.3V TTL, 921600 default band rate)
  • CAN (two interfaces can be used as CAN simultaneously, 1Mbps default band rate)

• Maximum Cascading Number: 8 for UART, 7 for CAN
• Blind Zone: 1cm
• Typical Detection Range:
  • Short-range: 0.012m~2.16m
  • Mid-range: 0.012m~3.60m
  • Long-range: 0.01m~5.00m

• Typical Detection Accuracy:
  • Short-range: accuracy±1.0cm, standard deviation<0.3cm
  • Mid-range: accuracy±1.0cm, standard deviation<1.5cm
  • Long-range: accuracy±1.5cm, standard deviation<0.5cm@[0.01,3]m range, standard deviation<8cm@[3,5]m range

• Wavelength: 940nm (compliant Class 1 Standard)
• FOV: 15°~27° (adjustable)
• Power Supply: 3.7V~5.2V (the power supplies of all communication interfaces are electrically connected, so any interface can be power supply interface.)
• Power Consumption: 290mW (UART active output, long-range detection, 5.0 power supply)
• Weight: 2.7g
• Dimension: 35.58 * 12 * 8.05mm
• Temperature Range: -20~85℃

Detailed Descriptions