DE-LIDAR TF01 - Lidar Solution for Drone Floating and Terrain Flollowing

SKU 114990991

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  • DE-LIDAR TF01

DESCRIPTION

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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 FeaturesSensitivityHigh
Detection range10m max(@90% Reflection )
Detection frequency500Hz
Anti – ambient lightFunction under 100k Lux ambient light
ShapeExquisite size,light weight(< 50 g)
AccuracyCentimeter-level(1% Relative error)
Applications

UAV(drones) floating at fix height

Terrain Followin

Machine control, security sensor
Distance measurement

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Picture below is reference design,the size is 51mm*36mm*48mm.

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1: Shell    2:Assembly hole    3:Wire

DELiDAR TF01 Mechanical Dimensions(reference design)

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DELiDAR TF01 contour dimension(unit:mm)

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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.

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ParameterSymbolTyp.Unit
Supply voltageDC7.4-12(±5%)V
Power ConsumptionP≤1W
LED peak currentImax200mA
TTLV­­TTL0~3.3V

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ParameterSymbolConditions/CommentsTyp.Unit
Operating rangeL100Klux ambient light @90% Reflection30-1000cm
Emitting half-angleαCustomizable1Degree

Receiving half-angl

βCustomizable1Degree
DetectionDeMinimum detectable object size @ 5m4 - 6cm
ResolutionReSensitivity to distance change0.5cm
Operating temperatureT
-10~60︒C
Peak Wavelengthλ
850nm

Test conditions: stable working for 8 hours.

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Table below is protocol for DELiDAR TF01

ProtocolUART
Baud rate115200
Data bit8
Checksum bit1

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 - 2Byte3Byte4Byte5Byte6Byte7Byte8 Byte9
0x59 59Dist_LDist_HStrength_LStrength_HSequence_LSequence_HCheckSum_L
Data coding information
Byte10x59,frame head,same in every frame
Byte20x59,frame head,same in every frame
Byte3

Dist_L distance value lower eight bit   

Distance is shown by HEX,eg.1000cm=03 E8 (HEX)
Byte4Dist_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
Byte6Strength_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

Byte8Sequence _H Serial number upper eight bit
Byte9Checksum check lower eight bit,Checksum = Byte1 + Byte2 + ... + Byte8,Checksum is the sum of the former eight bit,we only send the lower eight bit.

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StrengthCorrection Dist standard deviation/cm
> 110< 0.7
80 – 1000.7 – 1.1
50 – 801.1 – 2
20 – 502 – 5
< 20> 5

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correction dist standard deviation-strength curve

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Technical requirement:

  1. Connect model Molex 43025-0400

  2. Cable should be 4 core shielded RVV wire, inner core diameter 0.2

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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.

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(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.

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  • 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.

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  • 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.


Download Resource

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2.How do I get the lowest price?

You may get the product with lowest price of $155, when the quantity sold is more than 100 before Jan 20, 2017. $55 refund will be issued to your payment method on Feb 5, 2017.

3.Is there always a discount?

Discount only happens when quantity sold hits millstone. For example, If more than 100 pieces in total is sold, you will get a discount with lowest price $155. However, if the quantity sold is less than 10 before Jan 20, 2017, you will be charged with the original price ($199).

4.When will the item be shipped?

Item will be shipped on Feb 20, 2017.

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Questions and Answers
SUBMIT
2
Where I can find the Linux or Android driver for this LiDAR? The official Web-site (http://www.benewake.com/Download_e.html) provides the driver only for TE01 and it is not opensource.
on Jan 07,2017
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it looks(from above) to be just serial comms. no driver reqd. maybe the driver is for some other mode of comms...
on Jan 07,2017 06:55 AM
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I think the point of this device is that it is targeted to either electronics engineers wanting to integrate it into their electronic designs, or embedded programmers that have UART access from a uC. For the high-level software engineers wanting to talk to the device from a PC (whom usually expect device-drivers to allow access hardware) then I am afraid this product is not targeted to them as there is no USB port on it - instead, you will either need a serial adapter board from your PC to talk to it via UART, or for Linux devs you could use a Raspberry PI via the GPIO connectors using UART.

on Jan 09,2017 03:39 AM
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I checked their website. They have a program using this LiDAR. And they also provide serial and CAN protocol so that we can input the data via any program. I tested it on Matlab and Mathematica. Looks Great!
on Jan 18,2017 05:31 AM
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0
Does it detect surface of water? Will the drone fly over the lake or just dive in?
on Jan 10,2017
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For such optical detecting method, it cannot detect pure transparent water, since light tramsits into water. It usually give the distance of lake bottom instead of lake surface. But for real water with some"color", it can detect the surface since there is the reflection on the interface between air and water. In addition, the closer distance the better distance detection. I tried it that it can detect the distance to lake when the height is near 0.5 meter.
on Jan 18,2017 05:28 AM
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0
Why is this called a LiDAR? Looks more like an accurate range finder. I could turn it into a LiDAR with servo scanning?
on Jan 07,2017
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Lidar means"Light Detection and Ranging"but is generally used by devices using a TOF mechanism. This indicates it is TOF. So the term Lidar seems legit IMHO.You might mean Lidar scanner. which is what you'd have to make with this and a servo or rotating mirror assembly (faster, more stable)I too wanted a lidar scanner. This device has update rate of 500Hz which is probably its maximum sampling rate. Therefore work out how far you can rotate it and sample at 500Hz to get the field you want to scan.500Hz (500 samples per second) isnt bad.It also has a maxobject detect of 4cm at 5m and range is 30cm to 10m.So it looks like it might make a low res low speed scanning lidar but frankly its hard to tell. The question is - is it worth the gamble for the money ? Its your money...
on Jan 07,2017 07:02 AM
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0
How long does it take to take a measurement?
on Jan 06,2017
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sample rate indicated at 500Hz or 500 samples per second. I presume this is a max rate.
on Jan 07,2017 07:04 AM
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