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TFmini-S Product Manual(SJ-PM-TFmini-S_A01_Product_Manual).pdf
Product Manual of TFmini-S
TFmini-S LiDAR Module
SJ-PM-TFmini-S A01 Product Manual Benewake (Beijing) Co. Ltd.
Specified Product
Product model: TFmini-S
Product name: TFmini-S LiDAR Module
Manufacturer
Company name: Benewake (Beijing) Co. Ltd.
Address: No.28, Xinxi Road, Haidian District, Beijing, 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 © Benewake (Beijing) Co. Ltd.
Product Certification
Page 2
Dear users,
SJ-PM-TFmini-S A01 Product Manual Benewake (Beijing) Co. Ltd.
Foreword
Thanks for choosing Benewake products, and it’s our pleasure to help you to solve any technical question.
In the purpose of offering a better operation experience to you, we hereby write this manual for an easier
and simpler operation of our product, hoping to better solve the common problems you maybe meet.
This operation 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
our official website and offer us your feedback there (http://en.benewake.com/contact_us), and we are
looking forwards to your participation.
We are Benewake who dedicated to making the best “Robotic Eyes” worldwide!
Page 3
SJ-PM-TFmini-S A01 Product Manual Benewake (Beijing) Co. Ltd.
Table of Contents
1 ATTENTIONS ........................................................................................................................................................ 6
1.1
ABOUT THIS MANUAL .................................................................................................................................................. 6
1.2
USAGE OF PRODUCT .................................................................................................................................................... 6
1.3
CONDITIONS WITH POTENTIAL MALFUNCTION .................................................................................................................. 6
2 DESCRIPTION ...................................................................................................................................................... 6
2.1
PRODUCT DESCRIPTION ................................................................................................................................................. 6
2.2
PRINCIPLE OF DISTANCE MEASUREMENT .......................................................................................................................... 7
2.3 MAIN CHARACTERISTIC PARAMETERS .............................................................................................................................. 7
2.4
REPEATABILITY ............................................................................................................................................................ 8
2.5
DISTANCE MEASUREMENT 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
I2C DATA COMMUNICATION ......................................................................................................................................... 12
5.6
TIMING SEQUENCE DESCRIPTION OF I2C MODE ................................................................................................................ 12
5.7
I/O MODE DESCRIPTION .............................................................................................................................................. 13
6 QUICK TEST ....................................................................................................................................................... 13
6.1
REQUIRED TOOLS OF PRODUCT TEST ............................................................................................................................. 13
6.2
TEST PROCEDURES ..................................................................................................................................................... 13
Page 4
7 DESCRIPTIONS ON PARAMETER CONFIGURATION ................................................................................. 15
SJ-PM-TFmini-S A01 Product Manual Benewake (Beijing) Co. Ltd.
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
Page 5
1 Attentions
1.1 About this Manual
SJ-PM-TFmini-S A01 Product Manual Benewake (Beijing) Co. Ltd.
This manual provides all the essential information during the usage of this product.
Please carefully read this manual and make sure that you fully understand everything herein.
1.2 Usage of Product
The maintenance of this product should be done by the professional technician, and the product
can only work with the factory spare part for ensuring the performance and safety.
This product itself has no polarity and over-voltage protection. Please properly connect and supply
power as described in this manual.
Operating temperature of this product is between 0℃ and 60℃. Do not use it beyond this
temperature range to prevent malfunction.
Storage temperature of this product is between -20℃ and 75℃. Do not store it beyond this
temperature range to prevent malfunction.
For ensuring the product performance, 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 transmitting or receiving len is covered by the
dust. Please keep the lens clean.
Please do not directly touch circuit board of the product by hand as it is exposed. Please wear
antistatic wrist strap or glove if necessary; Otherwise, the product will be subject to risk of failure,
which is shown by failure of normal operation, and even it will be broken.
2 Description
2.1 Product description
TFmini-S is an upgrade project based on TFmini. It is a miniaturized, single-point ranging product.
Based on the ToF (time of flight) principle, it is designed with unique optics, electricity, and algorithms
to achieve stability, precision, sensitivity and high-speed distance measurement function. In addition
Page6
SJ-PM-TFmini-S A01 Product Manual Benewake (Beijing) Co. Ltd.
to the low-cost, small-size, and long-ranging of the TFmini, the product itself has higher distance
measurement accuracy. It is more adaptable to different outdoor environments such as strong light,
different temperatures, and different reflectances. It has lower power consumption and more flexible
detection frequency. The product is compatible with both the UART and I2C interface. Different
interfaces can be switched by commands.
2.2 Principle of Distance Measurement
TFmini-S is based on ToF (Time of Flight). To be specific, the product emits modulation wave of near
infrared ray on a periodic basis, which will be reflected 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.
2.3 Main Characteristic Parameters
Figure 1 Schematics of ToF Principle
Table 1 Main Characteristic Parameters of TFmini-S
Description
Operating range
Accuracy
Measurement unit
Range resolution
FOV
Frame rate
Parameter value
0.1m~12m
①
±6cm@（0.1-6m）②
±1%@（6m-12m）
cm
1cm
③
2°
1~1000Hz（adjustable）④
① Operating range based on a standard whiteboard with 90% reflectivity in indoor condition
② The distance measurement here is absolute accuracy, and the specific repeat accuracy will be described in section 2.4.
③ 2°is the theoretical value, from which the actual value will be different.
④ Only frame rates meeting the formula–1000/n (n is positive integer) can be set. The default frame rate is 100Hz.
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2.4 Repeatability
SJ-PM-TFmini-S A01 Product Manual Benewake (Beijing) Co. Ltd.
The repeat accuracy of TFmini-S is directly related to the Strength value measured and the output
frame rate (Frequence). The ranging repeat accuracy is characterized by the standard deviation of
ranging. When the frame rate is 100 Hz, the standard deviation of ranging is as follows under the
background of 90% transmittance:
Table 2 Statistics: the standard deviation of TFmini-S at 100Hz and 90% reflectivity
Dist
STD
2m
4m
6m
8m
10m
0.5cm
1cm
1.5cm
2cm
2.5cm
2.5 Distance Measurement Characteristics
With optimization of light path and algorithm, TFmini-S has minimized influence from external
environment on distance measurement performance. Despite that, the range of distance measurement
may still be affected by the 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 FOV generally refers to the
smaller value between the receiving angle and the transmitting angle), which is calculated as follows:
d = 2 ∗ D ∙ tanβ
In the formula above, d is the diameter of light spot; D is detecting range; β is the the value of the
half receiving angle of TFmini-S, 1°. Correspondence between the diameter of light spot and detecting
range is given in Table 3.
Table 3 the Minimum side length of effective detection corresponding to Detecting Range
Detecting
range
Minimum
side length
1m
2m
3m
4m
5m
6m
7m
8m
9m
10m
11m
12m
3.5cm
7cm
10.5cm
14cm
17.5cm
21cm
24.5cm
28cm
31.5cm
35cm
38.5cm
42cm
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