PONO TSD20 Single Point LiDAR Based on DTOF Principle
Natapos ang Produktoview
- The TSD20 LiDAR is our newly launched laser ranging product and is specially designed for applications such as drones, sweeping robots, and industrial robots.
- Based on the DTOF principle, it features a compact size, low cost, superior performance, and high resistance to ambient light interference.
- This product is easy to use, flexible to install, convenient for expansion, and extremely cost-effective.
Mga bahin
- Based on DTOF principle (Direct Time of Flight)
- Maximum Measuring Range：20 m
- Measuring Blind Zone：5 cm
- Measuring Frequency：200Hz
- Accuracy：±5cm(<5m), 1%(≥5m)
- Resolution：1mm
- Operating Temperature：-20℃~+60℃
- Paghatag Voltage：3～3.6VDC
- Compact Size：21 x 15 x7.43 mm
- Timbang: 2g
- Ambient Light Immunity：8m@100Klux
Mga aplikasyon
- Drone Altitude Holding and Obstacle Avoidance
- Robots Obstacle Avoidance
- Industrial Grade Light Curtain
- AGV Obstacle Avoidance
- High-speed Measuring and Safety Monitoring in Traffic and Industrial Automation
Mga detalye
| # | Modelo | TSD20 |
| 1 | Sakop | 0.05m～20m (90%reflectivity), 0.05m～10m (10%reflectivity) |
| 2 | Frequency | 200Hz（adjustable100/50/20/10/1Hz） |
| 3 | Pagkatukma | ±5cm(<5m), 1%(≥5m)(1σ) |
| 4 | Pagkabalikbalik | ± 10mm |
| 5 | Ambient Light Immunity | 8m@100KLux |
| 6 | Sentral nga wavelength | 905nm |
| 7 | Kaluwasan sa Photobiological | Klase 1 |
| 8 | FOV | 3° |
| 9 | Wavelength for Indication | N/A |
| 10 | Photobiological Safety for Indication | N/A |
| 11 | Paghatag Voltage | 3.3~3.6VDC |
| 12 | Peak Current | 3.3V@70mA |
| 13 | Kasagaran nga Karon | 3.3V@40mA |
| 14 | Average nga Konsumo sa Gahum | <0.2W |
| 15 | Interface sa Komunikasyon | UART/IIC |
| 16 | Ang-ang sa Proteksyon | N/A |
| 17 | Dimensyon | 21x 15 x 7.43 mm |
| 18 | Timbang | 2g |
| 19 | Operating Temperatura | -20 ℃ ~ + 60 ℃ |
| 20 | Pagpasabut sa Wire | 6-pin 0.8mm terminal, 20cm tinned stranded wires |
| 21 | Pagpahiangay | available in appearance/structure/output protocol |
Definitions of Pins
 |
||
| Dili. | Kahubitan / Wire Kolor | Gumagamit Interface |
| 1 | NC | / |
| 2 | 3.3 | External Power + |
| 3 | TX （SCL） | RX（SCL） |
| 4 | RX（SDA） | TX（SDA） |
| 5 | NC | / |
| 6 | GND | External Power – |
Mga sukat
Measuring Characteristic
Because of the divergence angle, there would be a light spot with a changing size on the target surface depending on the distance. In actual use, the surface area of the target object should be larger than the light spot so that the distance can be accurately measured. The diameters of the light spot of TSD20in different distances are shown below：
| Distansiya | 1m | 2m | 5m | 10m | 20m |
| Diameter of the light spot | 5cm | 10cm | 25cm | 50cm | 100m |
Protokol sa Komunikasyon: UART
Interface sa Komunikasyon
| UART | |
| Baud Rate | 460800 (mapasibo) |
| Data Bit | 8 |
| Hunong Bit | 1 |
| Parity Bit | Wala |
Output Format
| Ulohan sa Frame | Distance 2 Bytes | Susihon ang Byte | |
| 5C | 02 | 11 | EC |
|
Frame header 1 byte |
Distance value 2 bytes means the measuring distance is 4354mm, little-endian, range 0-65535. When out of
range, it would output 50000 |
From 02 to 11, opposite of the Check
byte, 1 byte |
|
Both the input and output of this product adopt the Hexadecimal Little-Endian Mode
Checksum Function: All checksum bytes above are calculated using this function.
Begin with the second byte and end with the last second byte, find the inverse of the sum. uint8_t Check_Sum(uint8_t *_pbuff, uint16_t _cmdLen)
UART Commands
| # | Deskripsyon | Ipadala | Pagbalik | Nota |
| 1 | Reading serial no. | 5A 0D 04 0D 0D 0D
0D BA checksum |
5A 8D 04 10 01 00 00
5F checksum |
10 01 00 00 means the serial no. is 272: little-endian, the serial no. shown in the upper computer is: S0000000272 (Add S before the number). |
| 2 | Reading software version no. | 5A 16 02 16 16 B checksum | 5A 96 02 03 02 6 checksum | 03 02 means the software version no. is V2.3: little-endian, 02 represents 2, 03 represents 3, Add a point (.) in the middle. |
| 3 | Setting sa Baud rate | 5A 06 02 80 04 73
checksum |
5A 86 02 80 04 F checksum | 60 00（9600） C0 00（19200） 80 （38400）80 04（115200）00 09（230400）00 0A（256000）00 12（460800）Any other baud rate is not available |
| 4 | Change IIC | 5A 1F 02 1F 1F
A0(checksum) |
5A 9F 02 1F 1F
20(checksum) |
5A 9F 02 1F 1F 20 Change succeed |
| 5 | Start Ranging | 5A 0A 02 02 00 F1 | 5A 8A 02 02 00 71 | Return 5A 8A 02 02 00 71 |
|
6 |
Stop Ranging |
5A 0A 02 00 00 F3 | 5A 8A 02 00 00 73 |
Stops distance measurement. |
| 7 | Pag-set sa frequency | 5A 0B 02 E7 03
08(checksum) |
5A 8B 02 E7 03
88(checksum) |
E7 03 (little-endian) represents the frequency divisor: 999.
Output frequency: f=10000/(999+1)=10Hz. Supported frequencies: 200/100/50/20/10/1Hz. |
Communication Protocol: IIC
TSD20LiDAR IIC slave interface supports a maximum clock frequency 400K. The default address is 0x52 (7bit address mode). I2C single register write sequence is as follow:
Definitions of registers
| Dili. | Rehistro nga adres | Pagparehistro nga kahulugan | Hiyas | Mga komento |
| 0 | 0x00 | Distance-High byte | Basaha-lamang | 2byte for distance |
| 1 | 0x01 | Distance-Low byte | Basaha-lamang | 2byte for distance |
| 3 | 0x02 | Pagkontrol sa laser | Pagsulat-lamang | 0: laser off; 1: laser on |
| 4 | 0x03 | LiDAR ID | Basaha-lamang | default 0x4A, be used to communicate read&write tests |
| 5 | 0x04 |
IIC to UART Switch |
Pagsulat-lamang | Write 0xA5 to register 0x04 and 0x5A to register 0x05 simultaneously |
| 6 | 0x05 | Pagsulat-lamang | ||
|
7 |
0x06 |
Software Version – High Byte | Basaha-lamang | Software version is 2 bytes, high byte first, then low byte |
|
8 |
0x07 |
Software Version – Low Byte |
Basaha-lamang |
|
| 9 | 0x08 | Serial Number – High Byte | Basaha-lamang | Serial number is 4 bytes, high byte first, range: 1-4294967294 |
|
10 |
0x09 |
Serial Number – Sub-high Byte |
Basaha-lamang |
|
|
11 |
0x0A |
Serial Number – Sub-low Byte |
Basaha-lamang |
|
| 12 | 0x0B | Serial Number – Low Byte | Basaha-lamang | |
|
13 |
0x0C |
IIC Slave Address |
Pagbasa/pagsulat |
IIC slave address in 7-bit mode, range: 0- 127 |
| 14 | 0x0D | Pag-reset sa Pabrika | Pagsulat-lamang | Write 0x01 to perform factory reset |
Dali nga Pagsulay
Test materials: TTL to USB adapter board, 5V DC power, Lidarviewer / serial port assistant. After the TSD20 successfully connected to your computer，
select the baud rate and click “connect”, then the data can be monitored on the upper computer. Here is a sample figure of Lidarviewer:
Mga atensyon
- There is NO protection for reverse polarity and overvoltage, please strictly follow the specification for correct power supply and wiring.
- The photobiological safety of this product is Class 1, so please DO NOT look straight at the lens after successfully connected.
- When operating this product in a dusty place, it is better to add a piece of red transparent glass or acrylic plate over the lens for dust prevention. (905nm wavelength needs a transmittance ≥ 85%.)
- When touching this product, please wear anti-static gloves to prevent the product from failing.
- There is a risk of failure when using this product to measure high-reflective objects (such as 3M tapes) and mirrors.
KONTAK
- Guangzhou PONO Technology Co., Ltd. | All rights reserved
- www.Positive-inno.com
Mga Dokumento / Mga Kapanguhaan
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PONO TSD20 Single Point LiDAR Based on DTOF Principle [pdf] Manwal sa Gumagamit TSD20, TSD20 Single Point LiDAR Based on DTOF Principle, TSD20, Single Point LiDAR Based on DTOF Principle, Point LiDAR Based on DTOF Principle, LiDAR Based on DTOF Principle, Based on DTOF Principle, DTOF Principle, Principle |