TSD20 Single Point LiDAR Based on DTOF Principle
Tlhahisoleseding ya Sehlahiswa
Litlhaloso
- Model: TSD20
- Technology: LiDAR (Light Detection and Ranging)
- Principle: Direct Time of Flight (DTOF)
- Measuring Frequency: 200Hz
- Measuring Range: Up to 20 meters
- Ambient Light Immunity: 100Klux
- Measuring Blind Zone: 5 cm
Sehlahisoa se Felletseview
The TSD20 LiDAR is a single-point LiDAR device based on the DTOF
principle. It offers a measuring frequency of 200Hz, a range of up
to 20 meters, and ambient light immunity up to 100Klux. This
cost-effective product is designed for applications such as drones,
sweeping robots, and industrial robots.
Likaroloana
- Compact size and low cost
- Tshebetso e phahameng
- High resistance to ambient light interference
- Ho bonolo ho sebelisa le ho kenya
- Convenient for expansion
Litaelo tsa Tšebeliso ea Sehlahisoa
Ho kenya
1. Choose a mounting location that provides a clear line of
sight for the LiDAR unit.
2. Securely mount the TSD20 LiDAR using appropriate
hardware.
Ho Matlafatsa
1. Connect the power source to the LiDAR unit following the
fana ka tataiso.
2. Matla ho sesebelisoa ho sebelisa konopo ea matla e khethiloeng.
Ho Fumana Boitsebiso
1. Ensure proper communication between the LiDAR unit and the
tsamaiso ea baeti.
2. Configure the desired measurement parameters using the
accompanying software.
Tlhokomelo
1. Regularly clean the lens of the LiDAR unit to maintain
litekanyo tse nepahetseng.
2. Hlahloba likhokahano leha e le life tse hlephileng kapa tšenyo e ka amang
tshebetso.
Litlhokomelo tsa Tšireletso
1. Do not stare directly into the laser emitter.
2. Follow all safety guidelines provided in the user manual.
Lipotso tse atisang ho botsoa (FAQ)
Q: What is the maximum measuring range of the TSD20 LiDAR?
A: The TSD20 LiDAR has a maximum measuring range of 20
limithara.
Q: Is the TSD20 LiDAR suitable for outdoor use?
A: Yes, the TSD20 LiDAR features ambient light immunity up to
100Klux, making it suitable for outdoor applications.
P TSD20USER MANUAL
ONO
TSD20 Single-Point LiDAR Based on DTOF Principle
200Hz Measuring Frequency / 20 meters Range / Ambient Light Immunity 100Klux / Cost-effective
NO Product Overview O The TSD20 LiDAR is our newly launched laser ranging product and is specially designed for applications such P 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.
Likaroloana
Based on DTOF principle (Direct Time of Flight)
O Maximum Measuring Range20 m N Measuring Blind Zone5 cm
Measuring Frequency200Hz
O Accuracy±5cm(<5m), 1%(5m) P Resolution1mm
PONO
Operating Temperature-20~+60
Phepelo Voltage33.6VDC Compact Size21 x 15 x7.43 mm Weight2g
O Ambient Light Immunity8m@100Klux N Applications O Drone Altitude Holding and Obstacle Avoidance P Robots Obstacle Avoidance
Industrial Grade Light Curtain
AGV Obstacle Avoidance
High-speed Measuring and Safety Monitoring
PONO in Traffic and Industrial Automation
PONO
PO PO
ONO
PONO
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P TSD20USER MANUAL
ONO ONO
Litlhaloso
#
Mohlala
1
Range
2
Khafetsa
3
Ho nepahala
TSD20
O0.05m20m (90%reflectivity), N0.05m10m (10%reflectivity) O200Hzadjustable100/50/20/10/1Hz P ±5cm(<5m), 1%(5m)(1)
4
Pheta-pheta
5
Ambient Light Immunity
O 6
Bohareng ba Wavelength
N 7
Photobiological Safety
PO 8
FOV
9
Wavelength for Indication
±10mm 8m@100KLux
O 905nm N Class 1 PO 3°
N/A
10 11 12 13
Photobiological Safety for Indication
O Supply Voltage N Peak Current PO Average Current
N/A 3.3~3.6VDC 3.3V@70mA 3.3V@40mA
14
Karolelano ea Tšebeliso ea Matla
<0.2W
15
Sehokelo sa Puisano
16
Boemo ba Tšireletso
O 17
Boemo
N 18
Boima ba 'mele
PO 19
Mocheso oa ho sebetsa
UART/IIC N/A
O 21x 15 x 7.43 mm N 2g PO -20 ~ +60
20
Terata ga tlhaloso
6pin 0.8mm terminal, 20cm tinned stranded wires
21
Boikemisetso
PONO available in appearance / structure / output protocol
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PO PO
P TSD20USER MANUAL
Definitions of Pins No.
PONO Definition / Wire Color
1
NC
2
O 3 N 4 PO5
3.3 TX SCL RXSDA
NC
Mosebelisi
/
External Power +
O RXSCL N TXSDA PO/
ONO
6 Litekanyo
GND
PONO
External Power –
PO PO
PONO
PONO
ONO
PONO
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P TSD20USER MANUAL
Measuring Characteristic
O Because of the divergence angle, there would be a light spot with 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
N light spot so that the distance can be accurately measured. PO The diameters of the light spot of TSD20in different distances are shown below
Sebaka
1m
2m
5m
10m
20m
Diameter of the light spot
5cm
10cm
25cm
50cm
100m
1.
O Communication Protocol: UART
N Communication Interface
POBaud Rate
UART
Boitsebiso ba data
Emisa Bit
PONO 460800 (adjustable) 8 1
Parity Bit
Ha ho letho
2. Sebopeho sa Output
O Frame Header ON 5C
O Distance 2 Bytes
HO 02
11
P Distance value 2 bytes means the measuring distance
Check Byte EC
From 02 to 11,
Frame header 1 byte
is 4354mm, little-endian, range 0-65535. When out of
opposite of the Check
range, it would output 50000
byte, 1 byte
Both the input and output of this product adopt the Hexadecimal Little-Endian Mode.
O O 3. Checksum Function: All checksum bytes above are calculated using this function. N N Begin with the second byte and end with the last second byte, find the inverse of the sum. O O uint8_t Check_Sum(uint8_t *_pbuff, uint16_t _cmdLen) P P {
uint8_t cmd_sum=0;
uint16_t ke;
ONO }
for(i=0;i<_cmdLen;i++) {
O cmd_sum += _pbuff[i];
}
N cmd_sum = (~cmd_sum); PO return cmd_sum;
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PO PO
P TSD20USER MANUAL
4. UART Commands
#
Tlhaloso
1
Reading serial no.
O Send
Kgutla
ON 5A 0D 04 0D 0D 0D P 0D BA checksum
5A 8D 04 10 01 00 00 5F checksum
Note 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).
PO
2
3
ONO 4 5 6
7
Reading software
PONO version no.
5A 16 02 16 16 BB checksum
5A 96 02 03 02 62 checksum
Baud rate setting Change IIC
5A 06 02 80 04 73
5A 86 02 80 04 F3
checksum
checksum
ONO 5A 1F 02 1F 1F P A0(checksum)
5A 9F 02 1F 1F 20(checksum)
03 02 means the software version no. is V2.3: little-endian, 02 represents 2, 03
O represents 3, Add a point (.) in the middle. N60 009600 POC0 0019200
80 0138400 80 04115200 00 09230400 00 0A256000 00 12460800 Any other baud rate is not available 5A 9F 02 1F 1F 20 Change succeed
PO
Start Ranging
5A 0A 02 02 00 F1 5A 8A 02 02 00 71 Return 5A 8A 02 02 00 71
Stop Ranging
5A 0A 02 00 00 F3
NO5A 0B 02 E7 03 PO Frequency setting 08(checksum)
5A 8A 02 00 00 73
5A 8B 02 E7 03 88(checksum)
Stops distance measurement. E7 03 (little-endian) represents the
O frequency divisor: 999. N Output frequency: f=10000/(999+1)=10Hz.
OSupported frequencies: P200/100/50/20/10/1Hz.
ONO
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P TSD20USER MANUAL
Communication Protocol: IIC TSD20LiDAR IIC slave interface supports maximum clock frequency 400K. The default address is 0x52 (7bit address mode).
PONO I2C single register write sequence is as follow:
PO
PONO I2C multiple registers read sequence is as follow:
PONO
ONO
Definitions of registers
Che.
Ngolisa aterese
0
0x00
1
0x01
3
0x02
4
0x03
NO Register definition
Distance-High byte Distance-Low byte
PO Laser control
Attribute Read-only Read-only Write-only
Remarks 2byte for distance 2byte for distance 0: laser off; 1: laser on
default 0x4A, be used to communicate
LiDAR ID
Bala feela
read&write tests
5
0x04
6 7
8 9
0x05
O 0x06 N0x07 PO0x08
IIC to UART Switch
Software Version – High Byte
Software Version – Low Byte
Serial Number – High Byte
Write-only Write-only Read-only
Bala-feela Bala-feela
Write 0xA5 to register 0x04 and 0x5A to register 0x05 simultaneously
O Software version is 2 bytes, high byte first, PON then low byte
10
11
O 12 ON 13
14
0x09
0x0A 0x0B 0x0C 0x0D
Serial Number – Sub-high
Bala feela
Byte
Serial Number – Sub-low
O Byte
Serial Number – Low Byte
Bala-feela Bala-feela
ON IIC Slave Address P Factory Reset
Read/write Write-only
Serial number is 4 bytes, high byte first, range: 1-4294967294
IIC slave address in 7-bit mode, range: 0127
Write 0x01 to perform factory reset
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PO
P TSD20USER MANUAL
Tlhahlobo e potlakileng
Test materials: TTL to USB adapter board, 5V DC power, Lidarviewer / serial port assistant. After the TSD20 successfully connected to your computer
PONO TSD/WTT sensor
Adapter
Thapo ea Type-C
PC(Windows)
Software
USBdriver
thapo
PO
PONO
PONO
ONO
PONO
PO
select the baud rate and click “connect”, then the data can be monitored on the upper computer. Here
PONO PONO is a sample figure of Lidarviewer::
ONO
PONO
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P TSD20USER MANUAL
Attentions – There is NO protection for reverse polarity and overvoltage, please strictly follow the specification for correct
O power supply and wiring.
– The photobiological safety of this product is Class 1, so please DO NOT look straight at the lens after
N successfully connected. O – When operating this product in a dusty place, it is better to add a piece of red transparent glass or acrylic P 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
PONO PONO mirrors.
PO
ONO
PONO
PO
PONO
PONO
ONO
PONO
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PONO TSD20 Single Point LiDAR Based on DTOF Principle [pdf] Bukana ea Mosebelisi 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 |