Benewake TFmini Plus Manuel utilisateur
Product Manual of TFmini Plus
TFmini Plus LiDAR Module
SJ-PM-TFmini Plus-T-01 A01
Benewake (Beijing) Co. Ltd.
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2
Specified Product
Product model: TFmini Plus
Product name: TFmini Plus 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
SJ-PM-TFmini Plus-T-01 A01
Benewake (Beijing) Co. Ltd.
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Foreword
Dear users,
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 (supp[email protected]). 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://benewake.com/en/mfeedback.html), and we are
looking forwards to your participation.
We are Benewake who dedicated to making the best “Robotic Eyes” worldwide!
SJ-PM-TFmini Plus-T-01 A01
Benewake (Beijing) Co. Ltd.
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Table of Contents
1 ATTENTIONS ................................................................................................................................. 6
1.1 A
BOUT THIS
M
ANUAL
................................................................................................................. 6
1.2 U
SAGE OF
P
RODUCT
................................................................................................................... 6
1.3 C
ONDITIONS WITH
P
OTENTIAL
M
ALFUNCTION
........................................................................... 6
2 DESCRIPTION ................................................................................................................................ 7
2.1 P
RODUCT DESCRIPTION
............................................................................................................... 7
2.2 P
RINCIPLE OF
D
ISTANCE
M
EASUREMENT
.................................................................................... 7
2.3 K
EY
C
HARACTERISTIC
P
ARAMETERS
.......................................................................................... 7
2.4 R
EPEATABILITY
........................................................................................................................... 8
2.5 D
ISTANCE
M
EASUREMENT
C
HARACTERISTICS
............................................................................ 9
3 APPEARANCE AND STRUCTURE ........................................................................................... 10
3.1 P
RODUCT
S
TRUCTURE
.............................................................................................................. 10
4 ELECTRICAL CHARACTERISTICS ....................................................................................... 11
5 LINE SEQUENCE AND DATA COMMUNICATION PROTOCOL ...................................... 11
5.1 D
ESCRIPTION ABOUT
L
INE
S
EQUENCE AND
C
ONNECTION
......................................................... 11
5.2 D
ATA
C
OMMUNICATION
P
ROTOCOL
.......................................................................................... 12
5.3 D
ATA
O
UTPUT
F
ORMAT
............................................................................................................. 12
5.4 D
ESCRIPTIONS OF DEFAULT
O
UTPUT
D
ATA
............................................................................... 13
6 QUICK TEST ................................................................................................................................. 13
6.1 R
EQUIRED
T
OOLS OF
P
RODUCT
T
EST
........................................................................................ 13
6.2 T
EST
P
ROCEDURES
................................................................................................................... 13
7 DESCRIPTIONS ON USER-DEFINED PARAMETER CONFIGURATION ....................... 16
7.1 F
UNCTION
O
VERVIEW
............................................................................................................... 16
7.2 C
OMMAND
C
ONVENTION
.......................................................................................................... 16
SJ-PM-TFmini Plus-T-01 A01
Benewake (Beijing) Co. Ltd.
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7.3 C
OMMAND
F
RAME
D
EFINITION
................................................................................................ 16
7.4 G
ENERAL
P
ARAMETER
C
ONFIGURATION AND
D
ESCRIPTION
...................................................... 16
8 REMOTE UPGRADING .............................................................................................................. 18
9 MALFUNCTION: CAUSES AND TROUBLESHOOTING ..................................................... 18
10 Q&A ............................................................................................................................................... 20
ATTACHMENT 1: INTRODUCTION OF TF SERIES PC SOFTWARE .................................. 21
SJ-PM-TFmini Plus-T-01 A01
Benewake (Beijing) Co. Ltd.
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1 Attentions
1.1 About this Manual
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 -20℃ 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 malfunction if its emitting or receiving IR-pass filter is covered by the dust.
Please keep the IR-pass filters clean.
Please do not spread ethyl alcohol on the IR-pass filters, which are made of acrylic, IR-pass filters
will be damaged.
Please do not pull the fine wire, the wire may be damaged.
SJ-PM-TFmini Plus-T-01 A01
Benewake (Beijing) Co. Ltd.
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2 Description
2.1 Product description
TFmini Plus is a milestone of Benewake in the process of promoting the cost-effective -LiDAR. Apart from
low-cost, small-size and low-power-consumption, TFmini Plus also improves the frame rate, introduces
IP65 enclosures and optimizes various compensation algorithms. These new characters greatly expand the
application fields and scenarios of TFmini Plus.
2.2 Principle of Distance Measurement
TFmini Plus is based on TOF, namely, Time of Flight principle. 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 Figure1.
Figure 1 Schematics of TOF Principle
2.3 Key Characteristic Parameters
Table 1 Key Characteristic Parameters of TFmini
Description Parameter value
Operating range 0.1m~12m
①
Accuracy
±5cm@（0.1-6m）
②
±1%@（6m-12m）
Measurement unit cm
Range resolution 5mm
FOV 3.6°
③
Frame rate 1~1000Hz（adjustable）
④
SJ-PM-TFmini Plus-T-01 A01
Benewake (Beijing) Co. Ltd.
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① Operating range based on a standard whiteboard with reflectivity 90% in indoor condition
② The distance measurement here is absolute accuracy, and the specific repeat accuracy will be described in the next section
2.4.
③ 3.6°is the theoretical value, from which the actual value will be different. The theoretical divergence angle is 6°
④ Only frame rates meet the formula–1000/n (n is positive integer) can be set. The default frame rate is 100Hz.
2.4 Repeatability
The TFmini Plus's range repeat accuracy is directly related to the intensity value measured and the
output frame rate (frequency). The ranging repeat accuracy is characterized by the standard deviation of
ranging. The average ranging accuracy of the TFmini Plus can be estimated by the following formula:
Distance_STDcmp00p10∗xp01∗yp20∗x^2p11∗x∗y
In the formula, x is log , y is log , p00, p01, p10, p20 and p11 are
constant coefficients, and the values are as follows:
p00 0.9758
p01 1.175
p10 0.6072
p20 0.09501
p11 0.2904
The above formula only calculates the average reference value. There are some differences in actual
results due to differences in each product.
For your convenience, add a simple statistics table for this query, as shown below:
SJ-PM-TFmini Plus-T-01 A01
Benewake (Beijing) Co. Ltd.
Page9
2.5 Distance Measurement Characteristics
With optimization of light path and algorithm, TFmini Plus 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. As shown
in Figure 2:
①
Represents the detection blind zone of TFmini Plus, 0-10cm, within which the output data is unreliable.
②
Represents the operating range of TFmini Plus detecting black target with 10% reflectivity, 0.1-5m.
③
Represents the operating range of TFmini Plus detecting white target with 90% reflectivity, 0.1-12m.
Vertical Coordinates: Represents the radius of light spot for TFmini Plus at the different distances. The
diameter of light spot depends on the FOV of TFmini Plus (the term of FOV generally refers to the smaller
value between the receiving angle and the transmitting angle), which is calculated as follows:
dD∙tanβ
In the formula above, d is the diameter of light spot; D is detecting range; β is the the value of the
receiving angle of TFmini Plus, 3.6°. Correspondence between the diameter of light spot and detecting
range is given in Table 2.
Table 2 the Minimum side length of effective detection corresponding to Detecting Range
Detecting
range 1m 2m 3m 4m 5m 6m 7m 8m 9m 10m 11m 12m
Minimum
side length 6cm 12cm 18cm 24cm 30cm 36cm 42cm 48cm 54cm 60cm 66cm 72cm
Figure 2 Schematics of Range of distance measurement and Effectiveness of the Product
Figure 2 Schematic diagram of size of light spot
SJ-PM-TFmini Plus-T-01 A01
Benewake (Beijing) Co. Ltd.
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If the light spot reaches two objects with different distances, as shown in Figure 3, the output distance value
will be a value between the actual distance values of the two objects. For a high accuracy requirement in
practice, the above situation should be noticed to avoid the measurement error.
Figure 3 Distance Measurement in the case of Two Objects of Different Distances
3 Appearance and Structure
3.1 Product Structure
Figure 4: Constructional Drawing of TFmini Plus
M2 positioning screw was recommended, and please choose an appropriate length according to
installation requirements.
Dist1
Dist2
Dist
Dist2 > Dist > Dist1
Table des matières
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