1. 서론
The Waveshare TOF (Time of Flight) Laser Range Sensor is a compact and precise distance measurement device. It integrates an embedded MCU and a sophisticated ranging algorithm, enabling accurate measurements up to 5 meters with a resolution of 1mm and an accuracy of ±1.5cm. This sensor supports flexible data output options, including active and query modes, via UART or CAN bus, making it suitable for a wide array of applications.
그림 1.1: 이상view of the TOF Laser Range Sensor highlighting its key features: optical filter, embedded MCU and algorithm, and cascade ranging capability.
2. 주요 기능 및 역량
- 높은 정확도: Offers 1mm resolution and ±1.5cm accuracy, with a standard deviation of <5mm for 0-3m range.
- Short Blind Zone: Capable of measuring distances as close as 1cm, minimizing the blind zone.
- 조정 가능한 분야 View (시야): The FOV is adjustable from 15° to 27°, allowing customization for specific application needs.
- 유연한 커뮤니케이션: Supports both UART and CAN bus interfaces, with two identical ports for versatile connectivity.
- 캐스케이드 범위: Multiple sensors can be connected in series (up to 8x via UART, 7x via CAN) with individual ID configuration, enabling data acquisition from all sensors through a single bus.
- Configurable Output: Provides active output and query output modes for data acquisition.
그림 2.1: 상세 view of the sensor's high accuracy, minimal blind zone, and adjustable field of view.
Figure 2.2: Illustration of cascade ranging capabilities, UART/CAN support, and the user interface of the host computer assistant software.
3. 설치 및 하드웨어 연결
The TOF Laser Range Sensor can be easily integrated with various development boards such as Raspberry Pi and Arduino. Ensure proper power supply and communication line connections as detailed below.
3.1 핀아웃 설명
- VCC: Power supply input (3.7-5.2V)
- GND : 지면
- TX/CAN_L: Transmit (UART) / CAN Low
- RX/CAN_H: Receive (UART) / CAN High
3.2 라즈베리 파이 연결하기
Connect the sensor to your Raspberry Pi's GPIO pins according to the diagram. Ensure the UART or CAN pins are correctly mapped and configured on the Raspberry Pi.
3.3 Connecting with Arduino
For Arduino integration, connect the sensor's pins to the corresponding digital I/O pins on your Arduino board. Pay attention to the voltage levels (3.3V TTL signal level for UART).
Figure 3.1: Detailed hardware connection diagrams for Raspberry Pi and Arduino, including pin assignments and the sensor's outline dimensions in millimeters.
4. 운영 및 소프트웨어
The TOF Laser Range Sensor comes with a dedicated Host Computer Assistant Software to facilitate configuration, data monitoring, and analysis. This software provides functionalities such as sensor configuration, waveform monitoring, data analysis, data record and replay, and firmware upgrades.
4.1 Data Output Modes
- 활성 출력: The sensor continuously outputs ranging data at a set interval.
- 쿼리 출력: The sensor outputs ranging data only when a query command is received from the host device.
Refer to the software's user guide for detailed instructions on configuring communication parameters (baud rate, sensor ID) and selecting data output modes.
5. 응용 프로그램
The versatility and precision of the TOF Laser Range Sensor make it suitable for a variety of applications:
- Common Distance Measuring: Accurate measurement for general purposes.
- Robot Obstacle Avoidance: Essential for autonomous robots to detect and navigate around obstacles.
- Robot Route Planning: Provides data for mapping environments and planning efficient paths.
- Drone Altitude Setting: Enables precise height control for unmanned aerial vehicles.
- Ceiling Detection: Useful in indoor navigation and mapping.
- 산업 자동화: For position sensing and object detection in automated systems.
6. 사양
Figure 6.1: Detailed technical specifications of the TOF Laser Range Sensor.
| 매개변수 | 값 |
|---|---|
| 측정 범위 | Short: 0.012-2.18m, Mid: 0.012-3.60m, Long: 0.01-5.00m |
| 일반적인 정확도 | Short range: ±1.0cm, std dev <0.3cm Mid range: ±1.0cm, std dev <1.5cm Long range: ±1.5cm, std dev <0.5cm (0-3m), std dev <8cm (3-5m) |
| 해결 | 1mm |
| 파장 | 940nm (Class 1 standard compliant) |
| 분야 View (시야) | 15°-27° (adjustable) |
| 통신 인터페이스 | UART (3.3V TTL signal level), CAN (both ports can be used simultaneously) |
| 전송 속도 | UART: 115200-3000000bps (921600bps by default) CAN: 100000-3000000bps (1000000bps by default) |
| 캐스케이드 지원 | UART: supports up to 8 cascades CAN: supports up to 7 cascades |
| 전원 공급 장치 | 3.7-5.2V |
| 전력 소비 | 290mW (UART active output, long-range mode, 5.0V power supply, 58mA current) |
| 무게 | 0.444온스(약 12.6g) |
| 치수(L×W×H) | 35.58 × 12 × 8.05mm |
| 품목 모델 번호 | TOF Laser Range Sensor |
| ASIN | B08F57PXKV |
7. 유지관리
To ensure the longevity and optimal performance of your TOF Laser Range Sensor, follow these maintenance guidelines:
- 청소: Gently clean the sensor's optical window with a soft, lint-free cloth. Avoid abrasive materials or harsh chemicals that could scratch the lens.
- 손질: Handle the sensor with care to prevent physical damage. Avoid dropping or subjecting it to excessive force.
- 저장: Store the sensor in a dry, dust-free environment when not in use. Protect it from extreme temperatures and humidity.
- 전원 공급 장치: 지정된 전압 범위 내에서 안정적이고 적절한 전원 공급 장치를 항상 사용하십시오.tage 범위(3.7-5.2V).
8. 문제 해결
If you encounter issues with your TOF Laser Range Sensor, consider the following troubleshooting steps:
- 데이터 출력 없음:
- 전원 공급 장치 연결 및 볼륨을 확인하십시오.tage.
- Check communication wiring (TX/RX, CAN_L/CAN_H) for correct polarity and secure connections.
- Ensure the baud rate and communication protocol (UART/CAN) are correctly configured on both the sensor and the host device.
- Confirm the sensor ID is correctly set, especially in cascade mode.
- 부정확한 판독:
- 센서의 광학 창이 깨끗하고 방해물이 없는지 확인하세요.
- Check for strong ambient light sources that might interfere with the laser.
- Verify the target surface is suitable for TOF measurement (non-reflective, non-transparent).
- Ensure the sensor is within its specified measuring range.
- 소프트웨어 연결 문제:
- Confirm the correct COM port is selected in the Host Computer Assistant Software.
- Ensure no other software is using the same COM port.
- Reinstall the necessary drivers for your USB-to-UART/CAN converter, if applicable.
If problems persist, refer to the official Waveshare documentation or contact technical support.
9. 보증 및 지원
This Waveshare TOF Laser Range Sensor is manufactured by Waveshare. For technical support, product inquiries, or warranty information, please visit the official Waveshare web사이트를 방문하거나 지원 채널에 문의하세요.
제조업체: 웨이브셰어
공식적인 Web대지: www.waveshare.com
Figure 9.1: Product packaging displaying manufacturer information and contact details.
