Manual del usuario del sensor de rango láser TOF de Waveshare

1. Introducción

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.

Waveshare TOF Laser Range Sensor with icons for optical filter, embedded MCU & algorithm, and cascade ranging.

Figura 1.1: Sobreview of the TOF Laser Range Sensor highlighting its key features: optical filter, embedded MCU and algorithm, and cascade ranging capability.

2. Key Features and Capabilities

Alta precisión: 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.
Campo ajustable de View (FOV): The FOV is adjustable from 15° to 27°, allowing customization for specific application needs.
Comunicación flexible: Supports both UART and CAN bus interfaces, with two identical ports for versatile connectivity.
Alcance en cascada: 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.

Diagram illustrating high accuracy, short blind zone, and adjustable FOV of the TOF Laser Range Sensor.

Figura 2.1: detallada view of the sensor's high accuracy, minimal blind zone, and adjustable field of view.

Diagram showing cascade ranging support, UART/CAN communication, and host computer assistant software interface.

Figure 2.2: Illustration of cascade ranging capabilities, UART/CAN support, and the user interface of the host computer assistant software.

3. Configuración y conexión del hardware

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 Descripción de la distribución de pines

CCV: Power supply input (3.7-5.2V)
TIERRA: Suelo
TX/CAN_L: Transmit (UART) / CAN Low
RX/CAN_H: Receive (UART) / CAN High

3.2 Connecting with Raspberry Pi

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).

Diagrams showing hardware connections for Raspberry Pi and Arduino, along with outline dimensions of the sensor.

Figure 3.1: Detailed hardware connection diagrams for Raspberry Pi and Arduino, including pin assignments and the sensor's outline dimensions in millimeters.

4. Operación y software

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

Salida activa: The sensor continuously outputs ranging data at a set interval.
Salida de la consulta: 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. Aplicaciones

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 para evitar obstáculos: 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.
Automatización industrial: For position sensing and object detection in automated systems.

6. Especificaciones

Table of typical measuring range, accuracy, resolution, wavelength, FOV, communication interface, baudrate, cascade support, power supply, power consumption, weight, and dimensions.

Figure 6.1: Detailed technical specifications of the TOF Laser Range Sensor.

Parámetro	Valor
Rango de medición	Short: 0.012-2.18m, Mid: 0.012-3.60m, Long: 0.01-5.00m
Precisión típica	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)
Resolución	1 mm
Longitud de onda	940nm (Class 1 standard compliant)
Campo de View (Campo de visión)	15°-27° (adjustable)
Interfaz de comunicación	UART (3.3V TTL signal level), CAN (both ports can be used simultaneously)
velocidad de transmisión	UART: 115200-3000000bps (921600bps by default) CAN: 100000-3000000bps (1000000bps by default)
Cascade Support	UART: supports up to 8 cascades CAN: supports up to 7 cascades
Fuente de alimentación	3.7-5.2 V
Consumo de energía	290mW (UART active output, long-range mode, 5.0V power supply, 58mA current)
Peso	0.444 onzas (aprox. 12.6 g)
Dimensiones (L×An×Al)	35.58 × 12 × 8.05 mm
Número de modelo del artículo	TOF Laser Range Sensor
ASIN	B08F57PXKV

7. Mantenimiento

To ensure the longevity and optimal performance of your TOF Laser Range Sensor, follow these maintenance guidelines:

Limpieza: Gently clean the sensor's optical window with a soft, lint-free cloth. Avoid abrasive materials or harsh chemicals that could scratch the lens.
Manejo: Handle the sensor with care to prevent physical damage. Avoid dropping or subjecting it to excessive force.
Almacenamiento: Store the sensor in a dry, dust-free environment when not in use. Protect it from extreme temperatures and humidity.
Fuente de alimentación: Utilice siempre una fuente de alimentación estable y adecuada dentro del volumen especificado.tagRango e (3.7-5.2V).

8. Solución de problemas

If you encounter issues with your TOF Laser Range Sensor, consider the following troubleshooting steps:

Sin salida de datos:
- Verifique las conexiones y el volumen de la fuente de alimentación.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.
Lecturas inexactas:
- Asegúrese de que la ventana óptica del sensor esté limpia y libre de obstrucciones.
- 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.
Problemas de conexión del software:
- Confirm the correct COM port is selected in the Host Computer Assistant Software.
- Asegúrese de que ningún otro software esté utilizando el mismo puerto COM.
- 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. Garantía y soporte

This Waveshare TOF Laser Range Sensor is manufactured by Waveshare. For technical support, product inquiries, or warranty information, please visit the official Waveshare websitio o comuníquese con sus canales de soporte.

Fabricante: Compartir ondas

Oficial Websitio: www.waveshare.com

Product packaging with manufacturer information, contact details, and compliance markings.

Figure 9.1: Product packaging displaying manufacturer information and contact details.