Benewake TF-Luna LiDAR Distance Sensor Manual

Benewake TF Luna LiDAR Distance Sensor Main 5 - Benewake TF-Luna LiDAR Distance Sensor Manual

Benewake TF-Luna LiDAR Distance Sensor Manual

Benewake TF-Luna LiDAR Distance Sensor Products here

Benewake TF-Luna LiDAR Distance Sensor Manual in PDF here

1 Cautions
1.1 About document

●This manual provides all essential information you may need during the usage of this product.

●Please read this manual carefully before using this product and make sure that you are fully understand the contents of the manual.

1.2 About product

●The product can only be maintained and repaired by qualified professionals, and only original spare parts are permitted to use for performance and safety reasons.

●This product DO NOT have polarity and over-voltage protection at all. Please wire and supply power according to the instructions.

●The working temperature of the product is from -10℃ to 60℃, please do not use it outside this temperature range to avoid risk and damage.

●The storage temperature of the product is from -20℃ to 75℃, please do not store it outside this temperature range to avoid risk and damage.

●For safety and performance, please DO NOT open the product casing or remove the IR-pass filter.

1.3 Common errors and other notes

●Detecting object with high reflectivity, such as mirrors, smooth floor tiles, and calm milk liquid.

●Blocking the product with any transparent objects, such as water or glasses.

● The product’s lenses may be covered by dusts or dirt which may affect results, so please keep those lenses clean.

●The exposed circuit board is electrostatic sensitive. Please do not touch the circuit board of the product barehanded. Please use ESD wrist strap or antistatic gloves to ground yourself if any operation is necessary; Otherwise, the product may be damaged by static electricity.

2 Principle description and key parameters
2.1 Ranging Principle

TF-Luna is using Time of Flight (TOF) principle to measure distance, and it periodically emits near infrared modulated waves. TF-Luna calculates the time by measuring the phase difference between the original wave and the reflection wave and uses that time to get relative distance, as shown in Figure 1.

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Figure 1: Schematics of TOF Principle

2.2 Basic Characteristic Parameters

Table 1: Parameters specification of TF-Luna

Description Parameter value
Operating range 0.2m~8m①
Accuracy ±6cm@ (0.2-3m) ②
±2%@ (3m-8m)  
Measurement unit cm (Default)
Range resolution 1cm
FOV 2°②
Frame rate 1~250Hz ( adjustable ) ③

① Operating range measured indoor based on a standard whiteboard with reflectivity 90% .

② This is theoretical, real value may be different.

③ 100Hz as default and only any factor (500/n, n can be any integer in [2, 500]) of 500Hz are available.

2.3 Repeatability

TF-Luna’s ranging accuracy is positively correlated with the strength value (amp) and negatively correlated with the output frame rate (frequency). The tables below show the standard deviation (STD) using 100Hz output rate. These values are for reference only, various testing environments may give different results.

Table 1 STD Amp correlation

Amp 100 200 400 1000 ≥2000
STD 3cm 3cm 2cm 1cm 0.5cm

Table 2 STD Dist correlation with 90% diffuse reflectance object

Dist 200cm 400cm 600cm 800cm
Std 0.5cm 1cm 1.5cm 2cm
2.4 Ranging characteristics

TF-Luna minimize the impact of external environment on ranging performance by optimizing light path and algorithm.

TF-Luna’s ranging dead zone is 20 cm or closer. Any distance output less than 20 cm is unreliable. The operating range of black and white targets are different:

The operating range of TF-Luna detecting black target with 10% reflectivity is 0.2-2.5m; The operating range of TF-Luna detecting white target with 90% reflectivity is 0.2-8m.

The ranging data are reliable only if the reflection surface fully covers the light spot, so the diameter of the object must at least the same as the diameter of the light spot, and that diameter depends on FOV of TF-Luna. The minimum diameter of the object surface has a formula:

d = 2 ∗ D ∙ tanβ

In the formula, d represents the minimum diameter, D is the distance of the object, and β is the half FOV of TF-Luna. Common values are shown in table 4 for your convenience:

Table4 Distance and minimum diameter

Distance (D) 1m 2m 3m 4m 5m 6m 7m 8m
Minimum diameter (d) 3.5cm 7cm 10.5cm 14cm 17.5cm 21cm 24.5cm 28cm

If the light spot reaches two objects with different distances as Figure 2, the output distance value will be any value between the two actual distances of the objects, which may cause error for high-accuracy applications. Please try to avoid this situation for better accuracy and performance.

Figure 2 Detecting two objects at different location

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3 Appearance and Structure
3.1 Appearance

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Figure 3 TF-Luna appearance and size drawing

4 Electrical Characteristics

Table 5: Major Electrical Parameters of TF-Luna

Description Value range
Power supply voltage 3.7V-5.2V
Average current ≤70mA
Peak current 150mA
Power consumption ≤350mW
Communication signal level LVTTL (3.3V)

This product has no overvoltage nor polarity protection, so please make sure that the product is well connected, and the power supply voltage is inside the given range.

5 Functional Descriptions and configuration
5.1 Description about Line Sequence and Connection

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Figure 4 TF-Luna’s pin numbers

Table 6: The Function and Connection Description of each pin

No. Function Description
1 +5V Power supply
2 RXD/SDA Receiving/Data
3 TXD/SCL Transmitting/Clock
4 GND Ground
5 Configuration Input Ground: I2C mode /3.3V: Serial port Communications mode
6 Multiplexing output Default: on/off mode output I2C mode: Data availability signal on but not switching value mode


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