Laser Rangefinder Module 0816C

Short Description:

LRF8000C eye-safe ranging module is developed based on 1535nm erbuim-glass laser independently devoloped by our company. It belongs to level Ⅰ eye-safe product. The product adpots monopulse ranging, the maximum range is up to 10km. Support UART(TTL_3.3V) and RS422 can choose, provide upper computer software, Specifies the set and communication protocol. The advantages are stable operation functions, small size and light weight.


Product Detail

Product Tags

TECHNICAL SPECIFICATIONS

Project

Technical data

Model

LRF8000C

Eye safety

Class1/1M

Wavelength

1535±5nm

Receiving aperture

Φ25 mm

Firing aperture

Φ12 mm

Receiving field of view Angle

4.21 mrad

Beam divergence Angle

0.3±0.05 mrad

Maximum range

Big goal

≥ 10000 m 1)

 

Car

≥ 8000 m  1)

 

People

≥ 4500 m 1)

 

Drone

≥ 2600 m 1)

Minimum range

20 m

Measurement frequency

1~10 Hz

Ranging accuracy

±1 m

Range resolution

≤30 m

Detection probability

≥98%

False alarm rate

≤1%

Number of multiple target detections

3 (maximum number)

Electrical interface

A1257WR-S-6P

Supply

DC 4.516 V

Standby power

≤ 1mW(Module off, POWER_ON < 0.3V)

Average power consumption

2 W (Module on, POWER_ON > 2.7V)

Start-up power consumption

≤14 W 2)

Peak power consumption

≤10 W 2)

Weight

≤ 58±1g

Dimention (L×W×H)

65×48×32 mm

Operation temperature

-40~55

Storage temperature

-55~75℃

Vibration

0.01~0.04 g2/Hz, 20~2000Hz

Strike

75g/6ms

Multi-target detection

Up to 3 targets

Communication interface

UART(TTL_3.3V)RS422 Can choose

Electrical isolation

Power, communication and structural isolation

Reliability

MTBF ≥ 1500h

Optical axis stability

≤0.05 mrad

The optical axis is not perpendicular to the mounting base plane

≤0.5 mrad

 

Notes:

1) Car taget size 2.3 m × 4.6 m; Humanoid target size 0.5 m × 1.7 m; UAV target size 0.2 m × 0.3 m ; Reflectivity 30%, Conspicurity≥12km;

2)The duration of start-up power consumption is less than 500ms; The duration of peak power consumption is less than 20ms and the average power consumption is less than 4W;

Precautions for use

Safety mark

 

Danger

Pay attention to laser radiation, the safety category of this product is Class 1, please take good safety protection.

 

Warn

Improper use may cause personal injury.

 

Look out

Improper use will cause damage to the ranging module.

 

Get an electric shock

The working voltage of the ranging module is DC 4.5~16V, and the current is about 0.1~1A. Attention should be paid to protection when operating the ranging module.

 

Electrostatic protection

The device is very sensitive to static electricity, which will cause irreversible damage to the device. The operator should take ESD protection during operation.

 

Environmental humidity

When transporting, storing and using this product, pay attention to avoid humid environment. Working in humid environment prone to condensation and frost will affect the ranging performance and may cause damage to the module!

 Precautions for use

(1) Do not disassemble the module and components. Improper operation will damage the ranging module and void the warranty.

(2) When integrating the ranging module in the system, please read the product manual carefully. The wrong voltage will cause permanent damage.

(3) When using, keep away from water and other liquids to avoid being polluted by dust or other pollutants.

(4) During transportation and storage, store the modules in the delivered packaging.

(5) Do not make any changes to the equipment, as this may cause potential hazards to operators and modules. It is forbidden to change any electronic, mechanical and optical components. Any modification to the equipment will void the warranty.

(6) This ranging module does not need special maintenance, but it is necessary to keep the optical glass surface (transmitting and receiving lens) free of deposits. To ensure unobstructed measurement, use air blowing to remove dust. If dust or other deposits are difficult to remove, please contact the sales personnel.

(7) In a very strong light environment, the performance of ranging may be reduced when the object with low surface reflectivity is ranging.

(8) Ranging error may be increased by using glass, optical filter, plexiglass or other translucent materials.

(9) Rain, snow, fog, haze, dust and other weather conditions will affect the ranging performance.

(10) Avoid ranging under the condition of rapid temperature change, and the ranging performance will be affected.

(11) It is necessary to avoid ranging strong reflection targets (such as glass, smooth metal surface, etc.), which may cause permanent damage to the detection components.

(12) It is necessary to avoid ranging the close range target within 15m, which may cause permanent damage to the detection components.

(13) In order to avoid the possibility of permanent damage to the detection module when multiple ranging modules work in opposite direction in close range.

(14) Avoid using high-energy laser source to direct the receiving antenna of the ranging module, which may cause permanent damage to the detection module.

(15) When installing and using the ranging module, the mirror cover should always cover the receiving antenna. Otherwise, it may cause permanent damage to the detection component.

(16) Beyond the working conditions (including but not limited to working temperature, impact vibration magnitude, etc.), the use of the ranging module will cause damage to the ranging module and void the warranty.

(17) If there is any damage, please do not operate and contact customer service for further assistance.

Product composition

LRF8000C eye-safe ranging module is mainly composed of laser, transmitting antenna, receiving antenna, detection component, hardware circuit board, main structure, etc. The hardware circuit board is composed of main control board, power board and operational amplifier board.

 

User interface

Electrical interface

  1. User electrical interface:UART,TTL_ 3.3V

The connector model of electrical interface is A1257WR-S-6P, and the specific wiring definition is shown in the table below.

Pin

Definition

Description

Cable color

1

Power +

Power supply, DC 4.5~16V

Red

2

Power -

Power supply, GND

Black

3

POWER_ON

Module power switch, TTL_ 3.3V;

Module on (> 2.7V), module off (< 0.3V);

White

4

UART_TX

UART_TX, TTL_3.3V

Yellow

5

UART_RX

UART_RX, TTL_3.3V

Green

6

UART_GND

UART_GND

Black

     2.User electrical interface: RS422

Connector model: Yangtze River Connector A1257WR-S-6P, the specific definition is as shown in the following table:

Pin

Definition

Description

Cable color

1

Power +

Power supply, DC 4.5~16V

Red

2

Power -

Power supply, GND

Black

3

RS422_TX_P

Serial port transmitter+, RS422 level

White

4

RS422_TX_N

Serial port transmitter-, RS422 level

Yellow

5

RS422_RX_P

Serial port receiving terminal+, RS422 level

Green

6

RS422_RX_N

Serial port receiving end-, RS422 level

Black

Dimensions

The overall dimension of the ranging module and the user installation interface are shown in the figure below.

 

Serial port Communication protocol

Serial port Communication protocol

1. Communication speed and format

Format standard

Baud Rate:115200(default)/57600/9600

Data Format:n, 8, 1, MSB first.

1. Data package format

Segment description

Segment length

(Number of bytes)

Data range

Remarks

Frame head

2

0xEE 0x16

Fixed value

Data length

1

2~6

The data length is the total number of bytes in the three parts: Device code, Command code, and Command parameters

Device code

1

0x03

Fixed value, LRF-S series ranging module

Command code

1

0~255

Indicates the control object of the current control command

Command Parameters

0~4

0~255

Indicates the control object parameters of the current control command

Checksum

1

0~255

The checksum is the sum of all the bytes of data in the three parts of Device code, Command code, and Command parameters, which is 8 bits lower

2. Control commands (System → Ranging Module)

Command code

Description

Command Parameters length

0x01

Equipment Self-check

0

0x02

Single ranging

0

0x03

Set First/Last/Muilt Target

1

0x04

Continue ranging

0

0x05

Stop ranging

0

0xA0

Set baud rate

4

0xA1

Set continue ranging frequnce

2

0xA2

Set minimum gating distance

2

0xA3

Query minimum gating distance

0

0xA4

Set maximum gating distance

2

0xA5

Query maximum gating distance

0

0xA6

Query FPGA software version

0

0xA7

Query MCU software version

0

0xA8

Query hardware version

0

0xA9

Query SN number

0

0x90

Query total light output times

0

0x91

Query light output times after power on

0

Response data (Ranging Module → System)

Command code

Description

Command Parameters length

0x01

Equipment Self-check

4

0x02

Single ranging

4

0x03

Set First/Last/Muilt Target

0

0x04

Continue ranging

4

0x05

Stop ranging

0

0x06

Ranging abnormal

(only when the status in the ranging exception command is abnormal, the command is returned after the response command of single ranging or continuous ranging is returned)

4

0x07

Low power wake-up successful

(after receiving the low-power wake-up command 0xa5, this command is returned)

0

0xA0

Set baud rate

4

0xA1

Set continue ranging frequnce

2

0xA2

Set minimum gating distance

2

0xA3

Query minimum gating distance

2

0xA4

Set maximum gating distance

2

0xA5

Query maximum gating distance

2

0xA6

Query FPGA software version

4

0xA7

Query MCU software version

4

0xA8

Query hardware version

4

0xA9

Query SN number

3

0x90

Query total light output times

3

0x91

Query light output times after power on

3

3. Operation process

After the ranging module is powered on, it is in the power on mode by default (POWER_ON pulls the high level through the internal pull-up resistor). If the ranging module needs to be in the standby mode, the module power switch needs to be turned off (POWER_ON pulls the low level). After enabling the module power switch (POWER_ON is turned to high level), after about 0.5 s (the capacitor in the laser drive circuit is fully charged), all the command operations in 6.2 below can be performed.

Communication Protocol

1. Equipment Self-check

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02 (data length)

0x03

0x01

Check_sum

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

9

Describe

0xEE

0x16

0x06(data length)

0x03

0x01

Status3

Status2

Status1

Status0

Check_sum

Status3  reserved 

Status2  echo intensity 0x00 ~ 0xff 

Status1  bit0 -- FPGA system status; 1 normal 0 abnormal

bit1 -- laser light out state; 1 laser emission 0 laser don’t emit light

bit2 -- main wave detection state; 1 with main wave 0 without main wave

bit3 -- echo detection status; 1 with echo 0 without echo

bit4 -- bias switch status; 1 bias on               0 bias off

bit5 -- bias output state; 1 bias normal 0 bias abnormal

bit6 -- temperature status; 1 temp normal 0 temp abnormal

bit7 -- laser PWM status; 1 laser PWM normal 0 aser PWM abnormal

Status0  bit0 -- 5V6 power supply status; 1 normal 0 abnormal

bit1 -- 15V power supply status; 1 normal 0 abnormal

 2. Single ranging

(1) Send to ranging module

 

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02 (data length)

0x03

0x02

Check_sum

 

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

9

Describe

0xEE

0x16

0x06

(data length)

0x03

0x02

Status

Integer  high 8 bits of distance

Integer low 8 bits of distance

Decimal of distance

Check_sum

First/Last Target ranging:

Status0x00 – indicates that the ranging result is single target;

              0x01 – including that another target before this target;

              0x02 – including that another target after this target;

0x03 –reserved;

0x04 – indicates that the ranging result is out of range(no target);

0x05 –reserved;

Muilt Target ranging:

Status_bit3~0

0x0 – indicates that the ranging result is single target;

              0x1 – including that another target before this target;

              0x2 – including that another target after this target;

0x3 – including that another two targets before and after this target;

0x4 – indicates that the ranging result is out of range(no target);

0x5 –reserved;

Status_bit7~4

0x0~0xf – indicates that the current distance result number; Value range [0, n-1], number of targets 1 ≤ n ≤ 16;

3. Set First/Last/Muilt Target

(1) Send to ranging module

Byte

0

1

2

3

4

5

6

Describe

0xEE

0x16

0x03 (data length)

0x03

0x03

Target

Check_sum

Target0x01 – Set First Target;

0x02 – Set Last Target;

0x03 – Set Muilt Target;

(2) Get from ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02 (data length)

0x03

0x03

Check_sum

4. Continue ranging

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02 (data length)

0x03

0x04

Check_sum

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

9

Describe

0xEE

0x16

0x06

(data length)

0x03

0x04

Status

Integer  high 8 bits of distance

Integer low 8 bits of distance

Decimal of distance

Check_sum

First/Last Target ranging:

Status0x00 – indicates that the ranging result is single target;

             0x01 – including that another target before this target;

              0x02 – including that another target after this target;

0x03 – reserved;

0x04 – indicates that the ranging result is out of range(no target);

0x05 – reserved;

Muilt Target ranging:

Status_bit3~0

 0x0 – indicates that the ranging result is single target;

              0x1 – including that another target before this target;

              0x2 – including that another target after this target;

0x3 – including that another two targets before and after this target;

0x4 – indicates that the ranging result is out of range(no target);

0x5 – reserved;

Status_bit7~4

0x0~0xf – indicates that the current distance result number; Value range [0, n-1], number of targets 1 ≤ n ≤ 16;

5. Stop ranging

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02 (data length)

0x03

0x05

Check_sum

 

(2) Get from ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02 (data length)

0x03

0x05

Check_sum

6. Ranging abnormal

(1) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

9

Describe

0xEE

0x16

0x06

 

0x03

0x06

Reserved

Reserved

Reserved

Status

Check_sum

Status1  bit0 -- FPGA system status; 1 normal 0 abnormal

bit1 -- laser light out state; 1 laser emission 0 laser don’t emit light

bit2 -- main wave detection state; 1 with main wave 0 without main wave

bit3 -- echo detection status; 1 with echo 0 without echo

bit4 -- bias switch status; 1 bias on 0 bias off

bit5 -- bias output state; 1 bias normal 0 bias abnormal

bit6 -- temperature status; 1 temp normal 0 temp abnormal

bit7 -- laser PWM status; 1 laser PWM normal 0 aser PWM abnormal

This instruction will be returned only when bit0 ~ 7 in status1 is abnormal.

7. Set baud rate

(1) Send to ranging module

Byte

0

1

2

3

4

5

6

7

8

9

Describe

0xEE

0x16

0x06

 

0x03

0xa0

BaudHigh24

BaudHigh16

BaudLow8

BaudLow0

Check_sum

 

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

9

Describe

0xEE

0x16

0x06

 

0x03

0xa0

BaudHigh24

BaudHigh16

BaudLow8

BaudLow0

Check_sum

8. Set continue ranging frequnce

(1) Send to ranging module

Byte

0

1

2

3

4

5

6

7

Describe

0xEE

0x16

0x04

0x03

0xa1

Freq

Num

Check_sum

Freq0x01~0x0A  continue ranging frequnce

Num0x00  reserve

 

(2) Get from ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02

0x03

0xa1

Check_sum

9. Set minimum gating distance

(1) Send to ranging module

Byte

0

1

2

3

4

5

6

7

Describe

0xEE

0x16

0x04

0x03

0xA2

DIS_H

DIS_L

Check_sum

DIS_H High 8 bits of distance

DIS_L Lower 8 bits of distance

DIS   10~20000  Minimum gating distance, Unit m

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

Describe

0xEE

0x16

0x04

0x03

0xA2

DIS_H

DIS_L

Check_sum

DIS_H High 8 bits of distance

DIS_L Lower 8 bits of distance

DIS   10~20000  Minimum gating distance, Unit m

10. Query minimum gating distance

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02

0x03

0xA3

0xA6

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

Describe

0xEE

0x16

0x04

0x03

0xA3

DIS_H

DIS_L

Check_sum

DIS_H High 8 bits of distance

DIS_L Lower 8 bits of distance

DIS   10~20000  Minimum gating distance, Unit m

11. Set maximum gating distance

(1) Send to ranging module

Byte

0

1

2

3

4

5

6

7

Describe

0xEE

0x16

0x04

0x03

0xA4

DIS_H

DIS_L

Check_sum

DIS_H High 8 bits of distance

DIS_L Lower 8 bits of distance

DIS   10~20000  Maximum gating distance, Unit m

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

Describe

0xEE

0x16

0x04

0x03

0xA4

DIS_H

DIS_L

Check_sum

DIS_H High 8 bits of distance

DIS_L Lower 8 bits of distance

DIS   10~20000  Maximum gating distance, Unit m

12. Query maximum gating distance

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02

0x05

0xA5

0xA8

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

Describe

0xEE

0x16

0x04

0x03

0xA5

DIS_H

DIS_L

Check_sum

DIS_H High 8 bits of distance

DIS_L Lower 8 bits of distance

DIS   10~20000  Maximum gating distance, Unit m

13. Query FPGA software version

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02

0x03

0xA6

0xA9

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

9

Describe

0xEE

0x16

0x06

 

0x03

0xA6

Version

Date

MonYear

Author

Check_sum

Version bit7~bit4 Major version1~15

bit3~bit0 Minor version0~15

eg 0x10——V1.0

Data    Data1~31

MonYear bit7~bit4               Month1~12

bit3~bit0 Year0~15),Corresponds to 2020-2035

Author 0x6c cliu

0x5d               dwu

0xcc cycheng

14. Query MCU software version

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02

0x03

0xA7

0xAA

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

9

Describe

0xEE

0x16

0x06

 

0x03

0xA7

Version

Date

MonYear

Author

Check_sum

Version bit7~bit4 Major version1~15

bit3~bit0 Minor version0~15

eg 0x10——V1.0

Data    Data1~31

MonYear bit7~bit4               Month1~12

bit3~bit0 Year0~15),Corresponds to 2020-2035

Author 0x00                jyang

0xf1 llfu

0x01               zqxiong

15. Query hardware software version

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02

0x03

0xA8

0xAB

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

9

Describe

0xEE

0x16

0x06

 

0x03

0xA8

MBVS

CTVS

APDVS

LDVS

Check_sum

MBVS Motherboard hardware version number

CTVS Control board hardware version number

APDVS Probe board hardware version number

LDVS Driver board hardware version number

bit7~bit4  Major version1~15)  bit3~bit0  Minor version0~15

eg0x10——V1.0

16. Query SN number

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02

0x03

0xA9

0xAC

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

Describe

0xEE

0x16

0x05

0x03

0xA9

MonYear

Num_H

Num_L

Check_sum

MonYear   bit7~bit4   Month1~12

   bit3~bit0   Year0~15),Corresponds to 2020-2035

Num_H    High 8 bits of SN number

Num_L    Lower 8 bits of SN number

Num                 1~999  Number

17. Query total light output times

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02

0x03

0x90

0x93

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

Describe

0xEE

0x16

0x05

0x03

0x90

PNUM3

PNUM2

PNUM1

Check_sum

PNUM3 Total light output timesbit23~bit16

PNUM2 Total light output timesbit15~bit8

PNUM1 Total light output timesbit7~bit0

18. Query light output times after power on

(1) Send to ranging module

Byte

0

1

2

3

4

5

Describe

0xEE

0x16

0x02

0x03

0x90

0x93

(2) Get from ranging module

Byte

0

1

2

3

4

5

6

7

8

Describe

0xEE

0x16

0x05

0x03

0x90

PNUM3

PNUM2

PNUM1

Check_sum

PNUM3 Total light output times after power onbit23~bit16

PNUM2 Total light output times after power onbit15~bit8

PNUM1 Total light output times after power onbit7~bit0

 Equipment Self-check

SEND:  ee 16 02 03 01 04

RECV: ee 16 06 03 01 ff 00 f7 ff f9’

Single ranging

SEND: ee 16 02 03 02 05

RECV: ee 16 06 03 02 04 00 00 00 09

 Continue ranging

SEND:

ee 16 02 03 04 07

RECV:

ee 16 06 03 04 04 00 00 00 0b

RECV:

ee 16 06 03 04 04 00 00 00 0b

RECV:

……

 Stop ranging

SEND:

ee 16 02 03 05 08

RECV:

ee 16 02 03 05 08

 Set First Target

SEND:

ee 16 03 03 03 01 07

RECV:

ee 16 02 03 03 06

 Set Last Target

SEND:

ee 16 03 03 03 02 08

RECV:

ee 16 02 03 03 06

 Set Muilt Target

SEND:

ee 16 03 03 03 03 09

RECV:

ee 16 02 03 03 06

 Set continue ranging frequnce of 1Hz     

SEND:

ee 16 04 03 a1 01 00 a5

RECV:

ee 16 02 03 a1 a4

 Set continue ranging frequnce of 5Hz

SEND:

ee 16 04 03 a1 05 00 a9

RECV:

ee 16 02 03 a1 a4

 

 

 


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