Solid State LiDAR (Laser Radar) Selection Guide
Product Name	TF Mini LiDAR(ToF) Laser Range Sensor	TF Mini Plus(ToF) Laser Range Sensor	DE-LIDAR TF02 (ToF) Laser Rangefinder (22m)	TF03 (ToF) Laser Range Sensor(100m)
SKU	SEN0259	SEN0309	SEN0238	SEN0328
Figure
Distance  Range	0.3-12m	0.1-12m	0.4-22m	0.1-100m
Measure Frequency	1000 times/s	1-1000 times/s (Adjustable)	1000 times/s	1000 times/s
Waterproof Level	NO	IP65	IP65	IP67
Angular Resolution	0°	0°	0°	0°
Scan Frequency	100Hz	100Hz	100Hz	100Hz (1Hz-1000Hz Adjustable)
Time of Each Measurement	0.01ms	0.01ms	0.01ms	0.01ms
Distance  Measurement Resolution	5mm	5mm	10mm	10mm
Scan Angle	2.3°	3.6°	2°	0.5°
Dimension	42*15*16mm	35*21*18.5mm	69*46*26mm	44mm*43mm*32mm
Weight	4.7g	12g	52g	77g±3g

Product Name	TF03 (ToF) Laser Range Sensor(180m)	TF-Luna (ToF) Micro Single-point Ranging LiDAR	TOF IR Distance Sensor (0.2~12m)	TF02-i LiDAR Laser Range Sensor (40m)	TFmini-i LiDAR Laser Range Sensor (12m)
SKU	SEN0329	SEN0340	SEN0413	SEN0504	SEN0505
Figure
Distance  Range	0.1-180m	0.2-8m	0.2-12m	0.1-40m	0.1-12m
Measure Frequency	1000 times/s	100 times/s	500times/s	1-1000 times/s (Adjustable)	1-1000 times/s (Adjustable)
Waterproof Level	IP67	NO	NO	IP65	IP65
Angular Resolution	0°	0°	0°	0°	0°
Scan Frequency	100Hz (1Hz-1000Hz Adjustable)	100Hz  (1Hz-250Hz Adjustable)	1-50hz	100Hz (1Hz-1000Hz Adjustable)	100Hz (1Hz-1000Hz Adjustable)
Time of Each Measurement	0.01ms	0.1ms	0.1ms	0.01ms	0.01ms
Distance  Measurement Resolution	10mm	10mm	1mm	1cm	1cm
Scan Angle	0.5°	2°	1-2°	3°	2°
Dimension	44mm*43mm*32mm	35*21.2*13.5mm	42*13*17mm	69*41.5*31.5mm	50*34*41mm
Weight	77g±3g	<5g	4g	60g	52g

For now, DFRobot has launched several solid state LiDARs, but how should we choose the most suitable one? Hereafter, the reference guide is released. It introduces and lists all features of them.

1. TF Mini LiDAR (ToF) Laser Range Sensor

DE-LIDAR TF02 is a unidirectional laser rangefinder, which is based on ToF (Time of Flight) technology. TF Mini's maximum detection distance is 12 meters. TF Mini also supports 100Hz sampling resolution, within 6 meters, its accuracy is within 4cm, 6~12 meters, and accuracy is within 6 cm. FOV of 2.3 degrees. Its anti-interference is strong and can work in outdoor light, the anti-ambient light power is 70Klux; the overall weight is 4.7g. Small size, convenient to install and use.

But it may be invalid when probing objects with high reflectivities, such as mirrors and smooth tiles. When there are transparent objects, such as glass and water, between the product and the tested object, it may become invalid.

The laser sensor can be used as a distance-measuring tool to detect the distance from it to obstacles. It can also be used as an eye of a robot; it provides distance information for robotic safe avoidance and route selection. It supports system automation in a variety of machine control scenarios. Because of its small size, lightweight, and low power consumption, it is also suitable for altitude-hold quad-copters and terrain following.

2. TF Mini Plus (ToF) Laser Range Sensor

Inherited characters of low cost, small size, and low power consumption from TFmini, TFmini Plus has greatly improved its whole performance—increasing the frame rate from 100Hz to 1000Hz, reducing the blind zone to 10cm, and improving accuracy and stability. What’s more, TFmini Plus introduces IP65 enclosures that could effectively prevent water and dust, which also makes the product more adaptable to outdoor light or environments with different temperatures and reflectance. The sensor can provide much lower power consumption and a more flexible detecting frequency. It is compatible with UART and IIC communication (send command to switch) and adopts a standard 5V power supply. The average power is 0.55W.

We can use the sensor to detect the distance between it and the obstacle ahead and use it as an eye of a robot to provide distance information for the robot to safely avoid obstacle and select the route, or apply it in Automotive Collision Avoidance System. It is also suitable for the altitude holding systems of UAV and UAV landing scenarios.

3. DE-LIDAR TF02 (ToF) Laser Rangefinder (22m)

DE-LIDAR TF02 is a newly developed product based on the widespread application experience of TF01. It is a unidirectional laser rangefinder, which is based on ToF (Time of Flight) technology.

It can work under 100K lux light without interference from the temperature, humidity, light, electronics, and airflow. High sensitivity, measuring distance up to 22 meters, accuracy in cm level. Scanning frequency up to 100Hz, real-time detection of distance with a 100 times/second refresh rate for more accurate data. The protection design of the TF 02 is based on the IP 65 level, which prevents it from dust, water, and corrosion.

DE-LIDAR TF02 can be widely applied to UAV altitude setting, automatic terrain following (ATF), machine control, safety devices, distance monitors, smart parking lots, materials monitor and so on.

4. TF03 (ToF) Laser Range Sensor (100m)

TF03 is the third generation of the TF series, containing two versions: 100m and 180m. As a long-distance LiDAR in accordance with the industrial level, TF03 inherits the cost-effective and compact-integration advantages from the previous two generations. Meanwhile, TF03 upgrades more than ten key parameters and offers multiple expansion functions to meet the various demands in different application scenarios.

TF03 employs the pulsed time-of-flight principle. The unique design of the optical system and the signal processing circuit improved the detecting performance in a compact size. With a small size of 44*42.9*31.8mm, it can be covered by just the palm of one hand. In addition to increasing the range to more than 100 meters, this sensor features a 0.1m blind zone, ±10cm accuracy, up to 10KHz frequency, and 100Klux ambient light immunity. TF03 also contains a compensation algorithm targeting outdoor highlight environments, so that it can still keep excellent performance in harsh environments.

The shell of TF03 is made of aluminum alloy and infrared band-pass glass to improve the overall strength. With IP67 enclosure rate, the sensor can be applied in various extreme environments. It supports multiple interfaces for different applications, such as UART, CAN, and IO. Besides that, multiple parameters of TF03 can be configured by customers, including the measuring frequency, baud rate, trigger mode, over-range assignment, and so on. TF03 is also equipped with the BootLoader function, enabling users to upgrade product firmware locally. Power the sensor with 5V. The average power consumption is 0.55W.

TF03 is applicable to the terrain following drones, the collision avoidance of cars, intelligent transportation, and industrial safety warning.

5. TF-Luna (ToF) Micro Single-point Ranging LiDAR

TF-Luna is a single-point ranging lidar that is based on the TOF principle. With its unique optical and electrical design, it can achieve stable, accurate, and highly sensitive range measurements. The detecting range is 0.2~8m. Small and convenient to install, low power consumption design, and easy to integrate, these features enable Luna can satisfy the requirements of strict application scenarios. There are a variety of built-in algorithms for different application environments and targets. To ensure trustworthy range-detecting ability in complex environments, TF-Luna has open and adjustable configurations and parameters.

TF-Luna, is the ultimate cost-effective, delicate to meet the customer's complex application scenario requirements from all aspects. It can be used in the fields of robot barrier avoidance and drop prevention, drone elevation and barrier avoidance, smart city, smart retail, and so on.

6. TOF IR Distance Sensor (0.2~12m)

This is a low-cost single-point TOF (Time of Flight) IR distance sensor for short-to-medium range distance measurement within 0.2m～12m. It adopts an 850nm LED light source and unique designs of the optical system, structure, and circuit. The integrated filtering algorithm could greatly reduce the measurement noise.

The ranging module supports both I2C and UART communication, easy to be integrated into end products. Besides, it offers single passive measurement and continuous active measurement for meeting various requirements in actual use.

It can be used in the fields of robot barrier avoidance and drop prevention, drone elevation and barrier avoidance, smart city, smart retail and so on.

7. TF02-i LiDAR Laser Range Sensor (40m)

TF02-i LiDAR is an industrial-grade medium-range distance sensor. Its maximum detection range can reach up to 40m and it has an adjustable frame rate with a maximum of 1KHz.

This rangefinder has a PC/ABS/PMMA enclosure with IP65 water and dust resistance. It supports a wide range of input voltages (7-30V) with reverse protection to protect the internal circuit and adopts the RS485 communication interface and standard Modbus protocol. Multiple built-in operating modes are included for the users to change their parameters and configurations to meet different applications.

The TF02-i LiDAR can be used on the Arduino UNOR3 through the TTL to RS485 Shield, and it can also be used on the Raspberry Pi through the USB to RS485 module. Those two ways provided by DFRobot can make TF02-i LiDAR simpler to be used.

8. TFmini-i LiDAR Laser Range Sensor (12m)

TFmini-i LiDAR is an industrial-grade medium-range distance sensor. Its maximum detection range can reach up to 12m and it has an adjustable frame rate with a maximum of 1KHz.

This rangefinder has a PC/ABS/PMMA enclosure with IP65 water and dust resistance. It supports a wide range of input voltages (7-30V) with reverse protection to protect the internal circuit and adopts the RS485 communication interface and standard Modbus protocol. Multiple built-in operating modes are included for the users to change their parameters and configurations to meet different applications.

The TFmini-i LiDAR can be used on the Arduino UNO R3 through the TTL to RS485 Shield, and it can also be used on the Raspberry Pi through the USB to RS485 module. Those two ways provided by DFRobot can make TFmini-i LiDAR easier to use.

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