User Manual

SJ-PM-TFmini-T-01 A03
Benewake (Beijing) Co. Ltd.
Page7
2.2 Principle of Distance Measurement
TFmini is based on TOF, namely, Time of Flight principle. To be specific, the product transmits modulation
wave of near infrared ray on a periodic basis, which wave will reflect after contacting object. The product
obtains time of flight by measuring round-trip phase difference and then calculates relative range between
the product and the detection object, as shown in Figure1.
Figure 1 Schematics of TOF Principle
2.3 Key Characteristic Parameters
Table 1 Key Characteristic Parameters of TFmini
Description
Parameter value
Operating Range(Indoor)
0.3m~12m
①
Measurement accuracy
±4cm@（0.3-6m）
②
±6cm@（6m-12m）
Default unit of distance
cm
Range resolution
5mm
Receiving half angle
1.15°
Transmitting half angle
1.5°
Frequency
100Hz
① Operating Range reachable under indoor standard white board condition (with reflectivity of 90%);
② A few points may be subject to an error of ±6cm due to switchover of distance measurement position within 0.3-2m.
2.4 Distance Measurement Characteristics
With optimization of light path and algorithm, TFmini has minimized influence from external environment
on distance measurement performance. Despite that, the range of distance measurement may still be
affected by the environment illumination intensity and the reflectivity of detection object. As shown in
Figure 2: