Datasheet

Version: A01
Document No.: SJ-GU-TFmini-01
Page 5 of 10
Benewake (Beijing) Co. Ltd.
Fig. 2 Measurement range schematic diagram
TFmini FOV
The FOV of TFmini is 2.3˚, which determines the side lengths of different detection ranges of LiDAR
(the detection range is similar to a square shape).
Fig. 3 Detection range (acceptance angle) schematic diagram
Distance/m
2
4
6
8
10
12
Detection
range side
length/mm
80
160
240
320
400
480
Table 4 Relationship between detection range and distance
Description: The distance in the table represents the vertical length between the detection object and the
sensor, expressed in meters; the side length of detection range is expressed in millimeters. In general,
only if the side length of the object to be detected is more than the detection range side length, the output
data from LiDAR can be trusted; if the side length of the object to be detected is less than the detection
range side length, the output data of LiDAR may be fluctuated and the error may be increased.
Note: The detection range side length is not equal to the object resolution ratio at the corresponding
distance.
5. .Serial Port Data Communication Protocol and Line Sequence
The following section describes the connections and communications between TFmini and external
devices, including the encoding format of the sending data, the communication protocol between the
module and the external devices, the hardware line connection indications, and the related precautions.