SEN0413 TOF红外测距模块（0.2~12m）

简介

这款测距模组是一个基于单点TOF技术，采用850nm LED光源，配合独特的光学、结构、电路设计而成的低成本测距模组，实现中短距离的测距需求，测距范围为 0.2m～12m，结合相应的滤波算法处理，可以得到极低的测量噪声。
该款测距模组同时支持 I2C 和 UART 的通信，便于终端产品的集成。在测距方面提供单次被动测量和连续主动测量，以满足不同终端产品的实际使用需求。

技术规格

测量范围：0.2m~12m（室内90%反射率）
供电电压：4.8-5.2V
通信方式：UART、I2C
测量精度：20-350cm (±5cm) 351-1200cm（±1.5%cm)
接收视野角：半角1°
发送视野角：半角2°
最小分辨率：1mm
测试帧率：Max 500Hz
抗环境光能力：15KIux
曝光时间：5us-5000us
信号幅度：3400LSB-7000LSB
工作温度 -10℃-60℃

注：除了能在各主板上使用外，模组还可以直接在上位机使用，上位机软件与使用教程在最下方的PDF资料文件中。

引脚示意图

标号	名称	功能描述
1	SCL	I2C 通讯时钟线
2	SDA	I2C 通讯数据线
3	GND_LED	光源供电地
4	VCC_LED	光源供电电源（5V）
5	TX	UART 发送数据线
6	RX	UART 接收数据线
7	GND	模块主供电地
8	VCC	模块主供电电源（5V）

使用教程

准备

硬件

Arduino UNO x1

TOF红外测距模块 x1

软件

Arduino IDE，点击下载 Arduino IDE

DFRobot LIDAR 07库文件和示例程序

Arduino I2C接线图

下载DFRobot LIDAR 07库文件，如何安装库文件

示例代码

/**
 * @file measureDistance.ino
 * @brief This example demonstrated the basic distance measuring function of LIDAR07, the range is 0.2m-12m (Operating voltage: 5 V)
 * @n Connection rules: PIN1-PIN8 are in the front of the sensor from right to left. 
 * @n          PIN1----------------------SCL--------------------Maincontroller SCL（IIC mode）
 * @n          PIN2----------------------SDA--------------------Maincontroller SDA（IIC mode）
 * @n          PIN3----------------------Light source power supply ground--------------Maincontroller GND
 * @n          PIN4----------------------Light source power supply(5V)--------Maincontroller VCC
 * @n          PIN5----------------------TX---------------------Maincontroller RX pin, which is set to be used for serial communication with the sensor (UART mode)
 * @n          PIN6----------------------RX---------------------Maincontroller TX pin, which is set to be used for serial communication with the sensor (UART mode)
 * @n          PIN7----------------------Module main power supply ground------------Maincontroller GND
 * @n          PIN8----------------------Module main power supply(5V)------Maincontroller VCC
 * @copyright  Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com)
 * @licence     The MIT License (MIT)
 * @author [yangfeng]<feng.yang@dfrobot.com>
 * @version  V1.0
 * @date  2022-06-20
 * @url https://github.com/DFRobot/DFRobot_LIDAR07
 */
#include"DFRobot_LIDAR07.h"

//If using IIC mode, please enable macro USE_IIC
#define USE_IIC
#ifdef USE_IIC  
DFRobot_LIDAR07_IIC  LIDAR07;
#endif

//If using UART mode, please enable macro USE_UART. The USE_UART is enabled by default. The two modes USE_IIC and USE_UART can’t be used at the same time.
//#define USE_UART
#ifdef USE_UART

#if defined(ESP8266)||defined(ARDUINO_AVR_UNO)
#include <SoftwareSerial.h>
SoftwareSerial  mySerial(4,12);//GPIO4 is corresponding to RX on main control board, GPIO12 is corresponding to TX on main control board
/**!
 * The TX of esp32 Serial1 is GPIO10, and the RX is GPIO9 
 * The TX of mega2560 Serial1 is GPIO18, and the RX is GPIO19
 * The TX of M0 Serial1 is GPIO1, and the RX is GPIO0
 * The TX of leonardo Serial1 is GPIO1, and the RX is GPIO0
 */
#endif
DFRobot_LIDAR07_UART  LIDAR07;  
#endif

void setup() {
  uint32_t version;
  Serial.begin(115200);
#ifdef USE_IIC
  while(!LIDAR07.begin()){
    Serial.println("The sensor returned data validation error");
    delay(1000);
  }
#endif

#ifdef USE_UART
#if defined(ESP8266)||defined(ARDUINO_AVR_UNO)
  mySerial.begin(115200);
  while(!LIDAR07.begin(mySerial)){
    Serial.println("The sensor returned data validation error");
    delay(1000);
  }
#else
  Serial1.begin(115200);
  while(!LIDAR07.begin(Serial1)){
    Serial.println("The sensor returned data validation error");
    delay(1000);
  }
#endif
#endif

  version = LIDAR07.getVersion();
  Serial.print("VERSION: ");
  Serial.print((version>>24)&0xFF,HEX);
  Serial.print(".");Serial.print((version>>16)&0xFF,HEX);
  Serial.print(".");Serial.print((version>>8)&0xFF,HEX);
  Serial.print(".");Serial.println((version)&0xFF,HEX);

  //After enabling the filter, it can be stopped by calling LIDAR07.stopFilter()
  LIDAR07.startFilter();

  /**
   * @brief  Configure the sensor to single acquisition mode
   * @param  mode The way data are collected
   * @n      eLidar07Single  A single collection
   * @n      eLidar07Continuous  Continuous acquisition
   * @return true (Successful) ， false (Failed)
   */
  while(!LIDAR07.setMeasureMode(LIDAR07.eLidar07Single)){
      Serial.println("set measure mode err");
  }
}

void loop() {

  //Open measurement (in single measurement mode, it will automatically close after sampling),To stop collection, use stopMeasure()
  LIDAR07.startMeasure();

  //Get the collected data
  if(LIDAR07.getValue()){
    Serial.print("Distance:");Serial.print(LIDAR07.getDistanceMM());Serial.println(" mm");
    Serial.print("Amplitude:");Serial.println(LIDAR07.getSignalAmplitude());
  }
  delay(1000);
}

示例结果

各类主板兼容性

常见问题

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