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Last modified by Mengting Qiu on 2025/08/05 15:15
From version 103.15
edited by Xiaoling
on 2023/10/18 09:49
Change comment: There is no comment for this version
To version 103.16
edited by Xiaoling
on 2023/10/18 09:54
Change comment: There is no comment for this version

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706 706  
707 707  * (% style="color:#037691" %)**AT+INTMOD=3  **(%%) ~/~/ Trigger by rising edge
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709 +
710 +
709 709  == 2.7 LiDAR ToF Measurement ==
710 710  
711 711  === 2.7.1 Principle of Distance Measurement ===
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719 719  === 2.7.2 Distance Measurement Characteristics ===
720 720  
721 721  
722 -With optimization of light path and algorithm, The LiDAR probe 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 below:
724 +The detection angle of the LDS40-NB is 3 degrees, and the size of the light spot at different distances is the side length of the detection range. The size of the light spot at different distances is the side length of the detection range. The side length of the detection range (the shape is square), as shown.
723 723  
724 -[[image:http://wiki.dragino.com/xwiki/bin/download/Main/User%20Manual%20for%20LoRaWAN%20End%20Nodes/LLDS12-LoRaWAN%20LiDAR%20ToF%20Distance%20Sensor%20User%20Manual/WebHome/1654831774373-275.png?rev=1.1||alt="1654831774373-275.png"]]
726 +(% border="1" cellspacing="5" style="background-color:#f2f2f2; width:510px" %)
727 +|(% style="width:240px" %)**Distance(m)**|(% style="width:26px" %)1|(% style="width:35px" %)2|(% style="width:36px" %)3|(% style="width:32px" %)5|(% style="width:33px" %)7|(% style="width:34px" %)10|(% style="width:43px" %)20|(% style="width:41px" %)30|(% style="width:41px" %)40
728 +|(% style="width:240px" %)**Detection range side length (cm)**|(% style="width:26px" %)5|(% style="width:35px" %)10|(% style="width:36px" %)16|(% style="width:32px" %)26|(% style="width:33px" %)37|(% style="width:34px" %)52|(% style="width:43px" %)105|(% style="width:41px" %)156|(% style="width:41px" %)208
725 725  
730 +Note that generally, the side length of the detected target object should be greater than the side length of the detection range of the LDS40-LB; when the detected object is smaller than the detection range side length; when the detected object is smaller than the detection range side length, the effective range of the radar will be reduced.
726 726  
727 -(((
728 -(% style="color:blue" %)**① **(%%)Represents the detection blind zone of The LiDAR probe, 0-10cm, within which the output data is unreliable.
729 -)))
730 730  
731 -(((
732 -(% style="color:blue" %)**② **(%%)Represents the operating range of The LiDAR probe detecting black target with 10% reflectivity, 0.1-5m.
733 -)))
734 -
735 -(((
736 -(% style="color:blue" %)**③ **(%%)Represents the operating range of The LiDAR probe detecting white target with 90% reflectivity, 0.1-12m.
737 -)))
738 -
739 -
740 -(((
741 -Vertical Coordinates: Represents the radius of light spot for The LiDAR probe at different distances. The diameter of light spot depends on the FOV of The LiDAR probe (the term of FOV generally refers to the smaller value between the receiving angle and the transmitting angle), which is calculated as follows:
742 -)))
743 -
744 -[[image:http://wiki.dragino.com/xwiki/bin/download/Main/User%20Manual%20for%20LoRaWAN%20End%20Nodes/LLDS12-LoRaWAN%20LiDAR%20ToF%20Distance%20Sensor%20User%20Manual/WebHome/1654831797521-720.png?rev=1.1||alt="1654831797521-720.png"]]
745 -
746 -(((
747 -In the formula above, d is the diameter of light spot; D is detecting range; β is the value of the receiving angle of The LiDAR probe, 3.6°. Correspondence between the diameter of light spot and detecting range is given in Table below.
748 -)))
749 -
750 -[[image:http://wiki.dragino.com/xwiki/bin/download/Main/User%20Manual%20for%20LoRaWAN%20End%20Nodes/LLDS12-LoRaWAN%20LiDAR%20ToF%20Distance%20Sensor%20User%20Manual/WebHome/1654831810009-716.png?rev=1.1||alt="1654831810009-716.png"]]
751 -
752 -(((
753 -If the light spot reaches two objects with different distances, as shown in Figure 3, the output distance value will be a value between the actual distance values of the two objects. For a high accuracy requirement in practice, the above situation should be noticed to avoid the measurement error.
754 -)))
755 -
756 -
757 757  === 2.7.3 Notice of usage ===
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759 759