1. Introduction
This 64×8 matrix solid-state DTOF lidar features simultaneous distance measurement across all 512 points. Utilizing the Direct Time-of-Flight (DTOF) principle, it effectively rejects interference from ambient light and temperature variations, ensuring stable performance in common indoor and outdoor environments. With an ultra-wide 120° horizontal and 20° vertical field of view, it achieves a maximum range of 5 meters. Its area-array detection provides robots with broad and dense environmental data.
Designed specifically for robot navigation, this sensor effectively tackles two core challenges: forward obstacle avoidance and local blind-spot detection. It can be flexibly mounted on the front of a robot or on robotic arms to accurately identify low-lying obstacles, furniture corners, and narrow passages, enabling timely collision avoidance. Additionally, it offers dual communication interfaces (UART and Type-C) and supports data output in single-point, single-line, or full-matrix modes. Paired with dedicated GUI software, it can display real-time measurement data, depth maps, and grayscale images, presenting a clear and immediate visualization of the surrounding environment.
2. Technical Specifications
Sensor Parameters
| Measurement Range | 100~5000mm@90% Reflector/Indoor, 750lux |
|---|---|
| Detection Field of View | 120°(H)×20°(V)>50cm；160°(H)×20°(V)<50cm |
| Range resolution | 14mm |
| Ranging accuracy | 30mm/1δ (0.1m~5m, 90% reflector/indoor, 750lux) |
| Ranging Frame Rate | 8fps (64×8 matrix surface measurement);64fps (1×8 single-row measurement) |
| Ranging Mode | Continuous Ranging |
| Number of matrices | 64*8, a total of 512 ranging points |
| Laser Wavelength | 905nm |
Power Supply Parameters
| Supply Voltage | 5V |
|---|---|
| Level Voltage | 3.3V |
| Operating Current | 80mA |
Interface Parameters
| Data Interface | UART/USB |
|---|---|
| Interface form | PH2.0-4P/Type-C |
| Serial port default baud rate | 921600bps |
Physical Dimensions
| Sensor Module Dimensions | 62×26×24mm |
|---|---|
| Mounting hole dimensions | 3.0mm diameter |
| Weight | 19.6g |
3. Function Indicator Diagram
| Number | Name | Function Description |
|---|---|---|
| ① | USB interface | Power supply and data transmission |
| ② | URAT Interface | Power supply and data transmission, wire sequence: 5V, GND, RX, TX |
| ③ | Power Indicator | Red LED light, stays on when powered |
4. Usage Tutorial
4.1 Hardware Preparation
- 64×8 Matrix DTOF LiDAR (SKU: SEN0682) × 1
- Raspberry Pi 4B (SKU: DFR0619) ×1
- Rainbow V2 (SKU: TEL0190) ×1
- Double-ended Type-C data cable ×1
- Gravity-4P Connection Cable ×1
4.2 Software Preparation
This product comes with the host computer software wy3DViewer. After installing and opening it on the PC, you can view real-time measurement data and imaging results.
The installation steps are as follows:
- Click here to download and install the host computer software.
- Download and install the CP2102 driver software, click here.
4.3 Upper Computer User Guide
4.3.1 Hardware Connection
The sensor has two connection methods. One is to directly connect the sensor's USB-C interface to the USB-C interface of the PC. The other is to connect the sensor's Gravity-UART interface to a TTL-to-USB tool via a PH2.0-4P cable, and then connect the tool to the PC.
[Figure 1: PC Direct Connection]
[Figure 2: Through Serial Port Tool]
4.3.2 PC Operation
- After connecting the sensor to the PC via any of the above methods, open the host computer software wy3DViewer.exe and click Run.
- Enter the point cloud map interface of the device, where the interface will display the sensor's measurement data and imaging results in real time, as shown in the figure below.
Explanation of the Real-time Data Function Area:
| AVG Clear Button | Clear the accumulated frame count and calculated values. |
|---|---|
| Current | Distance average at key points of the current frame (assuming the center of the current frame is the average of 9 points, excluding the maximum and minimum values, and taking the average of 7 values). |
| Statistics | Cumulative frame average, using the Current value to calculate the average cumulatively. |
| AVG frames | Accumulated frame count. |
| Center | Actual distance of the center point of the current frame. |
| Closest | Actual distance of the nearest point in the current frame. |
For more function descriptions, please refer to theSEN0682_ Host Computer Usage Tutorialdocument.
4.4 Serial Communication Example
Since the sensor is factory-set to acquire full matrix data by default, the following is a tutorial on configuring the single-point/single-line output mode.
4.4.1 Configuration Process
By sending serial commands to the sensor, you can switch it from the default 64×8 full matrix output mode to single point or single line output mode to obtain a higher frame rate or focus on data from a specific area.
The core configuration process is as follows:
| Step | Operation | Send Instruction | Expected Response | Description |
|---|---|---|---|---|
| 1. Stop data flow | Stop the current output and enter the configuration state | AT+STREAM_CONTROL=0 |
OK |
This step must be performed first |
| 2. Set the output mode | Select any of the following modes for configuration as needed | See the "Mode Selection Table" below for details | OK |
Configure specific points or lines |
| 3. Initiate Data Stream | Start work with the new configuration | AT+STREAM_CONTROL=1 |
OK and startup information |
Subsequently, data will be output according to the new settings |
4.4.2 Mode Selection
After completing "Stop Data Stream", please select and send the corresponding configuration command in the following table according to your needs.
| Target Mode | Description | Configuration Instruction Format | Example (assuming operation on the 1st row) |
|---|---|---|---|
| Single point output | Only one specified ranging point is output each time, with the highest frame rate. | AT+SPAD_OUTPUT_LINE_DATA=<Line Number>,<Point Number>,<Point Number> |
AT+SPAD_OUTPUT_LINE_DATA=1,32,32 (Output the 32nd point of the 1st line) |
| Single-line output | Each output is a full line (64 dots) of data. | AT+SPAD_OUTPUT_LINE_DATA=<行号>,1,64 |
AT+SPAD_OUTPUT_LINE_DATA=1,1,64(Output all 64 points of the 1st line) |
| Restore full matrix | Restore the complete data of all 512 points in the output. | AT+SPAD_OUTPUT_LINE_DATA=0,1,1 |
AT+SPAD_OUTPUT_LINE_DATA=0,1,1 (Parameter 1 being 0 triggers full matrix mode) |
Note:
- After completing Step 2 (Mode Configuration), please be sure to execute Step 3 (Start Data Stream) in the above table for the new settings to take effect.
- Fixed Process: Be sure to strictly follow the sequence of "Stop → Set → Start".
- Parameter range: row number is 1-8, point number is 1-64.
- Reset Switch: In the configuration command, setting Parameter 1 to
0is a shortcut command to forcefully restore full matrix output, in which case other parameters are invalid. - Confirmation Response: After each instruction, please ensure that you receive the
OKresponse before proceeding to the next step.
For more communication instructions, please refer to the SEN0682_User Configuration Command List document.
Material Download
- SEN0682_3D file.stp
- SEN0682_2D file.dxf
- SEN0682_Dimension Drawing.pdf
- SEN0682_Data Format.pdf
- SEN0682_User Configuration Command List.docx
- SEN0682_USB Serial Driver.zip
- SEN0682_Host Computer Usage Tutorial.pdf
- SEN0682_Host Computer Software.zip