The STA-LD30X 3km Micro Laser Rangefinder LRF Module adopts the 1535nm eye-safe erbium glass laser module independently developed by Jioptik factory, which has the characteristics of low power consumption, small size, high precision and eye safety.
Maximum measuring range: 3000m (2.3x2.3m vehicle) 6000 m (White wall)
Ranging accuracy ± 1m
Measurement accuracy ≥ 98%
Weight ≤ 75g
STA-LD30X laser ranging module is the eye safety laser ranging module in the photoelectric system, which can detect the target distance and transmit the measured distance to the host computer through serial communication.
The STA-LD30X laser ranging module consists of a laser, a transmitting optical system, a receiving optical system and a control circuit. The main performance is as follows:
Operating range
Visibility under visible conditions is not less than 6km, diffuse reflectance ≥0.3,
humidity ≤80%, the vehicle (2.3m×2.3m target) ranging distance ≥3km.
Features
The main functions of the laser ranging module are:
single ranging and continuous ranging;
Range strobe, front and rear target indication;
Self-inspection function.
Performance fou 3km Micro Laser Rangefinder LRF Module
| Project name | Performance index |
| Model | STA-LD30X |
| Laser grade | Class1 Human eye safety |
| laser wave length | 1535±5nm |
| Laser divergence Angle | ≤0.6mrad |
| Receive caliber | Φ16mm |
| Divergence angle | ~6mrad |
| Maximum range | Visibility ≥ 16km, target with 0.6 reflectivity for Typical Big Targets Range:≥5km |
| Visibility ≥ 12km, target with 0.3 reflectivity for 2.3m × 2.3m vehicles Range:≥3km | |
| Minimum range | <20m |
| Ranging accuracy | Better than ± 1m (RMS) |
| Measuring frequency | 1~10Hz |
| Range resolution | ≤30m |
| Accuracy rate | ≥98% |
| false alarm rate | ≤1% |
| Multi-target detection | 3 (Maximum number) |
| Data interface | RS422 Serial Port (Customized TTL Serial Port) |
| Service voltage | DC 6~36 V |
| Average power consumption | 1.5W (10Hz at work) |
| Peak power consumption | ≤5W |
| Standby power consumption | 0.3W (power consumption during distance loss) |
| Sleep power consumption | 2 mW (POWER _ EN pin when pulled down) |
| Outline dimension | ≤48mm ⅹ21mm ⅹ31mm |
| Weight | 35g±1g |
| Working temperature | -40℃~+65℃ |
| Storage temperature | -50℃~+70℃ |
| Shock | 75g ，6ms |
| Vibration | 5～200～5 Hz ，12min ，2.5g |
| Reliability | And MTBF 1,5 million times |
| Function | Single ranging / continuous ranging / multi-target ranging / distance pass / front and rear target indication / self-test function / external power control |
Note: All performance indicators and interfaces can be customized according to requirements
Interface
Communication interface: RS422, 115200bps
Electrical interface: The interface model is A1002WR-S-8P. The interface definition is described in the following table.
| 8P socket wiring definition | |||
| Wire No | Definition | Wire color | Remarks |
| 1 | VIN+ | Purple | Power input + |
| 2 | VIN- | Blue | Power input - |
| 3 | RS422 TX+ | Green | RS422 emission + |
| 4 | RS422 TX- | Orange | RS422 emission _ |
| 5 | RS422 RX- | Yellow | RS422 receive - |
| 6 | RS422 RX+ | White | RS422 receive + |
| 7 | POWER_EN | Red |
Module power enable, TTL_3.3V Module on (＞2.7V or hanging) Module off (＜0.3V) |
| 8 | GND | Black | communication interface ground |
Sequence description: The serial number of the terminal pins of the interface is 1 to 8 from top to bottom.
Installation Dimension
● The laser emitted by the rangefinder is 1535nm for human eye safety laser,although it is a human eye safety wavelength, but it is recommended not to look directly at the laser;
● When adjusting the parallelism of the optical axis, the receiving lens must be blocked, otherwise the detector will be permanently damaged due to excessive echo;
●The measuring module is non-airtight, and must ensure that the relative humidity of the use environment is less than 80%, and ensure that the use of the environment is clean and sanitary, so as not to damage the laser;
●The range measurement of the rangefinder is related to the atmospheric visibility and the nature of the target, and the range measurement will be reduced in the case of fog, rain and wind sand. Green leaf clusters, white walls, exposed limestone and other targets have better reflectivity, which can increase the measurement range. In addition, when the Angle of the target to the laser beam increases, the measurement range will be reduced.
●It is strictly forbidden to emit laser to strong reflection targets such as glass and white walls within 20 meters, so as to avoid too strong echo, resulting in damage to the APD detector;
●Do not plug and unplug the cable in the energized state;
●Ensure that the power supply polarity connection is correct, otherwise it will cause permanent damage to the equipment;
Communication format: default baud rate 115200bps;
Data format: eight bits of data, one start bit, one stop bit, no parity check. The data consists of the header byte , command part, data length, parameter part, and check byte.
Communication mode: master and rangefinder adopt the master-slave communication mode, the master sends the control command to the rangefinder, and the rangefinder receives and executes the command. The range finder sends back the data and status of the range finder according to the range finder period, and the communication format and command content are shown in the following table
a) Master transmitting
The format of the sent packet is as follows:
| STX0 | CMD | LEN | DATA1H | DATA1L | CHK |
Description of the format of the sent packet
|
Serial Number |
Name | Description | Code | Remarks |
| 1 | STX0 | Message Start Flag | 55(H) | |
| 2 | CMD | Command Code | See Table 3 | |
| 3 | LEN | Data Length | Referring to the length of the parameter. | |
| 4 | DATAH | Parameters | See Table 3 | |
| 5 | DATAL | |||
| 6 | CHK | XOR Checksum | XOR all bytes except for the checksum byte. |
Description of Main Control Reception Status:
Table 3-Description of Commands and Data Words Sent by the Main Control to the Rangefinder.
| Serial No. |
Command Code |
Function |
Data Bytes |
Remarks | Length | Example Code |
| 1 | 0x00 |
Standby (Continuous Ranging Stop) |
0000 |
Ranging Device Stops Operation |
6 Bytes | 550002000057 |
| 2 | 0x01 | Single Ranging | 0000 | 6 Bytes | 550102000056 | |
| 3 | 0x02 | Continuous Ranging |
DATAH=XX(H) DATAL=YY(L) |
DATA represents the ranging cycle, measured in milliseconds (ms). |
6 Bytes |
55020203 E8 BE (1Hz Ranging) |
| 4 | 0x03 | Self-Check | 0000 | 6 Bytes |
55030200 0054 |
|
| 5 | 0x04 |
Distance Selection Nearest Distance Setting |
DATAH=XX(H) DATAL=YY(L) |
DATA represents the Blind zone value, measured in units of 1 meter(1m). |
6 Bytes |
550402006437 (100m The Nearest Distance) |
| 6 | Ox06 |
Cumulative Number of Light Emissions Query |
0000 |
Cumulative Number of Light Emissions Query |
6 Bytes | 550602000051 |
| 7 | Ox07 |
High Voltage Reference Value Setting |
DATAH=XX(H) DATAL=YY(L) |
Factory Command: Resolution 0.1V |
6 Bytes |
5507020190 C1(40V) |
| 8 | 0x0B |
Maximum Distance Setting (in meters) |
DATAH=XX(H) DATAL=YY(L) |
DATA represents the farthest displayed distance, measured in units of 1 meter(1m). |
6 Bytes |
550B 024E 2032 (Farthest 20000m) |
| 9 | 0x11 | APD Power On | 0000 | 6 Bytes |
55110200 0046 |
|
| 10 | 0x12 | APD Power Off | 0000 | 6 Bytes |
55120200 0045 |
|
| 11 | 0x1A |
Clear Laser Light Emission Count |
Factory Command |
|||
| 12 | Ox1C |
AMR Program Update |
Factory Command |
|||
| 13 | 0x20 |
Laser Continuous Operation Timeout Setting |
DATAH=XX(H) DATAL=YY(L) |
DATA Indicates the continuous working timeout duration (unit: 1 minute) |
6 Bytes |
55200200 1463 (20min) |
| 14 | 0x23 | Set TPG |
DATAH=XX(H) DATAL=YY(L) |
Factory Command | 6 Bytes | |
| 15 | 0x28 |
Ranging Parameter Query |
0000 |
55280200 007F |
||
| 16 | OxEB |
Number Query |
0000 |
Number Query |
6 Bytes | 55 EB 0200 00 BC |
b)Main Control Reception Format
The format of the received message is as follows:
| STX0 | CMD | LEN | DATAn | DATA0 | CHK |
Table 4-Description of the Received Message Format.
| Serial No. | Name | Description | Code | Remarks | |
| 1 | STX0 | Message Start Flag | 55(H) | ||
| 2 | CMD_JG |
Data Code |
Command | See Table 5 | |
| 3 | LEN | Data Length | Referring to the length of the parameter | ||
| 4 | Dn | parameters | See Table 5 | ||
| 5 | DO | ||||
| 6 | CHK | XOR Checksum | XOR all bytes except for the checksum byte. | ||
Description of Main Control Reception Status:
Table 5-Description of Data Words Sent from the Rangefinder to the Main Control.
| Serial No. |
Command Words |
Function |
Data Bytes |
Remarks |
Total Length |
||||
| 1 | 0x00 |
Standby (Continuous Ranging Stop) |
0000 | Same Request Frame | 6 Bytes | ||||
| 2 | Ox01 |
Single Ranging (For a single target: Second and third targets are zero. For the first and last targets: Third target is zero.) |
D9 D8 D6 D5 D3 D2 D0 |
D7 D4 D1 |
D8-6:1st Target Distance (in units of 0.1meters)
D5-3:2nd Target Distance (in units of 0.1 meters)
D2-0 Third Target Distance (unit:0.1m) 3 Targets arranged from nearest to farthest D9(bit7-bitO)Status Byte: D9 bit 7 indicates the main wave;1:Main wave present,O:No main wave. D9 bit 6 indicates the presence of an echo;1:Echo present,O:No echo. D9 bit 5 indicates laser status; 1:Laser functioning normally, 0:Laser malfunction. D9 bit 4 is the timeout flag;1: Normal,O:Timeout. D9 bit 3 is invalid (set to 1) D9 bit 2 indicates the status of the APD (Avalanche Photodiode);1:Normal,0:Error. D9 bit 1 indicates the presence of a preceding target;1:Target present,O:No target(Targets before the main target are considered preceding targets). D9 bit 0 indicates the presence of a following target;1:Target present,O:No target (Targets after the main target are considered following targets)." |
14 Bytes | |||
| 3 | 0x02 | Continuous Ranging |
D9 D8 D7 |
D8-6 First Target Distance | 14 Bytes | ||||
|
(In the case of a single target,the second and third targets are zero;when considering the first and last targets, the third target is zero.) |
D6 D5 D3 D2 D0 |
D4 D1 |
(unit:0.1m) D5-3 Second Target Distance (unit:0.1m) D2-0 Third Target Distance (unit:0.1m) 3 Targets arranged from nearest to farthest D9(bit7-bitO)Status Byte: D9 bit 7 indicates the main wave;1:Main wave present,O: No main wave. D9 bit 6 indicates the presence of an echo;1:Echo present,O:No echo. D9 bit 5 indicates laser status; 1:Laser functioning normally, 0:Laser malfunction. D9 bit 4 is the timeout flag;1: Normal,O:Timeout. D9 bit 2 indicates the status of the APD (Avalanche Photodiode);1:Normal,0: Error. D9 bit 1 indicates the presence of a preceding target;1:Target present,O:No target (Targets before the main target are considered preceding targets). D9 bit 0 indicates the presence of a following target;1:Target present,O:No target (Targets after the main target are considered following targets). |
||||||
| 4 | 0x03 | Self-Check | D7~DO |
D7-6:-5V Voltage,unit:0.01V D5-4:Blind Zone Value,unit:1m. D3:APD High Voltage Value,unit:V; D2:char type,indicating APD Temperature,unit:Celsius; D1-0:+5V Voltage,unit:0.01V." |
12 Bytes | ||||
| 5 | 0x04 |
Distance Selection Nearest Distance Setting(unit in meters) |
D1 D0 |
DATA represents the nearest distance value,unit:1m; Higher byte followed by lower byte,matching the request frame. |
6 Bytes (Power-off Save) | ||||
| 6 | Ox06 |
Cumulative Number of Light Emissions Query |
D3~D0 | DATA represents the number of light emissions,4 bytes, with the high byte first. | 8 Bytes | ||||
| 7 | 0x07 |
High Voltage Reference Value Setting |
6 Bytes | ||||||
| 8 | 0x0B |
Maximum Distance Setting (in meters) |
D1 D0 | D1 DO represents the farthest distance write value,unit:1m; matches the request frame. |
6 Bytes (Power-off save) |
||||
| 9 | 0x11 | APD Power On | 0000 |
APD Power On,Same as Request Frame |
6 Bytes | ||||
| 10 | 0x12 |
APD Power Off |
0000 |
APD Power Off, Same as Request Frame |
6 Bytes | ||||
| 11 | 0x1A |
Clear Laser Light Emission Count |
0000 | same as the request frame | 6 Bytes | ||||
| 12 | 0x1C |
ARM Program Update |
0000 | same as the request frame | 6 Bytes | ||||
| 13 | 0x20 |
Laser Continuous Operation Timeout Setting |
D1 D0 | DATA represents the continuous operation timeout period,measured in units of 1 minute,consistent with the request frame. | 6 Bytes | ||||
| 14 | 0x23 | Set TPG | D1 D0 | 6 Bytes | |||||
| 15 | 0x28 |
Ranging Parameter |
D17--D0 | Multi-byte data,high byte first. | 22 Bytes | ||||
| Query |
D17-16:Factory Parameter: TPG Parameter,high byte first D15-14:Factory Parameter: High Voltage Parameter,high byte first. D13-12: Maximum Test Distance D11-10:Minimum Trigger Pulse Width. D9-8:Maximum Trigger Pulse Width. D7-6:Specified Pulse Width D5-4:Continuous Operation Timeout Period. D3-2:Baud Rate D1:Target Mode. D0:Protocol Version(Factory Parameter). |
||||||||
| 16 | 0xEB |
Number Query |
D15.... D0 |
D15 D12:Complete Machine Model Code. D11 D10:Product Number. D9 D6:Software Version. D5 D4:APD Number. D3 D2:Laser Number. D1 D0:FPGA Version. |
20 Bytes | ||||
| 17 | 0xEC |
Command Word Error |
0x00 0x00 |
6 Bytes | |||||
| 18 | 0xED |
Work Timeout |
0x00 0x00 |
Laser in operation protection, unable to perform ranging. | 6 Bytes | ||||
| 19 | 0xEE | Verification Error |
0x00 0x00 |
6 Bytes | |||||
Remarks:
①Undefined data bytes/bits default to 0.
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