In industrial applications, the three 3D vision technologies of structured light, ToF and multi-vision stereo vision have their own advantages. The measurement resolution is high, but the requirements for the computing processing unit are high, and the structure and cost are also very high. In the future, which technology will eventually occupy a dominant position, but also depends on the specific application areas and application requirements, the most likely situation is a combination of the two technologies.

Since the infrared component of outdoor sunlight, the color of the object to be measured, surface roughness and reflectivity can have some influence on ToF ranging, Habersham has optimized the optical lens, structure and algorithm from the early stage of product design to greatly reduce the influence of these factors on ToF ranging.

Habersham uses a higher resolution ToF CMOS chip and optimizes the IR imaging lens, IR illumination system and compensation algorithm to maximize the detection distance of LIDAR while taking into account the field of view, resolution and accuracy.

Compared with traditional mechanical scanning and micro-MEMS micro-mirror scanning LIDAR technology, Habersham’s solid-state LIDAR products do not have any mechanical moving parts inside, and with its high-strength aerospace aluminum housing, it can meet various harsh usage environments such as high vibration and high impact, which greatly improves the reliability of LIDAR.

The six-dimensional force sensor is a high-performance mechanical sensor based on the strain principle, which can measure the force and moment in XYZ directions in real time. Unlike optical and capacitive technologies, the sensor has excellent anti-interference capability and shock overload resistance, and can be applied in complex electromagnetic environments and strong vibration occasions such as industry.

The sensor will be mainly applied in the field of industrial robots to give industrial robots the same force sensing feedback as human beings, enabling industrial robots to perform complex and precise operations that could only be done by humans in the past. The main target applications are as follows: 1) flexible precision transfer of industrial robots; 2) precision grinding of industrial robots; 3) dragging and teaching of industrial robots. In addition, the sensor can also be applied to wind tunnel testing, medical rehabilitation, collision detection, robot balance control and dynamics measurement applications.

The first is the laser class, whether to meet the safety of the human eye, that is, Class One class, this is very important.

The second is the farthest detection distance, usually in the back of the note it is in the case of how much reflectivity to get such a detection distance. For example, the object in the case of 10% reflectivity and 80% reflectivity, its maximum detection distance is not the same.

The third is the accuracy of distance measurement, which is also a relatively important amount, especially when doing some high precision maps, mapping, the accuracy of the distance is quite important.

The fourth and fifth is the field of view, including the horizontal field of view and vertical market angle. In this field of view, how big is the point cloud resolution of LiDAR.

The sixth is the point cloud density. Here we should emphasize that no matter what kind of LIDAR, we must understand how the point cloud density is, because sometimes its angular resolution and or field of view are deceptive, but its point density is not deceptive, so we must care how much the point cloud density is, which is sometimes the biggest constraint of radar performance.

The seventh is the frame rate.

The eighth is the power consumption, some scenarios are still more concerned, for example, the UAV carries the radar, if the battery power consumption is too large, the working time of this radar will be limited.

The above eight parameters are the core parameters of the LIDAR, you can start from these aspects when buying radar, to do some comparison.

1、Lidar uses a non-contact distance measurement method.

2, lidar is a kind of active detection, this kind of detection can be conducive to such a work in the night.

3, lidar has a relatively high angular resolution and distance resolution, and can detect more kinds of objects.

4, lidar is more sensitive to the reflectivity information of the target, which can make lidar can go for lane line identification, or signage identification when making high-definition maps.

5、Lidar uses optical parts, so it is not quite the same as traditional microwave radar, and its volume can be made very small, which is also an advantage of it.

Sensor (English name: transducer / sensor) is a detection device, can feel the measured information, and can detect the information felt, according to certain laws transformed into electrical signals or other required forms of information output, to meet the requirements of information transmission, processing, storage, display, recording and control. It is the primary link to realize automatic detection and automatic control.

An encoder is a device that compiles and converts a signal (such as a bit stream) or data into a form of signal that can be used for communication, transmission and storage. An encoder converts angular or linear displacement into an electrical signal, the former being called a code disc and the latter a code scale.

An encoder is a rotary sensor that converts a rotational displacement into a series of digital pulses that can be used to control angular displacement, or, if the encoder is combined with a gear bar or screw screw, it can also be used to measure linear displacement.

Sensitivity: The ratio of the output increment to the added load increment. Usually the rated output mV per input voltage of 1 V. When our products are matched with other companies’ products, the sensitivity factor must be the same.

Nonlinearity: This is a parameter that characterizes the degree of accuracy of the correspondence between the voltage signal output by this sensor and the load.

Repeatability: Repeatability characterizes the sensor in the same load repeatedly applied under the same conditions, whether the output value can repeat the same, this characteristic is more important and more reflective of the quality of the sensor. The national standard on the repeatability of the error of the expression: repeatability error can be measured simultaneously with the nonlinearity. Repeatability error (R) of the sensor is calculated according to the following formula: R = ΔθR/θn × 100%. ΔθR – the maximum difference between the actual output signal values of three measurements at the same test point (mv)

Modern sensors vary widely in principle and structure, so how to reasonably choose the sensor according to the specific measurement purpose, measurement object and measurement environment is the first problem to be solved when measuring a certain amount. When the sensor is determined, the matching measurement method and measuring equipment can also be determined. The success or failure of the measurement results, to a large extent, depends on whether the choice of sensors is reasonable.

1, according to the measurement object and measurement environment to determine the type of sensor

To carry out – a specific measurement, the first thing to consider what principle of the sensor, which requires analysis of a number of factors to determine. Because, even if the measurement of the same physical quantity, there are a variety of principles of the sensor can be used, which is a more appropriate principle of the sensor, it is necessary to consider the following specific issues according to the characteristics of the measured and the conditions of use of the sensor: the size of the range; the measured position of the sensor volume requirements; the measurement method for contact or non-contact; the signal lead method, wire or non-contact measurement; sensor The source of the sensor, domestic or imported, whether the price can be afforded, or self-developed.

After considering the above issues can determine what type of sensor to use, and then consider the specific performance indicators of the sensor.

2, the choice of sensitivity

Usually, within the linear range of the sensor, the higher the sensitivity of the sensor, the better. Because only when the sensitivity is high, the value of the output signal corresponding to the measured change is relatively large, which is conducive to signal processing. However, it should be noted that the high sensitivity of the sensor, the external noise unrelated to the measured is also easy to mix in, will also be amplified by the amplification system, affecting the measurement accuracy. Therefore, the sensor itself should be required to have a high signal-to-noise ratio, as far as possible to reduce the introduction of plant disturbance signal from the outside.

The sensitivity of the sensor is directional. When the measured is a one-way quantity, and its directional requirements are high, the sensor should choose other directional sensitivity is small; if the measured is a multi-dimensional vector, the sensor is required to cross the sensitivity of the smaller the better.

3, frequency response characteristics

Frequency response characteristics of the sensor determines the measured frequency range, must be within the allowable frequency range to maintain undistorted measurement conditions, in fact, the response of the sensor always – a certain delay, hope that the shorter the delay time the better.

The frequency response of the sensor is high, the measured signal frequency range is wide, and due to the influence of structural characteristics, the mechanical system inertia is larger, because there is a low frequency sensor can be measured signal frequency is lower.

In the dynamic measurement, should be based on the characteristics of the signal (steady-state, transient, random, etc.) response characteristics, so as not to produce over-fire error.

4, linear range

The linear range of the sensor is the range where the output is proportional to the input. In theory, within this range, the sensitivity remains constant. The wider the linear range of the sensor, the larger the range, and can ensure a certain measurement accuracy. In the selection of sensors, when the type of sensor is determined after the first look at the range to meet the requirements.

But in fact, no sensor can guarantee absolute linearity, its linearity is also relative. When the required measurement accuracy is relatively low, within a certain range, the non-linear error can be smaller sensor approximation as linear, which will bring great convenience to the measurement.


Sensor after a period of time, its ability to maintain performance without change is called stability. Factors affecting the long-term stability of the sensor in addition to the structure of the sensor itself, mainly the use of the sensor environment. Therefore, to make the sensor has good stability, the sensor must have a strong ability to adapt to the environment.

Before selecting a sensor, the use of its environment should be investigated, and according to the specific use of the environment to select the appropriate sensor, or take appropriate measures to reduce the impact of the environment.

The stability of the sensor has a quantitative index, after more than the service life, before use should be recalibrated to determine whether the performance of the sensor has changed.

In some cases, the requirements of the sensor can be used for a long time and can not be easily replaced or calibrated, the stability requirements of the sensor selected more stringent, to withstand the test of a long time.


Accuracy is an important performance indicator of the sensor, it is an important link to the measurement accuracy of the entire measurement system. The higher the accuracy of the sensor, the more expensive, therefore, the accuracy of the sensor as long as it meets the accuracy requirements of the entire measurement system can be, do not have to choose too high. In this way, the cheaper and simpler sensor can be selected among the many sensors that meet the same measurement purpose.

If the purpose of the measurement is qualitative analysis, the use of high repeatability of the sensor can be, should not choose the absolute value of the high accuracy; if it is for quantitative analysis, must obtain accurate measurement values, you need to use the accuracy level can meet the requirements of the sensor.

For some special occasions, can not choose the right sensor, it is necessary to design and manufacture their own sensors. The performance of the homemade sensor should meet the requirements of use.


The input and output quantities of the sensor are static, they have a certain relationship, but it has nothing to do with time, nor does it present a linear relationship, but the degree of curve deviation from the fitted straight line.


Sensitivity is an important definition in physics, but also a very important indicator of the instrument, where it refers to the incremental ratio between two input signals.


This static characteristic is based on the change in the same direction of the input quantity, resulting in the characteristics of its characteristic curve.

4、Resolving power

It is also the minimum input quantity of the sensor. After this value is input, the sensor has an output quantity, and below this threshold, the sensor is unchanged, and this output quantity is also used to define the threshold voltage.


The characteristic curve of the sensor, in the same input amount of positive stroke and its opposite stroke, the resulting characteristic curve does not completely overlap, this phenomenon is called hysteresis.

6, drift

The reason for the formation of drift is multifaceted, may be the product parameters, may be the temperature or humidity and other issues, the specific performance of the input volume remains unchanged, the output volume is changing over time.

Sensors play an important role in industrial production, it can be a variety of human can not interpret the signal into people can read the information, to people’s production and life has brought great convenience.

Sensor is a detection device, can feel the measured information, and can feel the information, according to certain laws transformed into electrical signals or other required forms of information output, in order to meet the requirements of information transmission, processing, storage, display, recording and control. Commonly used are temperature sensors, humidity sensors, pressure sensors, displacement sensors, flow sensors, liquid level sensors, force sensors, acceleration sensors, torque sensors, electrical sensors, magnetic sensors, photoelectric sensors, potential-type sensors, charge sensors, semiconductor sensors, etc.