原标题：基于ST VL53L0的TOF激光测距机器人扫地机解决方案

　　这两年来，AI技术的迅猛发展，无人驾驶汽车热度疯狂，智能产品的不断涌现，图像识别、语音识别、神经网络感知等人工智能正处于难得的发展机遇期，人工智能和实体经济融合进一步深化，智能化产品也源源不断地涌现。产品智能化就需要大脑主控芯片和各种各样的sensor，ST现有推出一款TOF激光测距sensoor VL53L0，高精度测距，可以用于机器人、无人机、扫地机、手机等。目前ST推出VL53L0+ STM32F401RE智能机器人扫地方案。

　　场景应用图

　　产品实体图

　　展示板照片

　　方案方块图

　　核心技术优势

　　1、 前、后、左、右各装一个VL53L0激光测距sensor, 每个sensor发射940nm波长非可见光，通过TOF测出各方向的距离， 通过软件计算，得出房子环境空间的布局情况。

　　2、 可以设定多种清扫模式。包括沿边清扫、集中清扫、随机清扫、直线清扫等工作模式。

　　3、 设定好清扫模式后，可以开始清扫操作，如遇难到障碍物，会自动避让，自动选择最佳的行进路线。

　　4、 清扫完成后，机器会自动停机

　　方案规格

　　1.STM32F401RE和VL53L0都是ST自产芯片，ST MCU具有极高的性价比，市面普及度也高。

　　2.VL53L0功耗低、体积小，正常工作模式下功耗仅20mW，待机功耗只有5µA。封装尺寸为2.4mm x 4.4mm x 1mm，业界目前体积最小的同类产品，同时支持手势识别。

　　3.距离测量精度高，可以达毫米级。

　　4.测量距离最长可达2米。

　　5.ST可以提供基于STM32F401RE和VL53L0软件开发包。

　　6.可以外扩一块蓝牙模块和重力、陀螺sensor,进行更精确的运动轨迹操控和手机APP操作。

　　7.VL53L0可以同时挂载多颗。

　　8.VL53L0采用快速响应的FlightSenseTM技术。

　　技术文档

　　【VL53L0X】

　　World smallest Time-of-Flight (ToF) ranging sensor

　　The VL53L0X is a new generation Time-of-Flight (ToF) laser-ranging module housed in the smallest package on the market today, providing accurate distance measurement whatever the target reflectances unlike conventional technologies. It can measure absolute distances up to 2m, setting a new benchmark in ranging performance levels, opening the door to various new applications.

　　The VL53L0X integrates a leading-edge SPAD array (Single Photon Avalanche Diodes) and embeds ST’s second generation FlightSense™ patented technology.

　　The VL53L0X’s 940 nm VCSEL emitter (Vertical Cavity Surface-Emitting Laser), is totally invisible to the human eye, coupled with internal physical infrared filters, it enables longer ranging distance, higher immunity to ambient light, and better robustness to cover glass optical crosstalk.

　　Key Features

　　Fully integrated miniature module

　　940 nm laser VCSEL

　　VCSEL driver

　　Ranging sensor with advanced embedded micro controller

　　4.4 x 2.4 x 1.0 mm

　　Fast, accurate distance ranging

　　Measures absolute range up to 2 m

　　Reported range is independent of the target reflectance

　　Advanced embedded optical cross-talk compensation to simplify cover glass selection

　　Eye safe

　　Class 1 laser device compliant with latest standard IEC 60825-1:2014 - 3rd edition

　　Easy integration

　　Single reflowable component

　　No additional optics

　　Single power supply

　　I2C interface for device control and data transfer

　　Xshutdown (reset) and interrupt GPIO

　　Programmable I2C address

　　IMAGE

　　【STM32F401RE】

　　STM32 Dynamic Efficiency MCU, ARM Cortex-M4 core with DSP and FPU, up to 512 Kbytes Flash, 84 MHz CPU, Art Accelerato

　　The STM32F401xD/xE devices are based on the high-performance ARM®Cortex® -M4 32-bit RISC core operating at a frequency of up to 84 MHz. Its Cortex®-M4 core features a Floating point unit (FPU) single precision which supports all ARM single-precision data-processing instructions and data types. It also implements a full set of DSP instructions and a memory protection unit (MPU) which enhances application security.

　　The STM32F401xD/xE incorporate high-speed embedded memories (512 Kbytes of Flash memory, 96 Kbytes of SRAM), and an extensive range of enhanced I/Os and peripherals connected to two APB buses, two AHB buses and a 32-bit multi-AHB bus matrix.

　　All devices offer one 12-bit ADC, a low-power RTC, six general-purpose 16-bit timers including one PWM timer for motor control, two general-purpose 32-bit timers. They also feature standard and advanced communication interfaces.

　　主要特性

　　Core: ARM®32-bit Cortex®-M4 CPU with FPU, Adaptive real-time accelerator (ART Accelerator™) allowing 0-wait state execution from Flash memory, frequency up to 84 MHz, memory protection unit, 105 DMIPS/1.25 DMIPS/MHz (Dhrystone 2.1), and DSP instructions

　　Memories

　　up to 512 Kbytes of Flash memory

　　up to 96 Kbytes of SRAM

　　Clock, reset and supply management

　　1.7 V to 3.6 V application supply and I/Os

　　POR, PDR, PVD and BOR

　　4-to-26 MHz crystal oscillator

　　Internal 16 MHz factory-trimmed RC

　　32 kHz oscillator for RTC with calibration

　　Internal 32 kHz RC with calibration

　　Power consumption

　　Run: 146 μA/MHz (peripheral off)

　　Stop (Flash in Stop mode, fast wakeup time): 42 μA Typ @ 25C; 65 μA max @25 °C

　　Stop (Flash in Deep power down mode, fast wakeup time): down to 10 μA @ 25 °C; 30 μA max @25 °C

　　Standby: 2.4 μA @25 °C / 1.7 V without RTC; 12 μA @85 °C @1.7 V

　　VBATsupply for RTC: 1 μA @25 °C

　　1×12-bit, 2.4 MSPS A/D converter: up to 16 channels

　　General-purpose DMA: 16-stream DMA controllers with FIFOs and burst support

　　Up to 11 timers: up to six 16-bit, two 32-bit timers up to 84 MHz, each with up to four IC/OC/PWM or pulse counter and quadrature (incremental) encoder input, two watchdog timers (independent and window) and a SysTick timer

　　Debug mode

　　Serial wire debug (SWD) & JTAG interfaces

　　Cortex®-M4 Embedded Trace Macrocell™

　　Up to 81 I/O ports with interrupt capability

　　Up to 78 fast I/Os up to 42 MHz

　　All I/O ports are 5 V-tolerant

　　Up to 12 communication interfaces

　　Up to 3 x I2C interfaces (SMBus/PMBus)

　　Up to 3 USARTs (2 x 10.5 Mbit/s, 1 x 5.25 Mbit/s), ISO 7816 interface, LIN, IrDA, modem control)

　　Up to 4 SPIs (up to 42Mbit/s at fCPU= 84 MHz), SPI2 and SPI3 with muxed full-duplex I2S to achieve audio class accuracy via internal audio PLL or external clock

　　SDIO interface

　　Advanced connectivity: USB 2.0 full-speed device/host/OTG controller with on-chip PHY

　　CRC calculation unit

　　96-bit unique ID

　　RTC: subsecond accuracy, hardware calendar

　　All packages (WLCSP49, LQFP64/100, UFQFPN48, UFBGA100) are ECOPACK®2

　　STM32F401RE电路原理图