Grove - TF Mini LiDAR

This product is based on ToF (Time of Flight) principle and integrated with unique optical and electrical designs, so as to achieve stable, precise, high sensitivity and high-speed distance detection.

ToF is the abbreviation of Time of Flight technology, and its operating principle is as follows: a modulated near-infrared light is sent from the sensor and reflected by an object; the distance to the object to be shot can be converted with the sensor by calculating the time difference or phase difference between the light sending and the light reflection, so as to produce the depth information.

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Prevent dust or any other foreign matter from entering the lens; otherwise it may affect the light transmission.


Product Version Changes Released Date
Grove-TF Mini LiDAR V1.0 Initial Nov 2017


Product Name TFmini
Operating range 0.3m-12m
Maximum operating range at 10% reflectivity 5m
Average power consumption 0.6W
Applicable voltage range 4.5V-6V
Acceptance angle 2.3°
Minimum resolution ratio 1cm
Frequency 100Hz
Accuracy 1% (less than 6m), 2% (6m-12m)
Distance detection unit cm
Wavelength 850nm
Size 42mm×15mm×16mm
Operating temperature -20℃-60℃
Light sensitivity 70,000lux
Weight 4.7g
Communication interface UART 115200
LED peak current 800ma
Serial port TTL voltage level 3.3V
Electromagnetic Compatibility(EMC) EN 55032 Class B


More details about Grove modules please refer to Grove System

Platforms Supported

Arduino Raspberry Pi BeagleBone Wio LinkIt ONE


The platforms mentioned above as supported is/are an indication of the module's hardware or theoritical compatibility. We only provide software library or code examples for Arduino platform in most cases. It is not possible to provide software library / demo code for all possible MCU platforms. Hence, users have to write their own software library.

Getting Started

Play With Arduino


  • Step 1. Prepare the below stuffs:
Seeeduino Lite Grove-TF-Mini-LiDAR
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  • Step 2. Connect Grove-TF-Mini-LiDAR to UART port of Seeeduino Lite.
  • Step 3. Connect Seeeduino to PC through a USB cable.


The Grove-TF Mini LiDAR's UART baud rate is 115200 and the SoftwareI2C can't support it. So if we use 1 hardware UART to hook up the sensor and other hardware UART for Serial Port display, we need at least 2 hardware UART platforms, such as arduino mega, seeeduino lite and so on. If we only have 1 UART platform(ie. seeeduino v4.2, arduino uno), we can use the I2C LCD as display.


  • Step 1. The Grove-TF Mini LiDAR is a hexadecimal output data. Each frame data is encoded with 9 bytes, including 1 distance data (Dist). Each distance data has corresponding signal strength information (Strength). The frame end is the data parity bit.
Byte Data encoding interpretation
Byte1 0x59, frame header, all frames are the same
Byte2 0x59, frame header, all frames are the same
Byte3 Dist_L distance value is a low 8-bit.
Byte4 Dist_H distance value is a high 8-bit.
Byte5 Strength_L is a low 8-bit.
Byte6 Strength_H is a high 8-bit.
Byte7 Integration time.
Byte8 Reserved bytes.
Byte9 Checksum parity.
  • Step 2. Copy the code into Arduino IDE and upload.

unsigned char dta[100];
unsigned char len = 0;

void setup()

void loop()
        if((0x59 == Serial1.read()) && (0x59 == Serial1.read())) //Byte1 & Byte2
            unsigned int t1 = Serial1.read(); //Byte3
            unsigned int t2 = Serial1.read(); //Byte4

            t2 <<= 8;
            t2 += t1;

            t1 = Serial1.read(); //Byte5
            t2 = Serial1.read(); //Byte6

            t2 <<= 8;
            t2 += t1;

            for(int i=0; i<3; i++) 
                Serial1.read(); ////Byte7,8,9
- Step 3. We will see the distance display on terminal. The blue curve is the distance and the red is Strength.


Tech Support

Please do not hesitate to contact techsupport@seeed.cc if you have any technical issue. Or submit the issue into our forum.