Nuvoton TOF KHKT001 Installation instructions

TOF KHKT001-Evaluation Module (EVM)
Hardware Guide
(For Qualcomm’s RB5 Robotics Platform)
4ｔｈ Apr. 2023
Ver 1.0

2
Notification
Notification about the transfer of the semiconductor business
The semiconductor business of Panasonic Corporation was transferred on
September 1, 2020 to Nuvoton Technology Corporation (hereinafter referred
to as "Nuvoton"). Accordingly, Panasonic Semiconductor Solutions Co., Ltd.
came under the umbrella of the Nuvoton Group, with the new name of
Nuvoton Technology Corporation Japan (hereinafter referred to as "NTCJ").
In accordance with this transfer, semiconductor products were handled as
NTCJ-made products after September 1, 2020.
Publisher of this Document is NTCJ.
Nuvoton Technology Corporation Japan

3
•Introduction
•TOF Module –Overview
Specifications
Block Diagram
Dimension of KHKT001-EVM
•Connection Image of TOF camera
Connection to Qualcomm’s RB5 Mezzanine Board
Pin assignment of Adapter Board for KHKT001-EVM side and SoC side
Schematic and Circuit Diagram for Adapter Board
•Principle of Time of Flight
•Depth Measurement Guidelines
Multi-path Interference
Optical Scattering
Example of Evaluation Equipment
•Examples of Depth Evaluation Results
•Depth Uniformity
•Safety instructions
Contents

4
■KHKT001 Module –General Introduction
The KHKT001-EVM is a state-of-the-art 3D camera module that utilizes the VGA ToF sensor P/N KM34906 from Nuvoton.
It is ideal for creating 3D sensing solutions for short to middle range applications. With a small form-factor and light weight, it can
be seamlessly integrated to robotics platforms targeted for consumer and industrial segments.
This EVM can achieve upto 1% depth error and around 1% depth variation (standard deviation) of depth sensing from 0.2 m to 4.5 m
range and provides depth, IR and background signals at pixels. The EVM uses wide FOV lens with low optical scattering, providing a
40% increase in FOV compared to the earlier ToF module V4T-EVM. This enables a reduction in blind spots in robot vision.
The KHKT001 complements the RB5 platform to provide an ideal 3D sensing solution. It serves as a reference design for the
development of commercial 3D camera products, which facilitates the rapid creation of next-generation robots.
*For outdoor evaluation it is recommended to use module with 940/945nm configuration
Introduction of V4TV2-EVM
* The visual appearance of the module may change due to different module suppliers
850nm* VCSEL
MIPI_I2C FPC
FOV 108 degree x 79 degree Lens
Tripod Screw Hole
Note: KHKT001 comes with a standard MIPI-CSI2 interface and requires an SoC platform such as RB5 for its operation.

5
■Specifications ■Block Diagram
Parameter
KHKT001
–for in-door use*
TOF
Sensor
1/4” VGA /IR
–TOF
Resolution
640
x 480 (VGA)
Lens
FOV
H:
110°x V: 80°
Aperture
F1.3
VCSEL
850nm
x 2pc
Performance
Mode 0:
Short
range
Mode 1:
Long
range
Camera Distance
0.2 to 1.2 [m]
0.5 to 4.5 [m]
Frame
Rate
30 fps
20 fps
Interface
MIPI (CSI
-2)／I2C
Module
Size
85
x 29.4 x 22.9 [mm]
Supply
Voltage
DC 5V (From 4.85V to 5.3V)
Operating
Temperature
Ta=
0 to +60°C
Overview of KHKT001-EVM
VCSEL
Shutter
Driver
LENS
BPF
Driver
PM IC
TOF
Sensor
TOF
Companion
(AFE)
Diffusor
Calibration Data
on EEPROM
Software
MIPI
I2C
SoC Board
Sensor board
LD board
Control of
TOF module

Dimension (mm)
W
85
D
25.9
H
36.4
Dimension of KHKT001-EVM
6* The visual appearance/size of the module may change due to different module suppliers
85
29.4
36.4
25.9

Connection Image of TOF camera
Mezzanine board for RB5
KHKT001-EVM for RB5
<Front image＞
of TOF camera mounted
<Connection image＞
of TOF camera connected to RB5T
<Rear image＞
of TOF camera mounted
Connect TOF camera to RB5
with FFC and adapter board
7

Pin 1
●
RB5
Mezzanine board
8
<KHKT001-EVM>
KHKT001-FFC
Adapter Board for RB5 Mezzanine Board
TOF module
Data、I2C
Power
(5V・max 3.0A)
96 Board
Connection to Qualcomm’s RB5 Mezzanine Board
Max 10cm
BM20B(0.8)-30DS-0.4V(51)
BM20B(0.8)-30DP-0.4V(51)
TOF FFC side
●Pin 1
SoC side
BM20B(0.8)-30DP-0.4V(51)
on adapter Board
BM20B(0.8)-30DS-0.4V(51)
on RB5 mezzanine board
FH34SRJ-16S-0.5SH
<KHKT001-EVM Back side>
Pin 1
●
<Adapter Board for RB5 Mezzanine Board>
FFC
FFC
Attach the FFC to the connector
with the blue plate facing up.
FH34SRJ-16S-0.5SH
FH34SRJ-16S-0.5SH

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Pin#
SoC side Pin# ToF side Pin Name Function Remark
21 1 CLKP MIPI Clock
MIPI clock input of positive
20 2 CLKN MIPI Clock
MIPI clock input of negative
10 3 DATA0P MIPI data0
MIPI data input of positive for lane#0
11 4 DATA0N MIPI data0
MIPI data input of negative for lane#0
18 5 DATA1P MIPI data1
MIPI data input of positive for lane#1
17 6 DATA1N MIPI data1
MIPI data input of negative for lane #1
25 7 I2C_SCL I2C SCL
Should be connected to I2C clock output terminal on
SoC
26 8 I2C_SDA I2C_SDA
Should be connected to I2C data terminal on
SoC
5 9 RSTB_SYNC RESET / SYNC
Static output control
27 10 AFE_GPO5 Field Index
Should be connected to EX
-IRQ input terminal for both edge on SoC
GND
6, 9, 12, 15,
19, 22, 24,
11 GND GND
Connect to DC jack
–and GND connection pin for SoM board
12 GND GND
Connect to DC jack
–and GND connection pin for SoM board
13 GND GND
Connect to DC jack
–and GND connection pin for SoM board
VCC
3, 28, 30
+
16*
*need 5V
input
14 VCC Power supply
input
Connect to DC jack or QCOM board Power
Supply (5V・max 3.0A)
15 VCC Power supply
input
Connect to DC jack or QCOM board Power
Supply (5V・max 3.0A)
16 VCC Power supply
input
Connect to DC jack or QCOM board Power
Supply (5V・max 3.0A)
Pin assignment of Adapter Board for KHKT001-EVM side and SoC side

10
Schematic and Circuit Diagram for Adapter Board
Circuit Diagram of Adapter Board for ToF Module
FH34SRJ-16S-0.5SH
BM20B(0.8)-30DP-0.4V

The distance measuring principle for KHKT001-EVM is based on the Time of Flight concept
as shown in the figure below:
Sensor
IR-LD/Dr
10m9m8m0m
8m 9m 10m
10m
10m10m10m
3D image
Sensor Output (RAW)
TOF module Ranging target
TP
Emitted
light
S0
BG
BG BG
S0' exposure
S0=S1‘-S2’S1' exposure S1=S1‘-S2’S2‘exposure
Δｔ
Received
light
Depth Calculation
S1
11m
ISP &
Controller
Δt : Time of Flight
C : Light speed
TP: IR pulse width
S0'
S1'
S2'
Images
IR image (S0 + S1)
Camera Output
Principle of Time of Flight
11

12
Depth Measurement Guidelines
Reference Plane:
- The front edge of module has been used as the reference plane for calibration of
KHKT001-EVM, so all measurements taken by KHKT001-EVM are values of distance
(in mm) from this front edge.
Refer to the figure below:
KHKT001
-EVM
Emitter
Measured Distance
Target Object
Reference Plane

1) Example of Multipath Interference
Influence level of the multi-path reflection depends on not only the reflectance of the multi-path objects and
measured object but also the surface condition of the measured object.
FOV
Corner Floor Wall
Multi reflections path
FOV
Direct path
Multi reflections path
Direct path
FOV
Multi reflections path
Direct path
Measurement result (Overestimation)
Measurement result (Overestimation)
Measurement result (Overestimation)
2) Dependency on surface condition of the measured object
Direct path
component
Multi-path
component
Direct path
component
Multi-path
component
Surface condition A Surface condition B
Specular reflection < Diffuse reflection
Ratio of multi
reflection path
component is
bigger
Component
to camera
direction
Specular reflection > Diffuse reflection
Ratio of multi
reflection path
component is
smaller
Component
to camera
direction
Overestimation is bigger
Overestimation is smaller
Multipath Interference
Since multipath countermeasures differ depending on the usage environment and use case, please contact the TOF
sensor vendor if you have any problems.
13

Emitter Target Object
Disturbing Object
Wall / Object
Optical scattering occurs due to unwanted reflections within the optics. This cannot be eliminated
completely but improvements have been achieved in KHKT001-EVM using advanced lens design.
In order to avoid scattered light issue as much as possible, KHKT001-EVM should be placed at the
greatest distance possible from disturbing object from which light might be reflected.
Emitter Target Object
Optical Scattering
KHKT001
-EVM
KHKT001
-EVM
14

15
TOF camera
KHKT001-EVM
<Back View> <Side View>
almost
1.2m (a)
Desk
(a) Desk
PC
Power
(d) Desk with casters
No
Items
Detail specs
(a)
Desk
Normal PC desk.
(b)
Target
-
Flat, thin and durable board
-
Target size is 60 cm (H) x 50 cm(V)
-
Reflectivity is 90%@850 nm light
(c)
Tripod for camera
Height
should be adjusted to around 1.2m.
(d)
Desk
with caster
Desk with casters is useful
to change the distance between the
target and the TOF camera.
(e)
Support pillar
Book
stand etc.
(c)
Tripod
(b) Target
(e) Support pillar
(b) Target
Evaluation equipment
PC
Distance changes from
200mm to 4500mm
Example of Evaluation Equipment
* It is important to reduce the reflectivity of the floor and surroundings to avoid multipath interference.

Examples of Depth Evaluation Results
Depth σ can be further improved by optimal operation of the TOF camera and additional post signal processing.
KHKT001-EVM
Emitter
Measured Distance
Target object
(90% reflectivity)
Reference Plane
Lens
Camera
output
Depth map
Entire image
Target object
image
Measurement area
16 pix.(H) x 16 pix.(V) TOF camera
16

Depth Uniformity
Corners of depth map has large depth error
[Phenomena]
Due to small mismatch between lens FOV and diffuser FOI of light source in the current
TOF module, depth at image corners are prone to have large error as shown in the
following depth map example.
Please be aware this characteristics when using the current ToF module.
Depth Map (3-D)
Depth Map
[Example of Depth Map]
[ mm ] [ mm ]
Horizontal pixel
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Please observe the following condition for the safety operation of KHKT001-EVM.
In case of module usage other than stated, any claims will be rendered void.
- In any case, it is not allowed to disassemble KHKT001-EVM or to make any changes to the hardware.
- Only the power supply provided by Thundercomm's 96-board is allowed to be used with the camera.
Do not use other power supply.
- KHKT001-EVM is not waterproof and dustproof. Do not use under rain.
- Do not apply any register settings and EEPROM values in KHKT001-EVM (especially laser emission settings)
- Handle with care for KHKT001-EVM or power supply connecter.
- Do not touch Diffuser or Lens.
- KHKT001-EVM uses VCSELs (laser diode technology). Before starting the ToF module, ensure by visual
inspection that VCSEL’s Diffuser has not fallen off OR do not have any cracks/breakage.
- KHKT001-EVM is not certified for any safety related applications.
Safety Instructions
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Record of Changes
Date
Ver
Description
Remarks
Apr.
4, 2023
1.0
1
st issue
19