Obstacle, cliff detection and stuck prevention all-in-one reference design for robotic applications


Design files


Obstacle avoidance, cliff detection, stuck prevention and wall follow are all necessary features for robotic systems. This reference design uses optical time-of-flight (ToF) techniques to build small and cost-effective proximity sensor systems to achieve these features and solve the problem of universal IR solution which is quite sensitive to ambient and object color by a single proximity and distance sensor analog front end (AFE) (OPT3101) with three external near-infrared (NIR) LEDs and one photodiode.

  • Three NIR emitters can be configured for different functions: Cliff detection, obstacle avoidance, stuck prevention and wall follow
  • Detection range up to 1.5 meters without a lens for obstacle avoidance
  • Adaptive high dynamic range (HDR) enables the detection range to be short enough for cliff detection and stuck prevention
  • ToF-based sensing AFE (OPT3101) makes measurements insensitive to object color and reflectivity and supports operation under high ambient light conditions (outdoor)
  • Direct distance measurement output with an accuracy of 5%

Design files & products

Design files

Download ready-to-use system files to speed your design process.

TIDUET2.PDF (3802 K)

Reference design overview and verified performance test data

TIDM204.ZIP (391 K)

Detailed schematic diagram for design layout and components

TIDM205.ZIP (55 K)

Complete listing of design components, reference designators, and manufacturers/part numbers

TIDM206.ZIP (141 K)

Detailed overview of design layout for component placement

TIDM208.ZIP (2783 K)

Files used for 3D models or 2D drawings of IC components

TIDCFM6.ZIP (1164 K)

Design file that contains information on physical board layer of design PCB

TIDM207.ZIP (645 K)

PCB layer plot file used for generating PCB design layout


Includes TI products in the design and potential alternatives.

Time of flight (ToF) sensors

OPT3101ToF-based long-range proximity and distance sensor analog front end (AFE)

Data sheet document-pdfAcrobat PDF open-in-new HTML
Charge pumps (inductorless)

LM26641.8-V to 5.5-VIN switched capacitor voltage inverter

Data sheet document-pdfAcrobat PDF open-in-new HTML
Linear & low-dropout (LDO) regulators

TLV702300-mA, high-PSRR, low-IQ, low-dropout voltage regulator with enable

Data sheet document-pdfAcrobat PDF open-in-new HTML
MSP430 microcontrollers

MSP430FR247616 MHz MCU with 64KB FRAM, 8KB SRAM, comparator, 12-bit ADC, UART/SPI/I2C, timer

Data sheet document-pdfAcrobat PDF open-in-new HTML
RGB LED drivers

TLC5928316 channel constant current LED driver with pre-charge FET

Data sheet document-pdfAcrobat PDF

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Support software

TIDA-010077 Software – TIDCFM7.ZIP (795 K)

Technical documentation

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Type Title Date
* Design guide Obstacle, Cliff Detection and Stuck Prevention All-In-One Reference Design Sep. 25, 2019

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