Seeed Studio TFmini-i LiDAR Distance Sensor is a single point LiDAR based on Pulse Time of Flight (PTOF). The TFmini-i adopts an incoherent energy receiving mode, and the detection is mainly based on Pulse counting. TFmini-i emits a narrow pulse laser that is collimated by the transmitting lens to form a collimated light. It then enters the receiving system after being reflected by the measured target and is focused on the APD detector by the receiving lens. The time between the transmitted signal and the received signal is calculated through circuit amplification and filtering. The distance between TFmini-i and the measured target is calculated through the speed of light.