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In more tests we carried out, it was unfortunately found that the ultrasonic sensor could be too angled (>40 degrees), making it difficult to achieve the desired measuring distance of 4m or more, whereas the usual distance is around 3m. So for the time being, we consider their existence to be of little significance, considering that the ds1 of our TOF can work more consistently at around 2m. We will load the direction towards longer range tof sensors, and we will start trying to test some longer range tof sensors (such as some tof's that claim to be able to reach a distance of 7m).