Benewake CE30-C User manual

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CE30-C Solid State Array LiDAR
Operation Manual
Benewake (Beijing) Co., Ltd.

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Table of Contents
1. CE30 Introduction ................................................................................................................................................. 3
2. Indicator Instruction .............................................................................................................................................. 4
3. Software Operation Instruction ............................................................................................................................. 4
4. Description on Line Sequence .............................................................................................................................. 6
5. Installation Instruction .......................................................................................................................................... 6
6. Method of Center Calibration ............................................................................................................................... 7
7. Head Dissipation Component and Reference Design ........................................................................................... 8
8. Application Case ................................................................................................................................................... 9
8.1. Accurate Width Crossing .......................................................................................................................... 9
8.2. Detection of Low Obstacles ...................................................................................................................... 9
9. Influence Factors of Measurement ........................................................................................................................ 9
9.1. Multi Optical Path ..................................................................................................................................... 9
9.2. Stray Light............................................................................................................................................... 10
9.3. Multi Distance Objects ............................................................................................................................ 11

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1. CE30 Introduction
CE30 is an IR DE-LiDAR developed on the basis of ToF principle. With the optimized obstacle avoidance mode, the
detecting region of interest can be set up. The single-point projection distance of the nearest obstacle can be transferred
through CANBUS. Compared with single-channel scanning LiDARs, CE30 does not contain any rotating components.
The reliability of long-time work and a wider vertical detection range can be ensured.
Product Properties
 Complete solid-state LiDAR
 Array detection
 Horizontal field of view: > 120°; vertical field of view: 9°
 Set region of interest in the obstacle avoidance mode
 Calculate the nearest point and output with CANBUS
1. Shell 2. Receiving panel (working area, no coving)
3. Sending panel (working area, no coving) 4. Power supply/CANBUS (M8 aerial socket)
5. Ethernet port (M8 aerial socket) 6. Equipment installing hole (M3)
Fig. 1 Outline of DELIADAR CE30

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2. Indicator Instruction
1. Blue light: ready state, ready for connection and running
2. Blue flash: running state
3. Red flash: missing of relevant running files
4. Red light: fatal error (abnormal signal, abnormal interface communication, abnormal I2C, etc.)
Fig. 2 Indicator Drawing
3. Software Operation Instruction
1. Connect all the accessories in accordance with Fig. 3 Illustration for Connection of Components.
Fig. 3 Illustration for Connection of Components
2. Plug into 12V-DC2.5 power. The supply current must be above 2A. Connect the mini USB interface on the
adapter plate with the computer; (the operating sequence cannot be changed).
3. Wait for about 35s for normal start of the LiDAR. Then the heartbeat packet is transferred with blue light
flashing, indicating the state of waiting orders.
Operate according to Fig. 4 to start the software. Demonstration and data recording can be achieved with the software.

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Fig. 4 Illustration of Software Functions
Note
① The software could automatically identify two kinds of UART: one for data and another is for debugging
information. Please choose appropriate UART number in accordance with computer properties.
② Default setting of obstacle avoidance area is 70 cm in width and 400 cm in depth.
③ Start/ stop test button
④ View data by rolling the window
⑤ Button of data recording
⑥ Position of the nearest obstacle detected by LiDAR
⑦ Obstacle avoidance region: grey background with the position of the obstacle, or else white background
⑧ Running state
⑨ Single-point mode
Single-point mode instruction: during the measurement of a wide flat obstacle, the output angle might be the angle of
any point on the object, because the LiDAR only outputs one point.
If the single-point mode is not chosen, as shown in Fig. 4 above, the software will label the area between LiDAR and the
obstacle as the safe zone with coloring.
If the single-point mode is chosen, as shown in Fig. 5 below, the software will indicate the specific position of the
obstacle in ROI.

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Fig. 5 Illustration of Single-point Mode
4. Description on Line Sequence
Fig. 6 Description on Line Sequence: Red - positive, Black - negative, Green - CANH, White – CANL
Attention!
1. Connect with CAN interface before power supply.
2. Current of power adapter shall be above 2A.
3. During energization of LiDAR, there is merely a slim chance of prolonged starting time. If LiDAR is not
started after 2 minutes, it is recommended to disconnect the power supply and reboot it.
4. After testing, please make sure to disconnect the power supply first.
5. Installation Instruction
The front working surface of LiDAR should exceed or at least parallel with the installation platform, see Fig. 7.

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Fig. 7 Recommendations on LiDAR Installation Position. The front working surface of LiDAR must exceed or at least be parallel with the
installation platform. Otherwise, there may be certain interference and influence the data accuracy.
6. Method of Center Calibration
1. There might be deflection of the LIDAR after installation in the robot. Calibration shall be done to ensure the
normal warning and obstacle avoidance of the forward area.
2. As shown in Fig. 8, click the “0 angle calibration” button on the software, and calibration instruction will be shown
in Fig. 9.
Fig. 8 Software “0 Angle Calibration” button
Fig. 9 Illustration of Center Calibration Function. Specify the front direction and calibrate after installation. This operation only changes
the coordinates without influencing the accuracy.

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3. Put a 2 cm-wide white rod (whose height must exceed the installation height of LiDAR) at 2m in front of the robot,
and empty ±30° of the LiDAR’s detecting region.
Fig. 10 Illustration of Center Calibration Operation. There shall not be any obstacle in front area and no moving objects in operation.
4. Press the calibration button after setting up environment.
5. Wait for 2 seconds for calibration. Distance data will be automatically uploaded, and the calibration results will be
stored after disconnecting the power supply. Please be cautious with this operation.
7. Head Dissipation Component and Reference Design
In normal operation, the CE30 LiDAR has an average heat power consumption of around 5W. As shown below is the
reference design of heat dissipation component of CE30 LiDAR. Users have the option to design heat dissipation
component depending upon actual installation requirements and application scenario.
Fig. 11 Optional Heat Dissipation Components

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8. Application Case
8.1. Accurate Crossing
Case 1 ROI width shall be same as robot width, ensuring accurate crossing.
8.2. Detection of Low Obstacles
Fig. 12 An Application of Obstacle Avoidance Mode. Compared to 2D single-channel scanning LiDAR (as shown with red line), CE30-A
can better avoid low obstacles on the ground.
9. Influence Factors of Measurement
9.1. Multi Optical Path
Based on ToF LiDAR principle, if there are multiple echo regions as shown in the figure below at the working height of
the radar, the multi-path phenomenon will be triggered: the LiDAR receives the light returned by the path 1 and the path
2 at the same time, which may result in a larger measurement value.

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Figure 1 Multi optical path phenomenon
9.2. Stray Light
As shown below, when solid-state ToF LiDAR is working, in addition to the light reflected by the object 1, the light
scattered by object 2 and object 3 that close to the LiDAR will enter the lens. Such stray light can lead to a deviation of
the object 1’s ranging.
Figure 2 Illustration of stray light

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9.3. Multi Distance Objects
Figure 3 Multi distance objects
The light radiated by the LiDAR is reflected by the object onto the sensor of the LiDAR. If some pixels receive signals
from both front and rear obstacles at the same time, the output distance of this pixel may be the value between the two
obstacles. The degree of deviation is related to the distance between the two obstacles and the material.