Benewake CE30-D User manual

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CE30-D Solid-State Area Array Lidar
Operation Manual

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目录
Table of Contents
1. CE30-D介绍....................................................................................................................................................错误!未定义书签。
1. CE30-D introduction ........................................................................................................................................................................ 3
2. 上位机使用说明 ..............................................................................................................................................错误!未定义书签。
2. Host Computer Instructions.............................................................................................................................................................. 3
2.1. 连接...............................................................................................................................................错误!未定义书签。
2.1 Connection..................................................................................................................................................................... 4
2.2. 上位机窗口...................................................................................................................................错误!未定义书签。
2.2. Host computer window................................................................................................................................................. 6
3. 指示灯标识说明 ..............................................................................................................................................错误!未定义书签。
3. Indicator descriptions ....................................................................................................................................................................... 7
4. 线序说明..........................................................................................................................................................错误!未定义书签。
4. Line sequence descriptions............................................................................................................................................................... 8
5. 安装示意图 ......................................................................................................................................................错误!未定义书签。
5. Installation diagram.......................................................................................................................................................................... 9
6. 常见问题解答 ..................................................................................................................................................错误!未定义书签。
6. FAQ...................................................................................................................................................................错误!未定义书签。

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1. CE30-D introduction
CE30-D is a solid-state array lidar developed based on the TOF theory. Compared withsingle-line mechanical rotating
radar, there is no any mechanical rotating component, so it can run steadily and reliably for a long time, able to get a wider
range of vertical detection.
At the top, bottom, left, right and back, CE30-D has mounting location holes provided, through which it can be fixed
with peripheral devices reliably. See Figure 1 for the positions and spacing of the mounting holes subject to the size of M3.
1. Enclosure
2. Launch window (working range, no cover)
3. Receiver window (working range, no cover)
4. Power
5. Ethernet interface (M8 aerial plug)
6. Equipment installation hole (M3)
图 1 DELIADAR CE30-D 外形尺寸图
Figure 1 DELIADAR CE30-D outer dimensions
2. Host Computer Instructions
CE30-D has provided a complete SDK based on Linux and Windows systems for customers’ fast development and
use. Pleaselog onto our GitHub open source community to get theSDK sourcecode andthecorresponding documentation.

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GitHub：https://codincodee.github.io/ce30_driver
GitHub open source community: https://codincodee.github.io/ce30_driver
This host computer is used to process and display the output data of CE30-D radar under the Windows operating
system. Before using this host computer, please confirm that the local folder of the host computer program contains
complete documents necessary for operation:
图 2 上位机及运行所需文件
Figure 2: Host computer and documents necessary for its operation
2.1 Connection
图 3 CE30-D 航插接线说明
Figure 3 CE30-D aerial plug wiring instructions
a. Use the two aerial plug cables attached in the package (including one power supply plug cable and one network
port plug cable) to connect the radar with the aerial plug cables as illustrated in Figure 3; connect the power interface
to the adapter DC 12V (≥3A), DC 5.5*2.5mm; connect the aerial plug network port (RJ45) to the computer.
b. Set the Ethernet IP address and subnet mask in the directory “Control panel\Network and Internet\Network
Connections”as shown in Figure 5.
Ethernet
Power
Name

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图 4 网络设置
Figure 4 Network Settings
Use the IP address below
IP address
Subnet mask
Default gateway
c. Open the CMD command interface in the Windows running window; enter and execute the command to check
whether the data connection is available:
ping 192.168.1.80 -t
If it prompts as shown in Figure 6, it indicates that the radar is working normally with the data connection available.
If no, it indicates that the data link suffers from ping failures. Please check as follows:
a) Check whether the indicators light up on the front panel of the radar and whether the red lamp keeps normally
on and flashing after startup;
b) Check whether the power supply is available and whether the voltage is 12V with the rated current ≥ 3A;
c) Check whether the computer network port is normally connected and whether the local Ethernet is identified;
d) Disconnect the power supply and wait for 5 seconds before reconnecting it.
Pinging 192.168.1.80 32-byte data
Reply from 192.168.1.80: Byte=32 Time＜1ms TTL=64
图 5 数据连接检查
Figure 5 Data connection check

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2.2. Host computer window
Double click the program ce30_pointcloud_viewer.exe to open the host computer and the prompt and point cloud
image windows will appear as illustrated in Figure 6 for radar version and operation shortcuts.
The prompt window is used to display the radar connection, shortcut prompts and other running information.
The point cloud image window displays the point cloud images in the radar field of view calculated based on the
depth map and projection relation. In this window, hold down the left mouse button and move the mouse to change the
direction for viewing the point cloud images; use the mouse wheel and you can zoom in/out the point cloud image; hold
down the mouse wheel and move the mouse to move the point cloud image horizontally.
图 6 信息提示窗口
Figure 6 Information prompt window

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图 7 点云图像窗口
Figure 7 Point cloud image window
When the program runs, it will display the following window for shortcut keys.
a)
CTRL+1
切换为鸟瞰图视角（默认）；
Switch to Aerial View (normal);
b)
CTRL+2
切换为俯视图视角；
Switch to Vertical View;
c)
CTRL+T
切换默认/纵向延伸效果；
Switch to Normal/Stretched;
d)
CTRL+L
保存当前帧数据，再按一次则为停止保存。
Save the current frame data and press it again to stop.
Note: The shortcut keys are effective only in the point cloud window. Click the point cloud information window to
activate it on the Windows interface.
3. Indicator descriptions

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图 8 指示灯位置图
Figure 8 Indicator position
1) Red and normally on: In the “Ready” state, it can be connected to work.
2) Red and flashing: It is working.
4. Line sequence descriptions
Figure 9 Line sequence at the power supply port: red - power positive, black - power negative
注意：
Note:
1. The current should be more than 3A for the power adapter;
2. When the radar is powered on, it may be rarely possible to suffer from longer startup delay; if it doesn't start in 2
minutes, cut off the power and restart as recommended;
3. 使用结束后，务必先断开供电，再断开其他连接线。
3. To have it stop working, first disconnect its power supply and then disconnect other connecting lines.
Indicator

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5. Installation diagram
Figure 10: Recommendation for radar installation. The radar front interface must extrude from (at least be aligned to) the front plane of the
installation platform; otherwise, the data accuracy will be lower due to interference.
Front interface
Installation platform