CE30-D Solid State Array LiDAR Specification Benewake (Beijing) Co.
Table of Contents 1. 2. 3. 3.1. 3.2. 4. 5. 6. 7. 8. 9. Page 2 Product Overview ................................................................................................................................................. 3 Principle of Ranging ............................................................................................................................................. 4 Detection Range Description .........................................................................................
1. Product Overview Features Complete Solid-state LiDAR Large measuring range: max to 30 meters with centimeter-level accuracy High resolution: angular resolution reach to 0.19 degree (3 mrad) Table 1 CE30-D Specification Parameter1 Typical Value Method Time of flight Peak Wavelength 850nm FoV2 60*4 degrees Pixel Resolution 320*20 Angular Resolution (vertical) 0.2 degree Frame Rate 30 fps Ranging Resolution 1cm Detecting Range3 0.
Supply Voltage DC 12V ±0.5V（≥3A） Power Consumption ≤8W Dimensions 83*57*54mm Enclosure Rating IP65 Weight 334g 2. Principle of Ranging The ranging principle of CE30 is based on Time of Flight (TOF). The modulated near-infrared light is emitted from CE30, which will be reflected by an object and received by CE30 again. CE30 calculates the phase difference and time difference between the emitted and received light to determine the distance between CE30 and detected object.
Figure 2 Real detection data display. The left image is depth image and the right is corresponding grey image. Some rods (such as table legs) are well detected in the image. Figure 3 Single-line LiDAR (red line) only detect in a horizontal plane, while CE30-D can detect lower obstacles 3. Detection Range Description 3.1.Blind Zone When detecting objects with high reflectivity, a blind zone as shown in Figure 4 would appear. This is caused by the overexposure when objects’ reflected light is excessive.
Figure 4 Blind zone distribution (test with 90% reflectivity objects) 3.2.Detection Range The maximum detectable range is different in different area of field of view. The detectable area of a 90% reflectivity object is shown in Figure 5.
4. Vertical Angle Resolution CE30-D has 20 lines in vertical direction, and the vertical angle resolution is 0.2 degree, so that CE30-D has more precise resolution capacity. The detection angle in vertical direction is presented in Table 2. Table 2 Detection angle in vertical direction Vertical Line Vertical Angle（°） 1 1.9 2 1.7 3 1.5 4 1.3 5 1.1 6 0.9 7 0.7 8 0.5 9 0.3 10 0.1 11 -0.1 12 -0.3 13 -0.5 14 -0.7 15 -0.9 16 -1.1 17 -1.3 18 -1.5 19 -1.7 20 -1.9 5.
will be introduced in section 4.1. LiDAR Command: a. Get version information CMD: “version” Return: 6 bytes version information b. Start measurement CMD: “getDistanceAndAmplitudeSorted” Return: measurement data package 5.1. CE30 – D Data Package Form CE30-D is a 320*24 solid state array LiDAR. It has 6400 photoreceptors. CE30-D output data row by row. Data of 320 rows is divided to 27 data packages, and each data package will contain 12 rows’ data. The first 26 packages have 12 rows’ measuring data.
Photoreceptor Photoreceptor Photoreceptor Photoreceptor Photoreceptor Cell 1 Data Cell 1 Data Cell 1 Data Cell 1 Data Cell 1 Data Photoreceptor Photoreceptor Photoreceptor Photoreceptor Photoreceptor Cell 2-18 Cell 2-18 Cell 2-18 Cell 2-18 Cell 2-18 Data Data Data Data Data Photoreceptor Photoreceptor Photoreceptor Photoreceptor Photoreceptor Cell 19 Data Cell 19 Data Cell 19 Data Cell 19 Data Cell 19 Data Notes: each horizontal deflection angle corresponds to a column of
Figure 6 Illustration of LiDAR’s deflection angle Horizontal deflection angle is 2 bytes long. For example, horizontal deflection angle data 0x18 0x06 is received, the angle can be calculated through the following steps: a. b. c. d. Exchange the 2 bytes’ order: 0x06 0x18 Get 2 bytes integer: 0x618 Transform to decimal system: 1560 Multiply 0.01 to get angle: 15.60° 5.3. Calculation of Photoreceptor Cell Data Photoreceptor cell data consists of 3 bytes, contains distance and intensity information.
e. Multiply 0.001 to get distance in meter: 19.722 m 5.4. Calculation of Time Stamp Time stamp corresponds to the time to get a data block. It is 4 bytes long. When time stamp data 0x61 0x67 0xB9 0x5A is received, the time stamp can be calculated through following steps: a. b. c. d. Exchange the order of the 4 bytes: 0x5A 0xB9 0x67 0x61 Get 4 bytes integer: 0x5AB96761 Transform to decimal system: 1522100065 Multiply 0.000001 to get seconds: 1522.100065 6.
Figure 7 CE30-D outline drawing Installation instruction: 1. 2. 3. CE30-D should be fixed through indexing holes. The size of indexing holes is M3. Avoiding any blocking in the field of view when installing the LiDAR. Any part of the robot or AGV should not stick out the LiDAR’s front surface. 8. Aerial Socket Interface Description Female: Ethernet connector, aerial socket with 8 mm diameter. Male: Power supply connector, aerial socket with 8 mm diameter.
Figure 8 CE30-D aerial connection description Pin Number Description 1 / 2 / 3 GND 4 12V + Figure 9 Power supply socket pin definition Pin Number Description 1 ETH_RX_P 2 ETH_RX_N 3 ETH_TX_P 4 ETH_TX_N Figure 10 Ethernet socket pin definition 9. Packaging and Accessories The CE30-D packing contain 1 CE30-D LiDAR, 1 power supply wire with aviation plug (1 meter) and 1 Ethernet wire with aviation plug (1 meter).
