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Benewake CE30-C Operation Manual

Solid state array lidar
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CE30-C Solid State Array LiDAR
Operation Manual
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Summary of Contents for Benewake CE30-C

  • Page 1 CE30-C Solid State Array LiDAR Operation Manual Page 1...

  • Page 2: Table Of Contents

    Table of Contents Introduction ................................3 Accuracy Test ................................ 4 Operation of Windows Display Program ......................5 Connection ..............................6 3.1. Display Program Windows........................7 3.2. Deactivation .............................. 9 3.3. Indicator ................................9 Line Sequence ..............................10 Installation Schematics............................10 Introduction of SDK ............................

  • Page 3: Introduction

    1. Introduction CE30-C is an infrared LiDAR developed on the basis of ToF principle. Compared with scanner LiDAR, CE30-C does not have any rotating components in the interior, which could ensure the reliability of long-time work and wider vertical angle.

  • Page 4: Accuracy Test

    The test is made under the condition of no ambient light. Due to the automatic temperature compensation function of the CE30-C, no preheating of the machine is required before the test. The CE30-C is mounted on an automatic test car that...

  • Page 5: Operation Of Windows Display Program

    50 frames of data every 10cm. The center 24*24 pixels area’s data is selected for statistical analysis. CE30-C’s accuracy is defined as the difference between the average value of a 24*24 pixels area in the center of the field of view and the true distance value.

  • Page 6: Connection

    3.1. Connection Figure 7 Illustration for Connection of Components Connect power supply line and Ethernet line and set IP address and subnet mask under the directory Control Panel\Network and Internet\Network and Internet Connections as shown in Figure 8 below. Figure 8 Network Setting To check whether connect is set correctly, start a Command Prompt via Run dialog window and execute command: ping 192.168.1.80 If the information as shown in Figure 9 appears, this indicates LiDAR is connected correctly and working.

  • Page 7: Display Program Windows

    3.2. Display Program Windows Double click CE30_Display.exe to run display program. The four windows as shown in Figure 10 will pop up: Message Prompt Window, Original Image Window, Undistorted Image Window and Point Cloud Window. Figure 10 Windows of Upper Computer, From Top to Bottom: Message Prompt Window, Original Image Window, Undistorted Image Window and Point Cloud Window 3.2.1.
  • Page 8 will be displayed in the message prompt window, as shown in Figure 11. Figure 11 Display of Depth Value at Pixel Position 3.2.3. Point Cloud Window Point Cloud Window shows the point cloud image obtained based on the depth image and projection. In this window, hold left mouse button and drag to switch viewing direction of point cloud image;...

  • Page 9: Deactivation

    3.3. Deactivation Procedures for normal deactivation of LiDAR and display program are: 1. Press “Shortcut Q” in Original/Undistorted Image or Point Cloud Window. The prompt message for deactivation of LiDAR and disconnection will appear on Message Prompt Window. 2. Press “Enter” key in Message Prompt Window to quit program. Noted that LiDAR will remain operating and connected with PC terminal if the display program is directly turned off without using “Shortcut Q”.

  • Page 10: Line Sequence

    5. Line Sequence Figure 14 Line Sequence of Power Supply Port: Red - Positive Pole of Power Supply, Black - Negative Pole of Power Supply Attention! Current of power adapter shall be above 2A. 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 deenergize and reboot it.
  • Page 11 be referenced for migration & development of applications on other platforms. 1) SDK consists of following file or folders:  examples: examples of using SDK, including source codes and makefile;  include: header files for using SDK;  src: source codes of SDK; ...

  • Page 12: Output Data

    undistorted depth image is output from _dst. A frame of depth image (sized _h * _w, max size 480*24) is output every time this method is called.  bool closeDevice(int &_sd) Parameter: socket handle In this method, the LiDAR is deactivated and TCP/IP is disconnected. For details, please refer to sample program and codes in examples 7.2.

  • Page 13: Cooler And Reference Design

    Figure 17 Projection Relation Diagram Generally the origin point �� of camera coordinate system is considered to coincide with origin point �� of world �� �� coordinate system. As such, a point m (��,��) in depth image can be transferred into 3D space point M (�� ,��...

  • Page 14: Influence Factors Of Measurement

    Figure 18 Optional cooler Components 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.

  • Page 15: Stray Light

    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.

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