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WAKEROBOTUP
Benewake ( Beijing ) Co., LtdAddress: A601 Xinxi Building, No.28 Xinxi Road, Haidian District, BeijingPost code: 100085Tel:+86 10 57456983 QQ:2945634907Email:[email protected]:benewake_service Website:www.benewake.com ToF LiDAR & SLAM solution
Benewake (Beijing) Co., Ltd (www.benewake.com), is a high-tech company focusing on “Robotic eyes” . In 2016, we were awarded “Demo China EXPO” champi-on,and won top prize of 2016 Audi Innovation Lab. We aim to turn the expensive LiDAR into core compart-ments for consumer use, and seek for intelligent robots to be owned by normal families.
R&DADVANTAGE
Highly sophisticated technical team
Our R&D team holds the techniques of
LiDAR in the optics, the mechanics, the
electronics as well as the algorithm.
World's leading consumer lidar
As one of the leading teams in designing
and producing the consumer-level TOF
LiDAR worldwide, our company has
launched a variety of LiDAR products.
Working principle
Our LiDAR is based on ToF (time of
f l ight) technology. The modulated
near-infrared light emitted from the
sensor is reflected by the object. By cal-
culating the time difference or phase dif-
ference between the emission and the
reflection, the distance from the object
can be deduced and so does the depth
information.
Patents
We have applied 40 patents, 13 patents
have been authorized.
Awards
- 2016 Audi Innovation Lab: ‘Application
of Artificial Intelligence’ Champion.
- 2016 Demo God, in Demo China
Spring Summit.
- 2016 International Service Robot ‘Golden
Robot’ Key Compartment Award.
- 9th ‘Chunhui Cup’ Award for Innovation
and Entrepreneurship Winner.
Abundant applications
Our products can be applied in many
consumer-level situations including the
drone, the service robot, the driving
assistance, the machine control as well
as the distance measurement.ABOUT US
01 ABOUT USINTRODUCTION R&D 02ADVANTAGE
cm
TF0103 HARDWARE 04TF01HARDWARE
PARAMETER
Range: 10 m Frequency: 500Hz Accuracy: cm IP 65 Protection level
SIZE & WEIGHT
ELECTRICAL AND OPTICAL CHARACTERISTICS
Parameter Symbol Conditions/Comments Typ. UnitOperating range
Emitting half-angle
Receiving half-angle
Detection
Resolution
Operating temperature
Peak Wavelength
Supply voltage
Power consumption
LED peak current
TTL
L
α
β
De
Re
T
λ
DC
P
Imax
VTTL
100K lux ambient light @90% Reflection
Customizable
Customizable
Minimum detectable object size @ 5m
Sensitivity to distance change
30-1000
1.5
1.5
4 - 6
0.5
-10~60
850
5(±5%)
≤1
200
0~3.3
cm
Degree
Degree
cm
cm
C
nm
V
W
mA
V
FEATURES1.Strong adaptabilityThe protection design of the TF01 is based on
the IP 65 level.It can work under 100K lux sun-
light, anti-interference from the temperature, hu-
midity, electronics and airflow.
2.Long range & high-precisionHigh sensitivity, measuring distance up to 10
meters, accuracy in cm level.
3.High-speed measurementScan frequency up to 500Hz, real-time detection
of distance with a 500 times/second refresh rate,
more accurate data.
APPLICATION
Refer to the latest product specifications
Height fixing of the drone, terrain following
Machine control Security sensor Distance measurement
Weight: 43g
10m
?
TF01TF01 is a unidirectional ranging LiDAR, which is mainly
used in height ranging and fixing of the drone, support-
ing flight controls like Pixhawk, APM, TopXGun, EFY
Technology, aiAero, DAISCH and so on.
Unit: mm
PARAMETER
SIZEFEATURES
APPLICATION
TFminiTFmini is a mini LiDAR module, which can be inte-
grated in multiple sorts of drones, robots and industri-
al instruments for distance measurement with accura-
cy information.
Detection range: 3m
Frequency:500 Hz
Accuracy:cm
ELECTRICAL AND OPTICAL CHARACTERISTICS
Height fixing, terrain following of the drone
Object detection by industrial instruments
Distance measurement of robot
1.Modular designExquisite size,low power consumption,universal
port,easy for integration.
2.High intergrationIntergrated all components on a chip;
Cost-Effecttive.
Parameter Symbol Condition/Comment Typ. UnitOperating range
Pixel resolution
Accuracy
Operating temperature
Peak wave length
Supply voltage
Power consumption
Serial port TTL electrical level
Dimension
L
Px
Re
T
λ
DC
P
Vttl
100K lux ambient light
Sensitivity to distance change
10-300
1x1
0.5
0-60
850
5
≤2
0~3.3
32x18x15
cm
None
cm
°C
nm
V
W
V
mm
TFmini05 HARDWARE 06TFminHARDWARE
3m
?
28
12 12.7
2
8.1
14 3.4 8.1
2.6
1.2
8 3
R2.6
Unit: mm
TE01
TE01
PARAMETER
Principle: ToF Range: 15 m (outdoor: 6m) Accuracy: cm level
SIZE & WEIGHT
ELECTRICAL AND OPTICAL CHARACTERISTICS
APPLICATION
Regional SLAM Obstacle avoidance of the drones and the robots
Distance measurement Machine control
Parameter Symbol Conditions/Comments Typ. UnitOperating range
Emitting half-angle
Receiving half-angle
Detection
Resolution
Operating
Peak Wavelength
Supply voltage
Power
LED peak current
TTL
L
α
β
De
Re
T
λ
DC
P
Imax
VTTL
Customizable
Customizable
Minimum detectable object size @ 5m
Sensitivity to distance change
30-1500
1
1
4-6
0.5
-10~60
850
12
≤1.5
200
0~3.3
cm
Degree
Degree
cm
cm
℃
nm
V
W
mA
V
07 HARDWARE 08TE01HARDWARE
cm
Weight: 100 g
Frequency: 1000 points / s
15m
Refer to the latest product specifications
TE01 is a 360 rotating LiDAR, which can be used
in the obstacle avoidance of the drones and the
robots, SLAM and sensing the environment.
FEATURES1.Scan 360°360 rotating scan, sense the environment in real
time.
2.Long range & high precisionHigh sensitivity, indoor measuring distance up to
15 m, ranging accuracy at cm level.
3.Strong adaptabilityIt can work under 100K lux sunlight, anti-interfer-
ence from the temperature, humidity, electronics
and airflow.
?
Security sensorUnit: mm
PARAMETER
FEATURES
APPLICATION
SD20SD20 is a mini solid-state LiDAR with 8x16 pixels. It
can be used in the obstacle avoidance of the robots in
the forward direction, 3D SLAM, and so on.
Range: 10 m Frequency: 30Hz Accuracy: cm level Resolution:8X16
1.Strong adaptabilityIt can work under 100K lux sunlight, anti-interference
from the temperature, humidity, electronics and
airflow.
3.High sensitivityMeasuring range up to 10 m, range accuracy at
cm level.
2.Area array detection8 x16 pixels detection, acquisition frequency up
to 30 Hz.
Height fixing of drone and complex terrain following
Obstacle avoidance of drone and robot
Securitysensor
ELECTRICAL AND OPTICAL CHARACTERISTICS
Parameter Symbol Conditions/Comments Typ. Unit
Operating range
Horizontal detecting angle
Vertical detecting angle
Max detecting field
Detection
Angle resolution
Range resolution
Range Accuracy
Operating
Peak Wavelength
L
α
β
H
De
ω
Re
σ
T
λ
100K lux ambient light
Detectable object size @max working range
Minimum detectable object size @ 1m
Horizontal / vertical resolution
Sensitivity to distance change
Deviation bet. measured&real distance
0.2–3@reflectance 10%
0.2–10@reflectance 90%
m
Degree
Degree
m
cm
Degree
cm
cm
℃
nm
15
7.5
2.6 x 1.3
1.5
0.9
2
< 5
-10~60
850
DC
P
4.5Supply voltage
Power Consumption
5
1.2
5.5 V
W
Parameter symbol Min Typ. Max Unit
SD2009 HARDWARE 10SD20HARDWARE
SIZE & WEIGHT
Weight:20g
10m
Machine control
Unit: mm
FEATURES
APPLICATION
ELECTRICAL AND OPTICAL CHARACTERISTICS
TF20 is a solid-state LiDAR with 8x8 pixels for the
long range application. It can be used for the height
fixing of the drone, terrain estimation, speed estima-
tion, driving assistance, and so on.
Range: 50m Frequency: 100 Hz Resolution: 8 x 8 Accuracy: cm
1.Strong adaptabilityIt can work under 100K lux sunlight, anti-interfer-
ence from the temperature, humidity, electronics
and airflow.
2.Long-distance & high-precisionHigh sensitivity, measuring distance up to 50
meters, accuracy in centimeters.
3.Area array detection8 x 8 area array detection, higher accuracy at long range.
Height fixing of the drone, terrain following
Driver assistance Machine control Distance measurement
TF20
11 HARDWARETF20 12HARDWARE
TF20
PARAMETER
SIZE & WEIGHT
L
α
β
De
ω
Re
σ
T
λ
100K lux ambient light
Customizable
Customizable
Minimum detectable object size @ 5m
Horizontal / vertical resolution
Sensitivity to distance change
Deviation bet. measured&real distance
Parameter Symbol Conditions/Comments Typ. Unit
Operating range
Emit half-angle
Receive
Detection
Angle resolution
Range resolution
Range accuracy
Operating
Peak
0.5–15@reflectance 10%
0.5–50 @reflectance 90%
m
Degree
Degree
cm
Degree
cm
cm
℃
nm
1.5
1.2
1
0.3
21-5 @ 0-30 m
10-50 @ 30-50 m
-10~60
850
DC
P
Io
10
1
14
Supply voltage
Power Consumption
LED average current
12
2.4
100
16
6
350
V
W
mA
Parameter symbol Min Typ. Max Unit
Weight: 160 g
50m
?
Security sensorUnit: mm
CE30CE30 is a solid-state LiDAR with a wide field of view. It
can be used in the obstacle avoidance of drones and
robots, spatial mapping, people counting, driving assis-
tance, automatic warehouse, terrain following of the
robot and human-machine interaction.
APPLICATION
ADVANTAGE1. Solid-state designComplete solid-state design, no rotating compart-
ment, stable measurement, long life span.
2.Long range & high precisionHigh sensitivity, the working range is up to 10 m
indoors, the measuring accuracy is at cm level.
3.Strong adaptabilityIt has great anti-interference from the temperature,
humidity, electronics and airflow.
4.Accurate and visualizationCE30 can output the grey image and the depth
image at the same time. It can realize 3D point
cloud reconstruction with high precision.
Driving assistance
Automatic warehouse
Gesture control and human-machineinteraction
SIZE
PARAMETER
Range: 10m Frequency: 15 Hz Resolution: 320 x 240 Accuracy: cm
SLAM Obstacle avoidance People counting
Heightfixing of the machine
13 CE30HARDWARE 14CE30
HARDWARE
10m
?
ELECTRICAL AND OPTICAL CHARACTERISTICS Parameter
Pixel resolution
Horizontal field of view
Vertical field of view
Operating range
Resolution
Working temperature
Peak wavelength
Supply voltage
Power consumption
Serial port
Working mode
Size
Condition / comment
Customizable
Customizable
Indoor
Sensitivity to the change of distance
Customizable
Parameter setup and data communication serial port, customizableProvide both gray mode and depth mode, customizable
Customizable
Symbol Px
HFOV
VFOV
L
Re
T
λ
DC
P
L*W*H
Typical value320*24
130
9
0.3-10@90% reflectance
0.5
-10-60
850
12
≤10
UDP
121*76*50
UnitN.A.
Degree
Degree
m
cm
°C
nm
V
W
mm
121.5
76
26
60
115.1
97.5
37.2
R465
27.3
22.5 40.3 20.2
51
Unit: mm
SLAM ALGORITHMSLAM is an autonomous positioning and navigation system for robots. It is compatible with many sorts of
sensors, such as LiDAR, vision and ultrasonic. It has the features of early warning, obstacle avoidance, po-
sitioning, navigation and traversal. We can provide customized services according to different demands.
Navigated obstacle avoidance: in a
known map, plan the path and
move to any specified reachable
position in the scene; meanwhile
update the map in real time, and
automatical ly avoid the newly
moving objects on the route based
on the updated map.
FUNCTION Automatic mapping: for closed
spaces, explore all reachable areas
and create a two-dimensional map.
Manual mapping: for open space,
explore the work area and estab-
l i s h a two-d imens iona l map
through manual control.
PARAMETER Calculation unit specification requirements
CPU dominant frequency
>= 1.8GHz (single-core)
Memory
>= 2G
System
Ubuntu 14.04 + ROS indigo
Data interface
lidar data interface, mobile chassis control interface, display interface
SYSTEM PLATFORM
Development Platform SLAM form Control objects
Linux ROS
Android NDK
Robot
Robot
15 SOFTWARESLAM ALGORITHM 16SOFTWARE
SLAM ALGORITHM
FRAMEWORK
InteractionFunction
Data
Odometry data
Hardw
are
Interaction map Displaytarget and
planned path
User movement controller
Auto Joystick Voice controlDisplay map
Auto charge
Wallfallowing
Pathplanning
Path optimizationRe-localization
Map update
Mapping
3D imageCharger location Distance to wall
Motor control command
Target and direction
Location and pose
2D lidar Depth camera Odometers Charger detector Side sensors
Mobile robot
Auto navigation
Obstacle avoidance
Navigation
2D grid map
Precise control
2D distancedata
DEVELOPMENTHISTORY
17 PARTNERSHIPCOMPANY 18DEVELOPMENT
HISTORY
2015.06 Benewake CO., LTD was founded
2015.06 Release ToF LiDAR DE1.0 for obstacle
avoidance of drones
2015.12 Series A Financing
2016.05 Win DEMO GOD (1st in 3000 projects) of
2016 DEMO CHINA
2016.08 Mass production of LiDAR TF01 for
drones of plant protection
2016.10 Win top prize of 2016 Audi Innovation Lab
2016.11 Series A+ Financing
Partnership