WAKEROBOTUP

Benewake ( Beijing ) Co., LtdAddress: A601 Xinxi Building, No.28 Xinxi Road, Haidian District, BeijingPost code: 100085Tel：+86 10 57456983 QQ：2945634907Email：bw@benenwake.comWechat：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