CE30-C Solid State Array LiDAR Wiki - DFRobot


Mechanical single channel LiDAR is pretty common in our life, but two problems cannot be neglected, i.e. short lifespan and high price due to the rotating measurement mode. So DFRobot specially introduces this CE30-C, a 3D solid-state LiDAR with 132° large wide FOV, and 9° vertical FOV. It can simultaneously provide the grey and depth information in the FOV range. With 320×24 pixel resolution and 20Hz refresh rate, this module can be applied in various applications, including intelligent warehouse vehicles, autopilot cars and industrial automation, smart home, etc.
CE30-C does not have any rotating components in the interior, which could ensure the reliability of long-time work and a wider vertical angle. Also, it features solid-state design, great service life, high stability and reliability, small size, 3D information, point-cloud data, and easy to integrate. There are integrated multi-machine interference determination and obstacle-avoidance algorithm integrated into the LiDAR to reduce the possibility of crosstalk.



Board Overview

Board Overview

No. Description
1 Shell
2 Reception panel(working area, cannot be covered)
3 Emitting panel(working area, cannot be covered)
4 Power port(M8 aerial socket)
5 Ethernet port(M8 aerial socket)
6 Device Installation hole(M3)



Use on Upper PC

  1. Connection with PC (Powered at 12V DC)

Connection Diagram

  1. Change IP address and Subnet mask as below:

Change IP address and Subnet mask

  1. Check if the data connection is ok. Open CMD by Windows and run: ping (It is OK when displayed as the Image below.)

Data connection

Note: is the initial IP address of CE30-c radar. If the radar IP address is reset in the process of use, the relevant part of IP address in the above steps should also be revised accordingly. For example, when reset the radar IP to, you need to change the IP address of the device connected to the radar to 192.168.2.XXX.

  1. Download and unzip CE30-C Host, double click CE30_Display_Release_2.3.exe to open the host. When the following control windows appeared, input IP address of CE30-C radar. Press "Enter" and then select to press key "1" , then there will be two windows appearing, one for point cloud data, the other for flat data.

Step 4-1

Step 4-2

  1. The outline of the object detected within the measuring range can be seen by the flat data windows and point cloud data windows. And the point cloud image window displays the point cloud image in radar field of view calculated according to the relation of depth map and projection. In this window, hold the left mouse button down and drag to change the viewing direction of the point cloud image; roll the mouse wheel to zoom in/out point cloud image; click the right mouse button to reset the viewing angle of the point cloud image to the initial position. Click the pixel point in the flat data to display the coordinates of the corresponding object and the distance from the radar in the data display window. (Unit: cm)

Point cloud image

  1. Keyboard Shortcuts

Shortcut Key

  1. Indicator Status Description


Run on Raspberry Pi

  1. Install Python dependency library and git. Make sure Raspberry Pi is connected to the Internet. Skip this step if you have installed already.

Input the following commands in the terminal and press "Enter":

sudo apt-get install build-essential python-dev python-smbus git

Download codes from github:

cd Desktop
git clone https://github.com/DFRobot/DFRobot_CE30C
  1. Power on LiADR module and connect it with Raspberry Pi's Ethernet port.

Connect LiDAR with Raspberry Pi

  1. Revise Raspberry Pi Enthernet port IP address.

Open the terminal and input cat /etc/resolv.conf to find static DNS server.

Find static DNS server

In the terminal, input sudo nano /etc/dhcpcd.conf to edit dhcpcd.conf file, and add the following at the end.

interface eth0
static ip_address=
static routers=
static domain_name_servers=

Note: If you have modified the IP address of the LiDAR, please remember to revise the IP address above.

"Ctrl+0" to save, "enter" to comfirm, "Ctrl+x" to exit.


In the terminal, input sudo reboot to reboot Raspberry Pi.

After the Raspberry Pi board is restarted, input /sbin/ifconfig in the terminal to check IP address, then we can see that the IP address has been changed.

Check IP address

  1. Run the program, input the following commands in the terminal and press "Enter":
cd Desktop
cd DFRobot_CE30C/examples
sudo python get_CE30C_data.py

When the running is done, there will be a DATA.EXE file appearing in the folder DFRobot_CE30C. It is the saved complete point cloud data.


For any questions, advice or cool ideas to share, please visit the DFRobot Forum.

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