Unitree 4D LiDAR-L1 Bedienungsanleitung

Unitree

4D LiDAR-L1

Quick Start Guide

2023.04

v 1.0

Disclaimer

This product is not suitable for individuals under 16 years old. Please do not let children come into

contact with this product, and be extra careful when operating in scenarios where children are pres-

ent.

You should read the entire user manual and become familiar with the product's functions before op-

erating it, while also following any relevant national and international safety regulations. This prod-

uct is a laser radar ranging instrument that provides 3D laser scanning functionality when the

power is working properly and all components are undamaged. This statement has an important

impact on the safe use of this product and your legal rights and interests. Please read it carefully to

understand your legal rights, responsibilities, and safety instructions. Failure to do so may result in

property damage, safety accidents, and personal safety hazards.

The ﬁnal interpretation of this document and all related documents of Unitree 4D LiDAR-L1 belongs

to Unitree Technology. If there are updates, they will not be notiﬁed separately. Please visit the ofﬁ-

cial website https://www.unitree.com to obtain the complete "Unitree 4D LiDAR-L1 User Manual",

the latest instructions, and warnings. Hangzhou Unitree Technology Co., Ltd. (hereinafter referred to

as "Unitree Technology") reserves the right to update all documents.

Once you use this product, it is deemed that you have understood, recognized, and accepted all the

terms and contents of this statement. You promise to take full responsibility for using this product

and any possible consequences that may arise. You promise to use this product for legitimate pur-

poses only and agree to this clause and any relevant policies or guidelines that Unitree Technology

may develop.

Unitree Technology assumes no responsibility for any losses caused by users not using the product

according to this document. Users should follow all safety guidelines mentioned in this document,

including but not limited to them.

Warning

In the case of poor air visibility (such as haze, heavy rain weather), the effective detection

range of L1 will be reduced. Please be extra careful when using it. In good air visibility condi-

tions, please refer to the parameter list for the effective detection range of L1.

Please make sure to install L1 on a thermally conductive metal plate such as aluminum alloy,

and reserve a space of no less than 10mm around it to prevent poor air ﬂow and affect heat

dissipation.

Do not touch the optical window of L1 with your hands. If there are stains or dust on the L1

window, please use a lens cleaning cloth to clean it (please refer to the "Unitree 4D LiDAR-L1

User Manual" for speciﬁc cleaning methods) to avoid affecting the performance of the product.

To reduce the risk of electric shock and possible radiation hazards, do not disassemble or

modify this product without authorization. This product does not include user-repairable parts.

If after-sales service is needed, please contact Unitree Technology.

L1 meets the safety requirements of Class 1 laser products (IEC/EN 60825-1:2014) and can be

safely used under normal conditions.

Damage caused by liquids is not covered by the warranty. When the usage scenario requires

waterprooﬁng, please use a waterproof protective bracket to prevent damage to L1 (please

refer to the "Unitree 4D LiDAR-L1 User Manual" for examples of using waterproof protective

brackets).

When debugging L1, please be sure to place the L1 radar on the included rubber pad and place

the rubber pad on a level table to ensure stable operation of the radar.

Do not drop L1 to avoid unnecessary damage.

Inventory

Introduction

Unitree 4D LiDAR-L1 is a high-performance, cost-effective, and safe 4D laser radar (3D position + 1D

grayscale). It has the ability to achieve high-speed laser ranging sampling at a rate of 21,600 times

per second and can be widely used in robotics, smart cities, intelligent toys, logistics and other

ﬁelds. It supports functions such as mapping, positioning, recognition, obstacle avoidance, environ-

ment scanning, and 3D reconstruction. The L1 radar can detect objects as close as 0.05 meters and

up to a maximum distance of 30 meters (with 90% reﬂectivity). The L1 radar has a 360*90 ° hemi-

spherical ultra-wide-angle scanning capability, providing a higher point cloud coverage rate and

stronger adaptability. Users can obtain real-time 3D point cloud images through the Unilidar soft-

ware and develop based on the SDK to easily obtain 3D point cloud data to meet personalized ap-

plication needs.

Unitree 4D LiDAR-L1 x 1

Hexagonal L-shaped wrench x 1 Screw package (M3) x 1

Rubber pad x 1Adapter Module x 1 Adapter module x 1

Data cable x 1

Unitree

Optical window

Exit port

Locator slot

M3 mounting hole

Installation and Wiring

Effective Field of View (FOV) Range

The FOV of the Unitree 4D LiDAR-L1 is 360° horizontally and 90° vertically, allowing for detection in

a 360 ° three-dimensional space above the radar, as shown in the ﬁgure below. When installing the

device, please be aware of the effective range of the FOV to avoid obstructing the FOV area.

Please note that the point cloud density of the L1 varies in different FOV areas, with higher point

cloud density closer to the center. Please refer to the ﬁgure below for reference.

[1]For more detailed information, please refer to the "Unitree 4D LiDAR-L1 User Manual".

[1]

Effective FOV Range of L1

Horizontal Direction Vertical Direction

360°

90°

Point Cloud Density in Different FOV Areas of L1

Installing L1

Interface Deﬁnition

Please install L1 in the appropriate position according to the size of L1 and the dimensions of the mounting holes

as shown in the diagram below. TheCartesian coordinate systemof L1, denoted as 0-XYZ, is deﬁned as shown in

the diagram below. O is the origin of thepoint cloud coordinatesystem, located at the bottom center position, with

the +X axis pointing in the opposite direction of the outlet, and the +Y axis pointing counterclockwise 90 ° from the

+X axis. O-XYZ is thepoint cloud coordinate systemof L1(The origin andXYZ coordinate systemof the IMU can be

found in theL1 3D model, and itsXYZ axesare parallel to thepoint cloud coordinatesystem.)

The output line of the L1 is a 4-pin serial port, which can be independently developed based on the

wire sequence, or can be debugged using the included adapter module, power adapter, and data

cable.The speciﬁcation of the serial port socket is GH1.25mm 4PIN.

Unit: mm

60 51

22.5 22.5

64 x M3

3.50

44.50

The pin sequence deﬁnition of the L1's 4-pin serial port is as follows:

4-Pin Serial Port Diagram and Pin Numbering Diagram

PIN NO. Signal Attribute Description Cable Color Function

1VCC Power Supply DC 12V power supply Red Power cable

2GND Ground Ground White Power cable

3RX Input 3.3V Ranging core

serial port input Green Functional cable

4TX Output 3.3V Ranging core

serial port output Black Functional cable

Downloading and Installing Unilidar Software

Connection

It is recommended to use the included adapter module, power adapter, and data cable for tempo-

rary testing or use. The speciﬁc connection method is as follows:

a. Insert the 4-pin serial port of the L1 into the adapter module.

b. Insert the power adapter into the power port of the adapter module for power supply.

c. Insert the Type-C interface of the data cable into the data communication port of the adapter

module and connect the other end to a personal computer.

Users can download the latest Unilidar software from the Unitree website at www.unitree.com to

view the point cloud image.

Unilidar currently supports Window® (64-bit).

a. Download the Unilidar ﬁle.

b. Unzip the ﬁle and open the CP210xVCPInstaller_x64 program to install the driver in the extracted

ﬁle, and run the Unilidar.exe program as an administrator.

c. The point cloud display window is on the right side, and the device management window is on

the left side.

d. Click the expand serial port list on the left side of the serial port number, select the Com port with

the Silicon preﬁx, and then click the Open Serial Port button below to connect to the device and

obtain point cloud data.

e. After the connection is completed, you can view the point cloud image in the right point cloud dis-

play window.

f. The device's status information and parameter settings can be viewed and set in the device man-

agement window.

The adapter module, power adapter, and data cable are included in the package and can be

used for power supply, control signal transmission, and data transmission. Alternatively, you can

use other cables according to your needs to improve usability and system protection (such as

dust and waterprooﬁng).

When debugging, be sure to place the L1 radar on the included rubber pad and place the rubber

pad on a ﬂat surface to ensure stable operation and prevent collisions and falls.

For more detailed instructions on how to use Unilidar and a detailed explanation of each button,

please refer to the "Unilidar User Manual".

Unitree4D LiDAR-L1 Adapter Module Connecting to an External Power Source

USB to Type-C Cable

Unitree

Parameter Speciﬁcations

Unitree 4D LiDAR

[1]

[2]

[3]

[4]

[5]

Model L1 PM（Precision Measurement）

L1 RM（Remote Measurement）

Eye Safety Rating Class 1(IEC60825-1:2014) Eye Safety

Max Range 20M（L1 PM @90% reﬂectity）， 30M（L1 RM @90% reﬂectity）

10M（L1 PM @10% reﬂectity）， 15M（L1 RM @10% reﬂectity）

Near Blind Zone

FOV

Sampling Frequency

Effective Frequency

Scanning Method

4D Information

Horizontal Scanning Frequency

Vertical Scanning Frequency

Communication Interface

Communication Baud Rate

Measurement Accuracy

Measurement Resolution

IMU Sampling Rate

IMU Reporting Frequency

Attitude Perception Dimension

LED Ring Resolution

LED Ring Refresh Rate

Anti-Strong Light Ability

Operating Environment Temperature

0.05m

360°* 90°

43200 points/s

21600 points/s

Contactless Brushless Mirror Scanning

3D Position + 1D Grayscale

11Hz

180Hz

TTL UART

2000000 bps

±2.0cm

8 mm

1kHz

250Hz

3-axis Accelerometer + 3-axis Gyroscope

1°

11Hz

100Klux

-10℃-60℃

Laser Wavelength 905nm

The instantaneous peak power of the laser is 25W, but the actual average power used will be much lower than this value, and

it is driven by a pulsed method, which only emits for a very short time to ensure the safety of humans and pets and meet the

Class I level laser safety standard.

The typical value of reﬂectivity is shown here, and the actual value depends on environmental conditions and target object

characteristics.

The laser ranging instrument can detect and output point cloud data when the distance to the target object is 0.05m. However,

due to the inability to guarantee detection accuracy, this data is for reference only.

To ensure the effective detection of objects with different reﬂectivities within the range, there may be a slight decrease in point

cloud accuracy at some locations. The test conditions are as follows: environment temperature of 25℃, target object reﬂectivity

of 90%, and test distance of 15m.

The performance of L1 will slightly decline in high and low temperature environments, strong vibration, foggy weather, etc. In

addition, long-term high-temperature operation may affect product performance or even cause product damage. It is recom-

mended to increase cooling measures to ensure that the housing temperature does not exceed 60℃. When the temperature is

too high, the over-temperature protection mechanism will be triggered, and L1 will issue an over-temperature warning. When

the over-temperature is severe, L1 will stop working.

The protective effect of L1 varies greatly under different installation angles. Please increase external protection according to the

actual installation angle. Damage caused by improper installation or external protection is not covered by the warranty.

The stable power and peak power under different environments are different.

[1]

[2]

[3]

[4]

[5]

[6]

[7]

Storage Environment Temperature

Protection Level

Power

Operating Voltage

Size

Weight

-20℃-60℃

IP54

6W（Environment Temperature25℃）

12V DC

75 (width) x 75 (depth) x 65 (height) mm

230g

[6]

[7]

This manual will not be notiﬁed separately if updated.

You can check the latest version of the "User Manual" on the ofﬁcial website of Unitree.

Unitree is a trademark of Hangzhou Yushu Technology Co., Ltd.

Windows is a registered trademark of Microsoft Corporation and its subsidiaries in the United States.

https://www.unitree.com/en/download

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