Unitree 4D LiDAR-L1 Manuale utente
Unitree
4D LiDAR-L1
User Manual
2023.04
v 1.0
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Product Overview
Introduction
Working Principle
Component Description
Effective Field of View (FOV) Range
Installation Precautions
Installation Dimensions
Wiring
Coordinate System
Point Cloud Data
Operation Status and Modes
Unilidar
Unilidar SDK
Storage
Transportation
Maintenance
4-Pin Connector
Maintenance
Installation
Usage
Storage, Transportation, and Maintenance
Troubleshooting
After-Sales Warranty Information
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Parameter Specifications 14
CONTENTS
2023 Unitree Robotics. All rights reserved. 1
Product Overview
Introduction
Unitree 4D LiDAR-L1 is a cost-effective, safe, and reliable 4D LiDAR (3D position + 1D grayscale) that
can achieve high-speed laser ranging sampling at 21,600 times per second. It can be widely used in
robotics, smart cities, smart toys, logistics, and other fields, supporting functions such as mapping,
positioning, recognition, obstacle avoidance, environment scanning, and 3D reconstruction.
The L1 radar can detect objects as close as 0.05 meters and as far as 30 meters away (90% reflec-
tivity).
The L1 unit is compact and lightweight, weighing only 230 grams, making it suitable for general
robot environment scanning, positioning, mapping, navigation, and obstacle avoidance.
The L1 has outstanding ultra-wide-angle scanning capabilities, with a field of view (FOV) expanding
to 360 ° horizontally and 90 ° vertically, enabling three-dimensional space detection of a hemispheri-
cal field of view. Its application range can be expanded to more commercial scenarios.
The L1 has an IMU module with built-in 3-axis acceleration and 3-axis gyroscope, supporting a push
frequency of 250Hz.
The L1's azimuthal scanning frequency is 11Hz, and its vertical scanning frequency is 180Hz, with an
effective sampling frequency of 21,600 points/second. The L1 not only has excellent performance
but also has high reliability, meeting the working environment temperature range of -10℃~60℃ and
IEC-60825 Class 1 eye safety level.
2023 Unitree Robotics. All rights reserved.
2
Working Principle
The L1 radar mainly consists of the laser emission and ranging core, reflector, high-speed rotating
motor, and low-speed rotating motor. In the working state, as shown in the diagram, the rotating
directions of the high-speed and low-speed rotating motors are as shown in the figure.
The communication and power supply interfaces of the L1 are connected through a conversion
module, which includes a power supply port and a Type-C port. Users can supply power through a
power adapter and obtain scanning ranging data through the Type-C port. The L1 is equipped with a
conversion module, power adapter, and data cable for users, eliminating the need for a complex
power supply system and debugging cables, reducing usage costs.
The L1 uses laser flight time ranging technology, combined with a high-speed laser acquisition and
processing system, to achieve a ranging action of 21,600 times per second. In each ranging action,
the L1 emits ns-level narrow-pulse infrared laser signals. The reflected light from the target object is
received by the radar's laser acquisition system, and after analysis and processing by the processor,
the distance value and current angle information between the illuminated target object and the L1
are output from the communication interface.
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2023 Unitree Robotics. All rights reserved.
Unitree4D LiDAR-L1 User Manual
Schematic Diagram of Working Principle
Direction of High-Speed Motor Rotation Direction of Low-Speed Motor Rotation
d
Component Description
Optical Window
The laser beam emits outward through the window, scanning objects within the FOV range.
Outlet
The end of the cable is a 4-pin connector that, when combined with the conversion module, can
quickly test the performance of the laser detection and ranging instrument. It is recommended
that users customize and use cables suitable for their scene requirements based on the plug
wire sequence to improve the system's protection capabilities (such as dust and water resis-
tance). Please refer to the Interface Definition section for the pin sequence of the 4-pin connec-
tor.
Locator slot
When designing a fixed bracket, the positioning point can be used to improve the overall posi-
tioning accuracy. Please refer to the Installation Dimensions section for specific dimensions.
M3 Mounting Hole
The L1 can be fixed to a suitable position using M3 screws through this mounting hole.
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Unitree4D LiDAR-L1 User Manual
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34
Interface Definition
2023 Unitree Robotics. All rights reserved.
4-Pin Connector
The L1 output cable is a 4-pin serial port, which can be connected to the L1 using the included con-
version module, power adapter, and data cable to realize power connection, control signal transmis-
sion, and data transmission. Users can also replace the conversion module with other cables ac-
cording to their own needs to improve the system's protection capabilities (such as water and dust
resistance).The specification of the serial port socket is GH1.25mm 4PIN.
The pin sequence definition of the L1's 4-pin serial port is as follows:
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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
3 RX Input 3.3V Ranging core
serial port input Green Functional cable
4 TX Output 3.3V Ranging core
serial port output Black Functional cable
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3
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1
2023 Unitree Robotics. All rights reserved.
Installation
Effective Field of View (FOV) Range
The L1 includes a high-speed motor and a low-speed motor. The high-speed motor drives the reflec-
tor to rotate, realizing vertical measurement within a 180 ° range. The low-speed motor then drives
the measuring core to rotate 360 ° , thus achieving a hemispherical super-wide-angle scan of
360*90° . It can measure the three-dimensional space above the radar in a 360° range, as shown in
the figure below. When installing, please pay attention to 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 den-
sity near the center. Please refer to the figure below for details.
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Effective FOV Range of L1
Point Cloud Density in Different FOV Areas of L1
Horizontal Direction Vertical Direction
360°
90°
2023 Unitree Robotics. All rights reserved.
Unitree4D LiDAR-L1 User Manual
Installation Precautions
Before installing the L1, please read the following precautions:
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Dust or dirt on the optical window may affect the performance of the laser detection and rang-
ing instrument. We recommend using alcohol or a cleaning cloth to clean it according to the
maintenance section of this document. After cleaning, proceed to installation.
The FOV of the laser detection and ranging instrument should not be obstructed during installa-
tion, even if transparent glass is installed in front of the window, it may still affect the perfor-
mance of the laser detection and ranging instrument.
The installation direction of the laser detection and ranging instrument is not limited and can be
installed using its lower surface.
The installation structure of the laser detection and ranging instrument can only ensure its own
reliability, and the body of the laser detection and ranging instrument cannot bear additional
loads.
The laser detection and ranging instrument requires airspace design on all sides during installa-
tion to prevent poor air flow from affecting heat dissipation. It is recommended that the airspace
size around the laser detection and ranging instrument is not less than 10mm.
When waterproofing is required for the usage scenario, the laser detection and ranging instru-
ment needs an additional waterproof protective bracket. The schematic diagram of waterproof
protection for both upright and inverted installation is as follows:
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Waterproof Protection Schematic Diagram
Inverted InstallationUpright Installation
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Unitree4D LiDAR-L1 User Manual
Mechanical Dimensions of L1
Unit: mm
Installation Dimensions
The bottom of the L1 has four M3 mounting holes with a depth of 6mm. Please refer to the following
L1 size and mounting hole size diagram to install the L1 in the appropriate position.
Weight and Size of L1:
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Weight
Size
230g
75 (W) x 75 (D) x 65 (H) mm
60 51
22.5 22.5
64 x M3
3.50
65
32
44.50
24
75
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