2023 Unitree Robotics. All rights reserved.
Unitree4D LiDAR-L1 User Manual
10
Working state
Sampling status
Standby status
Interference status
Description
Point Cloud Data
By default, the L1 starts outputting point cloud data as soon as it is powered on. The point cloud
data includes distance values, angles, reflectivity, IMU data, and working status data.
Point cloud data is the comprehensive result of all the point clouds detected by the laser ranging
instrument on the surface of the measured object in the field of view. Each point cloud data mainly
includes the following information:
Distance value: the actual distance between the sampling points, in millimeters.
Angle: the angle between the sampling point and the L1's own orientation, in degrees.
Reflectivity: the reflectivity of the object detected.
IMU data: 3-axis accelerometer and 3-axis gyroscope data.
Working status data: current speed, voltage, temperature, and other data of the laser ranging
instrument.
Working Status and Working Modes
The working status of the L1 refers to the current state of the laser ranging instrument, while the
working mode refers to the target working mode set by the user.
Working Status Description
The working status of the L1 includes sampling status, standby status, and interference status, as
detailed in the table below.
Working Mode Description
The working mode of the L1 refers to the target working mode set by the user. The L1 has two work-
ing modes that users can set: normal mode and standby mode. Users can set different working
modes through Unilidar or Unilidar SDK. The default mode for L1 when first used is the normal mode.
If L1 loses power and is turned on again, it will revert back to the default normal mode.
The laser ranging instrument has been powered on and is functioning normally
(emitting laser beams).
After setting the standby mode, the laser ranging instrument enters the standby
status with a power consumption of less than 1W. The LED light is turned off, the
high-speed motor stops rotating, the low-speed motor stops rotating, and only IMU
data is output.
If the laser ranging instrument is forcefully stopped due to external forces, the point
cloud cannot be used. However, when the external forces are released, the L1 will
automatically resume rotation and point cloud data output.
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