Working
Sampling Status
Standby Status
Interference Status
Description
The laser detection rangefinder has been started and is working
normally (emitting laser beams).
After setting the standby mode, it enters the standby state.
In this state, the power consumption is less than 1W, the LED light
is off, the high - speed motor stops rotating, the low - speed motor
stops rotating. In StandBy mode, disable the IMU output and IMU
thermostatic function
After being forced to stop rotating by an external force, the point
cloud cannot be used. When the external force is released,
the L2 will automatically resume rotation and point cloud data.
Working Status and Working Mode
The working status of the L2 refers to the current working status of the laser detection rangefinder,
and the working mode refers to the target working status set by the user.
Description of Working Status:
The working status of the L2 includes sampling status, standby status, and interference status, as
detailed in the following table.
Description of Working Mode:
The working mode refers to the target working status set by the user. There are two working modes
that can be set by the user for the L2: normal mode (Normal mode) and standby mode (Standby
mode). The user can set different working modes through Unilidar 2 or SDK. When using the L2 for
the first time, the default mode is the normal mode. When the L2 is powered off and then powered
on again, it will return to the default normal mode.
In addition, the L2 can also be set to enable 3D/2D mode, negative angle mode, and power - on self
- start, and these settings will take effect after saving the parameters and restarting the radar.
In 3D mode, the high - speed motor and the low - speed motor of the radar work normally, providing
three - dimensional point cloud data. In 2D mode, only the height motor of the radar works normally,
the low - speed motor pauses working, and only two - dimensional point cloud data is provided. The
L2 defaults to 3D mode.
In the negative angle mode, the field of view of the radar is 360 ° ×96 ° , and the farthest measure-
ment distance in the range corresponding to the expanded 6 ° field of view will be slightly closer.
The L2 defaults not to open the negative angle mode.
When power - on self - start is enabled, the radar starts working immediately after being powered
on. When power - on self - start is disabled and saved and then restarted, the radar will not work
every time it is powered on but will wait for a start command. The L2 defaults to power - on self -
start.
2024 Unitree Robotics. All rights reserved. 11
Unitree4D LiDAR-L2 User Manual
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