Unitree L2 Bionic 4D LiDAR Sensor User Manual

1. Introduction

The Unitree L2 Bionic 4D LiDAR sensor is an advanced Time-of-Flight (TOF) 3D scanner designed for high-performance robot navigation and obstacle avoidance. It offers significant improvements over previous generations, providing high-precision and high-density point cloud data for various applications, including indoor and outdoor mapping and autonomous robot operations.

2. Key Features

• Enhanced Performance: 64,000 points/s effective point frequency, a 200% increase compared to L1.
• High Ranging Resolution: 4.5mm ranging resolution, 78% higher than L1.
• Ultra-Wide Field of View (FOV): 360° x 96° FOV, 7% higher than L1, providing comprehensive environmental perception.
• Non-Repetitive Scanning: Omnidirectional ultra-wide angle non-repetitive scanning for high-precision and high-density point cloud data, achieving image-level scanning effects.
• Dynamic Scanning Capabilities: Capable of indoor whole-house dynamic scanning, facilitating robot positioning, autonomous navigation, and diverse functions like cleaning and tidying.
• Integrated IMU: Built-in 3-axis acceleration and 3-axis gyroscope for robust SLAM solutions.
• Human Eye Safe: Class 1 (IEC60825-1:2014) human eye safety level.
• Strong Light Resistance: Operates effectively in environments with strong light, above 100Klux.

3. Setup Guide

3.1. Package Contents

Before proceeding with the setup, please verify that all items listed below are present in your package:

• Unitree 4D LiDAR-L2 Sensor
• Internal hexagonal L-shaped wrench
• Rubber pad
• Transfer module
• Cable
• Power adapter

3.2. Physical Installation

1. Mount the Unitree L2 LiDAR sensor securely to your robot or platform using appropriate fasteners. Ensure it is stable and has an unobstructed view of the environment.
2. Attach the rubber pad to the base of the LiDAR sensor if required for vibration dampening or secure placement.

3.3. Electrical Connections

1. Connect the LiDAR sensor to your system using the provided cable. The L2 supports both Network port and Serial port communication interfaces. Choose the appropriate interface based on your system's requirements.
2. Connect the power adapter to the LiDAR sensor and then to a suitable power source. Refer to the specifications for power requirements.

3.4. Software Setup

The Unitree L2 can be integrated with an open-source SLAM (Simultaneous Localization and Mapping) solution. This allows the sensor and its built-in IMU to build maps without requiring other positioning sensors.

• For detailed information and resources on the open-source SLAM solution (POINT LIO algorithm), please visit the official GitHub repository: https://github.com/unitreerobotics/point_lio_unilidar

4. Operating Instructions

4.1. Basic Operation

Once powered on and connected, the Unitree L2 LiDAR sensor will begin scanning its environment. The sensor uses a Time-of-Flight (TOF) principle to measure distances and generate 4D data (3D position + 1D grayscale, supporting 2D mode).

• The sensor provides an ultra-wide angle scanning capability of 360° x 96°.
• The effective point frequency is 64,000 points per second, ensuring detailed environmental data capture.

4.2. Dynamic Scanning

The L2 is designed for dynamic scanning, allowing it to quickly and accurately obtain three-dimensional structural information of an entire area. This is crucial for:

• Positioning and autonomous navigation of mobile robots.
• Expanding robot functions such as whole-house cleaning and tidying by providing detailed spatial awareness.

4.3. Environmental Considerations

• Temperature: When the ambient temperature range is -10 °C to 30 °C, the L2 will automatically operate in self-heating mode to maintain optimal performance.
• Reflectivity: The accuracy of point cloud data can be affected by the reflectivity of objects. For objects with different reflectivity, there may be a slight decrease in point cloud accuracy at certain locations.
• FOV Expansion: L2 also supports negative angle mode, in which the field of view will be further expanded from 360° x 90° to 360° x 96°, and the farthest measurement distance corresponding to the expanded 6° field of view will be slightly closer.

5. Maintenance

To ensure the longevity and optimal performance of your Unitree L2 LiDAR sensor, follow these general maintenance guidelines:

• Cleaning: Regularly clean the sensor's optical surfaces with a soft, lint-free cloth. Avoid abrasive materials or harsh chemicals that could scratch the lens.
• Physical Protection: Protect the sensor from physical impacts, extreme temperatures, and moisture.
• Storage: When not in use, store the sensor in a dry, dust-free environment.
• Firmware Updates: Check the official Unitree Robotics website or GitHub repository periodically for any available firmware updates that may improve performance or add new features.

6. Troubleshooting

If you encounter issues with your Unitree L2 LiDAR sensor, consider the following basic troubleshooting steps:

• No Power: Ensure the power adapter is correctly connected and the power source is active.
• No Data Output:
  • Verify all cables (power, communication) are securely connected.
  • Check the communication interface settings (Network port/Serial port) on your system to ensure they match the sensor's configuration.
  • Consult the software documentation for proper driver installation and data acquisition procedures.
• Inaccurate Readings:
  • Ensure the sensor's optical window is clean and free from obstructions.
  • Check for strong light sources or highly reflective surfaces in the environment that might interfere with readings.
  • Verify the sensor is mounted stably and not subject to excessive vibration.
• Software Issues: Refer to the documentation for the specific SLAM solution or software you are using.

For persistent issues, please contact Unitree Robotics technical support or refer to their online resources.

7. Specifications

8. User Tips

• SDK Availability: The SDK for the Unitree L2 is available and included, facilitating integration and development. Refer to the GitHub link provided in the Setup section for SDK resources.
• Optimal Performance: For best results, ensure the sensor is mounted rigidly and its field of view is clear of any immediate obstructions.

9. Warranty and Support

For warranty information, technical support, or service inquiries, please contact your vendor or Unitree Robotics directly. Keep your purchase receipt and product serial number handy for faster service.

Please visit the official Unitree Robotics Website for more related terms and policies, and comply with local laws and regulations regarding the use of robotic equipment.