DOC#:01.01.13.002200 G4 DATA SHEET www.ydlidar.cn Shenzhen EAI Technology Co.,Ltd.
CONTENTS 1 PRODUCT OVERVIEW...................................................................................1 1.1 Product Features............................................................................................... 1 1.2 Applications........................................................................................................ 1 1.3 Installation and Dimensions...........................................................................2 2 SPECIFICATIONS.................................
1 PRODUCT OVERVIEW YDLIDAR G4 is a 360° 2D LiDAR(hereinafter referred to as G4) developed by YDLIDAR team. Based on the principle of Triangulation, it is equipped with related optics, electricity, and algorithm design to achieve high-frequency and high-precision distance measurement. The mechanical structure rotates 360 ° to continuously output the angle information as well as the point cloud data of the scanning environment while ranging. 1.
1.3 Installation and Dimensions FIG 1 YDLIDAR G4 INSTALLATION&MECHANICAL SIZE 2 SPECIFICATIONS 2.1 Product Parameter CHART 1 YDLIDAR G4 PRODUCT PARAMETER Item Min Typical Max Unit Remarks Ranging frequency / 9000 / Hz / Motor frequency 5 7 12 Hz Software speed control, default speed = 7Hz Ranging frequency =4KHz 0.12 / 16 m (to be customized), 80% Reflectivity Ranging distance Ranging frequency 0.26 / 16 m =8KHz(to be customized), 80% Reflectivity Ranging frequency =9KHz, 0.
Laser pitch angle Angle resolution 0.25 1 1.75 ° 0.2 0.28 0.48 (Frequency (Frequency (Frequency @5Hz) @7Hz) @12Hz) / When motor frequency ° =7Hz, and the ranging Frequency =9000Hz Note1: The range and relative accuracy in the above table are factory values,statistical error changes with the actual distance value.
CHART 3 YDLIDAR G4 INTERFACE DEFINITION Pin Type Power VCC Supply Tx Output Rx Input Range Remarks Positive 5V 4.8V-5.2V / / / / / Negative 0V 0V / Reserved pin / / / output System serial port Input Supply NC Defults System serial port Power GND Description Reserve Data stream： LidarPeripherals Data stream： PeripheralsLidar 2.4 Data Communication With a 3.3V level serial port (UART), users can connect the external system and the product through the physical interface.
2.6 Polar Coordinate System Definition In order to facilitate secondary development, G4 internally defines a polar coordinate system. The polar coordinates of the system take the center of the rotating core of G4 as the pole, and the specified Angle is positive clockwise. The zero Angle is located in the direction of the outlet of the G4 PH2.0-5P interface line (top view), which is 4° counterclockwise.
3 REVISE Date Version Content 2017-12-06 1.0 Compose a first draft 2018-01-15 1.1 2018-07-24 1.2 2019-02-15 1.3 2019-03-12 1.4 2019-05-06 1.5 Add the range≤0.5m error to 2cm 2019-08-27 1.6 Adjust the zero direction and the color of the line sequence 2019-09-20 1.7 Setting-up minimum distance，Add pitch angle 2019-10-16 1.8 Adjust the accuracy to 2% 2020-01-07 1.9 2021-06-24 2.
