YDLIDAR X4PRO Lidar 

• Quick Start: https://youyeetoo.com/blog/x4-pro-eaidpx4pro1-182
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Comparison of structural differences between X4 and X4Pro

1. Dimensions comparison

X4:101.7mm*71.2mm*58.4mm

X4-Pro :110.6mm*71.5mm*59.4mm

2. Installation size comparison

Introduction

YDLIDAR X4PRO is a 360-degree two-dimensional rangefinder (from now on referred to as X4PRO). Based on the principle of triangulation, it is equipped with related optics, electricity, and algorithm design to achieve high-frequency and high-accuracy distance measurements. The mechanical structure rotates 360 degrees to continuously output the angle information and the point cloud data of the scanning environment while ranging.

Features

• 360 degrees omnidirectional scanning ranging distance measurement
• Small distance error, stable performance, and high accuracy
• Wide-ranging distance
• Strong resistance to ambient light interference
• Low power consumption, small size, and long service life
• Laser power meets Class I laser safety standards
• Adjustable motor speed, scanning frequency is 6~12Hz
• High-speed ranging, ranging frequency up to 5kHz

Shipping List

YDLIDAR X4PRO x1

The X4PRO development kit has the following components：

Applications

• Robot navigation and obstacle avoidance
• Robot ROS teaching and research
• Regional security
• Environmental scanning and 3D reconstruction
• Navigation and obstacle avoidance of robot vacuum cleaner/ROS Learning robot

Specification

• Ranging frequency: 5000 Hz (Typ.)
• Scanning frequency: 6 ~ 12 Hz
• Ranging distance: 0.12 - 10 m
• Field of view: 360°
• Absolute Error: 2 cm (Typ.)
• Relative error: 3.5 %
• Tilt angle: 0.25 - 1.75°
• Angle resolution: 0.43 (frequency at 6 Hz) - 0.86 (frequency at 12 Hz)
• Service life: 1500 h

Electrical

• Supply voltage: 4.8 - 5.2 V
• Starting current: 800 - 1000 mV
• Working current: 330 - 380 mV

Other

• Operating Temperature: 20 - 40 °C
• Storage Temperature: -10 - 60 °C
• Lighting environment: 40000 Lux
• Weight: 178 g

Detailed Descriptions

Note:

USB Adapter board has two USB TYPE C interfaces： USB_DATA、USB_PWR.

USB_DATA: Data-powered interface. In most cases, this interface can be used to meet power and communication requirements.

USB_PWR: Auxiliary power supply interface. The USB interface of some development platforms has weak current drive capability. At this time, an auxiliary power supply can be used.

Device Connection ​

When evaluating and developing X4PRO under Windows, X4PRO and PC needed to be connected. The specific process is as follows:

Connect the adapter board with X4PRO first, then connect the USB cable to the USB port of the adapter board and the PC. Note that the Type-C interface of the USB cable is connected to the USB_DATA of the USB adapter board.

The drive current of the USB interface of some development platforms or PCs is not sufficient. X4PRO needs to be connected to the auxiliary power supply of +5V, otherwise the lidar will be abnormal.

Installation and Dimensions

Performance Parameter

Note 1: The measurement range and relative accuracy above are the factory FQC standard values based on an 80% reflectivity object.

Note 2: The relative error value indicates the accuracy of the Lidar measurement. Relative error (mean value) = (average measured distance-actual distance)/actual distance *100%, sample size: 100pcs.

Note 3: Lidar is a precision device. Please avoid using Lidar under high or low temperatures or strong vibration situations, which might cause an exceeded relative error.

Electrical Parameter

Interface Definition

X4PRO provides a PH2.0-8P receptacle interface with functional interfaces for system power, data communication, and motor control.