LiDAR teardown
Anatomy of a spinning LiDAR
A LiDAR is a ranging chain mounted on a rotor. The emitter, the detector, the optics between them and the electronics that time the round trip all go round once per revolution behind a window, and the angle the beam came back at is half the measurement: the round trip gives the distance, the encoder gives the bearing, and the two of them are one point. Pick a part from the bill of materials and drop it on the scanner; every parameter comes with the catalogue parts that carry it.
- 1부품표에서 부품 하나를 고릅니다.
- 2모듈 위에 놓거나 카드를 그냥 클릭합니다.
- 3그 역할과 파라미터, 그리고 이를 담당하는 모델명을 읽습니다.
부품표
모든 부품이 하나의 광학 버짓 안에 있습니다. 카드를 사진 위로 끌어 놓거나 클릭하십시오. 옆 패널이 그 부품의 파라미터로 채워집니다.
여기로 부품을 끌어 놓기 또는 부품표에서 카드를 클릭
A spinning 2D LiDAR, three-quarter view. The turret on top carries the transmit and receive optics and turns behind the window band around its lower rim; the base below holds the boards, the supply and the connector.
부품 위치는 교육용 도식이며 조립도가 아닙니다. 배치와 분해 보기는 참고용입니다. 파라미터 값은 링크된 사양의 값입니다.
모든 부품을 파라미터별로
인터랙티브 보기와 같은 수치를 읽고 검색하고 인용할 수 있는 표로 정리했습니다.
905 nm laser diode Transmitter
Emits the ranging pulse for every point in the scan. On a scanner the constraint is not the diode's peak power on its own but the duty cycle it can hold at the point rate you need: the catalogue's 905 nm parts are specified to 0.1 % duty and 10 kHz, so a scanner that wants more points has to spend pulse width, not ask the diode for more peak power.
| Peak wavelength | 905 nm (895 - 915 nm) |
|---|---|
| Peak output power | 25 - 300 W |
| Pulse energy @ 100 ns | 2.5 - 30 uJ |
| Beam divergence, parallel | 9 deg |
| Beam divergence, perpendicular | 25 deg |
| Pulse width | 1 - 100 ns (max 100 ns) |
| Duty cycle, max | 0.1 % |
| Repetition rate | up to 10 kHz |
| Package | TO56 | bare die | VCSEL array | metal stack |
| Est. range, retro-reflective (100 W) | 1.2 km |
| Est. range, diffuse target (100 W) | 400 m |
Avalanche photodiode Receiver
Detects the returning pulse at every angle of the sweep. A small active area keeps capacitance and dark current down, which is what makes a sharp timing edge; it also shrinks the receive aperture, which is the trade against range. Where a scan is built from several beams at once, the catalogue's 16-element linear array carries one channel per beam instead of one detector for the whole sweep.
| Response spectrum | 400 - 1100 nm |
|---|---|
| Wavelength | 905 nm |
| Active area | 16 elements |
| Responsivity | 80 A/W @ M=100 |
| Response time | 0.5 ns |
| Dark current | 0.4 nA @ M=100 |
| Total capacitance | 1.0 pF @ M=100 |
| Optimum gain | 100 |
| Reverse breakdown voltage | 100 - 200 V |
| Voltage temp. coefficient | 1.1 V/C |
| Active area, single channel | 230 um | 500 um |
| Package | TO-46 | LCC1 ceramic | LCC2 ceramic | linear array |
Exit window and transmit / receive optics Optical path
It decides the spot the beam makes on the target and the cone of light the receiver can accept. A fast-axis collimator takes the 25 degree vertical fan down to 6 degrees, which is what keeps the returning light inside a small receive aperture a few metres out; the receive field then has to be wide enough to swallow the boresight error the rotor introduces over temperature.
| Vertical divergence, collimated | 6 deg |
|---|---|
| Horizontal divergence, bare | 9 deg |
| Receive filter | 905 nm band-pass |
| Detector response window | 400 - 1100 nm |
| Receive aperture | Set by your design 설계가 정하는 값 |
| Transmission, transmit and receive path | Set by your design 설계가 정하는 값 |
| Window material and coating | Set by your design 설계가 정하는 값 |
| Boresight tolerance | Set by your design 설계가 정하는 값 |
Rotor, motor and encoder Scan mechanism
It sets the angular resolution and the point rate. A point needs the round trip to be over before the beam has moved further than the spot, so the faster the rotation, the shorter the pulse the geometry allows - which is why the scan mechanism, not the diode, is usually what limits a 2D scanner's range.
| Scan architecture | Rotating head, polygon mirror, MEMS or OPA - set by your design 설계가 정하는 값 |
|---|---|
| Rotation speed | 5 - 20 Hz typical for a 2D head 설계가 정하는 값 |
| Angular resolution | 0.25 - 1 deg, set by your design 설계가 정하는 값 |
| Points per revolution | Set by your design 설계가 정하는 값 |
| Repetition rate available per beam | 1 kHz - 30 kHz adjustable |
| Motor drive | Brushless DC with encoder feedback 설계가 정하는 값 |
| Bearing life | Set by your design - the rotor is the only moving part 설계가 정하는 값 |
Timing and signal-processing board Electronics
It turns an optical round trip into a number and an angle into a coordinate. The driver's peak current, pulse width, rise time and trigger arrangement have to match the diode; the timing chain then has to find the same edge in a return thousands of times weaker than the outgoing pulse, once for every point in the sweep.
| Peak pulse current | 70 A |
|---|---|
| Pulse width | 50 ns - 1 us adjustable |
| Repetition rate | 1 kHz - 30 kHz adjustable |
| Rise time | 7.5 ns typical |
| Fall time | 12 ns typical |
| Control interface | Internal trigger / external TTL |
| Laser drive voltage | 1 - 50 V DC |
| Time-to-digital converter | Set by your design - the timing resolution is what limits the distance resolution 설계가 정하는 값 |
| Host interface | UART | Ethernet | USB - set by your design 설계가 정하는 값 |
Power and detector bias Power
Avalanche gain moves with temperature at about 1.1 - 1.4 V per degree, so the bias supply is what keeps the receiver's gain - and its timing - constant from a cold start to a warm housing. Noise on the laser rail shows up as pulse-to-pulse energy jitter, and jitter is range error.
| Supply voltage | 12 V DC |
|---|---|
| Laser drive voltage | 1 - 50 V DC |
| MOSFET drain-source voltage | 80 V |
| Gate threshold voltage | 2 - 4 V |
| Bias rail for the detector | 100 - 200 V |
| Bias drift with temperature | 1.1 V/C |
| Logic rails | Set by your design 설계가 정하는 값 |
| Average power draw | Set by your design - the point rate decides it 설계가 정하는 값 |
| Ripple and noise | Set by your design 설계가 정하는 값 |
Shell, optical bench and interface Mechanical
It keeps the optical axis where the calibration left it, over temperature, over vibration and over the life of the bearing. Every mechanical tolerance between the emitter, the collimator and the detector turns into a boresight error at the far end of the range, which is why the bench and the shell are read together with the optics rather than as an enclosure.
| Operating temperature, detector-rated | -40 to +85 C |
|---|---|
| Storage temperature, detector-rated | -55 to +125 C |
| Optical bench material | Set by your design - thermal expansion is a boresight term 설계가 정하는 값 |
| Window material and hardness | Set by your design 설계가 정하는 값 |
| Ingress protection | Set by your design - must be verified against the rating claimed 설계가 정하는 값 |
| Mounting datum | Set by your design 설계가 정하는 값 |
| Connector and interface | Set by your design 설계가 정하는 값 |
이 페이지의 모든 파라미터 값은 링크된 제품 페이지를 생성하는 카탈로그 기록에서 가져오므로 둘이 어긋날 수 없습니다.
이 파라미터를 뒷받침하는 부품
아래 모든 수치는 링크된 제품 페이지를 생성하는 것과 동일한 카탈로그 기록에서 읽습니다. 이 페이지에서 다시 적은 값은 없습니다.
905 nm transmit chain for a scanner
A 2D scanner wants the middle of the family, not the top: enough energy per pulse to see a wall tens of metres out, at a point rate and a duty cycle the diode can hold for a whole shift.
Package the emitter yourself: bare die
A sealed scanning head is often built around a die rather than a can, so that the bench can be machined around the emitting area the design actually needs - and so that there is no lens barrel in the way.
Or go surface-emitting
A VCSEL array is lower, has a rounder spot and no fast-axis collimator to align, at the cost of peak power: it suits a short, dense scan rather than a long-range one, and it is cheaper to mount on a bench.
Receive chain: one detector or an array
The smallest active area that still collects the return gives the sharpest edge; an array trades that for one channel per beam. The 1550 nm part is here for the design that goes eye-safe instead.
Drive and timing
One board carries the pulse generator and the driver. Its repetition rate is the ceiling on the point rate of every beam in the scan, and its rise time is the floor under the timing resolution.
Alignment and aiming optics
Boresighting a scanner is easier with a beam you can see: the transmit spot and the receive field are lined up on the build bench against a collimated visible head, and checked again through the window band at the end of the line.
What changes when the beam has to sweep
A range-only product can fire as often as its battery allows. A scanner cannot: it has a fixed number of shots per revolution, so a shorter pulse and a lower duty cycle buy either more points or more reach, never both. That trade - points per second against range per point - is what every part on this page is chosen against.
The receive side sets the point budget
Send us the points per second and the range you need and we will work back through the budget - receive aperture, detector area, filter, and the pulse the diode has to deliver to close it.
