LAUSR

This article presents an extra-large (25 × 50 mm2) flexible printed circuit board (FPCB) mirror to cover both the emitting and receiving lenses of a single-point LiDAR to form a biaxial scanning LiDAR with a compact structure and long measurement distance and low cost. The FPCB mirror is fabricated using the low cost and commercially available FPCB fabrication process. In addition, a widely available single–point LiDAR is used as the measurement unit. This article's novelty lies in the following two points: 1) integrating a large aperture scanning mirror and a single-point LiDAR (low cost and widely available) to construct a biaxial scanning LiDAR; 2) proposed a large aperture FPCB mirror using long existing FPCB process such as to achieve low cost. The scanning LiDAR is designed for applications in factory for robots and automated guided vehicles; navigation. The FPCB mirror consists of a mirror plate, two permanent magnets, and a FPCB structure, which includes two torsion beams, a middle seat, and a Flame retardant 4 (FR4) stiffener frame. Four-layer copper coils are embedded in the FPCB structure, which is fabricated using the low cost commercially available FPCB fabrication process. The mirror plate is diced from a thin silicon mirror plate with gold coating and then attached on top of the middle seat of the FPCB structure. With such large aperture FPCB scanning mirror, and a long measurement distance single-point LiDAR, a compact biaxial scanning LiDAR is constructed. The scanning LiDAR based on the FPCB mirror is constructed and tested. Achieved performances are: the field of view of 60°, measurement distance of 50 m, refresh rate of 20 Hz, 500 points for each scanning frame.