Random Workshop: LIDAR unit disassembled further

LIDAR unit removed from the XV-11

Top removed, notice the plastic shields in front of the laser and camera to block light

Front view, plastic light shields removed

Rear view

Rear view #2

Bottom of the LIDAR unit. Red/black motor wires, and the four wires from the rotating turret exiting from the slip ring mechanism.

Rotating turret camera/laser module removed, four screws through the PCB into the plastic housing below hold this in

Bottom of camera/laser module, notice the photo interrupter on the left

Close up of the photo interrupter

Front shot of module removed

Rear shot of module removed

Rear shot #2

Rotating turret with PCB removed, brass counter weight in the bottom left

The rotating mechanism has a large bearing under it that snaps in, and then has screws placed to keep pressure on the plastic snapping mechanism. Removing the top half without breaking anything was a challenge. To apply inward pressure to four tabs simultaneously I used 30 gauge wire and slipped it behind three of them, then used a small screw driver to get the fourth, fifth, and sixth tabs released while pulling on the mechanism to apply upward pressure.

After the bearing slipped passed the 6 tabs just barely I placed a small flat head screwdriver through the bottom, turned the entire unit over with the screwdriver still in place and pressed against the table to apply pressure and push the top half off.

With the top half removed we can see the small tabs sticking up used to block the photo interrupter. Each tab is 6mm wide and spaced 6mm from the next tab. The small tab in front (signals start or end of rotation, not sure which) is 3mm wide and there is a 9mm gap between it and the tab to the left.