Optical engine, packaging method, and transceiver coaxial laser radar system

Abstract

The present invention discloses an optical engine, packaging method, and coaxial transceiver laser radar system. The optical engine includes a first circuit board, a second circuit board, a laser detector soldered to the first circuit board, a laser light source soldered to the second circuit board, a first optical component, and a second optical component. The first circuit board has a light-transmitting first packaging layer, which plastic-encapsulates the laser detector. The first packaging layer has a light-transmitting second packaging layer, which plastic-encapsulates the laser light source. The second packaging layer is directly plastic-encapsulated on the first packaging layer, thereby fixing the laser detector and the laser light source together through the first and second packaging layers. The first optical component focuses laser light in a first direction onto the laser detector. The second optical component converts laser light from the laser light source into laser light in a second direction and emits it. The first direction is parallel to and opposite to the second direction. The present invention has a simple and compact structure and can effectively ensure the consistency of the transceiver light axis.

Description

Technical Field

[0001] The present invention relates to the field of laser radar, and in particular to a laser radar with coaxial transmission and reception. Background Art

[0002] Existing coaxial laser radar systems typically use a collimated laser source combined with a hollow receiving lens. To ensure the alignment of the transmitting and receiving optical axes: 1) parallelism of the transmitting and receiving optical axes; and 2) concentricity of the transmitting and receiving optical components, precision-machined parts for mechanical limit stops and active optical coupling are required. This not only increases processing costs but also takes a long time to complete the optical-mechanical coupling, making it unsuitable for large-scale production. Furthermore, the overall system size is not compact enough.

[0003] Therefore, there is an urgent need for a coaxial lidar system that can solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide an optical engine for transmitting and receiving coaxial laser radar and a packaging method thereof, which has a simple and compact structure and can effectively ensure the consistency of the transmitting and receiving light axes.

[0005] In order to achieve the above-mentioned objectives, the present invention provides an optical engine for transmitting and receiving coaxial laser radar, including a first circuit board, a second circuit board, a laser detector soldered on the first circuit board, a laser light source soldered on the second circuit board, a first optical component and a second optical component, the first circuit board having a light-transmitting first packaging layer, the first packaging layer plastic-sealing the laser detector inside, the first packaging layer having a light-transmitting second packaging layer, the second packaging layer plastic-sealing the laser light source inside, and the second packaging layer directly plastic-sealed on the first packaging layer, thereby fixing the laser detector and the laser light source together through the first packaging layer and the second packaging layer; the first optical component focuses the laser in a first direction onto the laser detector; the second optical component converts the laser of the laser light source into laser in a second direction and emits it, the first direction is parallel to and opposite to the second direction.

[0006] Preferably, the second circuit board has a smaller area than the first circuit board, the lower surface of the second circuit board contacts the upper surface of the first packaging layer, and the flexible circuit board traces of the second circuit board extend along the surface of the first packaging layer to outside the first and second packaging layers. The laser light source is located directly above the laser detector, such that the light emission direction of the laser light source is the same as the detection direction of the laser detector and they are coaxially arranged. The first optical component includes a focusing lens, which is formed on the second packaging layer and is offset from the position of the second circuit board. The second optical component includes a collimating lens, which is formed on the second packaging layer and corresponds to the position of the second circuit board.

[0007] Preferably, the laser light source is surrounded by a light-shielding and reflective structure, the lower side of the light-shielding and reflective structure contacts the first packaging layer or the upper side of the second circuit board, and the upper side contacts the upper surface of the second packaging layer.

[0008] Specifically, the light-shielding and reflective structure is a metal isolation layer.

[0009] Preferably, the second circuit board is perpendicular to the first packaging layer, so that the light emitting direction of the laser light source is perpendicular to the detection direction of the laser detector and is located on one side of the laser detector; the first optical component includes a focusing mirror, which is formed on the first packaging layer and focuses the laser in the first direction to the laser detector, and the second optical component includes a collimating mirror and a reflecting mirror, which is formed on the second packaging layer and calibrates the laser of the laser light source to be emitted in a third direction, and the reflecting mirror is located directly above the laser detector and is installed on the first packaging layer or the focusing mirror and converts the laser emitted by the collimating mirror to be emitted in the second direction.

[0010] Specifically, the reflector is a reflective prism.

[0011] Preferably, the first encapsulation layer and the second encapsulation layer are epoxy resin layers.

[0012] The present invention also provides a transceiver coaxial laser radar system, comprising a main circuit board, an optical engine mounted on the main circuit board, a primary reflector, and a drive mechanism. The optical engine is the optical engine of the transceiver coaxial laser radar described above. The primary reflector is rotatably mounted on a frame. The drive mechanism drives the primary reflector to rotate. The primary reflector reflects input light along a first direction onto the first optical element and reflects light emitted by the second optical element in a second direction. The present invention divides the transceiver coaxial laser radar system into an active portion having an optical detector and a laser light source and a passive portion including the primary reflector. The active portion is connected to the fixed frame, and the passive portion is connected to the rotating output portion of the drive mechanism.

[0013] The present invention also provides a packaging method for an optical engine of a coaxial laser radar for transmitting and receiving, comprising: soldering a chip of a laser detector on a first circuit board; soldering a chip of a laser light source on a second circuit board; pouring insulating glue wrapping the laser detector on the first circuit board, and curing to form a first packaging layer that plastic-encapsulates the laser detector and is light-transmissive; arranging the second circuit board on the first packaging layer, pouring insulating glue wrapping the laser light source on the first packaging layer, and curing to form a second packaging layer that plastic-encapsulates the laser light source and is light-transmissive, and curing the first packaging layer and the second packaging layer together; installing a first optical component and a second optical component on the first packaging layer and the second packaging layer, so that the first optical component focuses laser light in a first direction onto the laser detector, and the second optical component converts laser light from the laser light source into laser light in a second direction and emits it, and the first direction is parallel to and opposite to the second direction.

[0014] Preferably, the area of ​​the second circuit board is smaller than that of the first circuit board. When the second circuit board is arranged on the first packaging layer, the lower surface of the second circuit board contacts the upper surface of the first packaging layer, and the flexible circuit board line of the second circuit board extends outside the first packaging layer along the surface of the first packaging layer. The laser light source is located directly above the laser detector, so that the light emitting direction of the laser light source is the same as the detection direction of the laser detector and is coaxially arranged; when the insulating glue that wraps the laser light source is poured on the first packaging layer, the second circuit board is also wrapped in the insulating glue, and the flexible circuit board line of the second circuit board is extended outside the insulating glue; the first optical component includes a focusing mirror, which is formed on the second packaging layer and is staggered from the position of the second circuit board. The second optical component includes a collimating mirror, which is formed on the second packaging layer and corresponds to the position of the second circuit board.

[0015] Preferably, before the insulating glue for wrapping the laser light source is poured onto the first packaging layer, a light-shielding and reflective structure is provided around the laser light source to surround the laser light source; when the insulating glue for wrapping the laser light source is poured onto the first packaging layer, the insulating glue is also made to wrap the light-shielding and reflective structure. After the insulating glue is cured to form the second packaging layer, the lower side of the light-shielding and reflective structure contacts the upper side surface of the first packaging layer, and the upper side contacts the upper surface of the second packaging layer.

[0016] Specifically, the light-shielding and reflective structure is a metal isolation layer.

[0017] Preferably, when the second circuit board is arranged on the first packaging layer, the second circuit board is perpendicular to the first packaging layer, and the light emitting direction of the laser light source is perpendicular to the detection direction of the laser detector and is located on one side of the laser detector; the first optical component includes a focusing mirror, which is formed on the first packaging layer and focuses the laser in the first direction to the laser detector; the second optical component includes a collimating mirror and a reflecting mirror, which is formed on the second packaging layer and calibrates the laser of the laser light source to be emitted in a third direction; the reflecting mirror is located directly above the laser detector and is installed on the first packaging layer or the focusing mirror, and converts the laser emitted by the collimating mirror to be emitted in the second direction.

[0018] Specifically, the reflector is located directly above the laser detector.

[0019] Specifically, the reflector is a reflective prism.

[0020] Preferably, the insulating adhesive is epoxy resin, and the first encapsulation layer and the second encapsulation layer are epoxy resin layers.

[0021] Compared to existing technologies, the optical engine of the present invention does not require separate mounting brackets for the laser detector and laser light source. Instead, they are secured together at intervals by a cured encapsulation adhesive (first and second encapsulation layers) between them. This eliminates the need for mechanical stoppers and the cumbersome optomechanical coupling process, resulting in a simple and compact structure. The transceiver components are encapsulated within a single optical engine, ensuring the consistency of the transmit and receive light axes. This allows for modular design and integration of the optical engine, facilitating large-scale mass production. Furthermore, the transceiver lenses of the optical engine of the present invention can utilize planar lenses, such as Fresnel lenses or meta-lenses, simplifying the structure and facilitating system-level packaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural diagram of the coaxial laser radar system for transmitting and receiving according to the present invention.

[0023] Figure 2 4 is a structural diagram of the optical engine in Example 1 of the present invention.

[0024] Figure 3 2 is a structural diagram of the optical engine in Example 2 of the present invention. DETAILED DESCRIPTION

[0025] In order to explain the technical content, structural features, achieved objectives and effects of the present invention in detail, the following is a detailed description in conjunction with the embodiments and the accompanying drawings.

[0026] refer to Figure 1The present invention discloses a transceiver coaxial laser radar system, comprising a main circuit board 200, an optical engine 100 mounted on the main circuit board 200, a primary reflector 300, and a drive mechanism (not shown). The optical engine 100 includes a laser light source 22 and a laser detector 12. The primary reflector 300 is rotatably mounted on a frame. The drive mechanism drives the primary reflector 300 to rotate. The primary reflector 300 reflects input light onto the first optical element 14 and reflects light emitted in a second direction from the second optical element 24. The present invention divides the transceiver coaxial laser radar system into an active portion comprising the optical detector and laser light source 22 and a passive portion comprising the primary reflector 300. The active portion is connected to the fixed frame, and the passive portion is connected to the rotating output portion of the drive mechanism. The optical engine 100's outgoing and receiving optical paths are coaxial, parallel, and in opposite directions.

[0027] Specifically, the drive mechanism is a brushless motor, specifically a hollow brushless motor. The light path reflected by the primary reflector 300 corresponds to the through-hole of the hollow brushless motor. The rotating portion (rotating output end) of the brushless motor is connected to the primary reflector 300 to drive the reflector's rotation. The main body of the brushless motor is mounted on a frame. Alternatively, the drive mechanism can be a brushed motor, with a transmission component (such as a belt) driving the rotating portion, which is fastened to a bearing.

[0028] refer to Figure 2 The optical engine 100 includes a first circuit board 11, a second circuit board 21, a laser detector 12 welded on the first circuit board 11, a laser light source 22 welded on the second circuit board 21, a first optical component 14 and a second optical component 24. The first circuit board 11 has a light-transmitting first packaging layer 13, and the first packaging layer 13 plastic-seales the laser detector 12. The first packaging layer 13 has a light-transmitting second packaging layer 23, and the second packaging layer 23 plastic-seales the laser light source 22. The second packaging layer 23 is directly plastic-sealed on the first packaging layer 13, so that the laser detector 12 and the laser light source 22 are fixed together by the first packaging layer 13 and the second packaging layer 23, and the laser detector 12 and the laser light source 22 are fixed together at intervals by the first packaging layer 13.

[0029] refer to Figure 2 The first optical element 14 focuses the laser light in a first direction onto the laser detector 12 ; the second optical element 24 converts the laser light from the laser light source 22 into laser light in a second direction and emits it, and the first direction is parallel to and opposite to the second direction.

[0030] The present invention also provides a packaging method for an optical engine 100 for transmitting and receiving a coaxial laser radar, comprising steps S1 to S4.

[0031] S1 , soldering the chip of the laser detector 12 onto the first circuit board 11 ; soldering the chip of the laser light source 22 onto the second circuit board 21 .

[0032] S2 , pouring insulating glue to wrap the laser detector 12 on the first circuit board 11 , and curing it to form a first light-transmitting packaging layer 13 that plastic-seales the laser detector 12 .

[0033] S3, placing the second circuit board 21 on the first packaging layer 13, pouring insulating glue that wraps the laser light source 22 on the first packaging layer 13, and curing it to form a second packaging layer 23 that plastic-seales the laser light source 22 and is translucent.

[0034] S4, fix the first optical element 14 and the second optical element 24 on the first packaging layer 13 and the second packaging layer 23, so that the first optical element 14 focuses the laser in the first direction to the laser detector 12, and the second optical element converts the laser of the laser light source 22 into laser in the second direction and emits it, and the first direction is parallel to and opposite to the second direction.

[0035] refer to Figure 2 In Example 1, the surface of the second circuit board 21 contacts the upper surface of the first packaging layer 13, and the area of ​​the second circuit board 21 is smaller than that of the first circuit board 11, and the flexible circuit board (FPC) line of the second circuit board extends along the surface of the first packaging layer 13 to outside the first packaging layer 13 and the second packaging layer 23. The light emitting direction of the laser light source 22 is the same as the detection direction of the laser detector 12 and is coaxially arranged. The laser light source 22 is located directly above the laser detector 12 and is fixed at a distance from the laser detector 12 by the first packaging layer 13. The first optical component 14 includes a focusing lens and is formed at a position where the second packaging layer 23 is staggered from the second circuit board 21. The second optical component 24 includes a collimating lens and is formed at a position corresponding to the second packaging layer 23 and the second circuit board 21.

[0036] Preferably, the second circuit board 21 has a light-shielding and reflective structure surrounding the laser light source 22. The lower side of the light-shielding and reflective structure contacts the upper side of the first packaging layer 13, and the upper side contacts the upper surface of the second packaging layer 23. The light-shielding and reflective structure is a metal isolation layer.

[0037] The first encapsulation layer 13 and the second encapsulation layer 23 are epoxy resin layers.

[0038] In which, when the insulating glue that wraps the laser light source 22 is poured onto the first packaging layer 13, the second circuit board 21 is simultaneously wrapped in the insulating glue, and the flexible circuit board line of the second circuit board 21 is extended outside the insulating glue; the first optical component 14 includes a focusing lens and is formed at a position staggered between the second packaging layer 23 and the second circuit board 21, and the second optical component 24 includes a collimating lens and is formed at a position corresponding to the second packaging layer 23 and the second circuit board 21.

[0039] Before the insulating adhesive is poured onto the first packaging layer 13 to encapsulate the laser light source 22, a light-shielding and reflective structure is disposed around the second circuit board 21 to surround the laser light source 22. When the insulating adhesive is poured onto the first packaging layer 13 to encapsulate the laser light source 22, the insulating adhesive also encapsulates the light-shielding and reflective structure. After curing to form the second packaging layer 23, the lower side of the light-shielding and reflective structure contacts the upper side of the first packaging layer 13, and the upper side contacts the upper surface of the second packaging layer 23. Specifically, the light-shielding and reflective structure is a metal isolation layer. Of course, the light-shielding and reflective structure can also be other structures and is not limited to metal isolation layers.

[0040] The optical engine 100 of this embodiment is thin.

[0041] refer to Figure 3 , different from Example 1, in Example 2, the second circuit board 21 is perpendicular to the first packaging layer 13, the light emitting direction of the laser light source 22 is arranged perpendicular to the detection direction of the laser detector 12 and is located on one side of the laser detector 12, and the second packaging layer 23 is located on the board surface of the second circuit board 21; the first optical component 14 includes a focusing mirror, which is formed on the first packaging layer 13 and focuses the laser in the first direction to the laser detector 12, and the second optical component includes a collimator 24a and a reflector 24b, the collimator 24a is formed on the upper surface of the second packaging layer 23 opposite to the laser light source 22 and calibrates the laser of the laser light source 22 to be emitted in a third direction, the reflector 24b is installed on the first packaging layer 13 or the first optical component 14, and the reflector 24b converts the laser emitted by the collimator 24a into emission in the second direction, and the reflector 24b is located directly above the laser detector 12 so that the light emitted by the reflector 24b is parallel to the light received by the laser detector 12 and is coaxially arranged. The reflector 24b is a reflective prism.

[0042] The insulating adhesive is epoxy resin, and the first encapsulation layer 13 and the second encapsulation layer 23 are epoxy resin layers.

[0043] When the insulating adhesive wrapping the laser light source 22 is poured onto the first packaging layer 13, the insulating adhesive wrapping the laser light source 22 is poured from the side of the second circuit board 21 closest to the laser light source 22, so that the second packaging layer 23 is located on the surface of the second circuit board 21. The first optical component 14 includes a focusing mirror, which is formed on the first packaging layer 13 and focuses the laser light in the first direction onto the laser detector 12. The second optical component includes a collimator 24a and a reflector 24b. The collimator 24a is formed on the upper surface of the second packaging layer 23 opposite the laser light source 22 and aligns the laser light from the laser light source 22 to be emitted in the third direction. The reflector 24b is mounted on the reflector 24b on the first packaging layer 13 or the first optical component 14 and converts the laser light emitted by the collimator into the second direction and emits it to the main reflector 300. Specifically, the reflector 24b is located directly above the laser detector 12.

[0044] In the optical engine of this embodiment, there is no situation where the FPC line of the second circuit board blocks the focused light beam.

[0045] This invention proposes a modular design and integrated coaxial transceiver LiDAR system, facilitating large-scale mass production. The coaxial transceiver optical engine 100 utilizes a system-in-package (SIP) design, which not only achieves high packaging precision and efficiency, but also facilitates large-scale mass production. The transceiver optical system of the optical engine 100 utilizes a planar lens structure, simplifying the structure and facilitating SIP.

[0046] This invention invents a transceiver coaxial lidar, comprising a passive (rotating) portion and an active (fixed) portion. The active portion integrates a transceiver coaxial optical engine in a system-in-package (SiP), eliminating the need for mechanical stoppers and the cumbersome optical-mechanical coupling process.

[0047] The above disclosure is merely a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made within the scope of the present invention are still within the scope of the present invention.

Claims

1. An optical engine for transmitting and receiving coaxial laser radar, characterized by: The invention comprises a first circuit board, a second circuit board, a laser detector welded on the first circuit board, a laser light source welded on the second circuit board, a first optical component and a second optical component, wherein the first circuit board has a light-transmitting first packaging layer, the first packaging layer plastic-seales the laser detector, the first packaging layer has a light-transmitting second packaging layer, the second packaging layer plastic-seales the laser light source, and the second packaging layer is directly plastic-sealed on the first packaging layer, thereby fixing the laser detector and the laser light source together through the first and second packaging layers; the first optical component focuses laser light in a first direction onto the laser detector; the second optical component converts laser light from the laser light source into laser light in a second direction and emits it, the first direction is parallel to and opposite to the second direction; wherein, The laser light source is located directly above the laser detector, so that the light emitting direction of the laser light source is the same as the detection direction of the laser detector and they are coaxially arranged; the first optical component includes a focusing mirror, which is formed on the second packaging layer and is staggered with the position of the second circuit board; the second optical component includes a collimating mirror, which is formed on the second packaging layer and corresponds to the position of the second circuit board; or, The light emitting direction of the laser light source is arranged perpendicularly to the detection direction of the laser detector and is located on one side of the laser detector. The first optical component includes a focusing mirror, which is formed on the first packaging layer and focuses the laser in the first direction to the laser detector. The second optical component includes a collimating mirror and a reflecting mirror, which is formed on the second packaging layer and calibrates the laser of the laser light source to be emitted in a third direction. The reflecting mirror is located directly above the laser detector and is installed on the first packaging layer or the focusing mirror and converts the laser emitted by the collimating mirror to be emitted in the second direction.

2. The optical engine according to claim 1, wherein: When the laser light source is located directly above the laser detector, the area of ​​the second circuit board is smaller than that of the first circuit board, the lower surface of the second circuit board contacts the upper surface of the first packaging layer, and the flexible circuit board line of the second circuit board extends along the surface of the first packaging layer to outside the first packaging layer and the second packaging layer.

3. The optical engine according to claim 2, wherein: The laser light source is surrounded by a light-shielding and reflective structure. The lower side of the light-shielding and reflective structure contacts the first packaging layer or the upper side of the second circuit board, and the upper side contacts the upper surface of the second packaging layer.

4. The optical engine according to claim 3, wherein: The light-shielding and reflective structure is a metal isolation layer.

5. The optical engine according to claim 1, wherein: The second circuit board is perpendicular to the first packaging layer, so that the light emitting direction of the laser light source is perpendicular to the detection direction of the laser detector.

6. The optical engine according to claim 5, wherein: The reflector is a reflective prism.

7. The optical engine according to claim 1, wherein: The first encapsulation layer and the second encapsulation layer are epoxy resin layers.

8. A transceiver coaxial laser radar system, characterized by: It includes a main circuit board, an optical engine installed on the main circuit board, a main reflector and a driving mechanism. The optical engine is the optical engine of the transceiver coaxial laser radar according to any one of claims 1 to 7. The main reflector is rotatably installed on the frame. The driving mechanism drives the main reflector to rotate. The main reflector reflects the input light along the first direction to the first optical component, and reflects the light in the second direction emitted by the second optical component.

9. A packaging method for an optical engine for transmitting and receiving a coaxial laser radar, characterized in that: include: Soldering the laser detector chip onto the first circuit board; Soldering the chip of the laser light source onto the second circuit board; pouring an insulating glue that wraps the laser detector onto the first circuit board and curing the insulating glue to form a light-transmitting first packaging layer that plastic-seales the laser detector; Placing the second circuit board on the first packaging layer, pouring an insulating glue that wraps the laser light source onto the first packaging layer, curing the glue to form a light-transmitting second packaging layer that plastic-encapsulates the laser light source, and curing the first and second packaging layers together; A first optical element and a second optical element are mounted on the first packaging layer and the second packaging layer, so that the first optical element focuses the laser light in a first direction onto the laser detector, and the second optical element converts the laser light from the laser light source into laser light in a second direction and emits the laser light therefrom, and the first direction is parallel to and opposite to the second direction; wherein, When the second circuit board is arranged on the first packaging layer, the laser light source is located directly above the laser detector, so that the light emitting direction of the laser light source is the same as the detection direction of the laser detector and is coaxially arranged; when the insulating glue wrapping the laser light source is poured on the first packaging layer, the second circuit board is simultaneously wrapped in the insulating glue, and the flexible circuit board line of the second circuit board is extended outside the insulating glue; the first optical component includes a focusing mirror, which is formed on the second packaging layer and is staggered with the position of the second circuit board; the second optical component includes a collimating mirror, which is formed on the second packaging layer and corresponds to the position of the second circuit board; or, When the second circuit board is arranged on the first packaging layer, the light emitting direction of the laser light source is arranged perpendicularly to the detection direction of the laser detector and is located on one side of the laser detector; the first optical component includes a focusing mirror, which is formed on the first packaging layer and focuses the laser in the first direction to the laser detector. The second optical component includes a collimating mirror and a reflecting mirror, which is formed on the second packaging layer and calibrates the laser of the laser light source to be emitted in a third direction. The reflecting mirror is located directly above the laser detector and is installed on the first packaging layer or the focusing mirror to convert the laser emitted by the collimating mirror into emission in the second direction.

10. The packaging method of the optical engine for transmitting and receiving coaxial laser radar according to claim 9, wherein: When the laser light source is located directly above the laser detector, the area of ​​the second circuit board is smaller than that of the first circuit board. When the second circuit board is set on the first packaging layer, the lower surface of the second circuit board contacts the upper surface of the first packaging layer, and the flexible circuit board line of the second circuit board extends along the surface of the first packaging layer to the outside of the first packaging layer.

11. The packaging method of the optical engine for transmitting and receiving coaxial laser radar according to claim 10, wherein: Before pouring the insulating glue to wrap the laser light source on the first packaging layer, a light-shielding and reflective structure is arranged around the laser light source to surround the laser light source; when pouring the insulating glue to wrap the laser light source on the first packaging layer, the insulating glue also wraps the light-shielding and reflective structure. After curing to form the second packaging layer, the lower side of the light-shielding and reflective structure contacts the upper side surface of the first packaging layer, and the upper side contacts the upper surface of the second packaging layer.

12. The packaging method for an optical engine of a transceiver coaxial laser radar according to claim 11, wherein: The light-shielding and reflective structure is a metal isolation layer.

13. The packaging method of the optical engine for the coaxial laser radar according to claim 9, wherein: The second circuit board is perpendicular to the first packaging layer, so that the light emitting direction of the laser light source is perpendicular to the detection direction of the laser detector.

14. The packaging method of the optical engine for transmitting and receiving coaxial laser radar according to claim 13, wherein: The reflector is a reflective prism.

15. The packaging method of the optical engine for transmitting and receiving coaxial laser radar according to claim 9, wherein: The insulating glue is epoxy resin, and the first encapsulation layer and the second encapsulation layer are epoxy resin layers.

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