Sensor device, lidar device, and vehicle

Abstract

A lidar device disclosed in an embodiment may include: a main frame having an accommodating portion disposed therein; a plurality of transceivers provided in the accommodating portion, emitting laser beams toward the object in different directions, respectively, and sensing laser beams reflected from the object, respectively; and a bottom frame below the main frame.

Description

Technical Field

[0001] The present disclosure relates to a sensor device and a laser radar device. The present disclosure relates to a vehicle having a rotatable sensor device and a rotatable laser radar device. Background Art

[0002] Autonomous vehicles (AVs) use multiple sensors to identify situations. Sensors that are part of a self-driving system (SDS) of an autonomous vehicle may include at least one of a camera, a light detection and ranging (LiDAR) device, and an inertial measurement unit (IMU). Sensors such as cameras and LiDAR are used to capture and analyze the surrounding scene of the vehicle. Thereafter, the captured scene is used to detect objects including static objects such as fixed structures and dynamic objects such as pedestrians and other vehicles. Moreover, the data collected by the sensors can be used to detect conditions such as road markings, lane curvature, traffic lights, and signs. Moreover, the scene realization (such as a three-dimensional point cloud) obtained by the vehicle's LiDAR can be combined with at least one image obtained by the camera to ensure additional insights into the vehicle's situation or surrounding scene.

[0003] Furthermore, a laser radar transceiver may include an emitter that transmits light in the ultraviolet (UV), visible, and infrared spectral regions and at least one photodetector that converts other electromagnetic radiation into electrical signals. In order to provide reliable object detection and tracking, optical sensors such as LiDAR require firmly fixed optical components, at least one transceiver assembly, processing and driver circuits, and sufficient space for cooling components, cleaning components, wiring, and motor assemblies. LiDAR may include transceiver components that are firmly fixed to each other to withstand the vibration of the vehicle and the high-speed rotation of the mechanical LiDAR assembly, and to deal with balance and weight issues. Furthermore, LiDAR requires adequate containment packaging and aesthetic features. Summary of the invention

[0004] Technical Purpose

[0005] The present disclosure provides a sensor device and a lidar device including a plurality of transceivers.

[0006] The present disclosure also provides a sensor device and a laser radar device, wherein the laser radar device includes a plurality of transceivers that emit and sense laser beams in different directions.

[0007] The present disclosure also provides a sensor device and a laser radar device, the laser radar device including multiple transceivers with different divergence angles to emit and sense laser beams in different directions. The present disclosure also provides a device including multiple transceivers with different performance specifications and operating purposes.

[0008] The present disclosure also provides a sensor device and a laser radar device, the laser radar device including a first transceiver that transmits and senses a laser beam in a first direction and a second transceiver that transmits and senses the laser beam in a direction opposite to the first direction to rotate axially.

[0009] The present disclosure also provides a sensor device and a laser radar device, the laser radar device including a pair of transceivers arranged in opposite directions to provide a compact rotating assembly, thereby reducing wind noise, aerodynamic drag and / or weight caused by high-speed rotation.

[0010] The present disclosure also provides a sensor device and a laser radar device, in which the center of gravity of the corresponding transceiver is set on the opposite side of the rotation center by improving the inertial mass effect of the optical sensor during rotation.

[0011] The present disclosure also provides a sensor device and a lidar device, which has a rigid structure that allows modular attachment of components such as cooling components, window components, and cleaning components, has accommodation space, and provides sufficient sealing relative to external and environmental elements.

[0012] The present disclosure also provides a transceiver arranged in parallel with two side walls of the external housing. The present disclosure also provides a heat dissipation member in the external housing to absorb and release the heat generated by the transceiver. According to an embodiment of the present invention, the lens portion may be arranged on one side or the front side of each transceiver, and the heat dissipation member may be arranged on the other side or the rear side thereof. Each heat dissipation member may have a shape corresponding to the cylindrical shape of the external housing, and may contact one side or the front side of the first transceiver and the other side or the rear portion of the second transceiver adjacent thereto.

[0013] The present disclosure also provides a sensor device and a laser radar device, which can prevent optical interference or crosstalk between two or more transceivers. According to an embodiment of the present invention, the inertial mass effect in a rotating laser radar device can be improved. That is, the center of gravity of the corresponding transceiver can be set on the opposite side of the rotation center to minimize the movement of the corresponding transceiver during rotation.

[0014] The present disclosure also provides a mounting device for a sensor device and a laser radar device, the mounting device comprising a plurality of accommodating portions, for example, six fascias (gaps). The corresponding accommodating portions have structural features for accommodating at least one component of the sensor assembly. For example, at least one of the six accommodating portions can accommodate a modular cooling component. Similarly, at least one of the six accommodating portions can accommodate a modular detachable optical window. At least one of the six accommodating portions can firmly protect the transceiver assembly. Therefore, the mounting device can accommodate multiple different types of components and provide a rigid mounting structure.

[0015] The present disclosure also provides a mounting arrangement that provides a rigid structure, allows modular attachment of components such as cooling components, window components, and cleaning components, provides space for accommodating the components, and provides adequate sealing from exterior and weather elements.

[0016] The present disclosure also provides a lidar sensor system including a housing for securing components in place and housing electronics, optical components, cooling components, and architectural or structural components. The housing can be designed to provide a functional and aesthetic solution to the lidar sensor system and maximize the inflow and outflow of airflow for cooling and cleaning. The housing can provide an aerodynamic housing for the lidar sensor system.

[0017] Technical Solution

[0018] An embodiment of the present invention provides a laser radar device, including: a main frame having a housing portion; a plurality of transceivers, which are arranged in the housing portion and each transceiver emits a laser beam toward an object in a different direction and senses the laser beam reflected by the object; and a bottom frame, which is arranged below the main frame.

[0019] In an embodiment, the plurality of transceivers may include: a first transceiver configured to transmit and sense the laser beam in a first direction; and a second transceiver configured to transmit and sense the laser beam in a direction opposite to the first direction.

[0020] In an embodiment, the laser radar device may further include an upper cover or upper frame, which is disposed above the first transceiver and the second transceiver and connected to the upper inner periphery of the main frame, wherein the bottom frame may be connected to the lower inner periphery of the main frame.

[0021] In an embodiment, each side surface of the main frame may include a through receiving portion, and the main frame may include a frame having heat dissipation members respectively coupled to the receiving portions of each side surface of the main frame.

[0022] In an embodiment, the laser radar device may also include a first window arranged at the beam incident side of the first transceiver and a second window arranged at the beam incident side of the second transceiver, wherein each of the first window and the second window may be arranged outward relative to the main frame.

[0023] In an embodiment, the first transceiver may include a first receiving optical system and a first sensor array, and the second transceiver may include a second receiving optical system and a second sensor array, wherein the lidar device may also include a first lens tube arranged between the first receiving optical system and the first window and a second lens tube arranged between the second receiving optical system and the second window.

[0024] In an embodiment, the laser radar device may further include heat dissipation covers respectively covering the heat dissipation members provided on the side surfaces of the main frame, wherein each of the heat dissipation covers may have a hole for exposing the window.

[0025] In an embodiment, the bottom frame may have a heat dissipation hole corresponding to a lower portion of each heat dissipation member.

[0026] In an embodiment, the laser radar device may further include a shell covering the upper portion and the exterior of the main frame, wherein the shell may include a window hole corresponding to a hole of each heat dissipation cover.

[0027] In an embodiment, the laser radar device may also include: a fixed frame fixed to the mobile body and having a stator; and a rotating frame having a rotor facing the stator and configured to rotate axially on the fixed frame, wherein the rotating frame can allow the main frame, the bottom frame and the multiple transceivers to rotate.

[0028] In an embodiment, the plurality of transceivers may have different incident receive fields of view.

[0029] Other scopes of applicability of the present invention will become apparent from the following detailed description. However, since various modifications and changes will be apparent to those skilled in the art based on the detailed description within the spirit and scope of the present invention, the detailed description and specific examples only illustrate examples of preferred embodiments of the present invention. The present invention will be more fully understood from the following detailed description and the accompanying drawings, which are provided for illustrative purposes and therefore do not limit the present invention.

[0030] Beneficial effects

[0031] According to embodiments of the present invention, components such as cooling components, window components, and cleaning components can be supported and coupled in a modularly attached manner and can be adequately protected and sealed from external impacts and weather. Furthermore, the components can be accommodated and supported, and the components can be easily protected and coupled. Furthermore, the components can be detached from the device.

[0032] According to an embodiment of the present invention, a pair of transceivers arranged in different or opposite directions can allow for miniaturization of the device and reduce wind noise, aerodynamic drag and / or weight caused by high-speed movement. Furthermore, the packaging efficiency of the sensor head assembly can be improved. Furthermore, optical interference caused by different transceivers can be prevented.

[0033] According to the present invention, since the heat dissipation members are provided on two or more side surfaces, the heat dissipation efficiency can be improved.

[0034] Embodiments of the present invention may obtain optical images with different divergence angles along different directions through a rotating imaging device (such as a laser radar device and a sensor device) to improve the sensing efficiency of the surrounding area. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a perspective view of a vehicle including a laser radar device according to an embodiment of the present invention.

[0036] Figure 2 It is shown that Figure 1 A block diagram of an example of a vehicle system with a lidar device.

[0037] Figure 3 It is shown Figure 2 Block diagram of a first transceiver and a second transceiver of a lidar device.

[0038] Figure 4 is a perspective view showing a laser radar device according to an embodiment of the present invention.

[0039] Figure 5 It is shown Figure 4 A stereoscopic image of a lidar device.

[0040] Figure 6 It is shown Figure 4 A stereoscopic view of the housing of a lidar device.

[0041] Figure 7 It is shown Figure 4 A plan view of the internal components of a lidar device.

[0042] Figure 8 It is shown Figure 4 An exploded perspective view of the internal and external components of a frame in a lidar device.

[0043] Fig. 9 It is shown Figure 8 A plan view of the connection of the components.

[0044] Fig.10 (a) and (b) are side sectional views showing a first transceiver and a second transceiver integrated with a main frame of a laser radar device according to the present invention.

[0045] Fig.11 is a partial cross-sectional view showing a first transceiver and a second transceiver in a laser radar device according to the present invention.

[0046] Fig.12 It is shown Figure 8 A perspective view of an example of coupling of a first frame, a first transceiver, and a heat dissipation member.

[0047] Fig.13 It is shown Figure 8 A perspective view of an example of coupling of a first frame and a first transceiver.

[0048] Fig.14 It is shown Figure 8 A perspective view of an example of coupling of a second frame and a second transceiver.

[0049] Fig.15 It is shown Figure 4 Plan view of the cut-away upper part of the casing.

[0050] Fig.16 It is used to explain Fig.15 A three-dimensional view of the heat dissipation component in the housing.

[0051] Fig.17 yes Fig.16 Exploded three-dimensional diagram.

[0052] Fig.18 It is used to explain Fig.16 A view of the optical paths of the first transceiver and the second transceiver of a lidar device.

[0053] Fig.19 2 is a view showing a modified example of a main frame and a heat dissipation cover in a laser radar device according to an embodiment of the present invention.

[0054] Fig. 20 It is used to explain Fig.19 A view of the beam paths and centers of the first and second transceivers.

[0055] Fig.21 It is used to explain Fig.19 A view of the beam paths of the first transceiver and the second transceiver.

[0056] Fig. 22 1 is a perspective view for explaining a heat dissipation cover and a window at an output side of a corresponding transceiver in a laser radar device according to an embodiment of the present invention.

[0057] Fig.23 It is shown Fig. 22 A perspective view of the side frames and windows.

[0058] Fig.24 It is used to explain Fig. 22 View of the window and heat sink cover.

[0059] Fig.25 It is used to explain another example of the present invention. Fig.23 View of the window and heat sink cover.

[0060] Fig.26 It is shown Fig.23 A view of the air guide and heat sink cover of the side frame to which each window is attached.

[0061] Fig. 27 1 is a partial cross-sectional view showing a state in which a housing and an upper cover are fastened to each other using a fastening member in the laser radar device according to the present invention.

[0062] Fig.28 is shown with Fig. 27 A three-dimensional view of a fastening member connecting a shell and an upper cover. DETAILED DESCRIPTION

[0063] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings, wherein the same reference numerals represent the same parts. However, the present invention can be implemented in various forms and is not limited to the embodiments illustrated in this specification. On the contrary, these embodiments are provided as examples to make this disclosure comprehensive and complete, and to fully convey the features and functions of the present invention to those skilled in the art. Therefore, processes, elements and techniques that are not necessary for a complete understanding of the features and functions of the present invention by those skilled in the art may not be described. Unless otherwise specifically mentioned, similar reference numerals in the drawings and written descriptions represent similar parts, and their descriptions will not be repeated.

[0064] A LiDAR system can be referred to as a depth detection system, a laser distance measurement system, a laser radar system, a LiDAR system, or a laser / optical detection and ranging (LADAR) system. LiDAR is a distance measurement sensor with a long detection range, high resolution, and low environmental interference. LiDAR is widely used in the fields of intelligent robots, drones, autonomous driving, or self-driving. LiDAR has an operating principle of estimating distance based on the round-trip time (e.g., flight time or delay time) of electromagnetic waves between a source and a target.

[0065] Typically, a laser radar system (such as a direct time-of-flight (D-TOF) laser radar system) emits a light pulse (e.g., a laser pulse) toward an object, and measures the time taken for the light pulse to be reflected by the object and detected by a sensor of the laser radar system to measure the distance to the object (e.g., depth). For example, repeated measurements may be performed to generate a single histogram of relative time of flight (hereinafter, referred to as TOF) based on repeated measurements, thereby reducing noise from ambient light, and peaks of the single histogram may be calculated to detect events (e.g., to detect the depth of a point or region of an object that re-reflects the light pulse).

[0066] The above-mentioned aspects and features of embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

[0067] Figure 1 is a perspective view of a vehicle including a laser radar device according to an embodiment of the present invention.

[0068] Reference Figure 1 , a mobile body (such as a vehicle 500 ) may include a laser radar device 100 , a camera unit 101 , vehicle identification sensors 102 and 104 , a global positioning system (GPS) sensor 103 , a vehicle control module 212 , and an ultrasonic sensor 105 .

[0069] The laser radar device 100, which is a rotating imaging device or sensor device, is connected to a part of the vehicle 500 and rotates 360°. The laser radar device 100 senses the distance between the vehicle and an object (static object or dynamic object), the surrounding environment and its shape, and uses the measured data to control the driving of the vehicle. The 3-dimensional point cloud using the above-mentioned sensing technology can collect and analyze the surrounding objects and environment of the vehicle, and generate detection data that provides information about objects set within a suitable close distance.

[0070] The laser radar device 100 can communicate with the vehicle control module 212 and transmit / receive information related to the driving of the vehicle. The vehicle control module 212 can perform various controls while communicating with various systems or sensors in the vehicle. As a device for controlling and monitoring various systems of the vehicle, the vehicle control module 212 may include a control device (such as an electronic control unit (ECU)). The vehicle control module 212 can communicate with an external mobile device and be electrically connected to a removable storage device.

[0071] One or more camera units 101 may be mounted to the interior and / or exterior of the vehicle to capture images of the front and / or rear of the moving vehicle, and provide or store the captured images through a display device (not shown). The captured image data may optionally include audio data. For another example, the camera unit 101 may be mounted to each of the front, rear, each corner, or each side surface of the vehicle 500 to capture images of the surroundings of the vehicle and provide the captured images through a display device (not shown). The vehicle control module 212 or another processor may distinguish between traffic lights, vehicles, and pedestrians based on the data captured by the camera unit 101, and provide the obtained information to the driver. The camera unit 101 may be used as a driving assistance device.

[0072] A plurality of front radars 102 are installed at the front of the vehicle 500 to detect the distance between the vehicle 500 and a front object. A plurality of rear radars 104 are installed at the rear of the vehicle 500 to detect the distance between the vehicle 500 and a rear object. When object information is detected by the radars 102 and 104, surrounding objects or obstacles are detected and notified to the driver through an alarm or a warning message.

[0073] The GPS sensor 103 can receive signals from satellites and provide the received signals to devices such as the vehicle control module 212, the lidar device 100 and the camera unit 101, and the device can provide or calculate information such as the vehicle's location, speed or time based on the GPS location signal.

[0074] The ultrasonic sensor 105 can sense the distance between the vehicle and a vehicle or an obstacle disposed adjacent thereto, so that the vehicle is safely parked in a parking space. Moreover, the ultrasonic sensor 105 can prevent accidents that may occur while driving. The ultrasonic sensor 105 can be installed on the rear, side surface, or wheel of the vehicle.

[0075] like Figure 2 As shown in FIG, a vehicle system 200 including a laser radar device 100 and a vehicle control module 212 receives input from a user or driver, or provides information to the user or driver through a user interface 211. The user interface 211 may include a display device, a touch panel, a button, voice recognition, or a wired or wireless input device, and connects the driver and various devices in a wired or wireless manner for communication therebetween.

[0076] The vehicle system 200 may communicate with the remote device 213, and the remote device 213 may remotely communicate with a user or an external device or receive an external control signal. The communication part 215 may support wired or wireless communication, for example, a wired or wireless communication module.

[0077] The storage unit 220 may include at least one sub-memory 221. Also, the storage unit 220 may include a portable or detachable storage device 222. The laser radar device 100 may communicate with the user interface 211 and the camera unit 101.

[0078] The laser radar device 100 may include a driving unit 115 (such as a motor), and the driving unit 115 may rotate a part or all of the laser radar device 100 360° based on a control signal. The driving unit 115 may communicate with internal components of the laser radar device 100 (such as the measurement system 110) and allow the laser radar device 100 to rotate axially.

[0079] The laser radar device 100 may include a measurement system 110 and at least one transceiver 120 and 130. The driving portion 115 may be coupled to allow the measurement system 110 and the transceivers 120 and 130 to be rotatable, and may transmit a driving force.

[0080] The measurement system 110 may include a main processor 111 and a main memory 112. The main processor 111 may be implemented by a general purpose processor, an application specific integrated circuit (ASIC), at least one field programmable gate array (FPGA), a group of processing components, or other suitable electronic processing components. The main memory 112 (e.g., memory, memory unit, and storage device) may include at least one device (e.g., RAM, ROM, flash memory, and hard disk storage) for storing data and / or computer code to complete or facilitate the various processes described in the present invention. The main memory 112 may be or include volatile or non-volatile memory. The main memory 112 may include a database component, an object code component, a script component, or other types of information structures to support the various activities and information structures described in the present invention. According to an embodiment, the main memory 112 may be communicatively connected to the main processor 111.

[0081] The measurement system 110 may include at least one processor (also referred to as a central processing unit or CPU). The at least one processor may be connected to a communication infrastructure or bus. Moreover, the at least one processor may be a graphics processing unit (GPU). In some examples, a GPU may include a processor that is a dedicated electronic circuit designed to process mathematically intensive applications. The GPU may have a parallel structure that is efficient for processing large blocks of data in parallel, such as mathematically intensive data commonly used in computer graphics applications, images, and videos.

[0082] The measurement system 110 , being a computer system, may be connected to at least one user input or output device, such as a monitor, a keyboard or a pointing device, which communicates with the communication infrastructure via a user input or output interface.

[0083] At least one transceiver 120 and 130 (e.g., multiple transceivers) may be provided in the laser radar device 100. The multiple transceivers 120 and 130 may emit and sense laser beams in different directions based on the rotation axis. Here, the different directions may be in the range of 10° to 180°. For example, the multiple transceivers may be arranged at one of 30°, 60°, 90°, 120°, 150°, and 180°, preferably at 180°.

[0084] like Figure 3 As shown, the plurality of transceivers 120 and 130 can emit and sense laser beams in opposite directions. To this end, the light source arrays 21 and 31 of the plurality of transceivers 120 and 130 can be arranged on opposite sides, and the receiving optical systems 25 and 35 can be arranged in opposite directions based on the inner center of the laser radar device 100.

[0085] The multiple transceivers 120 and 130 may have different divergence angles or fields of view. The multiple transceivers 120 and 130 may scan objects at different heights. Since the multiple transceivers 120 and 130 are included in the laser radar device, the rotating imaging device can be miniaturized and have distributed weight to obtain rotational balance. The multiple transceivers 120 and 130 may have different vertical fields of view (i.e., heights). The multiple transceivers 120 and 130 may have different horizontal fields of view.

[0086] The plurality of transceivers 120 and 130 may include a first transceiver 120 and a second transceiver 130. The first transceiver 120 may include a first transmission module 121 and a first sensing module 123, and the second transceiver 130 may include a second transmission module 131 and a second sensing module 133. The first transmission module 121 of the first transceiver 120 transmits a laser beam, and the first sensing module 123 senses the laser beam transmitted by the first transmission module 121. The second transmission module 131 of the second transceiver 130 transmits a laser beam, and the second sensing module 133 senses the laser beam transmitted by the second transmission module 131.

[0087] like Figure 3 As shown, the first transmission module 121 may include a first light source array 21 and a first transmission optical system 22. The first sensing module 123 may include a first receiving optical system 25 and a first sensor array 26. The first transmission module 121 emits a first transmission laser beam TL1 toward an object, and the first sensing module 123 senses a first reception laser beam RL1 reflected by the object.

[0088] The second transmission module 131 may include a second light source array 31 and a second transmission optical system 32. The second sensing module 133 may include a second receiving optical system 35 and a second sensing array 36. The second transmission module 131 emits a second transmission laser beam TL2 toward an object, and the second sensing module 133 senses a second reception laser beam RL2 reflected by the object.

[0089] The first transmission laser beam TL1 is emitted in a first direction Y, and the second transmission laser beam TL2 is emitted in a direction opposite to the first direction. That is, the first transmission laser beam TL1 and the second transmission laser beam TL2 emit light in 180° opposite directions based on their center positions to scan an object set at 180°.

[0090] The first transmission module 121 and the second transmission module 131 may include a processor or a control module such as a general-purpose processor, an ASIC or an FPGA, and may also include an internal memory for storing a code for controlling the generation of a laser beam, and the processor or the control module is capable of performing driving control of the first light source array 21 and the second light source array 31 and transmission control of the optical signal.

[0091] The first light source array 21 and the second light source array 31 may include a one-dimensional or two-dimensional array, and may be individually addressable or controllable. The first light source array 21 and the second light source array 31 may include a plurality of light sources that generate laser beams or light pulses. The light source may include a laser diode (LD), an edge-emitting laser, a vertical cavity surface emitting laser (VCSEL), a distributed feedback laser (DFB), a light emitting diode (LED), and a super luminescent diode (SLD). However, embodiments of the present invention are not limited thereto.

[0092] The first light source array 21 and the second light source array 31 may include a plurality of electrically connected surface emitting laser diodes (such as VCSEL arrays), each of which is individually addressable or controllable. The first light source array 21 and the second light source array 31 may be implemented as a one-dimensional (Q*P) or two-dimensional VCSEL array with Q rows and P columns. Here, each of Q and P (rows and columns) can be 2 or greater (Q>P). Moreover, a plurality of VCSEL arrays can be grouped to form a single light source. The number of light sources of the first light source array 21 may be equal to or different from the number of light sources of the second light source array 31.

[0093] The optical signals emitted from the first light source array 21 and the second light source array 31 may be transmitted toward the object through the first transmission optical system 22 and the second transmission optical system 32. Each of the first transmission optical system 22 and the second transmission optical system 32 may include at least one lens, or include at least one lens and a micro lens array 26C or 36C (refer to Fig.12). Each of the first transmission optical system 22 and the second transmission optical system 32 may include one optical lens or a plurality of optical lenses to shape the laser beam in a desired manner. That is, the first transmission module 121 and the second transmission module 131 may set the emission direction or angle of the light generated by the first light source array 21 and the second light source array 31 according to the control of the main processor 111. Moreover, the laser radar device 100 may include a beam splitter (not shown) for overlapping or separating the first transmission laser beam TL1 and the first reception laser beam RL1.

[0094] The first transmission module 121 and the second transmission module 131 can emit pulsed light or continuous light toward an object that is a target to be scanned multiple times. The main processor 111 can generate a start signal at the light transmission time and provide the generated start signal to a time-to-digital converter (TDC). The start signal can be used to calculate the flight time (TOF) of the light.

[0095] The first sensing module 123 and the second sensing module 133 may include a processor having a matched filter, a peak detection circuit, and a SPAD saturation and quenching circuit, which converts the original histogram based on the signal sensed by the first receiving optical system 25 and the second receiving optical system 35. The processor can be implemented by a general-purpose processor, an application-specific integrated circuit (ASIC), at least one field programmable gate array (FPGA), a group of processing components or other suitable electronic processing components. The first sensing module 123 and the second sensing module 133 may include a memory (not shown) having at least one device (e.g., RAM, ROM, flash memory, and hard disk memory) to store the detected optical signal therein.

[0096] The first sensor array 26 and the second sensor array 36 may receive the laser beams RL1 and RL2 reflected or scattered from the object through the first receiving optical system 22 and the second receiving optical system 32. Each of the first sensor array 26 and the second sensor array 36 may include a detector divided into a plurality of pixels, and a light detecting component may be provided in each of the plurality of pixels. Each of the first receiving optical system 22 and the second receiving optical system 32 may be an optical component designed to collect reflected light into a predetermined pixel.

[0097] When the reflected light is received by the first sensor array 26 and the second sensor array 36, the first sensing module 123 and the second sensing module 133 may convert the reflected light into a stop signal. The stop signal may be used together with the start signal to calculate the TOF of the light. Each of the first sensor array 26 and the second sensor array 36 or the first sensing module 123 and the second sensing module 133 may include a TDC for measuring the TOF of the light detected by each of the plurality of photodetectors. Each photodetector may be a light receiving element that generates an electrical signal in response to the detected light energy.

[0098] Each of the first sensor array 26 and the second sensor array 36 can be implemented as a one-dimensional or two-dimensional array, and can be a photodetector, such as a single avalanche photodiode (SPAD) or an avalanche photodiode (APD). In an embodiment of the present invention, each of the first sensor array 26 and the second sensor array 36 can be implemented by using a photodetector. The first sensor array 26 and the second sensor array 36 measure light pulses, that is, light corresponding to image pixels, through the first receiving optical system 25 and the second receiving optical system 35. For example, each of the first sensor array 26 and the second sensor array 36 can be arranged as a two-dimensional SPAD array having M rows and N columns. Here, each of M and N can be 2 or greater. Moreover, a plurality of SPAD subarrays can be grouped to form an optical sensor. For example, the first sensor array 26 and the second sensor array 36 can use a Geiger mode, that is, a Geiger mode APD (GmAPD).

[0099] The main processor 111 processes the signal by using the light detected by the first sensing module 123 and the second sensing module 133 to obtain information of the object. The main processor 111 determines the distance to the object based on the TOF of the light reflected from the object, and performs data processing to analyze the position and shape of the object. The information analyzed by the processor 111 (ie, the shape and position of the object) can be transmitted to another device.

[0100] The first transmission optical system 22 and the second transmission optical system 32 can refract the light pulses generated by the first light source array 21 and the second light source array 31, and emit the refracted light pulses toward the object. The light pulses can be incident on the surface of the object and reflected by the surface of the object, and the reflected light pulses can be sensed by the first sensor array 26 and the second sensor array 36 through the first receiving optical system 25 and the second receiving optical system 35. The distance or depth to the object can be determined based on TOF, which is the time elapsed from the emission of the light pulse to the detection. The laser radar device 100 can provide information about the scene or situation around the vehicle by using the obtained data, and is connected with at least one image data obtained by the camera unit 101 to obtain additional insights.

[0101] like Figure 3 As shown, the laser radar device 100 includes a first transceiver 120 disposed on one side based on a central axis Y0 passing through a horizontal first direction Y and a second transceiver 130 disposed on the other side. Since the first transceiver 120 and the second transceiver 130 are distributed on both sides based on the central axis Y0, the laser radar device 100 can maintain weight balance or rotation balance. The central axis Y0 may be a straight line passing through the center between both sides of the second direction X of the laser radar device 100.

[0102] The first transceiver 120 transmits and receives the first laser beam L1 in the first direction Y. The second transceiver 130 transmits and receives the second laser beam L2 in the direction opposite to the first direction Y. Therefore, light interference caused by transmission and reception of the first laser beam L1 and the second laser beam L2 can be prevented. In addition, the distance between the first transmission optical system 22 and the second transmission optical system 32 can be greater than the distance between the first receiving optical system 25 and the second receiving optical system 35.

[0103] like Figures 4 to 8 As shown, the laser radar device 100 may include a fixed frame 251, a rotating frame 253 (refer to Fig.21 ), a housing 150, a main frame 170, and transceivers 120 and 130 in an internal space 150A of the housing 150.

[0104] The fixed frame 251 includes a stator therein, which can be fixed to a cover or upper housing of a vehicle or a moving body. The fixed frame 251 may include a fastening portion 12 along its periphery, and is coupled to the same vehicle (such as a moving body) by using a plurality of fastening members 11. The fixed frame 251 may have a circular or annular top view shape.

[0105] like Fig.21 As shown, the rotating frame 253 may face the internal structure of the fixed frame 251, including a rotor (not shown), and rotate on the fixed frame 251. The stator may be a coil, and the rotor may also be a coil. The stator and the rotor may form a drive unit, for example, a motor. A structure for guiding the rotation of the rotating frame 253 and preventing disengagement may be provided on one or more regions of each of the rotating frame 253 and the fixed frame 251, and the structure may include a rotating guide or a rotating shaft (not shown). The rotating frame 253 may have a circular or annular top view shape. The rotating frame 253 may be a rotating platform.

[0106] like Figures 4 to 6As shown, the housing 150 may have a cylindrical shape with an open bottom and a closed top. The housing 150 may extend outwardly above the rotating frame 253. The housing 150 may rotate together with the rotating frame 253. The housing 150 may serve as a shell covering internal components and may be made of a heat dissipation material.

[0107] A plurality of perforations 159 may be arranged on a predetermined area of ​​the circumferential surface of the housing 150 for heat dissipation. The plurality of perforations 159 may be arranged on at least two areas in the vertical direction and the rotational direction. The perforations 159 may have the same size as each other, or may include at least one perforation having a different size.

[0108] The housing 150 may include window holes 151 and 152. The window holes 151 and 152 are formed between the upper and lower ends of the housing 150 to have a predetermined size, for example, may be larger than the size of windows 191 and 192 for transmitting and receiving light of each transceiver 120 and 130. The window holes 151 and 152 may be provided in entrance areas of the windows 191 and 192 to expose the windows 191 and 192, respectively.

[0109] The rotating head 111 may be coupled to each of the upper portion of the rotating frame 253 and the interior of the housing 150. The rotating head 111 may have a cylindrical shape and rotate together with the rotating frame 253. The cover frame 141 of the rotating head 111 prevents foreign matter from being introduced into the internal space in which internal components such as the transceivers 120 and 130 and other components are stored. The cover frame 141 may have a circular or polygonal shape and may be made of a metal frame material or a transparent plastic material.

[0110] One cover frame 141 may be provided, or a plurality of cover frames 141 may be stacked on each other. Figure 7 As shown, the cover frame 141 may be tightly coupled with the main frame 170. Here, the tight coupling may refer to the coupling of two structures having a fitting structure or a stepped structure or the fastening by a plurality of fastening members. The tight coupling may include a sealing member to prevent moisture from being introduced from the outside.

[0111] The bottom frame 260 supports the components of the rotating head 111. The bottom frame 260 may have a circular shape and have a diameter greater than that of the fixed frame 251. One or more bottom frames 260 may be stacked on each other. The bottom area of ​​the bottom frame 260 may be greater than Figure 7 The bottom area of ​​the main frame 170 is shown.

[0112] The cover frame 141 may be fastened to a first fastening portion 93 (see FIG. 1 ) provided on the inner periphery of the housing 150 by the fastening member 90. Fig. 27). The bottom frame 260 may be fastened to the second fastening portion 91 provided on the inner lower circumference of the housing 150 by a fastening member (not shown). The cover frame 141 may have the same or different shape as the upper cover 161 or 162 described later, one of which may be removed.

[0113] like Figures 7 to 13 As shown, in the housing 150 of the laser radar device 100, optical components (such as transceivers 120 and 130), heat dissipation components for heat dissipation, frame components for supporting and connecting internal components, and cover components for protecting internal components can be connected to each other. Figure 5 The spin head 111 shown in FIG. 1 may include an optical part, a heat dissipation part for dissipating heat, a frame part for supporting and coupling internal parts, and a cover part for protecting the internal parts.

[0114] The optical component includes a first transceiver 120 and a second transceiver 130. The first transceiver 120 may include one or more circuit boards 21A, 26A, and 26B, which are electrically connected to the first light source array 21 and / or the first sensor array 26. The first sensor array 26 may be provided on a first circuit board 26A, and the first light source array 21 may be provided on another driving board 21A. The first transceiver 120 may be provided on a first main board 26B, and the first main board may be electrically connected to the above boards.

[0115] The second transceiver 130 may include one or more circuit boards 31A, 36A, and 36B, which are electrically connected to the second light source array 31 and / or the second sensor array 36. The second sensor array 36 may be disposed on the second circuit board 36A, and the second light source array 31 may be disposed on another driving board 31A. The second transceiver 130 may be disposed on a second main board 36B, and the second main board 36B may be electrically connected to the above boards.

[0116] The first circuit board 26A may be disposed between the first receiving optical system 25 and the main frame 170. The second circuit board 36A may be disposed between the second receiving optical system 35 and the main frame 170. The first circuit board 26A and the second circuit board 36A may be disposed at opposite sides relative to the main frame 170. Since the first transceiver 120 and the second transceiver 130 are disposed in opposite directions, the light source array, sensor array, and circuit board of the corresponding transceivers may be distributed to improve heat dissipation efficiency and maximize space utilization. Moreover, a cooling system having a heat dissipation member on at least three sides of each transceiver may be provided to improve degradation of heat dissipation and prevent degradation of the performance of the laser radar system caused by heat.

[0117] like Fig.10 and Fig.11As shown, the first transceiver 120 may include a first lens tube 25A disposed at the light incident side (front side) of the first receiving optical system 25 to receive light. The second transceiver 130 may include a second lens tube 35A disposed at the light incident side (front side) of the second receiving optical system 35 to receive light. The first lens tube 25A may have an entrance shape or area different from that of the second lens tube 35A. The first lens tube 25A may form a part of the first receiving optical system 25. And the second lens tube 35A may form a part of the second receiving optical system 35.

[0118] Here, the first transceiver 120, the first lens tube 25A, and the circuit boards 21A, 26A, and 26B may be defined as a first transceiver assembly. Also, the second transceiver 130, the second lens tube 35A, and the circuit boards 31A, 36A, and 36B may be defined as a second transceiver assembly.

[0119] The first lens tube 25A may extend between the first lens of the first receiving optical system 25 and the first window 191 to improve light incident efficiency and protect the lens. The second lens tube 35A may extend between the first lens of the second receiving optical system 35 and the second window 192 to improve light incident efficiency and protect the lens.

[0120] The first lens tube 25A may have a vertical opening height H1 that is different from the vertical opening height H2 of the second lens tube 35A. For example, the vertical opening height H1 of the first lens tube 25A may be greater than the vertical opening height H2 of the second lens tube 35A. The first lens tube 25A may have a horizontal opening length H3 that is different from the horizontal opening length H4 of the second lens tube 35A. For example, the horizontal opening length H3 of the first lens tube 25A may be less than the horizontal opening length H4 of the second lens tube 35A. When viewed from a side section, a first optical axis passing through the center of the first lens tube 25A and the center of the lens therein may be tilted relative to a second optical axis passing through the center of the second lens tube 35A and the center of the lens therein. The second optical axis is a horizontal optical axis, and the first optical axis may be tilted relative to the second optical axis.

[0121] The first light source array 21 is disposed outside the first lens tube 25A, and the second light source array 31 is disposed outside the second lens tube 35A.

[0122] The first receiving optical system 25 may have a vertical field of view different from that of the second receiving optical system 35. For example, the vertical field of view of the first receiving optical system 25 may be greater than the vertical field of view of the second receiving optical system 35. The first receiving optical system 25 may have a horizontal field of view different from that of the second receiving optical system 35. For example, the horizontal field of view of the first receiving optical system 25 may be smaller than the horizontal field of view of the second receiving optical system 35. Moreover, the horizontal field of view and the vertical field of view of the first receiving optical system 25 may be different from each other. The horizontal field of view and the vertical field of view of the second receiving optical system 35 may be equal to each other. That is, one of the plurality of transceivers 120 and 130 may have different horizontal and vertical receiving fields of view, while the other may have the same horizontal and vertical fields of view.

[0123] The first receiving optical system 25 of the first transceiver 120 may extend longitudinally from the third side surface to the fourth side surface of the main frame 170. The second receiving optical system 35 of the second transceiver 130 may extend longitudinally from the fourth side surface to the third side surface of the main frame 170. The third side surface and the fourth side surface may be two side surfaces of the main frame 170 along the first direction Y, and the first side surface and the second side surface may be two side surfaces of the main frame 170 along the second direction X. Each of the first to fourth side surfaces of the main frame 170 may include a receiving portion extending therethrough, and a frame having a component for heat dissipation (i.e., a heat dissipation member) may be coupled to the receiving portion of each side surface.

[0124] like Figures 15 to 17 As shown, the main frame 170 may include a receiving portion 175 that receives the first transceiver 120 and the second transceiver 130. The main frame 170 may include a plurality of column frames 171, a lower frame 172, and an upper frame 173. The upper frame 173, the lower frame 172, and the column frame 171 may include a plurality of receiving portions as plates, for example, six receiving portions or plates.

[0125] The upper frame 173, the lower frame 172, and the plurality of column frames 171 may be integrally formed with each other. As another example, at least one of the upper frame 173, the lower frame 172, and the plurality of column frames 171 may have a detachable structure. The upper frame 173 or the lower frame 172 may be separately provided, and the plurality of column frames 171 may be coupled to the upper frame 173 or the lower frame 172. At least one of the upper frame 173, the lower frame 172, and the plurality of column frames 171 may be detachably coupled.

[0126] The upper frame 173 and the lower frame 172 are spaced apart from each other by the column frame 171 to form a polygonal structure. The upper frame 173 may have a polygonal or circular shape with a hollow interior. The lower frame 172 may have a polygonal or circular shape with a hollow interior. The upper frame 173 and the lower frame 172 may have the same polygonal shape, for example, a rectangular shape.

[0127] The column frame 171 connects and supports the corners of the upper frame 173 and the lower frame 172. The upper frame 173, the lower frame 172, and the column frame 171 may be formed integrally with each other. As another example, one or more upper frames 173 may be provided, and one or more lower frames 172 may also be provided. Moreover, at least one of the upper frame 173 and the lower frame 172 may be formed integrally with or coupled to the column frame 171.

[0128] The upper frame 173 may have a concave step-like structure at its inner circumference to guide the coupling of the polygonal upper covers 161 and 162. The lower frame 172 may have a concave step-like structure at its inner circumference and be coupled to the bottom frame 260 having a polygonal fitting structure. In addition, each column frame 171 may have a concave step-like structure in the corresponding side direction of the main frame 170 to guide the coupling of the outer frame.

[0129] The main frame 170 may be coupled with the first to fourth frames 180, 180A, 190, and 190A in each side direction. The first frame 180 and the second frame 180A may be coupled to both side surfaces of the main frame 170 in the second direction, and the third frame 190 and the fourth frame 190A may be coupled to both side surfaces of the main frame 170 in the first direction. Each of the first frame 180 and the second frame 180A may have a concave step-like structure to match the step-like structure provided along the inner side surface of the main frame 170. Also, each of the third frame 190 and the fourth frame 190A may have a concave step-like structure to match the step-like structure provided along the inner side surface of the main frame 170.

[0130] The third frame 190 may have a first window 191 facing the first transmission optical system 22 and the first receiving optical system 25, and a third heat dissipation member 195 may be disposed outside the third frame 190. The fourth frame 190A may have a second window 192 facing the second transmission optical system 32 and the second receiving optical system 35, and a fourth heat dissipation member 196 may be disposed outside the fourth frame 190A.

[0131] The first transceiver 120 may be coupled to the inside of the first frame 180, and the first heat dissipation members 81 and 81A may be disposed outside the first frame 180. The first heat dissipation members 81 and 81A may be disposed on the entire outer surface of the first frame 180 or both side surfaces.

[0132] The second transceiver 130 may be coupled to the inside of the second frame 180A, and the second heat dissipation members 83 and 83A may be disposed outside the second frame 180A. The second heat dissipation members 83 and 83A may be disposed on the entire outer surface or both side surfaces of the second frame 180A.

[0133] The first frame 180 may include a first support portion 183 therein, and the first support portion 183 may support a portion of the first receiving optical system 25. The first support portion 183 may have a first barrel hole TH1 (refer to Fig.11 ). When the first receiving optical system 25 is inserted into the first barrel hole TH1 , the first support portion 183 may fix and support the position of the first receiving optical system 25 .

[0134] The second frame 180A may include a second support portion 184 therein, and the second support portion 184 may support a portion of the second receiving optical system 35. The second support portion 184 may have a second barrel hole TH2 (refer to Fig.11 ). When the second receiving optical system 35 is inserted into the second barrel hole TH2, the second support portion 184 may fix and support the position of the second receiving optical system 35. A locking unit may be further provided inside or outside the first barrel hole TH1 and the second barrel hole TH2 to fix the corresponding receiving optical system. The locking unit may include a fastener.

[0135] Each of the first support portion 183 and the second support portion 184 may be made of a heat-conducting metal material (e.g., at least one of an iron alloy, an aluminum alloy, or a magnesium alloy), and may be provided as a mounting device for a circuit board to improve the heat dissipation efficiency of the internal space. Moreover, each of the first support portion 183 and the second support portion 184 may further include cooling fins on its exterior.

[0136] like Fig.13 As shown, the first frame 180 may include a first protection portion 38A extending from the first support portion 183 to the upper side of the first light source array 21 and a second protection portion 38B extending to the lower portion. Each of the first protection portion 38A and the second protection portion 38B may be bent from the first support portion 183, and the second protection portion 38B may be spaced apart from the first main substrate 26B by a spacer 38C. The distance between the first protection portion 38A and the second protection portion 38B may be greater than the outer diameter of the first lens tube 25A to protect the lens tube 25A.

[0137] like Fig.14 As shown, the second frame 180A may include a third protection portion 48A extending from the second support portion 184 to the upper side of the second light source array 31 and a fourth protection portion 48B extending to the lower portion. Each of the third protection portion 48A and the fourth protection portion 48B may be bent from the second support portion 184, and the fourth protection portion 48B may be spaced apart from the second main substrate 36B by a spacer 48C. The distance between the third protection portion 48A and the fourth protection portion 48B is greater than the outer diameter of the second lens tube 35A to protect the second lens tube 35A.

[0138] Furthermore, the first protecting portion 38A and the second protecting portion 38B and the third protecting portion 48A and the fourth protecting portion 48B of the first supporting portion 183 and the second supporting portion 184 may include holes therein to suppress an increase in weight.

[0139] The first support portion 183 may be integrated into the inside of the first frame 180 or separately attached thereto. The second support portion 184 may be integrated into the inside of the second frame 180A or separately attached thereto.

[0140] The inner circumference of the first frame 180 may have a stepped structure and may be coupled to the third side surface of the main frame 170. The inner circumference of the second frame 180A may also have a stepped structure and may be coupled to the fourth side surface of the main frame 170.

[0141] The main frame 170 may be coupled to at least one upper cover 161 and 162. The circumference of the upper cover 161 or 162 may be inserted into or closely fit into the upper frame 173 of the main frame 170. The upper cover 161 or 162 may have a plurality of fastening holes therein or along its circumference and be fastened to the frame coupled to the main frame 170. The upper cover 161 or 162 may be transparent.

[0142] The upper cover 161 or 162 may be fastened to the inner fastening portion of the housing 150. The upper cover 161 or 162 may have a circular or polygonal shape. That is, the upper cover 161 or 162 may have the same circular shape as the upper shape of the housing 150. As another example, the upper cover 161 or 162 may have the same polygonal shape as the upper shape of the main frame 170.

[0143] The main frame 170 may be coupled to the bottom frame 260. The bottom frame 260 may support the lower portion of each of the first transceiver 120 and the second transceiver 130. The bottom frame 260 may be coupled to the rotating frame 253. The bottom frame 260 may have a connection hole inside and a coupling protrusion on the upper circumference, and be assembled to the lower frame 172 of the main frame by a stepped structure of the upper circumference. Therefore, the lower frame 172 may be closely attached to the circumference of the bottom frame 260.

[0144] The coupling hole of the bottom frame 260 can accommodate the upper structure of the rotating frame 253 and can be coupled to the components and / or supporting components of the main frame 170. That is, other frames and / or side covers can be coupled to the coupling hole of the bottom frame 260 to prevent displacement caused by rotation. Here, a plurality of frames 180, 180A, 190, and 190A can be respectively coupled to the side surfaces of the main frame 170. The plurality of frames can be the first to fourth frames 180, 180A, 190, and 190A provided on the corresponding side surfaces of the main frame 170.

[0145] The bottom frame 260 may have a circular or polygonal shape and is coupled to the first to fourth frames 180, 180A, 190, and 190A using coupling protrusions 262 protruding outward from the corresponding side surfaces. The bottom frame 260 may include a plurality of insertion protrusions 261 on its inner circumference and may be coupled to holes (not shown) of the main boards 26B and 36B. The insertion protrusions 261 and the coupling protrusions 262 may prevent the bottom frame 260 from moving alone.

[0146] The bottom frame 260 may be coupled to the lower end of the housing 150. That is, the bottom frame 260 may have a circular shape that is the same as the lower shape of the housing 150. Alternatively, the bottom frame 260 may have a polygonal shape that is the same as the lower shape of the main frame 170.

[0147] The sealing member may be provided between the main frame 170 and the bottom frame 260, between the main frame 170 and the upper cover 161, and between the main frame 170 and the first to fourth frames 180, 180A, 190, and 190A. The sealing member as a cleaning part may be made of a rubber material and blocks moisture and foreign matter from being introduced through the corresponding side surface of the main frame 170.

[0148] The first heat dissipation members 81 and 81A may be disposed on one side of the first circuit board 26A and one side of the first light source array 21, respectively. The first heat dissipation members 81 and 81A may be disposed between the housing 150 and the main frame 170. The second heat dissipation members 83 and 83A may be disposed on one side of the second circuit board 36A and one side of the second light source array 31, respectively. The second heat dissipation members 83 and 83A may be disposed between the housing 150 and the main frame 170. Each of the first heat dissipation members 81 and 81A and the second heat dissipation members 83 and 83A may include heat dissipation fins arranged vertically. The second heat dissipation members 83 and 83A may include heat dissipation fins arranged vertically.

[0149] The third heat dissipation member 195 may be disposed outside the first sensor array 26, that is, outside the first circuit board 26A where the first sensor array 26 is located, to dissipate the heat generated by the first sensor array 26. The fourth heat dissipation member 196 is disposed outside the second sensor array 36, that is, outside the second circuit board 36A where the second sensor array 36 is located, to dissipate the heat generated by the second sensor array 36. The third heat dissipation member 195 and the fourth heat dissipation member 196 may have vertically arranged heat dissipation fins. The respective areas of the third heat dissipation member 195 and the fourth heat dissipation member 196 may be smaller than the respective areas of the first heat dissipation member 81A and the second heat dissipation member 83A. The area of ​​each heat dissipation member is the size of the area on which the heat dissipation fins are arranged.

[0150] like Fig.15 and Fig.16 As shown, the first to fourth heat dissipation members 81A, 83A, 195 and 196 may be disposed in the housing 150. Each of the heat dissipation fins of the third heat dissipation member 195 and the heat dissipation fins of the fourth heat dissipation member 196 may have a width (horizontal width) that gradually decreases along the rotation direction while having the same vertical length. The first window hole 151 may face the first light source array 21 and the first receiving optical system 22 of the first transceiver 120, and the second window hole 152 may face the second light source array 31 and the second receiving optical system 32 of the second transceiver 130. The first window 191 and the second window 192 may be respectively coupled to corresponding coupling holes of the third frame 190 and the fourth frame 190A (see Fig.24 ).

[0151] Fig.17 26 is a view showing another example of the bottom frame 260. The bottom frame 260 may have a polygonal shape, and heat dissipation holes 268 may be defined in regions corresponding to lower regions of heat dissipation fins of the respective heat dissipation members 81, 81A, 195, and 196.

[0152] like Fig.15 , Fig.16 and Fig.18As shown, the housing 150 may further include inner walls 155 and 156 disposed on the outside to face the outer surfaces of the first heat dissipation member 81A and the second heat dissipation member 83A. Therefore, the first heat dissipation member 81A and the second heat dissipation member 83A may contact the inner walls 155 and 156 of the housing 150 to improve the heat dissipation efficiency through the housing 150. The first window 191 may be disposed on one side of the third heat dissipation member 195, and the second window 192 may be disposed on the other side of the fourth heat dissipation member 196. The first window 191 may be disposed more outward than the first side surface of the main frame 170, and the second window 192 may be disposed more outward than the second side surface of the main frame 170. The first heat dissipation member 81A and the second heat dissipation member 83A may face the outer sides 26S and 36S of the first circuit board 26A and the second circuit board 36A where the first sensor array 26 and the second sensor array 36 are located.

[0153] The first window 191 may face the outside of the first light source array 21 and the first receiving optical system 25. The first window 191 may face the outside of the lens tube 25A of the first receiving optical system 25 and the second light source array 31. The second window 192 may face the outside of the lens tube 35A of the second receiving optical system 35 and the second light source array 31.

[0154] Fig.19 1 is a view showing another example of the housing 150 and / or the heat dissipation member. Fig.19 As shown, the laser radar device may further include an inner cover 350 in the housing 150. The inner cover 350 may be in close contact with the outer surfaces of the first to fourth heat dissipation members 81B, 83A, 195, and 196.

[0155] The inner cover 350 includes heat dissipation covers 351, 352, 353, and 354 outside the corresponding heat dissipation members 81B, 83A, 195, and 196 of the main frame 370. The heat dissipation covers 351, 352, 353, and 354 may be disposed in the housing 150. The heat dissipation covers 351, 352, 353, and 354 may be disposed between the housing 150 and the heat dissipation members 81B, 83A, 195, and 196. The heat dissipation covers 351, 352, 353, and 354 may have a curved shape and be disposed outside the corresponding heat dissipation members 81B, 83A, 195, and 196. For example, the first heat dissipation cover 351 may be disposed outside the first heat dissipation member 81B, the second heat dissipation cover 352 may be disposed outside the second heat dissipation member 83A, the third heat dissipation cover 353 may be disposed outside the third heat dissipation member 195, and the fourth heat dissipation cover 354 may be disposed outside the fourth heat dissipation member 196.

[0156] The first heat dissipation cover 351 may have a hemispherical shape and may be coupled to one side of the main frame 370. The second heat dissipation cover 352 may have a hemispherical shape and may be coupled to the other side of the main frame 370. Here, the first heat dissipation member 81B, the third heat dissipation member 195, and the fourth heat dissipation member 196 may have different horizontal lengths so that the outer shape of the heat dissipation fins faces the hemispherical heat dissipation covers 351, 353, and 354.

[0157] Adjacent heat dissipation covers 351, 352, 353 and 354 may be coupled to each other or coupled through a main frame 370. Moreover, the main frame 370 may be divided into a plurality of parts and coupled to each other through a fastening member. Moreover, the main frame 370 may include frames 371, 372, 373 and 374 disposed on corresponding side surfaces thereof. In this case, since the main frame 370 or corresponding side frames are provided, the number of frames may be reduced. Both ends of the third frame 190 may be bent so that the outer sides of one end of the third frame and the fourth frame are opposite.

[0158] The respective heat dissipation covers 351 , 352 , 353 , and 354 may cover the outer side, side surface, and top surface of each of the heat dissipation members 81B, 83A, 195 , and 196 .

[0159] like Fig. 20 As shown, the first transceiver 120 may scan and sense with a first beam shape B1, and the second transceiver 130 may scan and sense with a second beam shape B2. At least one or both of the first transceiver and the second transceiver may not have a lens tube.

[0160] The center of the first receiving optical system 25 and the center of the second receiving optical system 35 are spaced apart from the center C0 of the laser radar device by the same distances Y1 and Y2 in the first direction Y. The center of the first receiving optical system 25 and the center of the second receiving optical system 35 are spaced apart from the center of the laser radar device by the same distances X1 and X2 in the second direction X. When arranged at the corresponding center positions of the first receiving optical system 25 and the second receiving optical system 35, the center of gravity of the first transceiver 120 and the center of gravity of the second transceiver 130 may be equally spaced along the first direction Y and the second direction X, and are arranged on opposite sides with respect to the rotation center.

[0161] like Fig.21 As shown, outside the housing 150, the first transceiver 120 may have a first vertical field of view R1, and the second transceiver 130 may have a second vertical field of view R2. Based on the horizontal axis Z1, the second vertical field of view R2 may be smaller than the first vertical field of view R1. Here, the vertical field of view may be an angle between two straight lines extending from the upper end and the lower end of the entrance side of each lens tube.

[0162] The diameter Y2 of the housing 150 may be greater than a diameter of each of the rotating frame 253 and / or the fixed frame 251 .

[0163] like Fig. 22 and Fig.23 As shown, the third frame 190 may have a window hole facing the first window 191 and a third heat dissipation cover 353 for covering the third heat dissipation member 195. The third heat dissipation cover 353 may protrude further outward than the first window 191 to protect the first window 191.

[0164] The fourth frame 190A may have a window hole facing the second window 192 and a fourth heat dissipation cover 354 for covering the outside of the fourth heat dissipation member 196. The fourth heat dissipation cover 354 may protrude further outward than the second window 192 to protect the second window 192.

[0165] like Figure 24 to Figure 26 As shown, the third heat dissipation cover 353 and the fourth heat dissipation cover 354 may each have a window hole 270 , be fastened to the third frame 190 and the fourth frame 190A, respectively, and each have a hole 199 coupled with the windows 191 and 192 .

[0166] The third heat dissipation cover 353 and the fourth heat dissipation cover 354 may be disposed outside the third heat dissipation member 195 and the fourth heat dissipation member 196. Each of the air guides 195A of the third heat dissipation member 195 and the air guides 196A of the fourth heat dissipation member 196 may have a curved shape instead of being arranged vertically. The air guide having a relatively long length among the curved air guides 195A and 196A may have a linear and curved shape. The air guide disposed at the upper side among the curved air guides 195A and 196A may have a linear and curved shape. The linear shapes of the air guides 195A and 196A may be disposed on an area adjacent to a window.

[0167] Since the area adjacent to the windows 191 and 192 can be arranged at different heights, one end of each of the plurality of air guides 195A and 196A can guide the air flow introduced in the rotation direction or introduced through the lower second flow path groove FH2. For example, the other end of the plurality of air guides 195A and 196A can guide the introduced air toward the bottom frame 260. On the contrary, when the external air is introduced through the lower second flow path groove FH2, the air guides 195A and 196A can guide the air introduced from the lower side, dissipate the heat generated by the internal heat-generating components (e.g., 26A and 36A), and guide the air toward the windows 191 and 192 set on one side surface of the air guides 195A and 196A.

[0168] To this end, the bottom frame 260 may have heat dissipation holes 268 corresponding to the lower portions of the third heat dissipation member 195 and the fourth heat dissipation member 196. The heat dissipation holes 268 may be arranged at regions corresponding to the corresponding heat dissipation fins and regions corresponding to the corresponding air guides 195A and 196A, respectively. That is, one end of the air guides 195A and 196A may be arranged parallel to the rotation direction of the spin head. The other ends of the air guides 195A and 196A may face the heat dissipation holes 268 of the bottom frame 260 (refer to Fig.17 ).

[0169] The third heat dissipation cover 353 and the fourth heat dissipation cover 354 may include a first flow path groove FH1 located therein and a second flow path groove FH2 located at the lower side. The first flow path groove FH1 may be connected to the window hole 270 and correspond to one end of each of the plurality of air guides 195A and 196A. The second flow path groove FH2 may correspond to the heat dissipation hole 268 of the bottom frame 260 and the other end of each of the plurality of air guides 195A and 196A.

[0170] like Fig. 27 and Fig.28 As shown, the housing 150 and the upper cover 161 can be fastened by a fastening member 90. The fastening member 90 can be fastened to the fastening groove 93 of the housing 150 through the upper cover 161. The elastic spring 95 of the fastening member 90 can provide elasticity between the housing 150 and the fastening body 96, so that the housing 150 and the upper cover 161 are in close contact with each other to alleviate vertical impact. Moreover, the lower periphery of the housing 150 and the bottom frame 260 can be fastened by a fastening member (not shown). The housing 150 can be fastened to the upper covers 161 and 162 and / or the frame, and can also be fastened to the bottom frame 260.

[0171] The features, structures, effects, etc. described in the embodiments are included in at least one embodiment of the present invention, and are not necessarily limited to one embodiment. In addition, the features, structures, effects, etc. shown in each embodiment can be combined or modified and implemented in other embodiments by a person of ordinary skill in the field to which the embodiments belong. Therefore, the content related to such combination and modification should be interpreted as being included in the scope of the present invention. In addition, although the embodiments have been described, they are merely examples and do not limit the present invention. A person of ordinary skill in the field to which the present invention belongs will understand that various modifications and applications not shown can be made without departing from the basic features of the embodiments. For example, each component specifically shown in the embodiments can be modified and implemented. The differences associated with these modifications and applications should be interpreted as being included in the scope of the present invention defined in the appended claims.

Claims

1. A laser radar device, comprising: A main frame, wherein the main frame has a receiving portion; a plurality of transceivers disposed in the accommodation portion, each of which emits a laser beam toward an object in a different direction and senses the laser beam reflected by the object; as well as The bottom frame is arranged below the main frame.

2. The laser radar device according to claim 1, wherein: The plurality of transceivers include: a first transceiver configured to emit and sense a laser beam in a first direction; and The second transceiver is configured to emit and sense a laser beam in a direction opposite to the first direction.

3. The laser radar device according to claim 1, further comprising an upper cover or an upper frame disposed above the first transceiver and the second transceiver and connected to the upper inner periphery of the main frame, in, The bottom frame is coupled to a lower inner circumference of the main frame.

4. The laser radar device according to claim 2, wherein: Each side surface of the main frame includes a through receiving portion, and The laser radar device further includes a frame having a heat dissipation member respectively connected to the accommodation portion on each side surface of the main frame.

5. The laser radar device according to claim 3, further comprising a first window provided at a beam incident side of the first transceiver and a second window provided at a beam incident side of the second transceiver, in, The first window and the second window are disposed at outer sides of the main frame.

6. The laser radar device according to claim 5, wherein: The first transceiver includes a first receiving optical system and a first sensor array, Wherein, the second transceiver comprises a second receiving optical system and a second sensor array, and Among them, the laser radar device also includes a first lens tube arranged between the first receiving optical system and the first window, and a second lens tube arranged between the second receiving optical system and the second window.

7. The laser radar device according to claim 4, further comprising a heat dissipation cover, the heat dissipation cover respectively covering the heat dissipation member provided on each side surface of the main frame, in, The heat dissipation cover has a hole, and the hole exposes the window.

8. The laser radar device according to claim 4, wherein: The bottom frame has a heat dissipation hole corresponding to a lower portion of each of the heat dissipation members.

9. The laser radar device according to claim 7, further comprising a housing, the housing covering the upper part and the outer side of the main frame, in, The housing includes a window hole corresponding to each hole of the heat dissipation cover.

10. The laser radar device according to any one of claims 1 to 8, further comprising: a fixed frame fixed to the moving body and having a stator; as well as a rotating frame having a rotor facing the stator and configured to rotate axially on the fixed frame, Wherein, the rotating frame rotates the main frame, the bottom frame and the plurality of transceivers.

11. The laser radar device according to any one of claims 1 to 8, wherein: The plurality of transceivers have different incident-side receiving fields of view.

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