Sensor device, lidar device, and vehicle

Abstract

A lidar device disclosed in an embodiment may include: a main frame having an accommodating portion therein; a plurality of transceivers disposed in the accommodating portion, emitting laser beams toward the object in different directions, respectively, and sensing laser beams reflected from the object, respectively; the bottom frame is located below the main frame; and a plurality of lens covers disposed at an incident side of the receiving optical system in the respective transceivers.

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 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, the LiDAR transceiver may include an emitter that transmits light in the ultraviolet (UV), visible, and infrared spectral regions and / or one or more photodetectors that convert other electromagnetic radiation into electrical signals. In order to provide high-fidelity object detection and tracking (i.e., minimal or no distortion or noise), optical sensors (such as LiDAR) must be rigidly fixed to each other and have sufficient spacing between the optical components and the transceiver components, processing and driver circuits, cooling elements, cleaning elements, wiring, and motor components. Furthermore, the transceiver components are rigidly fixed to each other and must withstand the high-speed rotation of the mechanical LiDAR components, automotive-grade vibrations, and balance and weight considerations. Furthermore, the LiDAR must also include a housing package, and aesthetic factors must also be considered. Summary of the invention

[0004] Technical Purpose

[0005] Embodiments of the present invention provide a sensor device and a laser radar device including a plurality of transceivers.

[0006] Embodiments of the present invention also provide a sensor device and a laser radar device, the laser radar device including a plurality of transceivers that emit and sense laser beams in different directions.

[0007] Embodiments of the present invention may provide a sensor device and a laser radar device, wherein lens masks of different sizes are arranged in different directions on the incident side of each transceiver.

[0008] Embodiments of the present invention may provide a sensor device and a laser radar device having multiple transceivers that emit laser beams in different directions and sense laser beams at different incident angles. Thus, a device having multiple transceivers having different performance specifications and operating purposes may be provided.

[0009] An embodiment of the present invention can provide a sensor device and a lidar device, wherein the lidar device has a first transceiver and a second transceiver and rotates axially, the first transceiver emitting a laser beam in a first direction and sensing the laser beam at a first viewing angle, and the second transceiver emitting a laser beam in a direction opposite to the first direction and sensing the laser beam at a second angle.

[0010] Embodiments of the present invention may provide a sensor device and a lidar 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.

[0011] Embodiments of the present invention may provide a sensor device and a lidar device in which the centers of gravity of respective transceivers are positioned diametrically opposite to each other with respect to the center of rotation by improving the inertial mass effect of the optical sensor during rotation.

[0012] Embodiments of the present invention may provide a sensor device and a lidar device having a rigid structure that allows modular attachment of components such as cooling components, window components, and cleaning components, has accommodation space, and provides adequate sealing relative to external and environmental elements.

[0013] Embodiments of the present invention may provide transceivers arranged in parallel with two side walls of the external housing. Embodiments of the present invention also provide heat dissipation members in the external housing to absorb and release heat generated by the transceivers. According to embodiments of the present invention, a lens portion may be provided on one side or the front side of each transceiver, and a heat dissipation member may be provided on the other side or the rear side of each transceiver. 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.

[0014] Embodiments of the present invention may provide a sensor device and a laser radar device that can prevent optical interference or crosstalk between two or more transceivers. According to embodiments of the present invention, the inertial mass effect in a rotating laser radar device may be improved. That is, the centers of gravity of the respective transceivers may be arranged to be opposite to each other relative to the center of rotation to minimize movement of the respective transceivers during rotation.

[0015] Embodiments of the present invention may provide 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 may accommodate a modular cooling component. Similarly, at least one of the six accommodating portions may accommodate a modular removable optical window. At least one of the six accommodating portions may sturdily protect a transceiver assembly. Thus, the mounting device may accommodate a plurality of different types of components and provide a rigid mounting structure.

[0016] Embodiments of the present invention therefore provide a mounting arrangement for a transceiver 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.

[0017] Embodiments of the present invention provide a LiDAR sensor system that includes a housing for holding 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.

[0018] Technical Solution

[0019] According to an embodiment of the present invention, a laser radar device may include: a main frame having a housing portion therein; a plurality of transceivers arranged in the housing portion, each transceiver emitting a laser beam toward an object in a different direction and sensing the laser beam reflected from the object; a bottom frame arranged below the main frame; and a plurality of lens covers arranged on the incident side of a receiving optical system of each of the plurality of transceivers.

[0020] According to an embodiment of the present invention, the multiple transceivers may include: a first transceiver having a first light source array emitting laser beams in a first direction, and a first receiving optical system and a first sensor array for receiving the laser beams of the first light source array; and a second transceiver having a second light source array emitting laser beams in a direction opposite to the first direction, and a second receiving optical system and a second sensor array for receiving the laser beams of the second light source array, and the multiple lens covers may include a first lens cover arranged on the incident side of the first receiving optical system and a second lens cover arranged on the incident side of the second receiving optical system.

[0021] According to an embodiment of the present invention, the present invention may include a first window arranged on an incident side of a first lens mask and an emission side of a first light source array, and a second window arranged on an incident side of a second lens mask and an emission side of a second light source array.

[0022] According to an embodiment of the present invention, the first window and the second window may be positioned outside the main frame.

[0023] According to an embodiment of the present invention, each side surface of the main frame may have a through receiving portion, and the receiving portion on each side surface of the main frame may include a frame having a heat dissipation member coupled thereto.

[0024] According to an embodiment of the present invention, sizes of the entrances through which the laser beams of the plurality of lens covers are incident may be different from each other.

[0025] According to an embodiment of the present invention, the vertical height of the end-side lens hole of the first lens cover is greater than the horizontal length.

[0026] According to an embodiment of the present invention, the end-side lens holes of the second lens cover may have the same horizontal length and vertical height.

[0027] According to an embodiment of the present invention, a first optical axis passing through the center of the first lens cover and the lens of the first receiving optical system may be inclined relative to a second optical axis passing through the center of the second lens cover and the lens of the second receiving optical system.

[0028] According to an embodiment of the present invention, a heat dissipation cover is included that covers each heat dissipation member arranged on each side surface of the main frame, and the heat dissipation cover may have a hole to expose the window.

[0029] According to an embodiment of the present invention, a housing covering the upper side and the outer side of the main frame is included, and the housing may have a window hole corresponding to the hole of each heat dissipation cover.

[0030] According to an embodiment of the present invention, the present invention includes a fixed frame fixed to a moving body and having a stator; and a rotating frame having a rotor opposite to the stator and axially rotating on the fixed frame. The rotating frame can rotate the main frame, the bottom frame and the plurality of transceivers.

[0031] According to an embodiment of the present invention, reception fields of light incident through each of a plurality of transceivers may be different from each other.

[0032] According to the detailed description given below, other applicability ranges of the present invention will become more obvious. However, the detailed description and specific examples are only for illustration while describing the preferred embodiments of the present invention. This is because various changes and modifications within the spirit and scope of the present invention will become apparent to those skilled in the art according to the detailed description. The present invention will be more fully understood by the detailed description and accompanying drawings given below, which are provided only as illustrations and are therefore not intended to limit the present invention.

[0033] Beneficial effects

[0034] According to the embodiments of the present invention, the present invention can realize and support the modular attachment of components to be combined (such as cooling elements, window elements, cleaning elements), and can provide sufficient protection and sealing effect from external impact and weather factors. Moreover, the components can be accommodated and supported, so that the protection and combination of the components can be facilitated. Moreover, a device capable of disassembling the components can be provided.

[0035] According to an embodiment of the present invention, by having a pair of transceivers arranged in different or opposite directions, the device can be miniaturized, and wind noise, aerodynamic drag and / or weight caused by high-speed movement can be reduced. Moreover, the packaging efficiency of the sensor head assembly can be improved. Moreover, optical interference caused by different transceivers can be prevented.

[0036] Additionally according to embodiments of the present invention, a lens shield may be placed for light reception of each transceiver to minimize light loss or light divergence.

[0037] According to the present invention, by arranging the heat dissipation members on two sides or more, the heat dissipation efficiency can be improved.

[0038] Embodiments of the present invention may improve the sensing efficiency of the surrounding area by obtaining optical impressions from different directions at different divergence angles by rotating imaging devices (such as sensor devices and lidar devices). BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is a perspective view of a vehicle having a laser radar device according to an embodiment of the present invention.

[0040] Figure 2 Is has Figure 1 An example of a block diagram of a vehicle system with a lidar device.

[0041] Figure 3 It is shown Figure 2 Block diagram of a first transceiver and a second transceiver of a lidar device.

[0042] Figure 4 is a stereoscopic diagram of a laser radar device according to an embodiment of the present invention.

[0043] Figure 5 yes Figure 4 Example of a stereogram of a lidar device.

[0044] Figure 6 yes Figure 4 A stereoscopic view of the housing of a lidar device.

[0045] Figure 7 It is shown Figure 4 A plan view of the internal structure of the lidar device.

[0046] Figure 8 yes Figure 4 An exploded perspective view of the internal and external structure of the frame of the lidar device.

[0047] Fig. 9 (A) and (B) are cross-sectional views showing a first transceiver and a second transceiver connected within a main frame in the laser radar device of the present invention.

[0048] Fig.10 It is a partial cross-sectional view of the first transceiver and the second transceiver in the laser radar device of the present invention.

[0049] Fig.11 It is shown Figure 8 A perspective view of an example of a combination of a first frame and a first transceiver.

[0050] Fig.12 It is shown Figure 8 A perspective view of an example of a combination of a second frame and a second transceiver.

[0051] Fig.13 It is a diagram for explaining the beam paths and centers of the first transceiver and the second transceiver in the laser radar device of the present invention.

[0052] Fig.14 It is a diagram for explaining the beam paths of the first transceiver and the second transceiver in the laser radar device of the present invention.

[0053] Fig.15 1 is a side view of the laser radar device of the present invention, in which the end of the first lens cover of the first transceiver is connected.

[0054] Fig.16 It is a side view of the laser radar device of the present invention, in which the end of the second lens cover of the second transceiver is connected.

[0055] Fig.17 It is a stereoscopic view of the first lens cover in the laser radar device of the present invention.

[0056] Fig.18It is a perspective view of the second lens cover in the laser radar device of the present invention.

[0057] Fig.19 1 is a side view showing a first lens cover and a first window of a first transceiver in a laser radar device of the present invention.

[0058] Fig. 20 1 is a side view showing a second lens cover and a second window of a second transceiver in the laser radar device of the present invention. DETAILED DESCRIPTION

[0059] 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.

[0060] 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.

[0061] 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).

[0062] The above-mentioned aspects and features of embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

[0063] Figure 1 is a perspective view of a vehicle including a laser radar device according to an embodiment of the present invention.

[0064] Reference Figure 1 , a mobile object (such as a vehicle 500 ) may include a lidar 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 .

[0065] 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 degrees. 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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, etc.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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 degrees 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 around an axis.

[0075] 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 rotate, and may transmit a driving force.

[0076] 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), one or more field programmable gate arrays (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 one or more devices (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.

[0077] The measurement system 110 may include one or more processors (also referred to as central processing units or CPUs). The one or more processors may be connected to a communication infrastructure or bus. Furthermore, the one or more processors 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.

[0078] The measurement system 110 is a computer system and may be connected to at least one user input or output device, such as a monitor, keyboard or pointing device, which communicates with a communication infrastructure via a user input or output interface.

[0079] One or more transceivers 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 degrees. For example, the multiple transceivers may be arranged at one of 30, 60, 90, 120, 150, and 180 degrees, preferably at 180 degrees.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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 degree opposite directions based on their center positions to scan objects located at 180 degree intervals.

[0086] 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.

[0087] 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.

[0088] 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) VCSEL array or a two-dimensional 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 and the number of light sources of the second light source array 31 may be the same or different.

[0089] The optical signals emitted from the first light source array 21 and the second light source array 31 may be emitted 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 one or more lenses, or one or more lenses 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 or more optical lens elements 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.

[0090] 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 TDC (time-to-digital converter). The start signal can be used to calculate the flight time (TOF) of the light.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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 be a Geiger mode, that is, a Geiger mode APD (GmAPD).

[0095] 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.

[0096] 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 of the reflected light pulse. 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.

[0097] like Figure 3 As shown, the first transceiver 120 is arranged on one side based on the central axis Y0 passing through the laser radar device 100 along the first horizontal direction Y, and the second transceiver 130 is arranged 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 can be a straight line passing through the center between the two sides of the second direction X of the laser radar device 100.

[0098] 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.

[0099] 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.14 ), a housing 150, a main frame 170, and transceivers 120 and 130 in an internal space 150A of the housing 150.

[0100] The fixing frame 251 includes a stator therein, which can be fixed to a cover or upper housing of a vehicle or a moving body. The fixing frame 251 may include a fastening portion 12 along its periphery, and is coupled to a vehicle (such as a moving body) by using a plurality of fastening members 11. The fixing frame 251 may have a circular or annular top view shape.

[0101] like Fig.14 As shown, the rotating frame 253 is opposite to the internal structure of the fixed frame 251, includes a rotor (not shown), and rotates on the fixed frame 251. The stator can be a coil, and the rotor can also be a coil. The stator and the rotor can form a drive unit, for example, a motor. A structure for guiding the rotation of the rotating frame 253 and preventing disengagement can be provided on one or more regions of each of the rotating frame 253 and the fixed frame 251, and the structure can include a rotating guide or a rotating shaft (not shown). The rotating frame 253 can have a circular or annular top view shape. The rotating frame 253 can be a rotating platform.

[0102] like Figures 4 to 6 As shown, the housing 150 may have an inner space 150A and may have a cylindrical shape with an open bottom and a closed top. The housing 150 may extend to the upper outer side of the rotating frame 253. The housing 150 may rotate together with the rotating frame 253. The housing 150 may serve as a shell covering the internal components and may be made of a heat dissipation material.

[0103] 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 be formed to have the same size as each other, or may include at least one or more perforations having different sizes.

[0104] 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 the entrance area of ​​the windows 191 and 192 to expose the windows 191 and 192.

[0105] The rotating head 111 may be coupled to 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 entering 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.

[0106] The cover frames 141 may be stacked one on top of another in one or more ways. 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.

[0107] 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.

[0108] The cover frame 141 may be fastened to a first fastening portion 93 provided on an inner upper circumference of the housing 150 by a fastening member (not shown). The bottom frame 260 may be fastened to a second fastening portion 91 provided on an 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 an upper cover 161 described later, and either upper cover may be removed.

[0109] like Figures 7 to 12 As shown, optical components (such as transceivers 120 and 130), a heat dissipation component for heat dissipation, a frame component for supporting and connecting internal components, and a cover component for protecting the internal components are combined in the housing 150 of the laser radar device 100. 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.

[0110] 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 disposed on a first circuit board 26A, and the first light source array 21 may be disposed on another driving board 21A. The first transceiver 120 may be disposed on a first main board 26B, and the first main board 26B may be electrically connected to the above boards.

[0111] 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.

[0112] The first circuit board 26A can be arranged between the first receiving optical system 25 and the main frame 170. The second circuit board 36A can be arranged between the second receiving optical system 35 and the main frame 170. The first circuit board 26A and the second circuit board 36A can be arranged on opposite sides of the main frame 170. In this way, by arranging the first transceiver 120 and the second transceiver 130 in opposite directions, the light source array, sensor array and circuit board of each transceiver can be distributed. This improves the heat dissipation efficiency and maximizes the space utilization. In addition, by providing a cooling system with a heat dissipation member on at least three sides of each transceiver 120, 130, the problem of heat dissipation degradation can be improved. The problem of performance degradation of the laser radar system caused by the heat generated internally can be prevented.

[0113] The first transceiver 120 may include a first lens cover 25A that receives light on the incident side (front side) of the first receiving optical system 25. The second transceiver 130 may include a second lens cover 35A that receives light on the incident side (front side) of the second receiving optical system 35. The shape or area of ​​the entrance side of the first lens cover 25A may be different from the shape or area of ​​the entrance side of the second lens cover 35A. The first lens cover 25A may be a part of the first receiving optical system 25. The second lens cover 35A may be a part of the first receiving optical system 35.

[0114] Here, the first transceiver 120, the first lens cover 25A and the circuit boards 21A, 26B may be defined as a first transceiver assembly. The second transceiver 130, the second lens cover 35A and the circuit boards 31A, 36A, 36B may be defined as a second transceiver assembly. The first lens cover 25A and the second lens cover 35A may be lens tubes.

[0115] The first lens cover 25A extends between the first lens of the first receiving optical system 25 and the first window 191, and can improve the incident efficiency and protect the lens. The second lens cover 35A extends between the first lens of the second receiving optical system 35 and the second window 192, and can improve the incident efficiency and protect the lens.

[0116] The vertical opening height (H1) of the first lens cover 25A may be different from the vertical opening height (H2) of the second lens cover 35A. For example, the vertical opening height (H1) of the first lens cover 25A may be greater than the vertical opening height (H2) of the second lens cover 35A. The horizontal opening length (H3) of the first lens cover 25A may be different from the horizontal opening length (H4) of the second lens cover 35A. For example, the horizontal opening length (H3) of the first lens cover 25A may be less than the horizontal opening length (H4) of the second lens cover 35A. When viewed in cross section, the first optical axis passing through the center of the first lens cover 25A and the center of the inner lens may be tilted relative to the second optical axis passing through the center of the second lens cover 35A and the center of the inner lens. The second optical axis is a horizontal optical axis, and the first optical axis may be tilted relative to the second optical axis.

[0117] The first light source array 21 may be placed on the outside of the first lens cover 25A, and the second light source array 31 may be placed on the outside of the second lens cover 35A.

[0118] The vertical field of view of the first receiving optical system 25 may be different from the vertical field of view 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 horizontal field of view of the first receiving optical system 25 may be different from the horizontal field of view 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 multiple 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.

[0119] The first receiving optical system 25 of the first transceiver 120 may be arranged to extend 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 be arranged to extend 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 opposite side surfaces in the first direction Y of the main frame 170, and the first side surface and the second side surface may be opposite side surfaces in the second direction X of the main frame 170. Each of the first to fourth side surfaces of the main frame 170 may include an accommodation portion extending therethrough, and a frame having a component for heat dissipation (i.e., a heat dissipation member) may be combined in the accommodation portion of each side surface.

[0120] like Figure 8 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 (i.e., plates), and may include, for example, six receiving portions or plates.

[0121] The upper frame 173, the lower frame 172, and the plurality of column frames 171 may be provided integrally. As another example, at least one of the upper frame 173, the lower frame 172, and the plurality of column frames 171 may be provided as a separable structure. The upper frame 173 or the lower frame 172 may be provided separately from each other, 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 coupled in a fastened or detachable manner.

[0122] The upper frame 173 and the lower frame 172 are spaced apart from each other by the pillar frame 171 and may have 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.

[0123] The column frame 171 connects and supports the corners of the upper frame 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.

[0124] 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.

[0125] 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 cooperate with the step-like structure provided along the inner side of both side surfaces of the main frame 170. Also, the third frame 190 and the fourth frame 190A may have a concave step-like structure to cooperate with the step-like structure provided along the inner side surfaces of both sides of the main frame 170.

[0126] 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 provided outside. 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 provided outside.

[0127] 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 provided on the outside. The first heat dissipation members 81 and 81A may be provided on the entire outside or both sides of the outer surface of the first frame 180 .

[0128] 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 on the outside. The second heat dissipation members 83 and 83A may be disposed on the entire outside or on both sides of the second frame 180A.

[0129] like Fig.11 As shown, the first frame 180 includes a first support portion 183, and the first support portion 183 supports a portion of the first receiving optical system 25. The first support portion 183 may have a first barrel hole TH1 (refer to Fig.10 ). When the first receiving optical system 25 is inserted into the first barrel hole TH1, the position of the first receiving optical system 25 may be fixed and supported.

[0130] The second frame 180A includes a second support portion 184 therein, and the second support portion 184 can support a portion of the second receiving optical system 35. The second support portion 184 has 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 position of the second receiving optical system 35 can be fixed and supported. A locking unit may be further provided inside or outside the first barrel hole TH1 and the second barrel hole TH2 to fix each receiving optical system. The locking unit may include a fastener.

[0131] 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.

[0132] 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 downward. 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 interval between the first protection portion 38A and the second protection portion 38B is greater than the outer diameter of the first lens cover 25A, and the lens cover 25A may be protected.

[0133] 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. 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 interval between the third protection portion 48A and the fourth protection portion 48B is greater than the outer diameter of the second lens cover 35A, and the second lens cover 35A may be protected.

[0134] 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 the weight of the frame.

[0135] 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.

[0136] The inner circumference of the first frame 180 has 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.

[0137] The main frame 170 may be coupled to one or more upper covers 161. The circumference of the upper cover 161 may be inserted into or closely fit into the upper frame 173 of the main frame 170. The upper cover 161 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 may be transparent. The upper cover 161 may be fastened to a fastening portion inside the housing 150. The upper cover 161 may have a circular or polygonal shape. That is, the upper cover 161 may have a circular shape that is the same as the upper shape of the housing 150. As another example, the upper cover 161 may have a polygonal shape that is the same as the upper shape of the main frame 170.

[0138] The main frame 170 may be coupled to the bottom frame 260. The bottom frame 260 may support the lower portions 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 may be assembled to the lower frame 172 of the main frame through a stepped structure of the upper circumference. Therefore, the lower frame 172 may be closely attached to the circumference of the bottom frame 260.

[0139] The coupling hole of the bottom frame 260 may protrude from the upper structure of the rotating frame 253 and may be coupled to the structure and / or support member of the main frame 170. That is, in order to prevent displacement due to rotation, other frames and / or side covers may be coupled to the coupling hole of the bottom frame 260. Here, a plurality of frames 180, 180A, 190, and 190A may be coupled to each side surface of the main frame 170. The plurality of frames may be first to fourth frames 180, 180A, 190, and 190A provided on each side surface of the main frame 170.

[0140] The bottom frame 260 has a circular or polygonal shape and is combined with the first to fourth frames 180, 180A, 190, and 190A using coupling protrusions 262 protruding outward from each side. The bottom frame 260 may include a plurality of insertion protrusions 261 on its inner circumference and may be combined with 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.

[0141] The bottom frame 260 may be coupled to the bottom of the case 150. That is, the bottom frame 260 may have a circular shape that is the same as the lower shape of the case 150. As another example, the bottom frame 260 may have a polygonal shape that is the same as the lower shape of the main frame 170.

[0142] Sealing members 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 members as cleaning parts may be made of a rubber material and block moisture and foreign matter from entering through each side of the main frame 170.

[0143] 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. 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.

[0144] 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.

[0145] The first to fourth heat dissipation members 81A, 83A, 195, and 196 may be disposed in the housing 150. 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, and their vertical lengths may be the same. The first window hole 151 faces the first light source array 21 and the first receiving optical system 22 of the first transceiver 120, and the second window hole 152 faces 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 coupled to coupling holes of the third frame 190 and the fourth frame 190A, respectively.

[0146] like Fig.13 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 be provided with a lens cover.

[0147] The center of the first receiving optical system 25 and the center of the second receiving optical system 35 may be spaced apart from the center C0 of the laser radar device by the same distances Y1 and Y2 along the first direction Y. The center of the first receiving optical system 25 and the center of the second receiving optical system 35 may be spaced apart from the center of the laser radar device by the same distances X1 and X2 along the second direction X. In the case where the center of gravity of each of the first transceiver 120 and the second transceiver 130 is located at the center position of the first receiving optical system 25 and the second receiving optical system 35, the center of gravity of each of the first transceiver 120 and the second transceiver 130 may be equally spaced apart along the first direction Y and the second direction X, so that the center of gravity of each transceiver may be arranged to be located at diametrically opposite positions relative to the rotation center.

[0148] Fig.13 is another example of the inner cover and the heat dissipation element in the embodiment of the present invention. Fig.13 As shown, the laser radar device may further include an inner cover 350 located inside 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.

[0149] 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 inside 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 outside each heat dissipation member 81B, 83A, 195, and 196. For example, the first heat dissipation cover 351 may be included outside the first heat dissipation member 81B, the second heat dissipation cover 352 may be included outside the second heat dissipation member 83A, the third heat dissipation cover 353 may be included outside the third heat dissipation member 195, and the fourth heat dissipation cover 354 may be included outside the fourth heat dissipation member 196.

[0150] The first heat dissipation cover 351 may be coupled to one side of the main frame 370 in a hemispherical shape. The second heat dissipation cover 352 may be coupled to the other side of the main frame 370 in a hemispherical shape. 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.

[0151] Adjacent heat dissipation covers 351, 352, 353 and 354 may be coupled to each other or coupled through the main frame 370. Moreover, the main frame 370 may be divided into a plurality of pieces and coupled to each other through a fastening member. Moreover, the main frame 370 may include frames 371, 372, 373 and 374 disposed on each side. In this case, since the main frame 370 or each side frame is disposed, the number of frames may be reduced. Both ends of the third frame 190 may be bent so that the outer ends of the third frame and the fourth frame face each other.

[0152] Each heat dissipation cover 351 , 352 , 353 , and 354 may cover the outer side, the side surface, and the top surface of each heat dissipation member 81B, 83A, 195 , and 196 .

[0153] like Fig.14 As shown, on the outside of the housing 150, the first transceiver 120 may have a first vertical viewing angle R1, and the second transceiver 130 may have a second vertical viewing angle R2. With respect to the horizontal axis Z1, the second vertical viewing angle R2 may be smaller than the first vertical viewing angle R1. Here, the vertical viewing angle may be an angle between two straight lines extending from the upper end and the lower end of the entrance side of each lens cover.

[0154] The diameter Y2 of the housing 150 may be set to be greater than the diameters of the rotating frame 253 or / and the fixed frame 251 .

[0155] like Fig.15 and Fig.17 As shown, the end portion 25B of the first lens cover 25A and the rear surface of the second circuit board 36A are exposed on the fourth side or one side receiving portion of the main frame 170. The vertical height of the entrance of the first lens cover 25A may be greater than the horizontal length. The entrance of the first lens cover 25A may have left / right symmetry, and the up / down shape may have an asymmetric shape.

[0156] The end portion 25B of the first lens cover 25A exposes the first lens hole C1, and the gap between the upper end 5B and the lower end 5C of the first lens hole C1 can gradually increase from the inside to the outside. The end portion 25B of the first lens cover 25A can be fastened to the first window 191 through the fastening hole 5D.

[0157] The side surface 5A of the first lens hole C1 of the first lens cover 25A may be a curved surface having a radius of curvature greater than the radius of curvature of the upper surface 5B and the lower surface 5C, or may be a vertical plane. The end portion 25B of the first lens cover 25A has a stepped area 25S1 between the periphery and the first lens hole C1, and the fastening hole 5D may be provided on the stepped area 25S1 so that it can be fastened to another component using a fastening member (such as a screw or a bolt). The end portion 25B of the first lens cover 25A may have an outer periphery 5F to which an adhesive may be applied so that it may be bonded to another component. The first lens cover 25A has protrusions 25C, 25D protruding outward, and may be engaged or attached to another component through the fastening holes of the protrusions 25C, 25D. The first window 191 may be arranged at the end 25B of the first lens cover 25A and the emission side of the first light source array 21.

[0158] The shape of the entrance side of the first lens hole C1 may be an ellipse. As another example, the shape of the entrance side of the first lens hole C1 may be a circle or a polygon, such as a square or a rectangle.

[0159] like Fig.16 and Fig.18 As shown, the end portion 35B of the second lens cover 35A and the rear surface of the first circuit board 26A are exposed on the third side or the other side receiving portion of the main frame 170. The entrance of the second lens cover 35A can have the same or different horizontal lengths and vertical heights. The entrance of the second lens cover 35A can have a left-right symmetrical shape or / and a top-bottom symmetrical shape.

[0160] The end portion 35B of the second lens cover 35A exposes the second lens hole C2, and the gap between the top and the bottom of the second lens hole C2 gradually increases from the inside toward the outside. The end portion 35B of the second lens cover 35A can be fastened to the second window 192 using a fastening member (such as a screw or a bolt) through the fastening hole 6D. The side surface 6A of the first lens hole C1 of the second lens cover 35A can be a curved surface with a curvature radius greater than the curvature radius of the upper surface and the lower surface. The end portion 35B of the second lens cover 35A has a stepped area 35S1 between the periphery 6F and the second lens hole C2, and the fastening hole 6D can be provided on the stepped area 35S1 so as to be able to be combined with another member. The end portion 35B of the second lens cover 35A can have an adhesive applied to the periphery 6F so as to be able to be combined with another member. The second lens cover 35A has protrusions 35C, 35D protruding outward so as to be able to be combined with or in close contact with another member through the fastening hole of the protrusion 35D. The second window 192 may be disposed on the end portion 35B of the second lens cover 35A and the emission side of the second light source array 31 .

[0161] The shape of the entrance side of the second lens hole C2 may be an ellipse. As another example, the shape of the entrance side of the second lens hole C2 may be a circle or a polygon, such as a square or a rectangle.

[0162] The first lens cover 25A and the second lens cover 35A may have a uniform thickness from one end to the other, and may be made of a polymer material having a strength capable of withstanding external vibrations. Moreover, the first lens cover 25A and the second lens cover 35A may be coated with a light absorbing material for absorbing stray light on the inner surface. The light absorbing material can reduce optical interference, improve signal processing, and collect transmitted light. Moreover, as another example, the light absorbing material may include an anti-reflective coating. The lens covers 25A and 35A of the present invention may be coated with a variety of different materials in separate layers for absorbing light. Moreover, the coating material may be composed of a material designed to absorb a specific light transmission wavelength. For example, the absorbing material may be designed to absorb a material in a predetermined wavelength range (e.g., including the wavelength of the transmitted light signal). That is, the absorbing material can reduce interference by absorbing light signals received outside a given wavelength range and allowing only the desired wavelength to be received by the receiver.

[0163] like Fig.19 As shown, the first window 191 is arranged on the incident side of the first lens cover 25A, and the first window 191 can be exposed through the forming hole 270 of the heat dissipation cover 271. Fig. 20As shown, the second window 192 is arranged on the incident side of the second lens cover 35A, and the second window 192 may be exposed through the formed hole 270 of the heat dissipation cover 272. Also, the heat dissipation cover 272 may be fastened to the main frame by a fastening member.

[0164] The shape of the lens hoods 25A, 35A in the present invention can eliminate any shielding in the transmitter and receiver. For example, the lens hood of the receiver can be designed to collimate the received optical signal and absorb stray light and other signals, while eliminating blind spots or shielding in front of the receiver. The inner coating of the disclosed lens hood can be used to filter out signals with different phases. Moreover, the sensor array can have a corresponding shape of the lens hood to receive the return signal. In another example, the light source array can be configured to transmit an optical signal through each lens hood. Moreover, the lens hood of the transceiver can be configured to have a vertically elongated rectangular shape to correspond to the shape of the emitted optical signal and the reflected optical signal.

[0165] 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 having a receiving portion therein; a plurality of transceivers arranged in the accommodation portion, each transceiver emitting a laser beam toward an object in a different direction and each transceiver sensing a laser beam reflected from the object; A bottom frame, arranged below the main frame; as well as A plurality of lens covers are arranged on an incident side of a receiving optical system of each of the plurality of transceivers.

2. The laser radar device according to claim 1, in, The plurality of transceivers include a first transceiver and a second transceiver, the first transceiver having a first light source array emitting laser beams in a first direction, and a first receiving optical system and a first sensor array for receiving the laser beams of the first light source array, the second transceiver having a second light source array emitting laser beams in a direction opposite to the first direction, and a second receiving optical system and a second sensor array for receiving the laser beams of the second light source array, The plurality of lens covers include a first lens cover arranged on the incident side of the first receiving optical system and a second lens cover arranged on the incident side of the second receiving optical system.

3. The laser radar device according to claim 2, in, The laser radar device includes a first window and a second window, the first window is arranged on the incident side of the first lens cover and the emission side of the first light source array, and the second window is arranged on the incident side of the second lens cover and the emission side of the second light source array.

4. The laser radar device according to claim 3, in, The first window and the second window are positioned outside the main frame.

5. The laser radar device according to any one of claims 1 to 4, in, Each side surface of the main frame includes a through receiving portion, and includes a frame having a heat dissipation member coupled to the receiving portion on each side surface of the main frame.

6. The laser radar device according to any one of claims 1 to 4, in, Sizes of entrances through which the laser beam is incident of the plurality of lens covers may be different from each other.

7. The laser radar device according to any one of claims 2 to 4, in, The vertical height of the end-side lens hole of the first lens cover is greater than the horizontal length.

8. The laser radar device according to claim 7, in, The vertical height and horizontal length of the end-side lens hole of the second lens cover are the same.

9. The laser radar device according to any one of claims 2 to 4, in, A first optical axis passing through the first lens cover and the center of the lens of the first receiving optical system is inclined with respect to a second optical axis passing through the second lens cover and the center of the lens of the second receiving optical system.

10. The laser radar device according to claim 5, in, The laser radar device includes a heat dissipation cover that covers each heat dissipation member arranged on each side of the main frame, and the heat dissipation cover has a hole that exposes the window.

11. The laser radar device according to claim 10, in, The laser radar device includes a shell covering the upper part and the outer side of the main frame, and the shell has a window hole corresponding to the hole of each heat dissipation cover.

12. The laser radar device according to any one of claims 1 to 4, in, The laser radar device includes: a fixed frame having a stator and fixed to a moving body; and a rotating frame having a rotor opposite to the stator and axially rotating on the fixed frame, and the rotating frame rotates the main frame, the bottom frame and the plurality of transceivers.

13. The laser radar device according to any one of claims 1 to 4, in, Reception fields of light incident through each of the plurality of transceivers are different from each other.

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