Sensor device, lidar device, and vehicle

Abstract

A lidar device disclosed in an embodiment may include: a main frame having a receiving portion disposed therein; a transceiver assembly disposed in the receiving portion and having a circuit board, a light source array, and a sensor array; a bottom frame disposed below the main frame; and a plurality of heat dissipation members disposed at respective side surfaces of the main frame, the plurality of heat dissipation members including a plurality of vertically arranged heat dissipation fins and a plurality of curvilinear air guides.

Description

Technical Field

[0001] The present disclosure relates to a sensor device and a lidar device. The present disclosure relates to a vehicle (vehicle, means of transportation) having a rotatable sensor device and a lidar device. Background Art

[0002] Autonomous vehicles (AVs) use multiple sensors to identify situations. Sensors as part of the self-driving system (SDS) of an autonomous vehicle can include one or more of cameras, lidar (light detection and ranging) devices, and inertial measurement units (IMUs). 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. Also, the scene realizations (such as three-dimensional point clouds) obtained by the lidar of the vehicle can be combined with one or more images obtained by the camera to ensure additional insight into the situation of the vehicle or the surrounding scene.

[0003] In addition, a lidar transceiver can include a transmitter for emitting light in the ultraviolet (UV), visible, or infrared spectral range, or one or more photodetectors for converting other electromagnetic radiation into an electrical signal. When sensing technologies such as lidar, cameras, ultrasonic, and radar are integrated into vehicles or other industrial platforms, environmental conditions such as heat, debris, or condensation affect the sensing performance. A network of pressurized air or liquid cooling systems can be used to mitigate the negative impact of environmental conditions. However, these solutions are complex and require additional engineering to properly route the cooling ducts through the platform without loss of sensor performance. Summary of the Invention

[0004] Technical Objectives

[0005] The present invention provides a sensor device, a lidar device, and an operating method thereof including a heat dissipation element.

[0006] The present invention also provides a sensor device and a lidar device equipped with heat dissipation members on one side, both sides, or all sides of a main frame accommodating a transceiver and a heat generating component.

[0007] The present invention also provides a sensor device and a lidar device having an air guide that guides the incoming air flow to a window on one side or both sides of the housing.

[0008] The present invention also provides a sensor device and a lidar device including a plurality of transceivers. Additionally, the present invention provides a plurality of transceivers configured to emit and sense laser beams in different directions. Furthermore, the present invention provides a plurality of transceivers configured to emit and sense laser beams in different directions with different divergence angles. Thus, the present invention provides a device including a plurality of transceivers, wherein the performance specifications and operating purposes of the transceivers are different from each other.

[0009] Embodiments of the present invention also provide a sensor device and a lidar device, which can reduce wind noise, aerodynamic drag, and / or weight caused by high-speed rotation by including a pair of transceivers facing each other in opposite directions to provide a compact rotating assembly.

[0010] Embodiments of the present invention also provide a sensor device and a lidar device, wherein the center of mass of each transceiver is disposed opposite to each other with respect to the rotation center, thereby improving the inertial mass effect of the optical sensor during rotation.

[0011] Embodiments of the present invention also provide a sensor device and a lidar device having a rigid structure that allows modular attachment of components such as cooling elements, window elements, and cleaning elements, has an accommodation space, and provides sufficient sealing against external and environmental elements.

[0012] The present invention also provides a heat dissipation member located on both sides or around the transceiver, which can absorb and release the heat generated by the transceiver.

[0013] Embodiments of the present invention also provide a sensor device and a lidar device, the lidar device being capable of preventing optical interference or crosstalk between two or more transceivers. The present invention also includes improvement of the inertial mass effect in a rotating lidar device. That is, the center of mass of each transceiver can be disposed on the opposite side with respect to the rotation center to minimize the movement of each transceiver during rotation.

[0014] Embodiments of the present invention also provide a mounting device for a sensor device and a lidar device, the mounting device including a plurality of accommodation portions, for example, six fascia (gaps). Each accommodation portion includes structural features for accommodating one or more components of the sensor assembly. For example, one or more of the six accommodation portions can accommodate a modular cooling element. Similarly, one or more of the six accommodation portions are configured to accommodate a modular removable optical window. One or more of the six accommodation portions can firmly protect the transceiver assembly. Thus, the mounting device can accommodate a plurality of different types of components and provide a robust mounting structure.

[0015] Embodiments of the present invention also provide an installation device for a transceiver, which provides a rigid structure, allows modular attachment of components such as cooling elements, window elements, and cleaning elements, provides space for accommodating elements, and provides sufficient sealing against external and weather factors.

[0016] Embodiments of the present invention also provide a lidar sensor system, which includes a housing for fixing the above components in place and accommodating electronic devices, optical elements, cooling elements, and building or structural elements. This disclosure is provided to provide a functional and aesthetic solution for the lidar sensor system and can be designed to maximize the inflow and outflow of air for cooling and cleaning purposes. In addition, the housing can provide an aerodynamic housing for the lidar sensor system.

[0017] Technical solution

[0018] Embodiments of the present invention provide a lidar device, including: a main frame having an accommodation portion inside; a transceiver assembly disposed in the accommodation portion and having a circuit board, a light source array, and a sensor array; a bottom frame disposed below the main frame; and a plurality of heat dissipation members disposed on respective side surfaces of the main frame, wherein the plurality of heat dissipation members include a plurality of vertically arranged heat dissipation fins and a plurality of curved air guides.

[0019] In an embodiment, the bottom frame may have heat dissipation holes facing respective lower portions of the plurality of heat dissipation members.

[0020] In an embodiment, the lidar device may further include a heat dissipation cover disposed outside the plurality of heat dissipation members.

[0021] In an embodiment, the heat dissipation cover may include a groove at its lower portion, and the groove is connected to the heat dissipation holes of the bottom frame.

[0022] In an embodiment, the lidar device may further include a plurality of frames coupled to respective side surfaces of the main frame and having heat dissipation members, wherein at least one of the plurality of frames may include a window through which laser beams are transmitted and received via the light source array and the sensor array, and one of the plurality of heat dissipation members may be disposed on one side of the window.

[0023] In an embodiment, the transceiver may include: a first transceiver configured to emit and sense laser beams in a first direction; and a second transceiver configured to emit and sense laser beams in a direction opposite to the first direction. The lidar device may further include an upper cover or a cover frame disposed on the first transceiver and the second transceiver and coupled to an inner periphery of an upper portion of the main frame, and the bottom frame may be coupled to an inner periphery of a lower portion of the main frame.

[0024] In an embodiment, the lidar device may further include a first window disposed on the light beam incident side of the first transceiver, and may include a second window disposed on the light beam incident side of the second transceiver, wherein the first window and the second window may be disposed outwardly relative to the main frame.

[0025] In an embodiment, the first transceiver may include a first receiving optical system and a first sensor array, the second transceiver may include a second receiving optical system and a second sensor array, and the lidar device may further include a first lens tube disposed between the first receiving optical system and the first window, and may include a second lens tube disposed between the second receiving optical system and the second window.

[0026] In an embodiment, the lidar device may further include a housing covering the upper portion and the outer side of the main frame, wherein the housing may have a window hole through which a laser beam is transmitted and received.

[0027] In an embodiment, the lidar device may further include: a fixed frame fixed to a movable 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 may rotate together with the main frame, the bottom frame, and the transceivers.

[0028] In an embodiment, the plurality of heat dissipation fins and the plurality of air guiding members may have a flow path for external air to flow in and out.

[0029] According to the detailed description given below, other applicable scopes of the present invention will become more apparent. However, the detailed description and specific examples, although illustrating the preferred embodiments of the present invention, are for illustrative purposes only, 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 this detailed description. The present invention will be more fully understood through the following detailed description and the accompanying drawings, which are given only for illustration and thus are not intended to limit the present invention.

[0030] Advantageous Effects

[0031] According to an embodiment of the present invention, the present invention can implement and support modular attachment of components (such as cooling elements, window elements, cleaning elements), while providing sufficient protection and sealing effects against external impacts and weather factors. Moreover, the present invention can also accommodate and support components, thereby facilitating the protection and connection of components. Moreover, the present invention can provide a device that allows components to be attached and detached.

[0032] According to an embodiment of the present invention, by including 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. The present invention can also improve the packaging efficiency of the sensor head assembly. Moreover, the present invention can prevent optical interference caused by different transceivers.

[0033] According to the present invention, by positioning the heat dissipation member on two or more sides, the heat dissipation efficiency can be improved. Additionally, according to the present invention, by positioning the air guide member on one or both inner sides of the housing, the airflow generated externally or internally can be guided from the window side to the bottom or from the bottom to the window. Therefore, the heat dissipation effect of the window and the internal heat-generating components can be improved.

[0034] Embodiments of the present invention allow for obtaining optical impressions from different directions with different divergence angles by rotating imaging devices such as sensor devices and lidar devices, thereby improving the sensing efficiency of the surrounding area. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0036] Figure 2 is a diagram showing a Figure 1 vehicle system including an example of a lidar device.

[0037] Figure 3 is a diagram showing a Figure 2 transceiver of a lidar device.

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

[0039] Figure 5 is a Figure 4 perspective view of an example of a lidar device.

[0040] Figure 6 is a Figure 4 perspective view of a housing of a lidar device.

[0041] Figure 7 is a plan view showing the Figure 4 internal structure of a lidar device.

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

[0043] Figure 9 is a Figure 8 plan view of the assembly.

[0044] Figure 10 (A) and (B) thereof are side cross-sectional views showing the first and second transceivers coupled within the main frame in the lidar device according to the present invention.

[0045] Figure 11 is a partial cross-sectional view of the first and second transceivers in the lidar device according to the present invention.

[0046] Figure 12 is a view showing Figure 8 an example of the combination of the first frame, the first transceiver, and the heat dissipation member.

[0047] Figure 13 is a view showing Figure 8 an example of the combination of the second frame and the second transceiver.

[0048] Figure 14 is an exploded perspective view of the lidar device according to an embodiment of the present invention.

[0049] Figure 15 is a view showing a modified example of the main frame and the heat dissipation cover in the lidar device according to an embodiment of the present invention.

[0050] Figure 16 is a view for explaining Figure 15 the beam path and the center of the transceiver in

[0051] Figure 17 is a view for explaining Figure 15 the beam path of the transceiver in

[0052] Figure 18 is a view showing the window and the heat dissipation cover in another embodiment of the present invention.

[0053] Figure 19 is a perspective view showing the disassembled heat dissipation cover and the frames on both sides of the rotating head in another embodiment of the present invention.

[0054] Figure 20 is Figure 19 a rear perspective view of

[0055] Figure 21 (A) and (B) of Figure 19 are views showing the air guides and the heat dissipation cover of the side frames to which each window of

[0056] Figure 22 is a partial cross-sectional view showing the housing, the heat dissipation cover, and the air guides in another embodiment of the present invention.

[0057] Figure 23 As Figure 22The perspective view of the rear view shows the bottom frame with heat dissipation holes.

[0058] Figure 24 It is a partial perspective view of the bottom frame with heat dissipation holes and the housing of the present invention.

[0059] Figure 25 The (A) and (B) of are views for explaining the first and second heat dissipation members.

[0060] Figure 26 The (A) and (B) of are perspective views showing an example of the combination of the side frame and the corner portion of the window.

[0061] Figure 27 It is a view showing the heat distribution of the components on the main frame of the lidar device according to another embodiment of the present invention.

[0062] Figure 28 It is a view showing the internal heat generating components and the heat distribution of the main frame of the lidar device according to another embodiment of the present invention.

[0063] Figure 29 It is a view showing the air flow of the air guide according to another embodiment of the present invention.

[0064] Figure 30 It is a view showing the air flow distribution of the air guide in the lidar device according to another embodiment of the present invention.

[0065] Figure 31 It is a view showing the heat flow distribution of the heat dissipation member in the lidar device according to another embodiment of the present invention. Detailed Description of the Embodiments

[0066] Hereinafter, embodiments will be described in detail with reference to the drawings, in which like reference numerals denote like components. However, the present invention can be implemented in various forms and is not limited to the embodiments illustrated in this specification. Instead, these embodiments are provided as examples to make the present disclosure comprehensive and complete, and to fully convey the features and functions of the present invention to those skilled in the art. Therefore, processes, components, and technologies that are not necessary for those skilled in the art to fully understand the features and functions of the present invention may not be described. Unless otherwise specifically mentioned, like reference numerals in the drawings and the written description denote like components, and their descriptions will not be repeated.

[0067] A lidar system may be referred to as a depth detection system, a laser distance measurement system, a lidar 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, unmanned aerial vehicles, autonomous driving, or self-driving. The operating principle of lidar is to estimate the distance based on the round-trip time of electromagnetic waves between the source and the target (e.g., flight time or delay time).

[0068] Generally, a lidar system (such as a direct time-of-flight (D-TOF) lidar system) measures the distance (e.g., depth) to an object by emitting light pulses (e.g., laser pulses) towards the object and measuring the time it takes for the light pulses to be reflected by the object and detected by the sensor of the lidar system. For example, to reduce noise from ambient light, repeated measurements may be performed to generate a single histogram of relative time-of-flight (hereinafter referred to as TOF) based on the repeated measurements, and the peak of the single histogram may be calculated to detect an event (e.g., to detect the depth of a point or area of an object that reflects the light pulse back).

[0069] The above aspects and features of the embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

[0070] Figure 1 is a perspective view of a vehicle including a lidar device according to an embodiment of the present invention.

[0071] Referring to Figure 1 , a moving body (such as 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.

[0072] The lidar device 100, which is a rotating imaging device or sensor device, is coupled to a part of the vehicle 500 and rotates 360 degrees, 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 driving operations. The three-dimensional point cloud using the above sensing technology can be used to collect and analyze the surrounding objects or environment of the vehicle, and detection data can be generated to provide information about objects set at an appropriate close distance.

[0073] The lidar 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 communicates with various systems or sensors inside the vehicle and performs various controls. 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 is electrically connected to a removable storage device.

[0074] One or more camera units 101 can be mounted inside and / or outside the vehicle and can record the front and / or rear images of the moving vehicle. Additionally, the recorded images can be provided or stored through a display device (not shown). The recorded image data can selectively include audio data. For another example, the camera unit 101 can be mounted at the front, rear, corner, or side of the vehicle 500 while recording the surroundings of the vehicle and providing the recorded images through a display device (not shown). The vehicle control module 212 or another processor can distinguish traffic signals, vehicles, pedestrians, etc. based on the data recorded by the camera unit 101 and provide the obtained information to the driver. The camera unit 101 can be used as a driving assistance device.

[0075] A plurality of front radars 102 are mounted at the front of the vehicle 500 and detect the distance between the vehicle 500 and an object located in front of the vehicle 500. A plurality of rear radars 104 are mounted at the rear of the vehicle 500 to detect the distance between the vehicle 500 and an object located behind the vehicle 500. When object information is detected by the radars 102 and 104, an alarm or warning message indicating the presence of a nearby object or obstacle is notified to the driver.

[0076] 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. Additionally, these devices can provide or calculate information about the position, speed, and time of the vehicle based on the GPS position signals.

[0077] The ultrasonic sensor 105 can sense the distance between the vehicle and a neighboring vehicle or obstacle, facilitating the safe parking of the vehicle in a parking space. Moreover, the ultrasonic sensor 105 can prevent accidents that may occur during driving. The ultrasonic sensor 105 can be mounted at the rear, side, or wheel of the vehicle.

[0078] As Figure 2As shown, a vehicle system 200 having a lidar device 100 and a vehicle control module 212 can receive input from a user or driver, or provide information to the user or driver through a user interface 211. The user interface 211 can include a display device, a touch panel, buttons, voice recognition, or a wired or wireless input device, and is connected to the driver and various devices in a wired or wireless manner for communication.

[0079] The vehicle system 200 can communicate with a remote device 213, which can communicate remotely with a user or an external device or receive an external control signal. A communication unit 215 can support wired or wireless communication to enable such communication and can be, for example, a wired or wireless communication module.

[0080] The storage unit 220 can include one or more sub-memories 221. Moreover, the storage unit 220 can include a portable or removable storage device 222. The lidar device 100 can communicate with the user interface 211 and the camera unit 101.

[0081] The lidar device 100 can include a drive unit 115 (such as a motor), and the drive unit 115 can rotate a part or all of the lidar device 100 360 degrees based on a control signal. The drive unit 115 can communicate with internal components of the lidar device 100 (such as a measurement system 110), allowing axial rotation of the lidar device 100.

[0082] The lidar device 100 can include a measurement system 110 and at least one transceiver 120 and 130. The drive unit 115 is coupled to the measurement system 110 and the transceivers 120 and 130 to transmit driving force, thus allowing rotation.

[0083] The measurement system 110 can include a main processor 111 and a main memory 112. The main processor 111 can be implemented by a general-purpose processor, an application-specific integrated circuit (ASIC), one or more field-programmable gate arrays (FPGAs), a set of processing components, or other suitable electronic processing components. The main memory 112 (such as a memory, a memory unit, and a storage device, etc.) can include one or more devices (such as RAM, ROM, flash memory, and hard disk memory, etc.) for storing data and / or computer code to complete or facilitate various processes described in the present invention. The main memory 112 can be a volatile or non-volatile memory or can include both volatile and non-volatile memories. The main memory 112 can include a database component, an object code component, a script component, or any other type of information structure to support various activities and information structures described in the present invention. According to an embodiment, the main memory 112 can be communicatively connected to the main processor 111.

[0084] 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. Moreover, each of the one or more processors may be a graphics processing unit (GPU). In some examples, the GPU may include a processor that is a dedicated electronic circuit configured to process math-intensive applications. The GPU may have a parallel structure that is effective for parallel processing of large blocks of data (such as math-intensive data commonly used in computer graphics applications, images, and videos).

[0085] The measurement system 110 is a computer system and may be connected to one or more user input / output devices, such as a monitor, keyboard, or pointing device, etc., which communicate with the communication infrastructure through a user input / output interface.

[0086] One or more transceivers 120 and 130 (e.g., multiple transceivers) may be provided in the lidar device 100. The multiple transceivers 120 and 130 may emit and sense laser beams in different directions relative to the axis of rotation. Here, the different directions may be in the range of 10 degrees to 180 degrees relative to each other, and for example, the multiple transceivers may be arranged at angles of 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, or 180 degrees, preferably at an angle of 180 degrees.

[0087] As Figure 3 shown, the multiple transceivers 120 and 130 may emit and sense laser beams in opposite directions. To this end, the light source arrays 21 and 31 of the multiple transceivers 120 and 130 may be provided on opposite sides, and the receiving optical systems 25 and 35 may be arranged in opposite directions based on the internal center of the lidar device 100.

[0088] 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. The multiple transceivers 120 and 130 are assembled inside, so the rotating imaging device can be miniaturized, and due to the weight being distributed, rotational balance can be obtained. The multiple transceivers 120 and 130 may have different vertical fields of view (i.e., heights) from each other. The multiple transceivers 120 and 130 may have different horizontal fields of view from each other.

[0089] The multiple 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.

[0090] As Figure 3 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 towards an object, and the first sensing module 123 senses a first received laser beam RL1 reflected by the object.

[0091] 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 towards an object, and the second sensing module 133 senses a second received laser beam RL2 reflected by the object.

[0092] The first transmission laser beam TL1 is emitted along 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 opposite directions along 180 degrees with respect to a central position, and scan an object arranged within a 180-degree range.

[0093] 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 storing code for controlling the generation of the laser beam. The processor or control module is capable of controlling the drive control of the first light source array 21 and the second light source array 31 and the transmission of optical signals.

[0094] 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 sources may include light sources such as laser diodes (LDs), edge-emitting lasers, vertical-cavity surface-emitting lasers (VCSELs), distributed feedback lasers (DFBs), light-emitting diodes (LEDs), and superluminescent diodes (SLDs). However, the light sources are not limited thereto.

[0095] 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 a VCSEL array), where each emitter 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 having Q rows and P columns. Here, Q and P (rows and columns) may be greater than or equal to 2 (Q > P). Moreover, each VCSEL array may be grouped into a plurality of units to form each light source. The number of light sources in the first light source array 21 and the number of light sources in the second light source array 31 may be the same or different.

[0096] 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. The first transmission optical system 22 and the second transmission optical system 32 may include one or more lenses, or may include one or more lenses and a microlens array 26C or 36C (refer to Figure 12 ). The first transmission optical system 22 and the second transmission optical system 32 may include one or more optical lens elements to change the laser beam in a desired manner. That is, the first transmission module 121 and the second transmission module 131 may set the irradiation 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, a beam splitter (not shown) may be included in the lidar device 100 to overlap or separate the first transmission laser beam TL1 and the first reception laser beam RL1.

[0097] The first transmission module 121 and the second transmission module 131 may emit pulsed light or continuous light and may transmit it toward the object to be scanned multiple times. The main processor 111 may generate a start signal at the light transmission time and provide the generated start signal to the TDC (time-to-digital converter). This start signal may be used to calculate the time of flight (TOF) of the light.

[0098] The first sensing module 123 and the second sensing module 133 can convert the original histogram based on the signals sensed through the first receiving optical system 25 and the second receiving optical system 35, and can include a processor having a matched filter, a peak detection circuit, and an SPAD (single photon avalanche diode) saturation circuit, as well as an SPAD quenching circuit. The processor can be implemented by a general-purpose processor, an application-specific integrated circuit (ASIC), one or more field-programmable gate arrays (FPGAs), a set of processing components, or other suitable electronic processing components. The first sensing module 133 and the second sensing module 133 can include a memory (not shown) having one or more devices (e.g., RAM, ROM, flash memory, and hard disk memory, etc.) to store the detected optical signals therein.

[0099] The first sensor array 26 and the second sensor array 36 can receive the laser beams RL1 and RL2 reflected or scattered from an object through the first receiving optical system 22 and the second receiving optical system 32. The first sensor array 26 and the second sensor array 36 can include detectors that are divided into a plurality of pixels, and light detection elements can be disposed in each of the plurality of pixels. The first receiving optical system 22 and the second receiving optical system 32 can be optical elements configured to collect the reflected light into a specific pixel.

[0100] 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 can convert the reflected light into stop signals. These stop signals can be used together with the start signal to calculate the time of flight of the light. The first sensor array 26 and the second sensor array 36 or the first sensing module 123 and the second sensing module 133 can include a TDC (time-to-digital converter) for measuring the time of flight of the light detected by each of the plurality of photodetectors. The photodetector can be a light receiving element that generates an electrical signal based on the detected light energy.

[0101] The first sensor array 26 and the second sensor array 36 can be implemented as one-dimensional or two-dimensional arrays, and can be photodetectors, such as a group of single avalanche photodiodes (SPADs) or single photodetectors (APD: avalanche photodiode). Embodiments of the present invention can be implemented using single photodetectors. The first sensor array 26 and the second sensor array 36 measure light pulses, i.e., light corresponding to image pixels, through the first receiving optical system 25 and the second receiving optical system 35. For example, 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, M and N can be 2 or greater. Moreover, each SPAD sub-array can be grouped into multiple units to form an optical sensor. For example, the first sensor array 26 and the second sensor array 36 can be in Geiger mode, i.e., Geiger mode APD (GmAPD).

[0102] The main processor 111 processes signals using the light detected by the first sensing module 123 and the second sensing module 133 to obtain information about the object. The main processor 111 determines the distance to the object based on the time of flight (TOF) of the light reflected from the object, and processes the data to analyze the position and shape of the object. The information analyzed by the processor 111 (i.e., information about the shape and position of the object) can be transmitted to another device.

[0103] The first transmission optical system 22 and the second transmission optical system 32 emit light pulses toward the object by refracting the light pulses generated by the first light source array 21 and the second light source array 31. Additionally, the light pulses are incident on the surface of the object and reflected by the surface of the object. Additionally, 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 the time (TOF: time of flight) elapsed from the emission of the light pulse to the detection of the reflected light pulse. The lidar device 100 can use the obtained data to provide information about the scene or situation around the vehicle, or can combine the obtained data with one or more image data obtained by the camera unit 101 to obtain additional insights.

[0104] As Figure 3 shown, the first transceiver 120 is disposed on one side with respect to the central axis Y0 that horizontally passes through the center of the lidar device 100 in the first direction Y, while the second transceiver 130 is disposed on the other side. Since the first transceiver 120 and the second transceiver 130 are distributed and disposed on both sides of the central axis Y0, weight balance or rotational balance of the lidar device 100 can be achieved. The central axis Y0 can be a straight line passing through the center between both sides of the lidar device 100 in the second direction X.

[0105] The first transceiver 120 transmits and receives a first laser beam L1 along a first direction Y. The first transceiver 120 transmits and receives a second laser beam L2 along a direction opposite to the first direction Y. Therefore, optical interference caused by the transmission and reception of the first laser beam L1 and the second laser beam L2 can be prevented. In addition, the gap between the first transmission optical system 22 and the second transmission optical system 32 can be made wider than the gap between the first reception optical system 25 and the second reception optical system 35.

[0106] As Figures 4 to 8 shown, the lidar device 100 may include a fixed frame 251, a rotating frame 253 (refer to Figure 17 ), a housing 150, a main frame 170 in an internal space 150A of the housing 150, and transceivers 120 and 130.

[0107] The fixed frame 251 includes a stator, which may be fixed to a lid or an upper housing of a vehicle or a moving body. The fixed frame 251 may include a fastening portion 12 along the outer periphery of the fixed frame 251, and is coupled to a 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.

[0108] As Figure 17 shown, the rotating frame 253 faces the internal structure of the fixed frame 251, includes a rotor (not shown), and may 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 include a driving unit, for example, a motor. Structures for guiding the rotation of the rotating frame 253 and preventing detachment may be provided in one or more regions of the rotating frame 253 and the fixed frame 251. And these structures may include a rotation 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.

[0109] As Figures 4 to 6 shown, the internal space 150A of the housing 150 may have a cylindrical shape with an open bottom and a closed top. The housing 150 may extend outward above the rotating frame 253. The housing 150 may rotate together with the rotating frame 253. The housing 150 may be used as a casing for covering internal components and may be made of a heat-dissipating material.

[0110] A plurality of perforations 159 may be arranged in a predetermined region of the circumferential surface of the housing 150 for heat dissipation. The plurality of perforations 159 may be arranged in at least two regions in the vertical direction and the rotation direction. Each of the perforations 159 may be formed to have the same size, or at least one of the plurality of perforations 159 may be formed to have a different size.

[0111] The housing 150 may include at least one window hole 151 and 152. The window holes 151 and 152 are formed with a predetermined size between the upper end and the lower end of the housing 150, and may be, for example, larger than the sizes of the 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 areas of each of the windows 191 and 192 to expose the windows 191 and 192.

[0112] The rotating head 111 is coupled to the upper part of the rotating frame 253 and the inside of the housing 150. Additionally, the rotating head 111 may have a cylindrical shape and may rotate together with the rotating frame 253. The cover frame 141 of the rotating head 111 blocks foreign objects from entering the internal space in which internal components such as the transceivers 120 and 130 and other components are accommodated. 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.

[0113] One or more cover frames 141 may be stacked on one another and may be tightly coupled to the main frame 170, as Figure 7 shown. Here, the tight coupling involves the coupling of two structures having an adaptation structure or a stepped structure, may be fastened by a plurality of fastening members, and may include a sealing member to prevent moisture from penetrating from the outside.

[0114] 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 larger than that of the fixed frame 251. One or more bottom frames 260 may be stacked. The area of the bottom frame 260 may be larger than the bottom area of the main frame 170, as Figure 7 shown.

[0115] The cover frame 141 may be fastened to the first fastening portion 93 provided along the inner upper circumference of the housing 150 using fastening members (not shown). The bottom frame 260 may be fastened to the second fastening portion 91 provided along the inner lower circumference of the housing 150 using fastening members (not shown). The cover frame 141 may have the same or different shape as the upper covers 161 and 162 described later, and one of the upper covers 161 and 162 may be removed.

[0116] As Figures 7 to 12 shown, the lidar device 100 may include optical elements (such as the transceivers 120 and 130), a heat dissipation member for heat dissipation, a frame member for supporting and coupling internal components, and a cover member for protecting internal components in the housing 150. Figure 5 The rotating head 111 shown in may include an optical element, a heat dissipation member for heat dissipation, a frame member for supporting and coupling internal components, and a cover member for protecting internal components.

[0117] The optical component includes at least one transceiver, for example, the first transceiver 120 and the 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 the first circuit board 26A, and the first light source array 21 may be disposed on another driver board 21A. The first transceiver 120 may be disposed on the first main board 26B, and the first main board 26B may be electrically connected to the above-mentioned boards. The first light source array 21, the driver board 21A for driving the first light source array 21, the first sensor array 26, and the first circuit board 26A for driving the first sensor array 26 may be heat-generating components. If the heat problem of the heat-generating components is not solved, the heat problem may affect the operation or driving, and may reduce the reliability of the product. The first main board 26B may be spaced apart from the heat-generating components or disposed on the bottom frame 260 to prevent problems caused by heat.

[0118] 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 driver board 31A. The second transceiver 130 may be disposed on the second main board 36B, and the second main board 36B may be electrically connected to the above-mentioned boards. The second light source array 31, the driver board 31A for driving the second light source array 31, the second sensor array 36, and the second circuit board 36A for driving the second sensor array 36 may be heat-generating components. If the heat problem of these heat-generating components is not solved, the heat problem may affect the operation or driving, and may reduce the reliability of the product. The second main board 36B may be spaced apart from the heat-generating components or disposed on the bottom frame 260 to prevent problems caused by heat.

[0119] 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 on opposite sides of the main frame 170. Similarly, by arranging the first transceiver 120 and the second transceiver 130 in opposite directions, the light source arrays, sensor arrays, and circuit boards of each transceiver can be distributed, thereby improving the heat dissipation efficiency and maximizing the space utilization rate. In addition, by providing a cooling system having heat dissipation components on at least three sides of each transceiver, the heat problem or the problem of reduced heat dissipation of the heat-generating components can be improved, and the performance degradation of the lidar system due to heat can be prevented.

[0120] As Figure 10 and Figure 11 shown, the first transceiver 120 may include a first lens tube 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 tube 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 tube 25A may be different from the shape or area of the entrance side of the second lens tube 35A. The first lens tube 25A may be part of the first receiving optical system 25. The second lens tube 35A may be part of the second receiving optical system 35.

[0121] Here, the first transceiver 120, the first lens tube 25A, and the circuit boards 21A, 26B may be defined as a first transceiver assembly. 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.

[0122] The first lens tube 25A extends between the first lens of the first receiving optical system 25 and the first window 191, which can improve the incident efficiency and protect the lens. The second lens tube 35A extends between the first lens of the second receiving optical system 35 and the second window 192, which can improve the incident efficiency and protect the lens.

[0123] The vertical aperture height H1 of the first lens tube 25A may be different from the vertical aperture height H2 of the second lens tube 35A. For example, it may be greater than the vertical aperture height H2 of the second lens tube 35A. The horizontal aperture length H3 of the first lens tube 25A may be different from the horizontal aperture length H4 of the second lens tube 35A. For example, it may be less than the horizontal aperture length H4 of the second lens tube 35A. When viewed from a side cross-section, the first optical axis passing through the center of the first lens tube 25A and the center of the internal lens may be inclined with respect to the second optical axis passing through the center of the second lens tube 35A and the center of the internal lens. The second optical axis is a horizontal optical axis, and the first optical axis may be inclined with respect to the second optical axis.

[0124] The first light source array 21 may be disposed outside the first lens tube 25A, and the second light source array 31 may be disposed outside the second lens tube 35A. Each lens tube may be a lens hood.

[0125] 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, it may be larger 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, it may be smaller than the horizontal field of view of the second receiving optical system 35. In addition, the horizontal and vertical fields of view of the first receiving optical system 25 may be different from each other. The horizontal and vertical fields of view of the second receiving optical system 35 may be the same as each other. That is, one of the plurality of transceivers 120 and 130 may have different horizontal and vertical reception fields of view, while the other may have the same horizontal and vertical fields of view.

[0126] The first receiving optical system 25 of the first transceiver 120 may be arranged to extend from the third side portion to the fourth side portion 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 portion to the third side portion of the main frame 170. The third and fourth side portions may be two sides of the main frame 170 along the first direction Y, while the first and second side portions may be two sides of the main frame 170 along the second direction X. Each of the first to fourth side portions of the main frame 170 may include a receiving portion therethrough. And a component for heat dissipation, that is, a frame having a heat dissipation member, may be coupled in the receiving portion of each side portion.

[0127] The main frame 170 may include a receiving portion 175 that houses 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 frames 171 may include a plurality of receiving portions (i.e., plates), and may include, for example, six receiving portions or plates.

[0128] The upper frame 173, the lower frame 172, and the plurality of column frames 171 may be provided integrally. As another example, the upper frame 173, the lower frame 172, and at least one of the plurality of column frames 171 may be provided as separable structures. The upper frame 173 or the lower frame 172 may be provided separately, and the plurality of column frames 171 may be coupled to the upper frame 173 or the lower frame 172. The upper frame 173, the lower frame 172, and at least one of the plurality of column frames 171 may be coupled to allow fastening or disassembly.

[0129] The upper frame 173 and the lower frame 172 may be spaced apart from each other by the column frames 171 and may have a polygonal structure. The upper frame 173 may have a polygonal or circular shape with a penetrated interior. The lower frame 172 may have a polygonal or circular shape with a penetrated interior. The upper frame 173 and the lower frame 172 may have the same polygonal shape, for example, a rectangular shape.

[0130] The column frame 171 can be connected to and support the corners of the upper frame and the lower frame 172. The upper frame 173, the lower frame 172, and the column frame 171 can be integrally formed with each other. As another example, the upper frame 173 can be composed of one or more than two parts, or the lower frame 172 can be composed of one or more than two parts. Moreover, at least one of the upper frame 173 and the lower frame 172 can be integrally coupled to the column frame 171 or can have a structure that can be coupled.

[0131] The upper frame 173 can have a recessed stepped structure along its inner circumference and can guide the coupling of the upper covers 161 and 162 having a polygonal shape. The lower frame 172 can have a recessed stepped structure along its inner circumference and can be coupled to the bottom frame 260 having an adaptation structure with a polygonal shape. In addition, each column frame 171 can have a recessed stepped structure in the corresponding side direction of the main frame 170 and can guide the coupling of the outer frame.

[0132] The main frame 170 can 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 18A can be coupled to two side portions of the main frame 170 along the second direction, and the third frame 190 and the fourth frame 190A can be coupled to two side portions of the main frame 170 along the first direction. The first frame 180 and the second frame 180A can have a recessed stepped structure to cooperate with the stepped structure provided on the inner sides of the two side portions of the main frame 170. Moreover, the third frame 190 and the fourth frame 190A can have a recessed stepped structure to cooperate with the stepped structure provided on the inner sides of the two sides of the main frame 170.

[0133] The third frame 190 can include a first window 191 facing the first transmission optical system 22 and the first reception optical system 25, and a third heat dissipation member 195 can be provided outside the third frame 190. The fourth frame 190A can include a second window 192 facing the second transmission optical system 32 and the second reception optical system 35, and a fourth heat dissipation member 196 can be provided outside the fourth frame 190A.

[0134] The first transceiver 120 can be coupled to the inside of the first frame 180, and the first heat dissipation members 81 and 81A can be provided outside the first frame 180. The first heat dissipation members 81 and 81A can be provided on the entire outer side or two outer sides of the first frame 180.

[0135] The second transceiver 130 may be connected 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 side or both sides of the second frame 180A.

[0136] The first frame 180 may include a first support portion 183, and the first support portion 183 may support a part of the first receiving optical system 25. The first support portion 183 may have a first lens barrel hole TH1 (refer to Figure 11 ), and when the first receiving optical system 25 is inserted into the first lens barrel hole TH1, the position of the first receiving optical system 25 may be fixed and supported.

[0137] The second frame 180A may include a second support portion 184, and the second support portion 184 may support a part of the second receiving optical system 35. The second support portion 184 may have a second lens barrel hole TH2 (refer to Figure 11 ), and when the second receiving optical system 35 is inserted into the second lens barrel hole TH2, the position of the second receiving optical system 35 may be fixed and supported. A locking device may be further included inside or outside the first lens barrel hole TH1 and the second lens barrel hole TH2 to fix the receiving optical system, and the locking device may include a fastener.

[0138] The first support portion 183 and the second support portion 184 may be made of a thermally conductive metal material (for example, 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, thereby improving the heat dissipation efficiency in the internal space. In addition, cooling fins may be further included on the outer sides of the first support portion 183 and the second support portion 184.

[0139] 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 from the first support portion 183 to the lower side. 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 board 26B by a spacer 38C. The gap between the first protection portion 38A and the second protection portion 38B may be greater than the outer diameter of the lens tube 25A, thereby protecting the lens tube 25A.

[0140] As Figure 13As 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 from the second support portion 184 to the lower side. 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 board 36B by a spacer 48C. The gap between the third protection portion 48A and the fourth protection portion 48B is greater than the outer diameter of the second lens tube 35A, thereby protecting the second lens tube 35A.

[0141] In addition, holes may be included in the first protection portion 38A and the second protection portion 38B of the first support portion 183 and the third protection portion 48A and the fourth protection portion 48B of the second support portion 184 to suppress an increase in weight. The first support portion 183 may be integrally formed inside the first frame 180 or separately attached to the inside of its first frame. The second support portion 184 may be integrally formed inside the second frame 180A or separately attached to the inside of the second frame. The inner circumference of the first frame 180 may have a stepped structure and may be coupled to the third side portion 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 portion of the main frame 170.

[0142] The main frame 170 may be coupled to one or more upper covers 161 and 162. The peripheries of the upper covers 161 and 162 may be inserted or adhered to the upper frame 173 of the main frame 170. The upper covers 161 and 162 may have a plurality of fastening holes on their inside or periphery and may be fastened to a frame coupled to the main frame 170. The upper covers 161 and 162 may be transparent or opaque.

[0143] The upper covers 161 and 162 may be fastened to the fastening portions on the inner side of the housing 150. The upper covers 161 and 162 may be circular or polygonal. That is, the upper covers 161 and 162 may be circular shapes that are the same as the shape of the upper portion of the housing 150. As another example, the upper covers 161 and 162 may be polygonal shapes that are the same as the shape of the upper portion of the main frame 170.

[0144] 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 include coupling holes inside and coupling protrusions on the upper circumference, and may cooperate with the lower frame 172 of the main frame through the stepped structure on the upper circumference to ensure attachment. Accordingly, the lower frame 172 may be attached to the circumference of the bottom frame 260.

[0145] The upper structure of the rotating frame 253 may protrude through the coupling holes of the bottom frame 260, and components of the main frame 170 and / or support components may be coupled to the coupling holes of the bottom frame 260. That is, in order to prevent movement caused by rotation, other frames and / or side covers may be coupled to the coupling holes of the bottom frame 260. Here, the plurality of frames 180, 180A, 190, and 190A may be coupled to corresponding sides of the main frame 170. The plurality of frames may be the first to fourth frames 180, 180A, 190, and 190A provided on each side of the main frame 170.

[0146] The bottom frame 260 may have a circular or polygonal outer shape and be coupled to 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 along its inner circumference, and the insertion protrusions 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 separate movement of the bottom frame 260.

[0147] The bottom frame 260 may be coupled to the bottom 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. In another example, the bottom frame 260 may have a polygonal shape that is the same as the lower shape of the main frame 170. A 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 element may include a rubber material and may block moisture and foreign substances from entering through each side of the main frame 170.

[0148] The first heat dissipation members 81 and 81A can be disposed on one side of the first circuit board 26A and one side of the first light source array 21. The first heat dissipation members 81 and 81A can be arranged on the outside of heat generating components such as the driver board 21A, the first circuit board 26A, and the second light source array 21, so as to dissipate the heat generated from the heat generating components. The first heat dissipation members 81 and 81A can be disposed between the housing 150 and the main frame 170. The second heat dissipation members 83 and 83A can be disposed on one side of the second circuit board 36A and one side of the second light source array 31. The second heat dissipation members 83 and 83A can be arranged on the outside of heat generating components such as the driver board 31A, the second circuit board 36A, and the second light source array 31, so as to dissipate the heat generated from the heat generating components. The second heat dissipation members 83 and 83A can 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 can include heat dissipation fins, and the heat dissipation fins can be arranged vertically and can be integrally formed with or connected to the first frame 180. The second heat dissipation members 83 and 83A can include heat dissipation fins, and the heat dissipation fins can be arranged vertically and can be integrally formed with or connected to the second frame 180A. The first frame 180 and the second frame 180A can include a heat conductive material, for example, a metal material.

[0149] The third heat dissipation member 195 can be arranged on the outside of the first sensor array 26, that is, on the outside of the first circuit board 26A on which the first sensor array 26 is disposed, so as to dissipate the heat generated by the first sensor array 26. The third heat dissipation member 195 can be arranged on the outside of heat generating components such as the first sensor array 26 and the first circuit board 26A, so as to dissipate the heat generated by the heat generating components. The fourth heat dissipation member 196 can be arranged on the outside of the second sensor array 36, that is, on the outside of the second circuit board 36A on which the second sensor array 36 is disposed, so as to dissipate the heat generated by the second sensor array 36. The fourth heat dissipation member 196 can be arranged on the outside of heat generating components such as the second sensor array 36 and the second circuit board 36A, so as to dissipate the heat generated by the heat generating components.

[0150] Heat dissipation fins can be formed on the third heat dissipation member 195 and the fourth heat dissipation member 196. Moreover, the heat dissipation fins can be arranged vertically or in a curved shape, and can be integrally formed with or connected to the third frame 190 and the fourth frame 190A.

[0151] The corresponding areas of the third heat dissipation member 195 and the fourth heat dissipation member 196 can be smaller than the corresponding areas of the first heat dissipation member 81A and the second heat dissipation member 83A. The area of each heat dissipation member is the dimension of the region where each heat dissipation fin is arranged.

[0152] As Figure 15 and Figure 16 shown, the first to fourth heat dissipation members 81A, 83A, 195, and 196 may be disposed inside the housing 150. The widths (horizontal widths) of the heat dissipation fins of the third heat dissipation member 195 and the fourth heat dissipation member 196 may gradually decrease along the rotation direction, while the vertical lengths of the heat dissipation fins may remain the same. The first window 151 may face the first receiving optical system 22 and the first light source array 21 of the first transceiver 120, and the second window 152 may face the second receiving optical system 32 and the second light source array 31 of the second transceiver 130. The first window 191 and the second window 192 may be coupled to respective coupling holes of the third frame 190 and the fourth frame 190A (refer to Figure 24 ).

[0153] Figure 14 is a view showing another example of the bottom frame 260. The bottom frame 260 may have a polygonal shape, and the heat dissipation holes 268 may be arranged in regions corresponding to the lower regions of the heat dissipation fins of each of the heat dissipation members 81, 81A, 195, and 196.

[0154] 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 lens tube 25A of the first receiving optical system 25 and the outside of the first light source array 21. The second window 192 may face the outside of the second light source array 31 and the second receiving optical system 35. The second window 192 may face the lens tube 35A of the second receiving optical system 35 and the outside of the second light source array 31. The first window 191 is disposed on one side of the third heat dissipation member 195 or on one side of the second circuit board 36A, and the second window 192 is disposed on the other side of the fourth heat dissipation member 196 or on the other side of the first circuit board 26A.

[0155] Figure 15 is a view showing another example of the housing 150 and / or the heat dissipation member. As Figure 15 shown, the lidar device may further include an inner lid 350 inside the housing 150. The inner lid 350 may be in close contact with the outer surfaces of the first to fourth heat dissipation members 81B, 83A, 195, and 196.

[0156] The inner cover 350 may include heat dissipation covers 351, 352, 353, and 354 on the outer sides of each of the 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 arranged between the housing 150 and the heat dissipation members 81B, 83A, 195, and 196. The heat dissipation covers 351, 352, 353, and 354 may be provided in a curved shape on the outer sides of each of the heat dissipation members 81B, 83A, 195, and 196. For example, the first heat dissipation cover 351 may be included on the outer side of the first heat dissipation member 81B, the second heat dissipation cover 352 may be included on the outer side of the second heat dissipation member 83A, the third heat dissipation cover 353 may be included on the outer side of the third heat dissipation member 195, and the fourth heat dissipation cover 354 may be included on the outer side of the fourth heat dissipation member 196. When the heat dissipation members are provided on the outer side of the main frame 170, the metal frame is provided on the inner side, and the metal heat dissipation cover is provided on the outer side, a double heat dissipation effect may be provided. The heat dissipation cover may be made of other materials (such as a transparent material).

[0157] 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 outer shapes of the heat dissipation fins of the first heat dissipation member 81B, the third heat dissipation member 195, and the fourth heat dissipation member 196 may have different horizontal lengths to face the hemispherical heat dissipation covers 351, 353, and 354.

[0158] The adjacent heat dissipation covers 351, 352, 353, and 354 may be coupled to each other or may be coupled through the main frame 370. Additionally, the main frame 370 may be divided into multiple parts and connected to each other using fastening members. Furthermore, the main frame 370 may be composed of frames 371, 372, 373, and 374 arranged on each side. In this case, by arranging the main frame 370 or each side frame, the number of frames may be reduced. Both ends of the third frame 190 may be bent so as to face the outer sides of one end of the third frame and the fourth frame. Each of the heat dissipation covers 351, 352, 353, and 354 may cover the outer side, two side surfaces, upper surface, and lower surface of each of the heat dissipation members 81B, 83A, 195, and 196.

[0159] As Figure 16 shown, the first transceiver 120 may scan and sense in a first beam shape B1, and the second transceiver 130 may scan and sense in a second beam shape B2. At least one or all of the first and second transceivers may not be provided with a lens tube.

[0160] The centers of the first receiving optical system 25 and the second receiving optical system 35 may be spaced apart from the center C0 of the lidar device by the same distances Y1 and Y2 in the first direction Y. The centers of the first receiving optical system 25 and the second receiving optical system 35 may be spaced apart from the center of the lidar device by the same distances X1 and X2 in the second direction X. When the center positions of the first transceiver 120 and the second transceiver 130 are the centers of the first receiving optical system 25 and the second receiving optical system 35, respectively, the first transceiver 120 and the second transceiver 130 may be spaced apart equidistantly in the first and second directions Y and X such that the center of gravity of each transceiver is set to be directly opposite the rotation center.

[0161] As Figure 17 shown, on the outer side of 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. Referring to 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 refer to the angle between two straight lines extending from the top and bottom of the entrance side of each lens tube. The diameter Y2 of the housing 150 may be set to be larger than the diameter of the rotating frame 253 and / or the fixed frame 251.

[0162] The third frame 190 may provide an aperture facing the first window 191 and may be coupled to a third heat dissipation cover 353 for covering the third heat dissipation member 195. The third heat dissipation cover 353 may protrude more outwardly than the first window 191 to protect the first window 191. The fourth frame 190A may provide an aperture facing the second window 192 and may be coupled to 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 more outwardly than the second window 192 to protect the second window 192. As Figure 25 shown, the outer edges of each of the windows 191 and 192 may be set as inclined surfaces 19S, and the inclined surfaces 19S may be tightly fitted into the apertures of the third frame 190 and the fourth frame 190A. Additionally, the outer peripheries of each of the windows 191 and 192 may be covered by the heat dissipation covers 353 and 354. Since these windows 191 and 192 are made of a plastic material, expansion and contraction may occur due to heat. These windows 191 and 192 may be tightly fitted into the frames 190, 190A or bonded using a thermally conductive adhesive, and due to the external heat dissipation covers 353, 354, the problem of optical loss caused by heat may be reduced.

[0163] As Figure 18 and Figure 21As shown, the third heat sink cover 353 and the fourth heat sink cover 354 may have window apertures 270, may be fastened to the third frame 190 and the fourth frame 190A, and may have inner holes (not shown) to which windows 191 and 192 are coupled.

[0164] The third heat sink cover 353 and the fourth heat sink cover 354 may be disposed on the outer sides of the third heat dissipation member 195 and the fourth heat dissipation member 196. The air guides 195A and 196A of the third heat dissipation member 195 and the fourth heat dissipation member 196 may not be vertically arranged and may have a curved shape. The air guides 195A and 196A may be heat dissipation fins integrally formed in the third frame 190 and the fourth frame 190A. Among the air guides 195A and 196A having a curved shape, the air guide having a relatively long length may include straight and curved shapes. Among the air guides 195A and 196A having a curved shape, the air guide disposed on the upper side may include straight and curved shapes. Inside the air guides 195A and 196A, a straight shape may be arranged in a region adjacent to the window.

[0165] One ends of the plurality of air guides 195A and 196A may be horizontally arranged at different heights in a region adjacent to the windows 191 and 192 to guide an air flow introduced through a rotation direction or a lower second flow groove FH2. For example, the other ends of the plurality of air guides 195A and 196A may guide the incoming air toward the bottom frame 260. Conversely, as Figure 29 and Figure 30 shown, when external air is introduced through the second flow groove FH2 on the lower side, the air guides 195A, 196A may guide the air introduced through the lower part, dissipate heat generated by internal heat generating components (e.g., 26A and 36A), and guide it to the windows 191 and 192 provided on one surface of the air guides 195A and 196A.

[0166] As Figure 19 shown, the interior of the main frame 170 may include a plurality of heat generating portions 120A, 120B, 130A, and 130B having heat generating components such as a light source array, a circuit board, a sensor array, etc. Heat dissipation members 81, 83, 195, and 196 may be disposed on the outer sides of each of the heat generating portions 120A, 120B, 130A, and 130B to improve heat dissipation efficiency.

[0167] As Figures 19 to 24As shown, the bottom frame 260 may include heat dissipation holes 268C and 268D corresponding to the lower portions of the third heat dissipation member 195 and the fourth heat dissipation member 196. That is, one end of each air guide 195A and 196A may be arranged parallel to each other with respect to the rotation direction of the rotating head. The other end of each air guide 195A and 196A may face the heat dissipation holes 268C and 268D of the bottom frame 260.

[0168] The third heat dissipation cover 353 and the fourth heat dissipation cover 354 may include a first flow groove FH1 on the inner side and a second flow groove FH2 on the lower portion. The first flow groove FH1 may be connected to the window hole 270 and may correspond to one end of the plurality of air guides 195A and 196A. The second flow groove FH2 may correspond to the heat dissipation holes 268C and 268D of the bottom frame 260 and the other end of the plurality of air guides 195A and 196A.

[0169] As Figure 19 、 Figure 20 and Figure 25 shown, the bottom frame 260 may include heat dissipation holes 268A and 268B corresponding to the lower portions of the first heat dissipation member 81 and the second heat dissipation member 83. When each of the first heat dissipation member 81 and the second heat dissipation member 83 is arranged in a plurality of regions, each of the heat dissipation holes 268A and 268B at the lower portion may be arranged in a plurality. The lower portions of the first frame 180 and the second frame 180A may be open to expose the lower portions of the first heat dissipation member 81 and the second heat dissipation member 83 and may be connected to the heat dissipation holes 268A and 268B. The outer sides of the upper portions of the first frame 180 and the second frame 180A may include openings 189. The openings 189 may expose the upper portions of each of the first heat dissipation member 81 and the second heat dissipation member 83.

[0170] In the cooling system or heat dissipation system of the lidar device, when a fan or flowing air is provided to the lower portion of the bottom frame 260, the incoming air may flow between the heat dissipation fins and between the air guides through each of the heat dissipation holes 268A, 268B, 268C, and 268D, and may be discharged toward the outside of the windows 191 and 192 through the first flow groove FH1 or may be discharged through the opening 189.

[0171] Figure 26 and Figure 27 are views showing the thermal distribution of the operation of the heat generating components in the lidar device according to the present invention, wherein the reference numerals 67, 69, 74, and 83 shown in each configuration indicate temperatures, and it can be seen that heat higher than the reference is generated in the regions where the heat generating components 120B and 130B are arranged inside the air guides 195A and 196A. As Figures 28 to 30As shown, when the outside incoming air FF1 is supplied to the air guides 195A and 196A by the movement of a fan or a moving body according to an embodiment of the present invention, the incoming air FF1 can travel along the air guides 195A and 196A and can be discharged as the discharged air FF2 through the opposite end TH0. At this time, since the discharged air FF2 is discharged toward the window direction, changes due to heat at the windows 191 and 192 can be suppressed. In addition, as Figure 31 shown, a uniform heat dissipation effect can be provided in the entire area through the heat dissipation holes in the heat dissipation member and the bottom frame.

[0172] The features, structures, effects, etc. described in the embodiments are included in at least one embodiment of the present invention and do not have to be limited to one embodiment. In addition, the features, structures, effects, etc. shown in each embodiment can be combined, modified, and implemented by those of ordinary skill in the art to which the embodiments belong in other embodiments. Therefore, the content related to such combinations and modifications should be construed as being included within 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. Those of ordinary skill in the art 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 related to such modifications and applications should be construed as being included within the scope of the present invention defined in the appended claims.

Claims

1. A lidar device, comprising: a main frame having a receiving portion therein; a transceiver assembly disposed in the receiving portion and having a circuit board, a light source array, and a sensor array; a bottom frame disposed below the main frame; and a plurality of heat dissipation members disposed on respective side surfaces of the main frame, wherein the plurality of heat dissipation members include a plurality of vertically arranged heat dissipation fins and a plurality of curved air guiding members.

2. The lidar device according to claim 1, wherein the bottom frame has heat dissipation holes facing respective lower portions of the plurality of heat dissipation members.

3. The lidar device according to claim 2, comprising a heat dissipation cover disposed outside the plurality of heat dissipation members.

4. The lidar device according to claim 3, wherein the heat dissipation cover includes a groove at its lower portion, and the groove is connected to the heat dissipation holes of the bottom frame.

5. The lidar device according to any one of claims 1 to 4, comprising a plurality of frames coupled to respective side surfaces of the main frame and having the heat dissipation members, wherein at least one of the plurality of frames includes a window through which laser beams are transmitted and received via the light source array and the sensor array, and any one of the plurality of heat dissipation members is disposed on one side of the window.

6. The lidar device according to any one of claims 1 to 4, wherein the transceiver includes: a first transceiver configured to emit and sense laser beams in a first direction; and a second transceiver configured to emit and sense laser beams in a direction opposite to the first direction, the lidar device includes an upper cover or a cover frame disposed on the first transceiver and the second transceiver and coupled to an inner periphery of an upper portion of the main frame, and the bottom frame is coupled to an inner periphery of a lower portion of the main frame.

7. The lidar device according to claim 6, comprising: a first window disposed on a beam incident side of the first transceiver; and a second window disposed on a beam incident side of the second transceiver, wherein the first window and the second window are disposed more outward than the main frame.

8. The lidar device according to claim 7, wherein the first transceiver includes a first receiving optical system and a first sensor array, the second transceiver includes a second receiving optical system and a second sensor array, and the lidar device includes a first lens tube disposed between the first receiving optical system and the first window, and a second lens tube disposed between the second receiving optical system and the second window.

9. The lidar device according to claim 8, comprising a housing covering an upper portion and an outer side of the main frame, wherein the housing has window holes through which laser beams are transmitted and received.

10. The lidar device according to any one of claims 1 to 4, comprising: a fixed frame fixed to a moving 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 rotates together with the main frame, the bottom frame, and the transceiver.

11. The lidar device according to any one of claims 1 to 4, wherein, the plurality of heat dissipation fins and the plurality of air guiding members have flow paths for the inflow and outflow of external air.

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