Lidar device and vehicle

Abstract

The lidar device according to an embodiment includes: a transceiver that emits and receives a laser beam; a first frame having a fixed position; a second frame coupled to the inside of the first frame and rotating together with the transceiver; a motor coupled to the first frame and the second frame and causing the second frame to rotate axially, the motor including a drive magnet; a first bearing member disposed on the lower part of the motor, coupled between the inner sidewall of the second frame and the inner sidewall of the first frame, and guiding the rotation of the second frame; and a shielding cover covering the upper and outer parts of the first bearing member and blocking magnetic flux leakage from the drive magnet.

Description

Technical Field

[0001] This invention relates to a LiDAR device. Specifically, it relates to a vehicle equipped with a LiDAR device, which includes a rotatable sensor unit and a fixed base unit. Background Technology

[0002] Autonomous vehicles (AVs) use multiple sensors for situational awareness. Sensors that are part of an autonomous vehicle's Self-Driving System (SDS) can include one or more of cameras, LiDAR (Light Detection and Ranging) devices, and inertial measurement units (IMUs). Sensors such as cameras and LiDARs are used to capture and analyze the scene around the moving vehicle. The captured scene is then used to detect objects, including static objects such as fixed structures and dynamic objects such as pedestrians and other vehicles. Furthermore, data collected from the sensors can be used to detect conditions such as road markings, lane curvature, traffic lights, and signs. Additionally, scene representations such as 3D point clouds obtained from the moving vehicle's LiDAR can be combined with one or more images obtained from the cameras to gain additional insights into the scene or situation around the moving vehicle.

[0003] Furthermore, a LiDAR transceiver may include an emitter that emits light in the ultraviolet (UV), visible, and infrared spectral regions, and / or one or more photodetectors that convert other electromagnetic radiation into electrical signals. To provide high-fidelity object detection and tracking, optical sensors such as LiDAR require robustly mounted optical components and sufficient space for one or more transceiver assemblies, processing and driver circuitry, cooling elements, cleaning elements, wiring, and motor assemblies. LiDARs may also have transceiver components rigidly fixed relative to each other to withstand automotive-grade vibrations, high-speed rotation of mechanical LiDAR components, and to address balance and weight considerations. In addition, LiDARs require adequate enclosure and must also consider aesthetic considerations. Summary of the Invention

[0004] Technical issues

[0005] Embodiments of the present invention may provide a LIDAR device having a structure for preventing moisture or foreign matter from seeping in from the outside. Embodiments of the present invention may provide a LIDAR device having a shielding cover for preventing moisture or foreign matter seeping in from the inside or outside from directly contacting the bearing component. Embodiments of the present invention may provide a LIDAR device having an exhaust outlet for discharging moisture or foreign matter seeping in from the inside or outside to the outside. Embodiments of the present invention may provide a LIDAR device having a concave receiving groove for allowing moisture or foreign matter to accumulate therein, and connecting the inlets of multiple exhaust outlets to the receiving groove. Embodiments of the present invention may provide a LIDAR device having a shielding cover covering the outside of the bearing component to block electromagnetic interference with the bearing component.

[0006] Technical solution

[0007] A LIDAR device according to an embodiment of the present invention may include: a transceiver configured to transmit and receive laser beams; a first frame having a fixed position; a second frame coupled to the inner side of the first frame and rotating together with the transceiver; a motor coupled to the first frame and the second frame, causing the second frame to rotate about an axis, and including a drive magnet; a first bearing member disposed below the motor, coupled between the inner sidewall of the second frame and the inner sidewall of the first frame, and configured to guide the rotation of the second frame; and a shielding cover covering the upper and outer sides of the first bearing member and blocking magnetic flux leakage from the drive magnet.

[0008] According to an embodiment of the present invention, the motor may include: a yoke disposed on the inner side of the outer wall of the first frame; a plurality of driving magnets disposed on the inner side of the yoke; and a motor core facing the plurality of driving magnets and fixed to the inner wall of the second frame, wherein the upper end of the yoke may be configured to be higher than the gap between the outermost first frame and the second frame.

[0009] According to an embodiment of the present invention, the first frame may include a plurality of discharge outlets, each discharge outlet having an inlet and an outlet, the inlet being disposed in a receiving space between the inner and outer walls of the first frame, and the outlet extending to a position lower than the inlet. According to an embodiment of the present invention, the receiving space may be disposed outside the inner wall of the first frame on which the first bearing member is arranged.

[0010] According to an embodiment of the present invention, the shielding cover may include: a fixing piece covering the lower surface of the motor core; a bending piece bending from the fixing piece; and an extension piece bending from the other end of the bending piece toward the outer side of the inner sidewall of the first frame.

[0011] According to an embodiment of the present invention, the lower end of the extension piece of the shielding cover may be disposed at the same height as the center of the bearing of the first bearing member or disposed below the center. According to an embodiment of the present invention, the LIDAR device may further include: a central shaft connected to the inner central portion of the first frame; one or more second bearing members surrounding the central shaft; and a wireless power transmission module connected to the inner sides of the first frame and the second frame.

[0012] A LIDAR device according to an embodiment of the present invention may include: a bottom cover; a first frame having a plurality of fixed sidewalls projecting vertically inward and disposed on the upper circumference of the bottom cover; a central shaft connected to the first frame; a second frame rotating about the central shaft; a motor connected to the first frame and the second frame and configured to rotate the second frame; a wireless power transmission module connected to the first frame and the second frame respectively; a first bearing member connected between the second frame and the first frame and configured to guide rotation; a second bearing member connected between the central shaft and the second frame and configured to guide rotation; and a shielding cover disposed between the motor and the first bearing member, wherein a portion of the motor is disposed inside the gap between the first frame and the second frame and is positioned above the outermost gap between the first frame and the second frame.

[0013] According to an embodiment of the present invention, the motor may include: a yoke disposed on the inner side of the outer wall of the first frame; a plurality of driving magnets disposed on the inner side of the yoke; and a motor core facing the plurality of driving magnets and fixed to the inner side wall of the second frame, wherein the upper end of the yoke may be configured to be higher than the gap between the first frame and the second frame.

[0014] According to an embodiment of the present invention, the first frame may include a plurality of discharge outlets, each discharge outlet having a flow path extending outward from a receiving space between the inner and outer walls of the first frame. According to an embodiment of the present invention, the shielding cover may include: a fixing piece covering the lower surface of the motor core; a bending piece bent from the fixing piece; and an extension piece bent from one end of the bending piece toward the outer side of the inner wall of the first frame. According to an embodiment of the present invention, the lower end of the extension piece of the shielding cover may be located at a position equal to or lower than the center of the bearing of the first bearing member.

[0015] Beneficial effects

[0016] According to embodiments of the present invention, a LIDAR device may have a structure for preventing moisture or foreign matter from seeping in from the outside. Specifically, a rear yoke is provided on the inner side of the gap between the rotating frame and the fixed frame, the upper end of which is higher than the upper end of the gap, thereby effectively preventing moisture or foreign matter from seeping in from the outside.

[0017] The LIDAR device according to the present invention can prevent moisture and foreign matter that have seeped into the interior from directly contacting the upper portion of the bearing component. Specifically, by placing a shielding cover between the bearing component and the motor and extending the shielding cover further outward beyond the outer side of the bearing component, the shielding cover can prevent moisture or foreign matter from seeping into the area of ​​the bearing component. Furthermore, by extending the shielding cover to the lower outer end of the bearing component, the shielding cover can block the influence of the electromagnetic force generated by the motor on the bearing of the bearing component.

[0018] The LIDAR device according to the present invention may include multiple exhaust outlets for discharging moisture or foreign matter that has seeped into the fixed frame to the outside, thereby preventing moisture or foreign matter from accumulating inside.

[0019] The LIDAR device according to the invention can facilitate the discharge of moisture or foreign matter by setting the outlet of each discharge outlet of the fixed frame to be lower than its inlet. Furthermore, the portion of the fixed frame to which the inlet of the discharge outlet is connected may include a concave receiving groove, allowing moisture or foreign matter to accumulate therein while simultaneously facilitating discharge. Therefore, performance degradation of the LIDAR device can be prevented, operational reliability can be improved, and lifespan can be extended. Attached Figure Description

[0020] Figure 1 This is a perspective view of a vehicle equipped with a LIDAR system according to an embodiment of the present invention.

[0021] Figure 2 It has Figure 1 An example of a block diagram of a vehicle system for a LiDAR system.

[0022] Figure 3 This is a perspective view of a LIDAR device according to an embodiment of the present invention.

[0023] Figure 4 yes Figure 3 A perspective view of a LiDAR device viewed from another direction.

[0024] Figure 5 yes Figure 3 An example of a side cross-sectional view of a LiDAR device.

[0025] Figure 6 yes Figure 3 An example of a side cross-sectional view of a LiDAR device viewed from another direction.

[0026] Figure 7 yes Figure 6 A magnified view of a portion of the image.

[0027] Figure 8 This is an exploded perspective view showing the first frame, the second frame, and the shielding cover in the LIDAR device of the present invention.

[0028] Figure 9 It shows the setting Figure 8 A perspective view of the bearing components and discharge outlet inside the first frame.

[0029] Figure 9 It is shown Figure 8 An internal perspective view of the first frame.

[0030] Figure 11 yes Figure 6 An example of the front view.

[0031] Figure 12 It is used for explanation Figure 11 A view of the internal flow path within.

[0032] Figure 13 (A) and (B) are views for comparing the bearing components of the bearing assembly in the LIDAR device of the present invention before and after magnetization by electromagnetic force.

[0033] Figure 14 yes Figure 11 A variation of the shielding cover.

[0034] Figure 15 It shows through Figure 14 A view of an example of a shielding cover blocking electromagnetic forces transmitted to the bearing components.

[0035] Figure 16 This is a graph comparing the power consumption of LIDAR devices as a function of temperature.

[0036] Figure 17 This is a graph comparing the frictional load generated by individual bearing components, the magnetization of the drive magnet, and the riveting of the bearing inner race in a LIDAR device product.

[0037] Figure 18 This is a graph comparing the leakage magnetic flux affecting bearing components according to embodiments 1 and 2 of the present invention.

[0038] Figure 19 This is a graph comparing the frictional torque in the bearing components according to Embodiments 1 and 2 of the present invention.

[0039] Figure 20 This is a graph comparing the power consumption in the bearing components according to embodiments 1 and 2 of the present invention.

[0040] Figure 21 This is a chart comparing the power consumption of the LIDAR device products of the present invention as a function of temperature. Detailed Implementation

[0041] In the following, embodiments will be described in detail with reference to the accompanying drawings, wherein like reference numerals denote like elements. However, the invention can be embodied in a variety of different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the features and aspects of the invention to those skilled in the art. Therefore, processes, elements, and techniques that are not necessary for those skilled in the art to fully understand the features and aspects of the invention are not described. Unless otherwise stated, like reference numerals denote like elements throughout the drawings and written description, and therefore their repeated description will be omitted.

[0042] A LIDAR system can be referred to as a depth detection system, laser ranging system, lidar system, or laser / optical detection and ranging (LADAR) system. LIDAR is a distance measurement sensor characterized by long detection range, high resolution, and low interference from the environment. LIDAR has been widely used in intelligent robots, drones, autonomous driving, and other fields. The operating principle of LIDAR is based on estimating distance using the round-trip time (e.g., flight time or delay time) between an electromagnetic wave and a target. A LIDAR system measures the distance (e.g., depth) to an object by emitting an optical pulse (e.g., a laser pulse) towards it and measuring the time it takes for the optical pulse to reflect from the object and be detected by the LIDAR system's sensor.

[0043] The above aspects and features of embodiments of the invention will be described in more detail with reference to the accompanying drawings.

[0044] Figure 1This is a perspective view of a vehicle equipped with a LIDAR system according to an embodiment of the present invention.

[0045] refer to Figure 1 Moving bodies such as vehicle 500 may include a LIDAR system 100, a camera unit 101, vehicle identification sensors 102 and 104, a GPS sensor 103, a vehicle control module 107, and an ultrasonic sensor 105. The LIDAR system 100 is a device with a rotating sensor unit attached to a part of vehicle 500, rotating 360 degrees to sense the distance between the vehicle and objects (including static and dynamic objects), sense the surrounding environment and shape, and use the measured data to control driving. Three-dimensional point clouds based on this sensing technology can collect and analyze objects or the environment surrounding the vehicle, and can generate sensing data that provides information about objects within a suitable proximity range.

[0046] The LIDAR system 100 can communicate with the vehicle control module 107 and can transmit and receive information related to vehicle driving. The vehicle control module 107 can communicate with various systems or sensors within the vehicle and can perform various control operations. The vehicle control module 107 is a device for controlling and monitoring various systems of the vehicle and may include control devices such as electronic control units (ECUs). The vehicle control module 107 can communicate with external mobile devices and can be electrically connected to a removable storage device.

[0047] Camera unit 101 can be installed in one or more units inside and / or outside the vehicle, capturing images of the front and / or rear of a moving vehicle, and providing or storing these images via a display device (not shown). The captured image data may optionally include audio data. In another example, camera unit 101 can be installed at the front, rear, corner, or side of vehicle 500 to capture surrounding images and provide them via a display device. Vehicle control module 107 or another processor can identify traffic lights, vehicles, pedestrians, etc., based on the captured data and provide the obtained information to the driver. Camera unit 101 can be used as a driver assistance device.

[0048] Multiple front radars 102 can be installed at the front of the vehicle 500 and can detect the distance between the vehicle 500 and objects in front. Multiple rear radars 104 can be installed at the rear of the vehicle 500 and can detect the distance between the vehicle 500 and objects behind. When object information is detected by radars 102 and 104, surrounding objects or obstacles can be detected and notified to the driver through alarms or warning messages.

[0049] GPS sensor 103 can receive signals from satellites and provide these signals to devices such as vehicle control module 107, LIDAR system 100, and camera unit 101. These devices can provide or calculate information such as the vehicle's position, speed, and time based on GPS signals. Ultrasonic sensor 105 can sense the distance to nearby vehicles or obstacles to facilitate safe parking. Ultrasonic sensor 105 can prevent accidents during driving. Ultrasonic sensor 105 can be installed at the rear, side, or wheels of the vehicle.

[0050] like Figure 2 As shown, the vehicle system 200, which includes a LIDAR system 100 and a vehicle control module 107, can receive input from a user or driver or provide information through a user interface 211. The user interface 211 may include a display device, touch panel, buttons, voice recognition, and wired or wireless input devices, and can be connected via wired or wireless communication to enable communication between the driver and various devices. The vehicle system 200 can communicate with a remote device 213, and the remote device 213 can remotely communicate with the user or external systems or receive external control signals. The communication unit 215 can support wired or wireless communication and can be a wired or wireless module. The storage unit 220 may include one or more sub-memories 221. The storage unit 220 may include a portable or removable storage device 222. The LIDAR system 100 can communicate with the user interface 211 and the camera unit 101.

[0051] LIDAR system 100 may include a drive unit 115, such as a motor, which can rotate a portion or all of LIDAR system 100 360 degrees according to control signals. Drive unit 115 includes a portion (e.g., a stator) fixed to a moving body such as a vehicle and a portion (e.g., a rotor) rotating with sensor devices, and communicates with internal components such as measurement system 110 to achieve axial rotation. LIDAR system 100 may include measurement system 110 and at least one transceiver 120. Drive unit 115 may be coupled to rotate measurement system 110 and transceiver 120 and to transmit driving force.

[0052] The measurement system 110 may include a main processor 111 and a main memory 112, and the main processor 111 may be implemented as a general-purpose processor, an ASIC (Application-Specific Integrated Circuit), one or more FPGAs (Field-Programmable Gate Arrays), a set of processing components, or other suitable electronic processing components. The main memory (e.g., memory, memory cell, storage device, etc.) 112 may include one or more devices (e.g., RAM, ROM, flash memory, hard disk storage, etc.) for storing data and / or computer code used to perform or facilitate the various processes described in this invention. The main memory 112 may be volatile or non-volatile memory, or may include both volatile and non-volatile memory. The main memory 112 may include database components, object code components, script components, or any other type of information structure to support the various activities and information structures described in this invention. According to an embodiment, the main memory 112 may be communicatively connected to the main processor 111.

[0053] Measurement system 110 may include one or more processors (also referred to as central processing unit (CPU)). The one or more processors may be connected to a communication infrastructure or bus. Furthermore, each of 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 handle mathematically intensive applications. The GPU may have a parallel architecture that is efficient for parallel processing of large blocks of data, such as mathematically intensive data commonly used in computer graphics applications, images, and videos. Measurement system 110, as a computer system, may be connected to one or more user input / output devices, such as monitors, keyboards, and pointing devices, that communicate with the communication infrastructure via user input / output interfaces.

[0054] Within the LIDAR system 100, one or more transceivers 120 may be installed. When multiple transceivers are installed, laser beams can be emitted and sensed in different directions relative to the rotation axis. Here, the different directions can be arranged relative to each other in the range of 10 degrees to 180 degrees, for example, at any of 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, and 180 degrees, and preferably at an angle of 180 degrees. The multiple transceivers can have different divergence angles or fields of view. The multiple transceivers can scan objects at different heights.

[0055] Transceiver 120 includes a transmitting module 121 and a sensing module 123. The transmitting module 121 emits a laser beam, and the sensing module 123 senses the laser beam emitted by the transmitting module 121. The transmitting module 121 may include a light source array (not shown), and the sensing module 123 may include a receiving optical system (not shown) and a sensor array (not shown). The transmitting module 121 may include a processor or control module, such as a general-purpose processor, ASIC, or FPGA, capable of controlling the driving of the light source array and the output of optical signals, and may also include internal memory storing code for controlling the generation of the laser beam.

[0056] The light source array may include multiple light sources that generate laser beams or light pulses. Light sources may include LDs (laser diodes), edge-emitting lasers, VCSELs (vertical-cavity surface-emitting lasers), distributed feedback lasers, LEDs (light-emitting diodes), SLDs (superluminescent diodes), etc. However, this disclosure is not limited thereto. The sensing module 123 may convert the original histogram based on the signal sensed by the receiving optical system and may include a processor with a matched filter, peak detection circuitry, and SPAD saturation and quenching circuitry. Such a processor may be implemented as a general-purpose processor, an ASIC (Application-Specific Integrated Circuit), one or more FPGAs (Field-Programmable Gate Arrays), a set of processing components, or other suitable electronic processing components. The sensing module 123 may include a memory (not shown) having one or more devices for storing the detected optical signal, such as RAM, ROM, flash memory, hard disk storage, etc.

[0057] In the following description, a LiDAR device with a LiDAR system will be described with reference to the accompanying drawings.

[0058] like Figures 3 to 5 As shown, the LIDAR device 100A may include a fixed portion 1 and a rotating portion 2, the rotating portion 2 having a cover 140. The fixed portion 1 is coupled to a portion of a movable body, such as a vehicle, and may be embedded in or protrude from the movable body. The fixed portion 1 may include a bottom cover 180, a first base plate 158, and a first frame 150. The first frame 150 may be separable from or integrally formed with the bottom cover 180, and the first frame 150 may have a plurality of fastening portions 159 and may be fastened to the movable body by means of fastening devices such as screws.

[0059] The rotating part 2 can rotate on the movable body by the driving force of the motor 40. The rotation of the rotating part 2 can be axial rotation. The rotating part 2 may include a transceiver 120, a rotatable second frame 130, and a second substrate 148. The transceiver 120 can rotate together with the second frame 130. The second substrate 148 is electrically connected to the transceiver 120 and can receive wireless power from the fixed part 1. The rotating part 2 and the fixed part 1 may include wireless transmitting and receiving units, and can transmit and receive wireless data. The second substrate 148 may be disposed on the second frame 130 and may be disposed below the transceiver 120.

[0060] The lower portion of the cover 140 surrounds the upper circumference of the fixed portion 1 and covers the upper circumference of the rotating portion 2. The cover 140 has a cylindrical shape, its lower portion is open and includes a transceiver 120, and rotates with the rotating portion 2. The cover 140 is formed of an opaque material and may include metallic or non-metallic materials, covers the circumference of the transceiver 120, and may include an opening 141 for transmitting and receiving laser beams. The opening 141 may be positioned on the transmission and reception paths of the transceiver 120. The cover 140 may be coupled to a second frame 130 and can rotate with the second frame 130. As another example, when the cover 140 is made of a transparent material and coupled to a first frame 150, the cover 140 may not rotate, and the transceiver 120 may rotate with the second frame 130.

[0061] The transceiver 120 includes a transmitting module 121 and a sensing module 123, wherein the transmitting module 121 can be disposed on one side of the sensing module 123 or on one side of the window 125. The transmitting module 121 has a light source array and can be disposed in the region adjacent to the window 125 to minimize laser beam loss or interference.

[0062] The sensing module 123 includes a sensor section 21, a sensor substrate 24, an optical system 22, and a light guide section 23. The light guide section 23 guides the incident laser beam to the optical system 22, and its incident diameter can be larger than its emitting diameter. That is, the light guide section 23 can have a funnel shape with a wide inlet and a narrow outlet, and can be in close contact with the window 125. The optical system 22 has one or more lenses that, by adjusting the resolution and optical power, focus the laser beam incident through the light guide section 23 onto the sensor section 21, which converts the incident laser beam into an electrical signal. The sensor substrate 24 is electrically connected to the sensor section 21 and transmits the received signal to the processor and memory in the fixed part 1 via a third substrate 128 and a second substrate 148.

[0063] The light guide 23 can be arranged in an inclined structure together with the optical axis of the lens of the optical system 22. The transceiver 120 is provided with a pair of transmitting modules 121 and sensing modules 123. However, it can include multiple transmitting modules and multiple sensing modules, which have different fields of view and emit and receive laser beams in opposite directions.

[0064] The cover 140 includes a heat dissipation section 142 having multiple holes extending from the inside to the outside, which dissipates heat generated inside to the outside. The heat dissipation section 142 may be disposed along the outer periphery of the cover 140 on multiple heat dissipation areas, and each heat dissipation area may have multiple holes. For example, the multiple heat dissipation areas may be respectively disposed on the outer side of the light source section 121 of the transceiver 120 and on the outer side of the sensor section 21 and the sensor substrate 24. A window 125 is exposed at the opening 141 of the cover 140, and the window 125 may be disposed on the transmitting and receiving areas of the transceiver 120 and may emit and receive laser beams. The window 125 may be formed of a transparent material.

[0065] A protective cover 125 is disposed in the inner region 140A of the cover 140, and when moisture or foreign matter seeps into the interior of the cover 140 from the outside, the protective cover 125 can prevent moisture or foreign matter from seeping into or flowing into the interior of the protective cover 125. Therefore, the protective cover 125 can protect the transceiver 120 and the internal substrates 128 and 148. The cover 140 and the protective cover 125 can be fastened to the second frame 130 by a fastening device. The protective cover 125 can have a shape corresponding to the inner shape of the cover 140, for example, a cylindrical shape that is closed at the top and open at the bottom. A window 125 can be attached to one side of the protective cover 125.

[0066] At least one or both of the cover 140 and the protective cover 125 can be fastened to the second frame 130 by a fastening device not shown. The cover fastening part 139 is provided at the outer periphery of the second frame 130, and the cover fastening part 139 can be connected to the sub-frame 147 by a fastening device not shown. The sub-frame 147 supports the lower outer part of the cover 140.

[0067] Furthermore, the cover 140 and the protective cover 125 can be connected to the second frame 130 via the sub-frame 147. For example... Figure 7 As shown, the outer upper circumference 136 of the second frame 130 has a concave annular groove, and an annular washer 146 is connected to the annular groove, and the washer 146 can be in close contact with the second frame 130 and the protective cover 125 or the sub-frame 147.

[0068] Connector 190 can be attached to a portion of the base cover 180. As another example, power connector 190 can be attached to a portion of the first frame 150. Connector 190 connects to the first substrate 158 or another substrate and can provide the required power or transmit and receive data.

[0069] The outer periphery of the first frame 150 has a cylindrical shape, and the outer periphery of the second frame 130 may also have a cylindrical shape. The outer diameter of the first frame 150 and the outer diameter of the second frame 130 may be the same, or the outer diameter of the second frame 130 may be larger than the outer diameter of the first frame 150. Here, the outer diameter is the outer periphery of the corresponding regions of the first frame 150 and the second frame 130. The region between the first frame 150 and the second frame 130 may have a gap 11. The gap 11 may be formed along the circumference between the first frame 150 and the second frame 130, and may be 1 mm or less. Because there is a gap 11 between the fixed first frame 150 and the rotating second frame 130, moisture or foreign matter may seep into the interior of the first frame 150 and the second frame 130 from the outside through the gap 11.

[0070] A portion of the motor 40 may be disposed inside the gap 11. This portion of the motor 40 may be in close contact with the area between the first frame 150 and the second frame 130. This portion of the motor 40, located inside the gap 11, can block the path for moisture or foreign matter to seep into the interior from the outside. Furthermore, this portion of the motor 40 may be positioned above the upper end of the gap 11 to increase the inflow path and inhibit the inflow of moisture or foreign matter. This portion of the motor 40 disposed inside the gap 11 may be a yoke or a motor core.

[0071] The connection area of ​​the first frame 150 and the second frame 130 of the LIDAR device includes a first substrate 158 and a central shaft 311 disposed on the bottom cover 180. It may include a wireless power transmission module 30, bearing components 50 and 60, and a motor 40 connected to the first frame 150 and the second frame 130.

[0072] The central shaft 311, together with the first substrate 158, supports the rotation of the second frame 130 at the central portion of the first frame 150. The lower part of the central shaft 311 can be fastened to a portion of the first frame 150 via a fastening device 319. The upper part of the central shaft 311 can contact or be electrically connected to components of the second substrate 148. An encoder module 90 is coupled to the upper circumference of the central shaft 311 and the second substrate 148, and this encoder module can detect the direction and position of rotation using an encoder disk and an optical sensor.

[0073] The wireless power transmission module 30 may include a first ferrite core 31 and a second ferrite core 33, as well as a first coil 32 and a second coil 34. The motor 40 may include multiple drive magnets 41, a motor core 42, and a yoke 43. The wireless power transmission module 30 wirelessly transmits power from the fixed portion 1 to the rotating portion 2. The wireless power transmission module 30 is connected within the first frame 150 and the second frame 130 and may face each other. The first ferrite core 31 and the first coil 32 serve as wireless power receiving portions, while the second ferrite core 33 and the second coil 34 serve as wireless power transmitting portions. The wireless power transmitting portions 33 and 34 of the wireless power transmission module 30 wirelessly transmit power within the fixed portion 1, and the wireless power receiving portions 31 and 32 wirelessly receive power within the rotating portion 2 and supply power to components within the rotating portion 2. The wireless power transmission module 30 enables the operation of the transceiver 120 and the substrate and system connected thereto. When the motor core 42 rotates, the wireless power transmission module 30 can supply power to the motor core 42.

[0074] Wireless power transmitting units 33 and 34 are connected within the first frame 150, and wireless power receiving units 31 and 32 can be connected to the second frame 130. The wireless power transmission module 30 is disposed on the inner periphery of the area between the first frame 150 and the second frame 130, and wirelessly transmits and receives power, thereby reducing interference to other components such as motors.

[0075] The LIDAR device 100A includes a motor 40 for rotating a rotating section 2. The motor 40 includes drive magnets with electromagnetic force. A yoke 43 of the motor 40 is disposed along the outer side of a plurality of magnets 41 and shields the electromagnetic force. The yoke 43 serves as a rear yoke. The yoke 43 and the plurality of magnets 41 are arranged circumferentially, and a motor core 42 faces the plurality of magnets 41, generating an electromagnetic force between the magnets 41 and the motor core 42 when power is supplied to the coil of the motor core 42. The motor core 42 can rotate with a second frame 130, and the yoke 43 and the plurality of magnets 41 can be fixed to a first frame 150. As another example, the yoke 43 and the plurality of magnets 41 can be coupled to the second frame 130 and rotate, and the motor core 42 can be coupled to the first frame 150 and fixed in place.

[0076] The first frame 150 is a fixed frame with a fixed position and includes metallic or non-metallic materials. For example, the metallic material may include aluminum or its alloys, while the non-metallic material may include plastic materials. Figure 8 As shown, the inner portion of the outer wall of the first frame 150 includes a receiving area 150A for inserting a component, and the second frame 130 can be disposed in the upper inner portion. Furthermore, the second frame 130 includes a receiving space in its lower portion corresponding to the receiving area 150A, and can accommodate the component.

[0077] like Figure 7 As shown, the first frame 150 includes an extension 151 extending from the outer wall toward the central axis 311, a first fixed sidewall 152 protruding from the extension 151 toward the second substrate 148, and a second fixed sidewall 153. The second frame 130 includes a first rotating sidewall 132 and a second rotating sidewall 133 extending from the top plate 131 toward the bottom cover 180. The first fixed sidewall 152 faces the first rotating sidewall 132 in the vertical direction, and the second fixed sidewall 153 faces the lower part of the second rotating sidewall 133 in the horizontal direction.

[0078] The first fixed sidewall 152 and the second fixed sidewall 153 have annular shapes, and the first rotating sidewall 132 and the second rotating sidewall 133 may also have annular shapes.

[0079] Wireless power receiving portions 31 and 32 are housed in the space between the first rotating sidewall 132 and the second rotating sidewall 133, and can be fixed to the outer periphery of the first rotating sidewall 132 and the lower surface of the top plate 131. Wireless power transmitting portions 33 and 34 are housed in the space between the first fixed sidewall 152 and the second rotating sidewall 133, and can be fixed to the outer periphery of the first fixed sidewall 152 and the upper surface of the extension 151.

[0080] The motor core 42 can be fixed to the inner circumference of the second rotating sidewall 133 and the lower surface of the top plate 131, and the yoke 43 can be fixed to the stepped structure ST1 on the upper inner part of the outer wall of the first frame 150. Multiple magnets 41 can be attached to the inner surface of the yoke 43 and can be arranged circumferentially. The magnets 41 can face the motor core 42. The outer side of the yoke 43 can overlap with the gap 11 in the horizontal direction. The upper end of the yoke 43 is positioned higher than the upper end of the gap 11 to suppress the inflow of moisture or foreign matter from the outside.

[0081] like Figures 7 to 11 As shown, the first frame 150 may include exhaust outlets 18. Multiple exhaust outlets 18 are arranged along the outer periphery of the first frame 150, and may be spaced apart from each other or arranged at equal angles relative to the central axis. The outlets of the exhaust outlets 18 may be positioned below the inlets. The inlet of each exhaust outlet 18 may be located at the corner between the extension 151 and the outer wall of the first frame 150, or at the bottom of the outer receiving space 150B of the first frame 150. The outlet of each exhaust outlet 18 may be located at the lower part of the outer surface of the first frame 150. Figure 12As shown, the extension line of the exhaust outlet 18 can have an acute angle R1 relative to a horizontal straight line, thereby facilitating the discharge of internal moisture or foreign matter M1. The bottom of the outer containment space 150B where the inlet of the exhaust outlet 18 is located can be horizontal or inclined, and in the inclined structure, the outer side of the bottom can be lower than the inner side of the bottom of the outer containment space 150B.

[0082] like Figure 11 and Figure 12 As shown, the shielding cover 70 can be disposed below the motor 40. The shielding cover 70 can be disposed on the outer side of the second rotating sidewall 133 of the second frame 130. The shielding cover 70 can be disposed in the region between the motor 40 and the first bearing member 60. The first bearing member 60 can be disposed on one side or at the bottom of the motor 40. A portion of the shielding cover 70 is disposed adjacent to the motor core 42, thereby blocking the influence of the electromagnetic force F1. The shielding cover 70 may include a fixing piece 71, bending pieces 72 and 73, and an extension piece 74. The fixing piece 71 is adhered to or attached to the lower surface of the motor core 42 and covers the entire lower surface of the motor core 42. The bending pieces 72 and 73 are bent from the fixing piece 71 once or multiple times, and the extension piece 74 is bent from the other end of the bending piece 73 and extends to the outer side of the second fixed sidewall 153 of the first frame 150. The shielding cover 70 comprises a metallic material, such as an alloy of nickel and iron (e.g., permalloy), and may comprise a magnetic material with very high permeability and low hysteresis loss. The nickel content of the alloy can be higher than the iron content.

[0083] The electromagnetic force (i.e., leakage flux F1) generated by the motor 40 may cause the bearing of the first bearing member 60 to be positioned in an abnormal direction, thus increasing the frictional force in the first bearing member 60 and consequently increasing the power consumption. In a LIDAR device, during rotation, the power consumption of a motor with an optical load is generated by friction between the bearing and the raceway rings (i.e., the inner and outer raceways), and this friction may cause the power consumption to increase rapidly in low-temperature environments.

[0084] exist Figure 13 In the diagram, (A) shows the bearing of the first bearing assembly located on both sides of the central shaft 311 before magnetization by the driving magnet, while (B) shows the bearing's position after magnetization. Since the bearing of the first bearing assembly, as well as the inner and outer races, are made of magnetic material, when the leakage magnetic flux F1 acts on the bearing, the gap between bearing 61 and outer race 63 may cause the bearing 61 to come into close contact or even come into contact with the outer race 63. Therefore, the frictional load on the bearing of the first bearing assembly 60 increases, and the power consumption also increases.

[0085] like Figure 16As shown, the power consumption of LiDAR devices Product 1, Product 2, and Product 3 varies with temperature depending on the product, but increases as the temperature decreases. It can be seen that Product 1 exceeds the rated power of its motor (e.g., a maximum of 35W). Figure 17 As shown, when measuring the frictional load of products 1, 2, and 3, it can be seen that the average frictional force is lowest when the bearing is a single unit, second highest when friction is caused by the magnetization of the drive magnet, and highest when the inner race of the bearing assembly is riveted. This frictional load may be the cause of increased power consumption. Furthermore, since the frictional load increases after the drive motor is magnetized, power consumption increases due to friction caused by the bearing.

[0086] like Figure 14 and Figure 15 As shown, in one embodiment, the shielding cover 70 may extend the extension piece 74A to the lower portion of the first bearing member 60. The lower end of the extension piece 74A of the shielding cover 70 may extend to a position equal to or below the center of the bearing 61 of the first bearing member 60. Preferably, the lower end of the extension piece 74A of the shielding cover 70 may extend to a position equal to or below the lower end of the bearing 61 of the first bearing member 60. The extension piece 74A of the shielding cover 70 faces the outer surface of the second fixed sidewall 153 along the outer periphery of the second fixed sidewall 153 and may extend to a region adjacent to the lower end of the second fixed sidewall 153.

[0087] When leakage magnetic flux F1 and F2 are generated in the motor 40, the shielding cover 70 can cover the upper part and the outer side of the first bearing member 60. Therefore, the problem of tight or frictional contact between the bearing 61 and the outer race 63 of the first bearing member 60 can be eliminated. The first bearing member 60 is subject to inertial loads, and the influence of leakage magnetic flux can be eliminated.

[0088] here, Figure 11 and Figure 12 The structure can be classified as Example 1, while Figure 14 and Figure 15 The construction can be classified as Example 2. For example... Figure 18 As shown, Example 2 illustrates a reduction of 80% or more in leakage magnetic flux measurements at room temperature compared to Example 1, and as... Figure 19 As shown, Example 2 demonstrates a reduction of 13% or more in frictional rotational torque compared to Example 1, and as... Figure 20 As shown, Example 2 demonstrates a 10% or greater reduction in power consumption compared to Example 1. Furthermore, as... Figure 21 As shown, it can be seen that the power consumption of products 1, 2 and 3 in Example 2 as a function of temperature all meet the rated power consumption and maximum power consumption of the motor.

[0089] The features, structures, effects, etc., described in the above embodiments are included in at least one embodiment of the present invention, and are not necessarily limited to one embodiment. Furthermore, the features, structures, and effects shown in each embodiment can be combined or modified by those skilled in the art relative to other embodiments. Therefore, anything related to these combinations and variations should be interpreted as being included within the scope of the present invention. Moreover, although described based on embodiments, these are merely examples, and the present invention is not limited thereto. It will be apparent to those skilled in the art that various modifications and applications not shown above are possible without departing from the basic characteristics of this embodiment. For example, the various components specifically shown in this embodiment can be modified and implemented. And the differences associated with these modifications and applications should be interpreted as being included within the scope of the present invention as defined in the appended claims.

Claims

1. A LIDAR device, comprising: A transceiver configured to transmit and receive laser beams; A first frame, the first frame having a fixed position; The second frame is connected to the inside of the first frame and rotates together with the transceiver; An electric motor, connected to the first frame and the second frame, configured to rotate the second frame about an axis, and including a drive magnet; A first bearing component is disposed below the motor, connected between the inner wall of the second frame and the inner wall of the first frame, and configured to guide the rotation of the second frame. as well as A shielding cover covers the upper and outer sides of the first bearing member and is configured to block magnetic flux leakage from the drive magnet.

2. The LIDAR device according to claim 1, in, The motor includes: a yoke disposed on the inner side of the outer wall of the first frame; a plurality of driving magnets disposed on the inner side of the yoke; and a motor core facing the plurality of driving magnets and fixed to the inner wall of the second frame. The upper end of the yoke is positioned above the gap between the outermost first frame and the second frame.

3. The LIDAR device according to claim 2, in, The first frame includes a plurality of emission outlets, each emission outlet having an inlet and an outlet, the inlet being disposed in a receiving space between the inner sidewall and the outer wall of the first frame, and the outlet extending to a position lower than the inlet.

4. The LIDAR device according to claim 3, in, The accommodating space is located on the outer side of the inner wall of the first frame on which the first bearing member is arranged.

5. The LIDAR device according to any one of claims 2 to 4, in, The shielding cover includes: a fixing piece that covers the lower surface of the motor core; a bending piece that bends from the fixing piece; and an extension piece that bends from one end of the bending piece toward the outer side of the inner wall of the first frame.

6. The LIDAR device according to claim 5, in, The lower end of the extension piece of the shielding cover is positioned at a location equal to or lower than the center of the bearing of the first bearing member.

7. The LIDAR device according to any one of claims 1 to 4, comprising: A central axis, which is connected to the inner central portion of the first frame; One or more second bearing components, the one or more second bearing components surrounding the central axis; as well as A wireless power transmission module is connected to the inner sides of the first frame and the second frame.

8. A LIDAR device, comprising: Bottom cover; A first frame having a plurality of fixed sidewalls protruding vertically inside and disposed on the upper circumference of the bottom cover; A central axis, which is connected to the first frame; A second frame, which rotates about the central axis; An electric motor, which is connected to the first frame and the second frame and is configured to rotate the second frame; A wireless power transmission module, wherein the wireless power transmission module is respectively connected to the first frame and the second frame; A first bearing member is connected between the second frame and the first frame and is configured to guide rotation; A second bearing component is connected between the central shaft and the second frame and is configured to guide rotation; as well as A shielding cover is disposed between the motor and the first bearing component. A portion of the motor is disposed inside the gap between the first frame and the second frame, and is positioned above the outermost gap between the first frame and the second frame.

9. The LIDAR device according to claim 8, in, The motor includes: a yoke disposed on the inner side of the outer wall of the first frame; a plurality of driving magnets disposed on the inner side of the yoke; and a motor core facing the plurality of driving magnets and fixed to the inner wall of the second frame. The upper end of the yoke is positioned above the gap between the outermost first frame and the second frame.

10. The LIDAR device according to claim 9, in, The first frame includes a plurality of discharge outlets, each discharge outlet having a flow path extending outward from the containment space between the inner and outer walls of the first frame.

11. The LIDAR device according to claim 9, in, The shielding cover includes: a fixing piece that covers the lower surface of the motor core; a bending piece that bends from the fixing piece; and an extension piece that bends from one end of the bending piece toward the outer side of the inner wall of the first frame.

12. The LIDAR device according to claim 11, in, The lower end of the extension piece of the shielding cover is positioned at a location equal to or lower than the center of the bearing of the first bearing member.

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