Lidar drive device and lidar device

Abstract

The lidar device disclosed in the embodiment can include: a stator housing having a first fixed side wall and a second fixed side wall arranged in a ring shape from the inside to the outside, the stator housing having a lower center hole; a center shaft; a rotor housing having an upper center hole and having a first rotating side wall disposed around the outer circumference of the center shaft and a second rotating side wall disposed between the first rotating side wall and the second fixed side wall; a first support member coupled to the inside of the second fixed side wall and the outside of the second rotating side wall while being disposed therebetween; and a second support member coupled to the center shaft and the inside of the first rotating side wall while being disposed therebetween.

Description

Technical Field

[0001] This invention relates to a lidar driving device and a lidar device. Specifically, it relates to a lidar device having a rotatable sensor unit and a fixed support unit. Background Technology

[0002] Autonomous vehicles (AVs) use multiple sensors for situational awareness. Sensors that are part of an AV'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 LiDAR are used to capture and analyze the scene surrounding the 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 by 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 by the vehicle's LiDAR can be combined with one or more images obtained by the cameras to gain further insights into the scene or situation surrounding the vehicle.

[0003] Furthermore, a lidar transceiver may include an emitter that transmits light in the ultraviolet (UV), visible, and infrared spectral regions, and one or more photodetectors that convert light or other electromagnetic radiation into electrical signals. To provide high-fidelity object detection and tracking, optical sensors such as LiDAR require robustly mounted optical components, as well as sufficient space for one or more transceiver assemblies, processing and driver circuitry, cooling elements, cleaning elements, wiring, and motor assemblies. LiDAR may also include transceiver components that are robustly mounted to each other to withstand vehicle-level vibrations and high-speed rotation of the mechanical LiDAR assembly, and to address balance and weight issues. In addition, LiDAR requires adequate packaging and aesthetic considerations. Summary of the Invention

[0004] Technical issues

[0005] Embodiments of the present invention can provide a lidar drive device and a lidar device that can use a stator housing and a central shaft to support the rotation of a rotor housing. Embodiments of the present invention can provide a lidar drive device and a lidar device having a structure for preventing the separation of a first support member connected between the stator housing and the rotor housing. Embodiments of the present invention can provide a lidar drive device and a lidar device having a structure for preventing the separation of a second support member connected between the rotor housing and the central shaft.

[0006] Embodiments of the present invention can provide a lidar drive device and a lidar device capable of distributing and supporting loads by assembling a first support member having a large diameter and a second support member having a small diameter. Embodiments of the present invention can provide a lidar device having a structure for preventing axial separation of the inner and outer rings of the first support member having a relatively large diameter.

[0007] Technical solution

[0008] The lidar driving device according to an embodiment of the present invention may include: a stator housing having a first fixed sidewall and a second fixed sidewall arranged in an annular shape from the inside to the outside, and having a lower central hole; a central shaft; a rotor housing having an upper central hole, a first rotating sidewall arranged around the outer circumference of the central shaft, and a second rotating sidewall disposed between the first rotating sidewall and the second fixed sidewall; a first support member connected between the inner side of the second fixed sidewall and the outer side of the second rotating sidewall; and a second support member connected between the central shaft and the inner side of the first rotating sidewall.

[0009] According to an embodiment of the present invention, the first fixed sidewall may include a plurality of inner protrusions projecting along the inner side of its upper end toward the upper outer side of the first support member. The second rotating sidewall may include a plurality of outer protrusions projecting along the inner side of its lower end toward the lower inner side of the first support member.

[0010] According to an embodiment of the present invention, the bottom portion of the stator housing may have a plurality of bottom holes corresponding to the respective external protrusions. The number of the plurality of internal protrusions may be greater than the number of the plurality of external protrusions. The upper end of the second fixed sidewall may be positioned higher than the upper end of the first support member. The lower end of the second rotating sidewall may be positioned lower than the upper end of the second support member, and the second rotating sidewall may have a recess on its lower inner side, in which the first inner ring of the first support member is disposed.

[0011] According to an embodiment of the present invention, the stator housing may include a bottom support portion disposed at the lower end of the central shaft and a rotation prevention portion disposed around the lower circumference of the central shaft, wherein the bottom support portion and the rotation prevention portion are disposed at the inner end of the bottom portion of the stator housing, and a first fixed sidewall and a second fixed sidewall protrude from the bottom portion. The invention may also include a fastening device that passes through a central hole in the bottom support portion and is fastened to the lower portion of the central shaft.

[0012] According to embodiments of the present invention, the invention may further include: a lower stop protrusion extending from the first rotating sidewall toward the lower outer side of the second support member; a stop ring disposed around the upper portion of the second support member and connected to the central shaft; and a washer disposed between the stop protrusion and the second support member. The inner diameter of the first support member may be at least twice its outer diameter, and its width may be greater than the width of the second support member.

[0013] A lidar device according to an embodiment of the present invention may include: a stator housing having a first fixed sidewall and a second fixed sidewall arranged in an annular shape from the inside to the outside, and having a lower central hole; a central shaft; a rotor housing having an upper central hole, a first rotating sidewall disposed around the outer circumference of the central shaft, and a second rotating sidewall disposed between the first rotating sidewall and the second fixed sidewall; a first support member connected between the inner side of the second fixed sidewall and the outer side of the second rotating sidewall; a second support member connected between the central shaft and the inner side of the first rotating sidewall; a motor disposed between the stator housing and the rotor housing, and having a magnet and a core; and a transceiver connected to the rotor housing and configured to transmit and receive laser beams, wherein the inner diameter of the second support member may be larger than the outer diameter of the first support member and smaller than the inner diameter of the magnet of the motor, and the rotor housing and the transceiver may rotate around the central shaft.

[0014] According to an embodiment of the present invention, the width of the first support member may be greater than the width of the second support member, and the present invention may further include a wireless power transmission module disposed between the inner side of the second rotating sidewall and the outer side of the first fixed sidewall and the outer side of the first rotating sidewall.

[0015] According to an embodiment of the present invention, the first fixed sidewall includes a plurality of inner protrusions protruding along the inner side of its upper end toward the upper outer side of the first support member, and the second rotating sidewall may include a plurality of outer protrusions protruding along the inner side of its lower end toward the lower inner side of the first support member.

[0016] According to an embodiment of the present invention, the stator housing may include a bottom support portion disposed at the lower end of the central shaft and a rotation prevention portion disposed around the lower circumference of the central shaft. The bottom support portion and the rotation prevention portion may be disposed at the inner end of the bottom portion of the stator housing. A first fixed sidewall and a second fixed sidewall protrude from the bottom portion. The present invention may also include a fastening device that passes through a central hole in the bottom support portion and is fastened to the lower portion of the central shaft.

[0017] According to an embodiment of the present invention, the present invention may further include: a lower stop protrusion extending from the first rotating sidewall toward the lower outer side of the second support member; a stop ring disposed around the upper portion of the second support member and connected to the central shaft; and a washer disposed between the stop protrusion and the second support member.

[0018] Beneficial effects

[0019] According to an embodiment of the present invention, a first support member is connected between the stator housing and the rotor housing, thereby distributing and supporting excessive loads and preventing deterioration of the connection force between the two housings. According to an embodiment of the present invention, movement on opposite sides of the first support member is suppressed, thereby reducing vibration or impact transmitted to the rotor housing through the first support member. According to an embodiment of the present invention, the assembly of the stator housing, the first support member, the central shaft, the rotor housing, and the second support member is facilitated, thereby improving the assemblability of the lidar drive device.

[0020] This invention can prevent performance degradation of lidar devices with lidar drive mechanisms, improve operational reliability, and extend lifespan. Furthermore, it can prevent reliability degradation of moving bodies (such as vehicles) equipped with lidar devices. Attached Figure Description

[0021] Figure 1 This is a perspective view of a vehicle equipped with a lidar system according to an embodiment of the present invention.

[0022] Figure 2 It has Figure 1 An example of a block diagram of a vehicle system for a lidar system.

[0023] Figure 3 This is a perspective view of a lidar device according to an embodiment of the present invention.

[0024] Figure 4 It is viewed from another direction. Figure 3 A 3D view of the lidar device.

[0025] Figure 5 yes Figure 3 An example of a side cross-sectional view of a lidar device.

[0026] Figure 6 yes Figure 3 An example of a stereoscopic view of a lidar driving device.

[0027] Figure 7 It is along Figure 6 A cross-sectional view of the laser radar drive device taken from line AA.

[0028] Figure 8 It is along Figure 6 A cross-sectional view of the laser radar drive unit taken from line BB, with the bottom cover and internal substrate removed.

[0029] Figure 9 yes Figure 7 and Figure 8An exploded perspective view of the stator housing, the first support member, the rotor housing, and the central shaft.

[0030] Figure 10 (a) and (b) in the text are Figure 9 Front and rear perspective views of the stator housing.

[0031] Figure 11 This illustrates the assembly of the first support member to... Figure 9 A view of the process of the stator housing.

[0032] Figure 12 This illustrates fixing the upper part of the first support member to the [specific location] after riveting using a riveting fixture. Figure 11 A view of the process inside the stator housing.

[0033] Figure 13 Is with Figure 12 A perspective view of the stator housing connected to the first support member.

[0034] Figure 14 It shows Figure 13 A partial cross-sectional view of the connection between the stator housing and the first support member.

[0035] Figure 15 This shows how to connect the central shaft to... Figure 9 A view of the process of the stator housing.

[0036] Figure 16 It shows Figure 15 A partial cross-sectional view of an example of the connection between the lower part of the stator housing and the central shaft.

[0037] Figure 17 It shows Figure 9 A view of the connection process between the stator housing and the rotor housing.

[0038] Figure 18 It shows the surrounding Figure 17 A view of the process of connecting the second support member to the upper circumference of the central axis.

[0039] Figure 19 It shows Figure 18 A cross-sectional view of the connection between the stator housing, rotor housing, and the first support member.

[0040] Figure 20 It shows Figure 18 A cross-sectional view of the connection between the stator housing, the rotor housing, and the second support component.

[0041] Figure 21(a) is a view showing the process of riveting the lower portion of the first support member through the bottom hole of the stator housing using a riveting clamp, and (b) is a perspective view showing an example of fixing the lower portion of the second support member.

[0042] Figure 22 It shows the method for fixing Figure 21 Partial cross-sectional view of the protrusions in the upper and lower parts of the first support member.

[0043] Figure 23 It shows Figure 5 A cross-sectional view of another example of a lidar device. Detailed Implementation

[0044] 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 to make this disclosure comprehensive and complete, and to fully convey the features and functions of the invention to those skilled in the art. Therefore, processes, elements, and techniques that are not essential for those skilled in the art to fully understand the features and functions of the invention may not be described. Unless otherwise specifically mentioned, similar reference numerals in the drawings and written description denote similar elements, and their description will not be repeated.

[0045] A lidar system can be referred to as a depth detection system, laser ranging system, lidar system, LIDAR system, or laser / optical detection and ranging (LADAR) system. LiDAR is a type of distance measurement sensor characterized by a long sensing range, high resolution, and low interference from the environment. LiDAR has been widely used in intelligent robots, unmanned aerial vehicles, and autonomous driving. The operating principle of lidar is based on estimating distance by measuring the round-trip time (e.g., time of flight or delay) between an electromagnetic wave and a target. A lidar system measures the distance (e.g., depth) to an object by emitting a light pulse (e.g., a laser pulse) towards it and measuring the time it takes for the light pulse to reflect from the object and be detected by the lidar system's sensor.

[0046] The above aspects and features of embodiments of the present invention will be described in more detail with reference to the accompanying drawings. Figure 1 This is a perspective view of a vehicle equipped with a lidar system according to an embodiment of the present invention.

[0047] Reference Figure 1The moving object (such as a vehicle (500)) may include a lidar system (100), a camera unit (101), vehicle identification sensors (102, 104), a GPS (Global Positioning System) sensor (103), a vehicle control module (107) and an ultrasonic sensor (105).

[0048] The lidar system (100) is a device with a rotating imaging unit or sensor unit, which is coupled to a part of the vehicle (500), rotates 360 degrees, senses the distance between the vehicle and objects (static and dynamic objects), the surrounding environment, and the shape, and uses the measured data to control driving. Using this sensing technology, the objects or environment around the vehicle can be collected and analyzed in the form of a three-dimensional point cloud, and sensing data can be generated that provides information about objects located within the appropriate proximity range.

[0049] The lidar system (100) can communicate with the vehicle control module (107) and send / receive information related to the driving of the vehicle. The vehicle control module (107) can communicate with various systems or sensors inside the vehicle and 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.

[0050] Camera units (101) may be installed in one or more units inside and / or outside the vehicle, and may capture images of the front and / or rear of the vehicle, and provide or store the captured images via a display device (not shown). The captured image data may optionally include audio data. In another example, camera units (101) may be installed at the front, rear, each corner, or each side of the vehicle (500) to capture images of the vehicle's surroundings and provide them via a display device (not shown). A vehicle control module (107) or another processor may identify traffic lights, vehicles, pedestrians, etc., based on the data captured by the camera units (101) and provide the obtained information to the driver. Such camera units (101) may be used as driving assistance devices.

[0051] Multiple front radars (102) are mounted in front of the vehicle (500) and detect the distance between the vehicle (500) and objects in front. Multiple rear radars (104) are mounted behind the vehicle (500) and detect the distance between the vehicle (500) and objects behind. When object information is detected by the radars (102, 104), surrounding objects or obstacles can be detected, and the driver can be notified via an alarm or warning message.

[0052] The GPS sensor (103) can receive signals from satellites and provide them to devices such as the vehicle control module (107), the lidar system (100), and the camera unit (101), which can provide or calculate information such as the vehicle's position, speed, and time based on the GPS location signals. The ultrasonic sensor (105) can sense the distance to nearby vehicles or obstacles to facilitate safe parking. Furthermore, the ultrasonic sensor (105) can prevent accidents that may occur while driving. Such an ultrasonic sensor (105) can be installed at the rear, side, or wheels of the vehicle.

[0053] like Figure 2 As shown, the vehicle system (200), including a lidar system (100) and a vehicle control module (107), receives input from a user or driver, or provides information to a user or driver via a user interface (211). The user interface (211) may include a display device, a touch panel, buttons, voice recognition, and wired or wireless input devices, and may be wired or wirelessly connected to enable communication between the driver and various devices. The vehicle system (200) communicates with a remote device (213), and the remote device (213) may communicate remotely with a user or external entity or receive external control signals. The communication unit (215) may support wired or wireless communication and may be, for example, a wired or wireless module. The storage unit (220) may include one or more sub-memories (221). The storage unit (220) may also include a portable or removable storage device (222). The lidar system (100) may communicate with the user interface (211) and the camera unit (101).

[0054] The lidar system (100) includes a drive unit (115) (such as a motor), and the drive unit (115) can rotate a portion or the entire lidar system (100) 360 degrees according to a control signal. The drive unit (115) includes a fixed portion (e.g., a stator) fixed to a moving body (such as a vehicle) and a rotating portion (e.g., a rotor) rotating with the sensor device. The drive unit communicates with the internal configuration of the lidar system (100) (e.g., a measurement system (110)) and enables the lidar system (100) to rotate axially.

[0055] The lidar system (100) may include a measurement system (110) and at least one transceiver (120). A drive unit (115) is coupled to the measurement system (110) and the transceiver (120) to allow them to rotate and to transmit driving force. The transceiver (120) is a device for transmitting and receiving laser beams for identifying objects.

[0056] 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 units, or other suitable electronic processing units. The main memory (112) may include one or more means for storing data and / or computer code (e.g., RAM, ROM, flash memory, hard disk storage, etc.) to perform or facilitate the various processes described in this invention. The main memory (112) may be volatile memory or non-volatile memory or include volatile memory or 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 behaviors and information structures described in this invention. According to an embodiment, the main memory (112) may be communicatively connected to the main processor (111).

[0057] The measurement system (110) may include one or more processors. 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). The measurement system (110) may be connected as a computer system to one or more user input / output devices, such as monitors, keyboards, and click devices.

[0058] Within the lidar system (100), transceivers (120) can be arranged in one or more configurations. When multiple transceivers are arranged, laser beams can be emitted and sensed in different directions based on the axis of rotation.

[0059] The transceiver (120) includes a transmitting module (121) and a sensing module (123). The transmitting module (121) transmits a laser beam, and the sensing module (123) senses the laser beam transmitted 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 emission of optical signals, and may also include internal memory storing code for controlling the generation of the laser beam.

[0060] The light source array may include multiple light sources that generate laser beams or light pulses. Light sources may include light sources such as LDs (laser diodes), edge-emitting lasers, vertical cavity surface-emitting lasers (VCSELs), distributed feedback lasers, LEDs (light-emitting diodes), SLDs (superluminescent diodes), etc. However, the invention is not limited thereto. The sensing module (123) is based on the raw histogram of 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 units, or other suitable electronic processing units. The sensing module (123) may include a memory (not shown) for storing the detected optical signal therein, the memory having one or more devices (e.g., RAM, ROM, flash memory, hard disk storage, etc.).

[0061] In the following description, a lidar device and a lidar driving device including a lidar system will be described with reference to the accompanying drawings.

[0062] like Figures 3 to 5 As shown, the lidar device (100A) may include a fixing part (1) and a rotating part (2) having a cover (140). The fixing part (1) is coupled to a part of a moving object (such as a vehicle) and may be embedded in the moving object or protrude from the moving object. The fixing part (1) may include a bottom cover (180), a first base plate (158), and a stator housing (150). The stator housing (150) and the bottom cover (180) may be separated from each other or integrally formed, and the stator housing (150) has a plurality of fastening parts (159) and may be fastened to the moving object by fastening means (such as screws).

[0063] The rotating part (2) can rotate on a moving object 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 rotor housing (130), and a second substrate (148). The transceiver (120) can rotate together with the rotor housing (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) have wireless transmission / reception units and can transmit / receive wireless data. The second substrate (148) can be disposed on the rotor housing (130) and can be disposed below the transceiver (120).

[0064] The lidar drive unit (100B) may include a stator housing (150), a rotor housing (130), and components connected to at least one of the stator housing (150) and the rotor housing (130), such as support members (50, 60), a motor (40), a central shaft (311), etc.

[0065] A protective shell (145) for protecting the transceiver (120) can be disposed inside the cover (140). The lower part of the cover (140) is disposed on the upper circumference of the fixing part (1) and covers the upper circumference of the rotating part (2). The cover (140) has a cylindrical shape with an open lower part in which the transceiver (120) is disposed and rotates together with the rotating part (2).

[0066] The cover (140) is made of an opaque material, including metallic or non-metallic materials, covers the circumference of the transceiver (120), and may include an opening (141) for transmitting / receiving a laser beam. The opening (141) may be positioned on the transmit / receive path of the transceiver (120). The cover (140) is coupled to the rotor housing (130) and may rotate with the rotor housing (130). Alternatively, when the cover (140) is made of a transparent material and coupled to the stator housing (150), the cover (140) may not rotate, and the transceiver (120) may rotate with the rotor housing (130).

[0067] The transceiver (120) includes a transmitting module (121) and a sensing module (123), and the transmitting module (121) can be located 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 located in an area adjacent to the window (125) to minimize laser beam loss or interference.

[0068] The sensing module (123) includes a sensor unit (21), a sensor substrate (24), an optical system (22), and an optical guide (23). The optical guide (23) can guide the incident laser beam to the optical system (22), and the incident diameter can be larger than the exit diameter. That is, the optical guide (23) can be 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, and focuses the laser beam onto the sensor unit (21) by adjusting the resolution and refractive power of the laser beam incident through the optical guide (23), and the sensor unit (21) converts the incident laser beam into an electrical signal. The sensor substrate (24) is electrically connected to the sensor unit (21), and transmits the received signal to the processor and memory in the fixing part (1) through the third substrate (128) and the second substrate (148).

[0069] The optical 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) sets the transmitting module (121) and the sensing module (123) as a pair, but may include multiple transmitting modules and multiple sensing modules with different fields of view and transmitting / receiving laser beams in opposite directions.

[0070] The cover (140) includes a heat dissipation section (142) having multiple holes penetrating from the inside to the outside, and the heat dissipation section (142) can dissipate heat generated inside to the outside. The heat dissipation section (142) can be disposed in multiple heat dissipation areas on the outer circumference of the cover (140), and the multiple holes can be arranged in each heat dissipation area. For example, the multiple heat dissipation areas can be disposed on the outside of the light source section (121) of the transceiver (120) and on the outside of the sensor unit (21) and the sensor substrate (24), respectively. A window (125) is exposed at the opening (141) of the cover (140), and the window (125) can be disposed on the transmission / reception area of ​​the transceiver (120) to transmit a laser beam. The window (15) can be made of a transparent material.

[0071] A protective shell (125) is provided in the inner region (140A) of the cover (140), and the protective shell (125) can prevent moisture or foreign objects from penetrating into the interior of the protective shell (145) when they enter from the outside of the cover (140). Therefore, the protective shell (145) can protect the transceiver (120) and the internal substrates (128, 148). The cover (140) and the protective shell (145) can be fastened to the rotor housing (130) by a fastening device. The protective shell (145) can have a shape corresponding to the inner shape of the cover (140), for example, a cylindrical shape with a closed upper portion and an open lower portion. A window (125) can be attached to one side of the protective shell (145).

[0072] At least one or both of the cover (140) and the protective shell (145) can be fastened to the rotor housing (130) by a fastening device. The outer circumference of the rotor housing (130) includes a cover fastening portion (139), and the cover fastening portion (139) can be connected to another frame by a fastening device.

[0073] Furthermore, the cover (140) and protective shell (145) can be attached to the rotor housing (130). Figure 6 As shown, the outer upper circumference of the rotor housing (130) has a recessed annular groove, and an annular gasket (146) is connected to the groove, and the gasket (146) can be in close contact with the rotor housing (130) and the protective shell (145) or another frame.

[0074] The connector (190) can be attached to a portion of the bottom cover (180). Alternatively, the power connector (190) can be attached to a portion of the stator housing (150). That is, the connector (190) can be attached to an outer wall of the stator housing (150). The connector (190) is connected to the first substrate (158) or another substrate and can provide power or transmit / receive data.

[0075] The outer circumference of the stator housing (150) has a cylindrical shape, and the outer circumference of the rotor housing (130) can also have a cylindrical shape. The outer diameter of the stator housing (150) and the outer diameter of the rotor housing (130) can be the same, or the outer diameter of the rotor housing (130) can be larger than the outer diameter of the stator housing (150). Here, the outer diameter is the outer circumference of the corresponding regions of the stator housing (150) and the rotor housing (130). Figure 4 As shown, the area between the stator housing (150) and the rotor housing (130) may have a gap (11). The gap (11) may be formed along the circumference between the stator housing (150) and the rotor housing (130). The inner or outer portion of the gap (11) may have a stepped structure to prevent external foreign matter from flowing in.

[0076] A portion of the motor (50) may be disposed within the gap (11). This portion of the motor (50) may be in close contact with an internal region of the stator housing (150) or rotor housing (130). This portion of the motor (50) is located within the gap (11) to block the path of moisture or foreign matter penetrating from the outside to the inside. Furthermore, this portion of the motor (50) may be positioned above the upper end of the gap (11) to increase the inflow path and inhibit the inflow of moisture or impurities. The portion of the motor (50) disposed within the gap (11) may be a yoke or a motor core.

[0077] The connection area of ​​the stator housing (150) and rotor housing (130) of the lidar drive unit (100B) may include a first base plate (158) disposed on the bottom cover (180), a central shaft (311), a wireless power transmission module (30) connected to the stator housing (150) and rotor housing (130), support members (50, 60) and a motor (40).

[0078] The central shaft (311), together with the first base plate (158), guides the rotor housing (130) to rotate axially at the center of the stator housing (150). The lower portion of the central shaft (311) can be fastened to a part of the stator housing (150) by a fastening device (319). The upper portion of the central shaft (311) can contact or be electrically connected to a part of the second base plate (148). An encoder module (not shown) is connected to the connection area of ​​the stator housing (150) and the rotor housing (130), and the encoder module can detect the direction and position of rotation using an encoder disk and an optical sensor.

[0079] The upper end of the central shaft (311) can protrude into the recess (R30) of the rotor housing (130). The second support member (50) can be connected to the upper central hole (131A) of the rotor housing (130) and can be connected to the recess (R30).

[0080] like Figure 7 , Figure 8 , Figure 9 and Figure 16 As shown, the central shaft (311) includes two vertical flat surfaces (C1) located on its lower sides, and the vertical flat surfaces (C1) inhibit the rotation of the shaft (311) and can be tightly connected to the stator housing (150). The central shaft (311) passes through the upper central hole (131A) of the rotor housing (130) and is disposed on the lower central hole (H1) of the stator housing (150). The lower circumference of the central shaft (311) is disposed within the rotation prevention portion (P1) of the bottom portion (151) of the stator housing (150), and a portion of the rotation prevention portion (P1) can be in close contact with the vertical flat surfaces (C1). The bottom support portion (P2) is disposed around the lower central hole (H1) to support the bottom of the central shaft (311). The rotation prevention portion (P1) and the bottom support portion (P2) prevent the rotation of the central shaft (311) and can limit its downward movement.

[0081] A fastening groove (G1) is formed in the lower portion of the central shaft (311), and a fastening device (319) is fastened to the fastening groove (G1). Therefore, the fastening device (319) can pass through the lower center hole (H1) of the stator housing (150) to fix the bottom support portion (P2) and the central shaft (311). The inner diameter of the center hole (H1) of the stator housing (150) can be smaller than the inner diameter of the center hole (131A) of the rotor housing (130). This facilitates the insertion of the central shaft (311) and enhances the connection force between the stator housing (150) and the central shaft (311).

[0082] The wireless power transmission module (30) may include first and second ferrite cores (31, 33) and first and second coils (32, 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 stationary part (1) to the rotating part (2). The wireless power transmission module (30) is connected inside the stator housing (150) and the rotor housing (130) and may face each other. The first ferrite core (31) and the first coil (32) serve as wireless power receiving units, and the second ferrite core (33) and the second coil (34) serve as wireless power transmission units. The wireless power transmission units (33, 34) wirelessly transmit power in the stationary part (1), and the wireless power receiving units (31, 32) wirelessly receive power in the rotating part (2) and supply power to corresponding components in the rotating part (2). The wireless power transmission module (30) enables the transceiver (120) and the connected substrate and system to operate. When the motor core (42) rotates, the wireless power transmission module (30) can supply power to the motor core (42). Figure 19 As shown, the motor core (42) can be fixed to the base plate (131) by a fastening device (191).

[0083] Wireless power transmission units (33, 34) are connected within the stator housing (150), and wireless power receiving units (31, 32) can be connected to the rotor housing (130). The wireless power transmission module (30) is disposed on the inner circumferential region within the stator housing (150) and rotor housing (130) to wirelessly transmit and receive power, and can reduce the electrical influence on other components (e.g., the motor) or parts.

[0084] The lidar drive unit (100B) includes a motor (40) that rotates the rotating part (2). The motor (40) includes drive magnets with electromagnetic force. The yoke (43) of the motor (40) is arranged along the outside of the plurality of magnets (41) to shield the electromagnetic force. The yoke (43) serves as a back yoke. The yoke (43) and the plurality of magnets (41) are arranged in a circumferential direction, and the motor core (42) has a coil and faces the plurality of magnets (41). When power is supplied to the coil of the motor core (42), an electromagnetic force is generated between the magnets (41) and the motor core (42). The motor core (42) can rotate together with the rotor housing (130), and the yoke (43) and the plurality of magnets (41) can be fixed together with the stator housing (150). Alternatively, the yoke (43) and the plurality of magnets (41) may be coupled to the rotor housing (130) and rotate together with the rotor housing, and the motor core (42) may be coupled to the stator housing (150) and fixed in place. The magnets (41) are permanent magnets.

[0085] The stator housing (150) is a first housing or fixed frame with a fixed position and may comprise metallic or non-metallic materials. For example, the metallic material may include aluminum or its alloys, and the non-metallic material may include plastic. The rotor housing (150) is a second housing or rotating frame that rotates about an axis and may comprise metallic or non-metallic materials. For example, the metallic material may include aluminum or its alloys, and the non-metallic material may include plastic. Figure 9 As shown, the inner side of the outer wall of the stator housing (150) includes a receiving area (150A) for inserting a component, and the rotor housing (150) can be disposed on its inner upper side. In addition, the rotor housing (150) may include a receiving space located in the lower portion to correspond to the receiving area (150A) and be able to accommodate the component.

[0086] like Figure 7 and Figure 8 As shown, the stator housing (150) includes a bottom portion (151) extending from the outer wall toward the central axis (161), and a first fixed sidewall (152) and a second fixed sidewall (153) protruding from the bottom portion (151) toward the second base plate (148). The rotor housing (130) includes a first rotating sidewall (132) and a second rotating sidewall (133) extending from the base plate (131) toward the bottom cover (180). The first fixed sidewall (152) and the first rotating sidewall (132) correspond to each other in the vertical direction, and the lower portions of the second fixed sidewall (153) and the second rotating sidewall (133) may correspond to each other in the horizontal direction.

[0087] 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. The first fixed sidewall (152) and the first rotating sidewall (132) are the inner sidewalls of each housing (130, 150), and the second fixed sidewall (153) and the second rotating sidewall (133) are the intermediate sidewalls of each housing (130, 150).

[0088] The wireless power receiving units (31, 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 circumference of the first rotating sidewall (132) and the lower surface of the base plate (131). The wireless power transmitting units (33, 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 circumference of the first fixed sidewall (152) and the upper surface of the bottom portion (151).

[0089] The motor core (42) can be fixed to the inner circumference of the second rotating sidewall (133) and the lower surface of the base plate (131), and the magnetic yoke (43) can be fixed to the stepped structure on the upper inner side of the outer wall of the stator housing (150). A plurality of magnets (41) are attached to the inner surface of the magnetic yoke (43) and arranged in the circumferential direction. The magnets (41) can face the motor core (42).

[0090] The outer side of the yoke (43) may overlap the gap (11) in a horizontal direction. The upper end of the yoke (43) is set higher than the upper end of the gap (11) to suppress the inflow of moisture or foreign matter from the outside. The stator housing (150) may include discharge ports (18). A plurality of discharge ports (18) are arranged along the outer circumference of the stator housing (150), and may be spaced apart from each other or arranged at equal angles around the central axis. The outlet of each discharge port (18) may be positioned lower than the inlet. The inlet of each discharge port (18) may be located at the corner between the bottom portion (151) and the outer wall of the stator housing (150) or at the bottom of the outer receiving space (150C) of the stator housing (150). The outlet of each discharge port (18) may be located at the lower outer surface of the stator housing (150). The bottom of the outer receiving space (150C) in which the inlet of the discharge port (18) is located may be horizontal or inclined, and the outer side of the inclined structure may be lower than the inner side.

[0091] A shielding cover (45) is provided below the motor (40). The shielding cover (45) may be disposed on the outer side of the second rotating sidewall (133) of the rotor housing (130). The shielding cover (45) may be disposed in the region between the motor (40) and the first support member (60). The first support member (60) may be disposed on or below one side of the motor (40). A portion of the shielding cover (45) is disposed adjacent to the motor core (42) to prevent the effects caused by electromagnetic forces. The shielding cover (45) adheres to or is attached to the lower surface of the motor core (42), covers the entire lower surface of the motor core (42), and extends outward beyond the second fixed sidewall (153) of the stator housing (150).

[0092] The shielding cover (45) may comprise a metallic material, such as an alloy of nickel and iron (e.g., Permalloy, a nickel-iron alloy), and may comprise a magnetic material with very high permeability and low hysteresis loss. The iron content of the alloy may be greater than the nickel content. The electromagnetic force (i.e., leakage flux) generated by the motor (40) may cause the bearing of the first support member (60) to be positioned in an abnormal direction, thereby increasing friction in the first support member (60) and increasing power consumption. In a lidar device, a motor with an inertial load during rotation generates power consumption due to friction between the bearing and the raceway (inner ring, outer ring), and this friction may rapidly increase power consumption at low temperatures. For this purpose, the shielding cover (45) covers the upper portion and the outer side of the first support member (60) to shield the magnetic force applied to the first bearing (61) of the first support member (60).

[0093] The lidar drive unit (100B) may include a region (60A) between the stator housing (150) and the rotor housing (130). Figure 19 One or more external support members are connected to the rotor housing (130) and the central shaft (311) (i.e., 131A). The first support member (60) can be slidably connected to the inside of the second fixed sidewall (153) of the stator housing (150) for easy assembly.

[0094] The first support member (60) is an outer support member and includes a first bearing (61), a first inner ring (62), and a first outer ring (63), and a plurality of first bearings (61) can be disposed between the first inner ring (62) and the first outer ring (62). The first support member (60) can be connected between a second fixed sidewall (153) disposed on the outer side of the first support member (60) and a second rotating sidewall (133) disposed on the inner side of the first support member (60).

[0095] A first support member (60) is disposed on the bottom portion (151) of the stator housing (150), and a first inner ring (62) is disposed between the bottom portion (151) and the upper end of the recess (R1) of the second rotating sidewall (133). A first outer ring (63) of the first support member (60) may be disposed on the inner protrusion (153A) of the bottom portion (151) and the second fixed sidewall (153) (see...). Figure 13 Between. The inner protrusions (153A) bend inward from the upper end of the second fixed sidewall (153), and the plurality of inner protrusions can be arranged at regular intervals. Each of the plurality of inner protrusions (153A) can be provided in a region corresponding to each of the plurality of first bearings (61), thereby suppressing the upward movement of the first support member (60) caused by the corresponding first bearing (61).

[0096] The width (difference between inner and outer diameters) of the first support member (60) can be greater than the width (difference between inner and outer diameters) of the second support member (50). The inner diameter of the first support member (60) can be greater than the outer diameter of the wireless power transmission module (30) and smaller than the inner diameter of the magnet (41). The inner diameter of the first support member (60) is greater than the outer diameter of the second support member (50), for example, twice or more, thereby supporting and distributing power through the rotating part (1) including the transceiver (see... Figure 3 The load or weight transmitted downwards.

[0097] The inner protrusion (153A) of the second fixed sidewall (153) can protrude in a stepped structure below the upper end of the second fixed sidewall (153). That is, the protrusion (153A) can be formed inward in a stepped structure relative to the upper end of the second fixed sidewall (153) by a riveting process. The inner protrusion (153A) protruding inward from the upper end of the second fixed sidewall (153) can be set on a straight line (e.g., a horizontal straight line extending from the upper end of the recess (R1) of the second rotating sidewall (133)) or can be set below that straight line. Therefore, the inner protrusion (153A) can press against the upper end of the first outer ring (63) (i.e., the convex curved surface) or prevent it from separating upward. The inner protrusion (153A) can overlap with the upper portion of the first outer ring (63) in the vertical direction (axial direction).

[0098] The first inner ring (62) of the first support member (60) is fitted between the bottom portion (151) of the stator housing (150) and the upper end of the outer recess (R1) of the second rotating sidewall (133), and the lower end of the second rotating sidewall (133) includes an outer protrusion (133A). Multiple outer protrusions (133A) are provided, and their number may be less than the number of inner protrusions (153A). The number of outer protrusions (133A) may be the same as the number of bottom holes (TH1) and may be less than the number of inner protrusions (153A). This difference in number reflects that the upward movement of the first support member (60) is greater than its downward movement, and since there is no other structure supporting the upper outer portion of the first support member (60), the number of inner protrusions (153A) can be increased. The outer protrusions (133A) may protrude inward in a stepped structure at a position above the lower end of the second rotating sidewall (133) and may press against the lower outer side of the first inner ring (62) or prevent it from separating downward. Furthermore, the support of the first support member (60) by the upper and lower protrusions (153A, 133A) provides a robust drive mechanism that resists external vibrations and impacts. The outer protrusion (133A) may overlap the upper portion of the first inner ring (62) in the vertical direction (axial direction). The lower end of the outer protrusion (133A) of the second rotating sidewall (133) may be disposed on the mounting surface (SP1) of the bottom portion (151) of the stator housing (150) where the first outer ring (63) is located (see See Figure 19 It can be placed on the same line as the upper surface of the surface, or it can be placed at a higher position.

[0099] The second support member (50) is an inner support member and includes a second bearing (51), a second inner ring (52), and a second outer ring (53). Multiple second bearings (51) can be disposed between the second inner ring (52) and the second outer ring (52). The second support member (50) can be connected between a first rotating sidewall (132) disposed on the outer side of the second support member (50) and a central shaft (311) disposed on the inner side of the second support member (50). The horizontal position of the second support member (50) relative to the central shaft (311) can be positioned above the first support member (60).

[0100] like Figure 7 , Figure 8 , Figure 9 , Figure 18 Figure 20As shown, the region (150B) between the central axis (311) and the first fixed sidewall (152) and the first rotating sidewall (132) can be spaced apart from the outer diameter of the second support member (50). The second outer ring (53) of the second support member (50) can be disposed on the lower stop protrusion (SP2) of the first rotating sidewall (132). A washer (55) is disposed between the lower portion of the second support member (50) and the stop protrusion (SP2) of the first rotating sidewall (132), and the washer (55) distributes the load or force transmitted in the vertical direction and reduces the friction between the second support member (50) and other components. The washer (55) can have a wave-like shape in the circumferential direction, that is, a donut shape with different heights. A retaining ring (56) is disposed on the upper portion of the second support member (50), and the retaining ring (56) is a snap ring fitted into a connecting groove (311A) on the upper outer side of the central shaft (311), thereby preventing the second support member (50) from separating upward and absorbing its vibration and impact. The retaining ring (56) may be disposed around the upper portion of the second inner ring (52).

[0101] One or more support members may be disposed in the region (150B) between the central shaft (311) and the first fixed sidewall (152) and the first rotating sidewall (132). For example, a second support member (50) may be disposed in one or more units on the outside of the central shaft (311). For example, as Figure 23 As shown, the second support members (50, 50A) can be respectively set on the upper and lower circumferences of the central shaft (311).

[0102] Reference Figures 9 to 21 This will describe the assembly process of the lidar driver unit. For example... Figures 9 to 11 As shown, after the first support member (60) is positioned on the stator housing (150), the first support member (60) is assembled to the inner circumferential surface of the second fixed sidewall (153). A central hole (H1) is formed at the center of the bottom portion (151) of the stator housing (150), and a plurality of bottom holes (TH1) are arranged along a region overlapping a portion of the first support member (60) on the outer side of the bottom portion (151). The first support member (60) is disposed between the first fixed sidewall (152) and the second fixed sidewall (153).

[0103] At the center of the bottom portion (151) of the stator housing (150), a rotation prevention portion (P1) is provided around the central hole (H1), and a bottom support portion (P1) is provided at the bottom of the central hole (H1). The rotation prevention portion (P1) and the bottom support portion (P1) are provided at the inner end of the bottom portion (151) of the stator housing (150).

[0104] like Figure 12 As shown, the stator housing (150), connected to the first support member (60), is positioned on the inner support member (352) of the riveting fixture (350). Here, the support members (352) are arranged on the base plate (351) at predetermined intervals, and the movable plate (354) is arranged in the area facing the base plate (351). A plurality of vertical moving members (353) are supported between the base plate (351) and the movable plate (354), and the movable plate (354) can be moved up and down.

[0105] An outer ring riveting clamp (360A) is connected to the lower portion of the movable plate (354), and the outer ring riveting clamp (360A) has multiple clamps protruding from its lower circumference. When the movable plate (354) moves downward under pressure and presses against the upper end of the second fixed sidewall (153) of the stator housing (150), an inner protrusion (153A) can be formed around the upper end of the second fixed sidewall (153) by the multiple clamps. The inner protrusion (153A) has a stepped groove (R2) lower than the upper end of the second fixed sidewall (153) and is provided on the upper end of the first outer ring (63) of the first support member (60). The inner protrusion (153A) can inhibit the upward movement of the first support member (60). Multiple bottom holes (TH1) are arranged in the area that overlaps with the first inner ring (62) of the first support member (60) in the vertical direction. In other words, when viewed from below the stator housing (150), the first inner ring (62) can be exposed through the plurality of bottom holes (TH1).

[0106] like Figure 15 and Figure 16 As shown, the central shaft (311) is inserted into the central portion of the stator housing (150), and the lower end of the central shaft (311) is supported and fixed to the stator housing (150) by a fastening device (139). At this time, the bottom support portion (P2) of the stator housing (150) supports the lower end of the central shaft (311), and the rotation prevention portion (P1) can be connected to the lower circumference of the central shaft (311), thereby supporting the lower portion and preventing rotation. The inner shaft groove (R3) of the stator housing (150) is formed by the bottom support portion (P2) and the rotation prevention portion (P1), and supports the lower portion of the central shaft (311). The top view shape of the shaft groove (R3) can be a non-circular shape, for example, an irregular shape or a polygonal shape. Figure 5 Before the first base plate (158) and bottom cover (180) shown are connected to the stator housing (150), the connection of the first support member (60) and the central shaft (311) is performed.

[0107] like Figure 17 and Figure 18As shown, the rotor housing (130) is connected to the stator housing (150), and at this time, the central shaft (311) can be connected to the upper hole (131A) of the rotor housing (130). At this time, as... Figure 19 As shown, the stator housing (150) and rotor housing (130) can be assembled with the motor (40) connected on its outer circumference.

[0108] like Figure 20 As shown, when the rotor housing (130) is connected to the stator housing (150), the second support member (50) is connected to the upper hole (131A) of the rotor housing (130). At this time, after the washer (55) is positioned on the lower stop protrusion (SP2) of the first rotating sidewall (132) of the rotor housing (130), the second support member (60) is assembled, and the stop ring (56) is fitted into the connecting groove (311A) of the central shaft (311) to support the upper part of the second support member (60). Therefore, an elastic support is provided to the lower part of the second support member (60) and upward separation can be prevented.

[0109] like Figure 21 and Figure 22 As shown, when the second support member (50) is assembled between the rotor housing (130) and the central shaft (311), the drive device (100B) is placed on the support member (352) of the riveting fixture (350). At this time, the drive device (100B) is positioned such that the bottom of the stator housing (150) is exposed upwards, and then the inner ring riveting fixture (360B) passes through the bottom hole (TH1) of the stator housing (150) to press the inner lower side of the second rotating sidewall (133). Therefore, the inner lower side of the second rotating sidewall (133) forms an outwardly protruding outer protrusion (133A) and has a stepped structure from the lower end of the second rotating sidewall (133). The outer protrusion (133A) presses the lower end of the first inner ring (62) of the first support member (50).

[0110] The upper end of the first fixed sidewall (153) protrudes higher than the upper end of the first support member (60), thereby providing a structure that can be used to press the inner protrusion (153A) with a clamp. The lower end of the second rotating sidewall (133) protrudes lower than the lower end of the first support member (60), thereby providing a structure that can be used to press the outer protrusion (133A) with a clamp. The lower end of the second rotating sidewall (133) may extend below the upper surface of the bottom portion (151) of the stator housing (150), and for this purpose, the bottom portion (151) may include a recess (151B) in which the lower end of the second rotating sidewall (133) is disposed.

[0111] When the support members (50, 60) are connected in the region between the stator housing (150) and the rotor housing (130) and in the region between the rotor housing (130) and the central shaft (311), the base plate and the bottom cover (180), etc., are connected to complete the assembly of the drive unit. Therefore, the first support member (60) is able to distribute and support the large load applied to the drive unit (100B), and by positioning the plurality of support members (50, 60) in regions with large radial differences, vibrations or shocks transmitted from the outside can be mitigated.

[0112] like Figure 23 As shown, multiple support members (50, 50A) are arranged vertically in the upper and lower parts of the central shaft (311). These members can distribute the load applied around the central shaft (311) and reduce external vibration and impact.

[0113] 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 only one embodiment. Furthermore, those skilled in the art can combine or modify the features, structures, effects, etc., shown in each embodiment relative to other embodiments. Therefore, anything related to such combinations and modifications should be interpreted as being included within the scope of the present invention. Moreover, although the foregoing has primarily described embodiments, these embodiments are merely examples and do not limit the present invention. Those skilled in the art should understand that various modifications and applications not illustrated above can be made without departing from the essential characteristics of these embodiments. For example, each component specifically shown in the embodiments can be modified and implemented. Differences related to such 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 driving device, comprising: The stator housing has a first fixed sidewall and a second fixed sidewall arranged in an annular shape from the inside to the outside, and has a lower central hole; Central axis; The rotor housing has an upper central hole, a first rotating sidewall arranged around the outer circumference of the central axis, and a second rotating sidewall disposed between the first rotating sidewall and the second fixed sidewall; A first support member is connected between the inner side of the second fixed sidewall and the outer side of the second rotating sidewall; and The second support member is connected between the central shaft and the inner side of the first rotating sidewall.

2. The lidar driving device according to claim 1, wherein, The first fixed sidewall includes a plurality of inner protrusions that project outward toward the upper outer side of the first support member along the inner side of its upper end.

3. The lidar driving device according to claim 2, wherein, The second rotating sidewall includes a plurality of outward protrusions that project along the inner side of its lower end toward the lower inner side of the first support member.

4. The lidar driving device according to claim 3, wherein, The bottom portion of the stator housing has a plurality of bottom holes corresponding to the respective external protrusions.

5. The lidar driving device according to claim 3, wherein, The number of the plurality of inner protrusions is greater than the number of the plurality of outer protrusions.

6. The lidar driving device according to claim 3, wherein, The upper end of the second fixed sidewall is positioned higher than the upper end of the first support member.

7. The lidar driving device according to claim 6, wherein, The lower end of the second rotating sidewall is positioned below the upper end of the second supporting member. Furthermore, the second rotating sidewall has a recess on its lower inner side, and the first inner ring of the first support member is disposed in the recess.

8. The lidar driving device according to any one of claims 1 to 7, wherein, The stator housing includes a bottom support portion disposed at the lower end of the central shaft and a rotation prevention portion disposed around the lower circumference of the central shaft. The bottom support portion and the rotation prevention portion are located at the inner end of the bottom portion of the stator housing. Furthermore, the first fixed sidewall and the second fixed sidewall protrude from the bottom portion.

9. The lidar driving device according to claim 8, comprising a fastening device that passes through a central hole in the bottom support portion and is fastened to the lower portion of the central shaft.

10. The lidar driving device according to any one of claims 1 to 7, comprising: The lower stop protrusion extends from the first rotating sidewall toward the lower outer side of the second support member; A stop ring is provided around the upper portion of the second support member and connected to the central shaft; as well as A washer is disposed between the stop protrusion and the second support member.

11. The lidar driving device according to any one of claims 1 to 7, wherein, The inner diameter of the first support member is at least twice its outer diameter, and the width of the first support member is greater than the width of the second support member.

12. A lidar device, comprising: The stator housing has a first fixed sidewall and a second fixed sidewall arranged in an annular shape from the inside to the outside, and has a lower central hole; Central axis; The rotor housing has an upper central hole, a first rotating sidewall arranged around the outer circumference of the central axis, and a second rotating sidewall disposed between the first rotating sidewall and the second fixed sidewall; The first support member is connected between the inner side of the second fixed sidewall and the outer side of the second rotating sidewall; The second support member is connected between the central shaft and the inner side of the first rotating sidewall; A motor is disposed between the stator housing and the rotor housing, and has a magnet and a core; as well as A transceiver, coupled to the rotor housing and configured to transmit and receive laser beams, Wherein, the inner diameter of the second support member is larger than the outer diameter of the first support member and smaller than the inner diameter of the magnet of the motor. Furthermore, the rotor housing and the transceiver rotate around the central axis.

13. The lidar device according to claim 12, wherein, The width of the first support member is greater than the width of the second support member. It also includes a wireless power transmission module, which is disposed between the inner side of the second rotating sidewall and the outer side of the first fixed sidewall and the outer side of the first rotating sidewall.

14. The lidar device according to claim 12, wherein, The first fixed sidewall includes a plurality of inner protrusions extending along the inner side of its upper end toward the upper outer side of the first support member. Furthermore, the second rotating sidewall includes a plurality of outward protrusions that project along the inner side of its lower end toward the lower inner side of the first support member.

15. The lidar device according to any one of claims 12 to 14, wherein, The stator housing includes a bottom support portion disposed at the lower end of the central shaft and a rotation prevention portion disposed around the lower circumference of the central shaft. The bottom support portion and the rotation prevention portion are located at the inner end of the bottom portion of the stator housing. The first fixed sidewall and the second fixed sidewall protrude from the bottom portion. It also includes a fastening device that passes through a central hole in the bottom support portion and is fastened to the lower portion of the central shaft.

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