Sensor device, lidar device and vehicle

Abstract

The lidar device disclosed in the embodiment may include a main frame having a storage compartment therein, a plurality of transceivers disposed in the storage compartment, each of which emits a laser beam in a different direction toward an object and senses the laser beam reflected from the object, and a bottom frame below the main frame.

Description

[Technical Field]

[0001] The invention relates to a sensor device and a lidar device.The invention relates to a vehicle having a rotatable sensor device and a lidar device. [Background technology]

[0002] Autonomous vehicles (AVs) use multiple sensors for situational awareness. Sensors that are part of an AV's self-driving system (SDS) may include one or more cameras, light detection and ranging (LIDAR), and inertial measurement units (IMUs). Sensors such as cameras and LIDAR are used to capture and analyze the scene around 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. Data collected by the sensors can also be used to detect conditions such as road markings, lane curvature, traffic lights, and signs. Furthermore, a representation of the scene, such as a 3D point cloud captured by the vehicle's LIDAR, can be combined with one or more images captured from a camera to gain additional insight into the scene or situation around the vehicle.

[0003] A LiDAR transceiver may also include a transmitter that transmits light in the ultraviolet (UV), visible, and infrared spectral regions, and one or more photodetectors that convert other electromagnetic radiation into electrical signals. To provide high-fidelity object detection and tracking, optical sensors such as LiDARs require rigidly 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 mounted relative to each other to withstand automotive-grade vibrations, high-speed rotation of the mechanical LiDAR assembly, and address balance and weight considerations. LiDARs also require adequate housing packaging, and aesthetic considerations must be taken into account. Summary of the Invention [Problem to be solved by the invention]

[0004] Embodiments of the invention can provide sensor devices and lidar devices with multiple transceivers.

[0005] Embodiments of the invention can provide a sensor device and a lidar device having multiple transceivers that emit and sense laser beams in different directions.

[0006] Embodiments of the invention may provide a sensor device and a lidar device having multiple transceivers that emit laser beams with different divergence angles and in different directions for sensing, thereby providing a device having multiple transceivers with different performance specifications and operational purposes.

[0007] An embodiment of the invention can provide a sensor device and a LIDAR device that rotate around an axis and includes a first transceiver that emits a laser beam in a first direction and performs sensing, and a second transceiver that emits a laser beam in a direction opposite to the first direction and performs sensing.

[0008] Embodiments of the invention can provide sensor and lidar devices that can reduce weight and aerodynamic drag and / or wind noise due to high speed rotation by including a pair of transceivers arranged in opposite directions to provide a compact rotating assembly.

[0009] Embodiments of the invention can provide an improvement in the inertial mass effect of optical sensors during rotation, providing a sensor device and a lidar device in which the centers of gravity of each transceiver are located diametrically opposite each other relative to the center of rotation.

[0010] Embodiments of the invention can provide sensor and lidar devices with rigid structures that allow modular attachment of components such as cooling elements, window elements, cleaning elements, etc., have storage space, and provide sufficient sealing from the outside and weather elements.

[0011] An embodiment of the present invention may provide transceivers arranged side by side along both side walls of an external housing. The present invention may provide a heat dissipation member within the external housing to absorb and dissipate heat generated by the transceivers. An embodiment of the present invention may include a lens portion disposed on one side or front of each transceiver and a heat dissipation member disposed on the other side or rear. Each heat dissipation member may have a shape corresponding to the cylindrical shape of the external housing and may contact a first window on one side or front of a first transceiver and the other side or rear of an adjacent second transceiver.

[0012] Embodiments of the invention provide sensor and lidar devices that can prevent optical interference, or crosstalk, between two or more transceivers. The invention also includes an improvement to the inertial mass effect in rotating lidar devices. That is, the centers of gravity of each transceiver may be located on opposite sides of the center of rotation, minimizing drift during rotation by each transceiver.

[0013] According to an embodiment of the invention, a mounting device for a sensor device and a lidar device is provided that includes multiple housings, e.g., six fascias. Each housing includes structural features for receiving one or more components of a sensor assembly. For example, one or more of the six housings can accommodate a modular cooling element. Similarly, one or more of the six housings can be configured to receive a modular, separable optical window. One or more of the six housings can provide robust protection for a transceiver assembly. Thus, the mounting device can accommodate multiple different component types and provide a robust mounting structure.

[0014] Thus, the present invention provides a transceiver mounting device that provides a rigid structure, allows for modular attachment of components such as cooling elements, window elements, cleaning elements, etc., provides space for accommodating the elements, and provides sufficient sealing from external and weather elements.

[0015] According to an embodiment of the invention, a lidar sensor system is provided that includes a housing for enclosing electronics, optical elements, cooling elements, and architectural or structural elements, securing the elements in place. The enclosure is provided to provide a functional and aesthetic solution for the lidar sensor system and can be designed to maximize airflow in and out for cooling and cleaning purposes. The enclosure can also provide an aerodynamic housing for the lidar sensor system. [Means for solving the problem]

[0016] A lidar device according to an embodiment of the invention may include a main frame having a storage compartment therein, a plurality of transceivers disposed in the storage compartment, each emitting a laser beam in a different direction toward an object and sensing the laser beam reflected from the object, and a bottom frame below the main frame.

[0017] According to an embodiment of the invention, the plurality of transceivers may include a first transceiver that emits and senses a laser beam in a first direction, and a second transceiver that emits and senses a laser beam in a direction opposite to the first direction.

[0018] According to an embodiment of the invention, the device may include an upper cover or upper frame disposed on top of the first and second transceivers and coupled to the upper inner periphery of the main frame, and the bottom frame may be coupled to the lower inner periphery of the main frame.

[0019] According to an embodiment of the invention, each side of the main frame may include a frame having a through-hole and a heat dissipation member respectively coupled to the through-hole on each side of the main frame.

[0020] According to an embodiment of the invention, the transceiver includes a first window arranged on the beam incident side of the first transceiver and a second window arranged on the beam incident side of the second transceiver, and the first and second windows may be arranged outside the main frame.

[0021] According to an embodiment of the invention, the first transceiver includes a first receiving optical system and a first sensor array, and the second transceiver includes a second receiving optical system and a second sensor array, and may include a first lens tube disposed between the first receiving optical system and the first window, and a second lens tube disposed between the second receiving optical system and the second window.

[0022] According to an embodiment of the invention, the device may include a heat dissipation cover that covers the heat dissipation members disposed on each side of the main frame, and the heat dissipation cover may have a hole that exposes the window.

[0023] According to an embodiment of the present invention, the bottom frame may have heat dissipation holes corresponding to the bottom of each of the heat dissipation members.

[0024] According to an embodiment of the invention, the device may include a housing that covers the top and outside of the main frame, and the housing may have window holes that correspond to the holes in the heat dissipation covers.

[0025] According to an embodiment of the invention, the present invention includes a fixed frame fixed to a moving body and having a stator, and a rotating frame having a rotor opposite to the stator and rotating on an axis on the fixed frame, and the rotating frame can rotate the main frame, the bottom frame, and the multiple transceivers.

[0026] According to an embodiment of the invention, the reception field angles on the incident side of the plurality of transceivers may be different from each other.

[0027] Further scope of applicability of the present invention will become apparent from the following detailed description. However, the detailed description and specific examples, while indicating preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become apparent to those skilled in the art from such detailed description. The present invention will be more fully understood from the detailed description given below and the accompanying drawings, which are given by way of example only and therefore do not limit the invention. [Effects of the Invention]

[0028] According to an embodiment of the invention, it is possible to enable and support modular attachment of components such as cooling elements, window elements, cleaning elements, etc., and provide sufficient protection and sealing effect from external impacts and weather elements. In addition, it is possible to house and support the components, making it easy to protect and connect the components. It is also possible to provide a device that allows the components to be attached and detached.

[0029] According to an embodiment of the present invention, by providing a pair of transceivers arranged in opposite or opposite directions, it is possible to reduce the size of the device, reduce the weight, aerodynamic drag, and / or wind noise caused by high-speed movement, improve the packaging efficiency of the sensor head assembly, and prevent optical interference between the different transceivers.

[0030] According to the invention, by arranging heat dissipation members on two or more sides, heat dissipation efficiency can be improved.

[0031] Embodiments of the invention can obtain optical impressions at different divergence angles in different directions via a sensor device and a rotating imaging device such as a LIDAR device, thereby improving sensing efficiency for the surrounding area. [Brief explanation of the drawings]

[0032] [Figure 1] FIG. 1 is a perspective view of a vehicle having a lidar device according to an embodiment of the invention.

[0033] [Figure 2] FIG. 2 is a block diagram illustrating an example of a vehicle system including the LIDAR device of FIG. 1.

[0034] [Figure 3] FIG. 3 is a block diagram showing the first and second transceivers of the LIDAR device of FIG. 2.

[0035] [Figure 4] FIG. 1 is a perspective view of a lidar device according to an embodiment of the invention.

[0036] [Figure 5] 5 is an example of a perspective view of the LIDAR device of FIG. 4.

[0037] [Figure 6] FIG. 5 is a perspective view of a housing of the lidar device of FIG.

[0038] [Figure 7] FIG. 5 is a plan view showing the internal configuration of the LIDAR device of FIG. 4.

[0039] [Figure 8] FIG. 5 is an exploded perspective view of the internal and external configuration of the frame of the lidar device of FIG.

[0040] [Figure 9] FIG. 9 is a plan view of the combination of FIG.

[0041] [Figure 10] 10A and 10B are side cross-sectional views showing the first transceiver and the second transceiver coupled within the main frame of the lidar device of the invention.

[0042] [Figure 11] FIG. 2 is a partial cross-sectional view of the first and second transceivers in the LIDAR device of the invention.

[0043] [Figure 12] 9 is a perspective view showing an example of coupling between the first frame, the first transceiver, and the heat dissipation member in FIG. 8. FIG.

[0044] [Figure 13] 9 is a perspective view showing an example of coupling between the first frame and the first transceiver in FIG. 8. FIG.

[0045] [Figure 14] 9 is a perspective view showing an example of coupling between the second frame and the second transceiver in FIG. 8. FIG.

[0046] [Figure 15] FIG. 5 is a plan view of the housing of FIG. 4 with the top cut away.

[0047] [Figure 16] FIG. 16 is a perspective view for explaining a heat dissipation member inside the housing of FIG.

[0048] [Figure 17] FIG. 17 is an exploded perspective view of FIG. 16.

[0049] [Figure 18] 17 is a diagram illustrating the optical paths of the first and second transceivers of the LIDAR device of FIG. 16.

[0050] [Figure 19] 10 is a modified example of a main frame and a heat dissipation cover in a LIDAR device according to an embodiment of the invention.

[0051] [Figure 20] 20 is a diagram for explaining the beam paths and centers of the first and second transceivers in FIG. 19.

[0052] [Figure 21] 20 is a diagram for explaining beam paths of the first and second transceivers in FIG. 19;

[0053] [Figure 22] FIG. 1 is a perspective view illustrating the exit window and heat dissipation cover of each transceiver in a LIDAR device according to an embodiment of the invention.

[0054] [Figure 23] FIG. 23 is a perspective view showing the side frame and window of FIG. 22.

[0055] [Figure 24] 23 is a diagram illustrating the window and the heat radiation cover of FIG. 22.

[0056] [Figure 25] 24 is a diagram illustrating the window and heat radiation cover of FIG. 23 as another example of the invention.

[0057] [Figure 26] 24 is a view showing an air guide and a heat radiation cover of a side frame to which each window of FIG. 23 is combined.

[0058] [Figure 27] 1 is a partial cross-sectional view showing a state in which the housing and the upper cover are fastened together by a fastening member in the rider device of the present invention. FIG.

[0059] [Figure 28] 28 is a perspective view of a fastening member coupled to the housing and upper cover of FIG. 27. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0060] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings, in which like reference numerals indicate like components. However, the present invention may be embodied in a variety of different forms and is not limited to the embodiments merely exemplified herein. Rather, such embodiments are provided as examples to ensure that this disclosure is thorough and complete, and to fully convey the features and functions of the present invention to those of ordinary skill in the art. Therefore, processes, elements, and techniques that are not necessary for a person of ordinary skill in the art to fully understand the features and functions of the present invention may not be described. Unless otherwise specified, like reference numerals indicate like components in the accompanying drawings and written description, and therefore, descriptions thereof will not be repeated.

[0061] Lidar systems are sometimes called depth-sensing systems, laser distance measurement systems, laser radar systems, LIDAR systems, or laser / light detection and ranging (LADAR) systems. Lidar is a type of distance measurement sensor characterized by long sensing range, high resolution, and low environmental interference. Lidar has been widely applied in the fields of intelligent robots, unmanned aerial vehicles, and autonomous or self-driving vehicles. The operating principle of Lidar is to estimate distance based on the round-trip time (e.g., flight time or delay time) of electromagnetic waves between a source and a target.

[0062] Generally, a lidar system, such as a direct time-of-flight (D-TOF) lidar system, measures the distance (e.g., depth) of an object by emitting a light pulse (e.g., a laser pulse) toward the object and measuring the time it takes for the light pulse to reflect off the object and be sensed by a sensor in the lidar system. For example, to reduce noise from ambient light, repeated measurements can be performed to generate a relative time-of-flight (TOF) individual histogram based on the repeated measurements, and peaks in the individual histograms can be calculated to detect events (e.g., to detect the depth of a point or region of the object that reflects the light pulse again).

[0063] The above-mentioned aspects and features of embodiments of the present invention will be explained in more detail with reference to the drawings.

[0064] FIG. 1 is a perspective view of a vehicle having a lidar device according to an embodiment of the invention.

[0065] Referring to FIG. 1, a moving object such as a vehicle 500 may include a lidar device 100, a camera unit 101, vehicle recognition sensors 102 and 104, a GPS (Global Positioning System) sensor 103, a vehicle control module 212, and an ultrasonic sensor 105.

[0066] The LIDAR device 100 is a rotating imaging device or sensor device that is attached to a part of the vehicle 500 and rotates 360 degrees, sensing the distance between the vehicle and objects (static objects, dynamic objects), the surrounding environment, and their shapes, and controlling driving using the measured data. Using this sensing technology, it is possible to collect and analyze the objects and environment around the vehicle as a 3D point cloud, and generate sensing data that provides information on objects located within an appropriate proximity range.

[0067] The lidar device 100 can communicate with a vehicle control module 212 and transmit / receive information related to vehicle driving. The vehicle control module 212 can communicate with various systems or sensors within the vehicle and perform various controls. The vehicle control module 212 can include a control device such as an electronic control unit (ECU) that controls and monitors various systems of the vehicle. The vehicle control module 212 can communicate with an external mobile device and can be electrically connected to a removable storage device.

[0068] The camera unit 101 may be installed in one or more locations inside and / or outside the vehicle, and may capture images of the front and / or rear of the vehicle and provide or store the images through a display device (not shown). The captured image data may optionally include audio data. As another example, the camera unit 101 may be installed at the front, rear, corners, or sides of the vehicle 500 to capture images of the vehicle's surroundings and provide the images through a display device (not shown). The vehicle control module 212 or another processor may identify traffic lights, vehicles, pedestrians, etc. based on the data captured by the camera unit 101 and provide the acquired information to the driver. Such a camera unit 101 may be used as a driving assistance device.

[0069] A plurality of forward radars 102 are installed in front of the vehicle 500 to detect the distance between the vehicle 500 and a forward object. A plurality of rearward radars 104 are installed behind the vehicle 500 to detect the distance between the vehicle 500 and a rearward object. When object information is detected through these radars 102 and 104, the driver is notified of surrounding objects or obstacles by an alarm or warning message.

[0070] The GPS sensor 103 can receive signals from satellites and provide them to devices such as the vehicle control module 212, the lidar device 100, and the camera unit 101, which can provide or calculate information such as the vehicle's position, speed, time, etc. based on the GPS position signals.

[0071] The ultrasonic sensor 105 can sense the distance to nearby vehicles or obstacles to provide convenience for safely parking a vehicle in a parking space. In addition, the ultrasonic sensor 105 can prevent accidents that may occur while driving. Such ultrasonic sensors 105 may be installed on the rear, side, or tires of the vehicle.

[0072] 2, a vehicle system 200 having a lidar device 100 and a vehicle control module 212 receives input from a user or driver and provides information to the user or driver via a user interface 211. The user interface 211 may include a display device, a touch panel, buttons, voice recognition, or a wired or wireless input device, and is connected to the driver via a wired or wireless connection to enable communication between the driver and various devices.

[0073] The vehicle system 200 communicates with a remote device 213, and the remote device 213 can remotely communicate with a user or the outside and receive external control signals. The communication unit 215 can support wired or wireless communication, and may be, for example, a wired or wireless module.

[0074] The storage unit 220 may include one or more sub-memories 221 therein. The storage unit 220 may also include a portable or removable storage device 222. The LIDAR device 100 can communicate with a user interface 211 and a camera unit 101.

[0075] The LIDAR device 100 includes a drive unit 115, such as a motor, that can rotate part or all of the LIDAR device 100 360 degrees in response to a control signal. The drive unit 115 communicates with internal components of the LIDAR device 100, such as a measurement system 110, to enable the LIDAR device 100 to rotate around an axis.

[0076] The LIDAR device 100 may include a measurement system 110 and at least one transceiver 120, 130. The drive unit 115 can rotate the measurement system 110 and the transceivers 120, 130 and transmit a driving force thereto.

[0077] The measurement system 110 may include a main processor 111 and a main memory 112. The main processor 111 may be embodied as a general-purpose processor, an application-specific integrated circuit (ASIC), one or more field-programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components. The main memory (e.g., memory, memory unit, 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 for completing or facilitating the various processes described herein. The main memory 112 may be or include volatile 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 activities and information structures described herein. According to an embodiment, the main memory 112 may be communicatively coupled to the main processor 111.

[0078] The measurement system 110 may include one or more processors (also referred to as central processing units or CPUs). The one or more processors may be coupled to a communications infrastructure or bus. Each of the one or more processors may be a graphics processing unit (GPU). In some examples, a GPU (graphics processing unit) may include a processor, which is a specialized electronic circuit designed to process mathematically intensive application programs. A GPU may have a parallel architecture that is efficient for parallel processing of large blocks of data, such as the mathematically intensive data commonly used in computer graphics applications, images, video, etc.

[0079] The measurement system 110 may be a computer system coupled to one or more user input / output devices such as a monitor, keyboard, pointing device, etc. that communicate with a communications infrastructure via a user input / output interface.

[0080] One or more transceivers 120 and 130 may be arranged within the LIDAR device 100. The transceivers 120 and 130 may emit laser beams in different directions relative to the rotation axis for sensing. Here, the different directions may be in the range of 10 degrees to 180 degrees relative to each other, for example, they may be arranged at any one of 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, and 180 degrees, and preferably at an angle of 180 degrees.

[0081] 3, the transceivers 120 and 130 may emit laser beams in opposite directions to perform sensing. To this end, the light source arrays 21 and 31 of the transceivers 120 and 130 may be positioned opposite each other, and the receiving optical systems 25 and 35 may be arranged in opposite directions at the center of the LIDAR device 100.

[0082] The transceivers 120 and 130 may have different divergence angles or angles of view. The transceivers 120 and 130 may have different altitudes and scan objects. Since the rotary imaging device includes multiple transceivers 120 and 130, the device can be miniaturized and the weight can be distributed to achieve rotational balance. The transceivers 120 and 130 may have different vertical angles of view (i.e., altitudes). The transceivers 120 and 130 may have different horizontal angles of view.

[0083] The plurality of transceivers 120, 130 may include a first transceiver 120 and a second transceiver 130. The first transceiver 120 may include a first transmitting module 121 and a first sensing module 123, and the second transceiver 130 may include a second transmitting module 131 and a second sensing module 133. The first transmitting module 121 of the first transceiver 120 transmits a laser beam, and the first sensing module 123 senses the laser beam transmitted by the first transmitting module 121. The second transmitting module 131 of the second transceiver 130 transmits a laser beam, and the second sensing module 133 senses the laser beam transmitted by the second transmitting module 131.

[0084] 3, the first transmitting module 121 may include a first light source array 21 and a first transmitting optical system 22. The first sensing module 123 may include a first receiving optical system 25 and a first sensor array 26. The first transmitting module 121 irradiates a first transmitting laser beam TL1 toward an object, and the first sensing module 123 senses a first receiving laser beam RL1 reflected from the object.

[0085] The second transmitting module 131 may include a second light source array 31 and a second transmitting optical system 32. The second sensing module 133 may include a second receiving optical system 35 and a second sensor array 36. The second transmitting module 131 irradiates a second transmitting laser beam TL2 toward an object, and the second sensing module 133 senses a second receiving laser beam RL2 reflected from the object.

[0086] The first transmitting laser beam TL1 is irradiated in a first direction Y, and the second transmitting laser beam TL2 is irradiated in a direction opposite to the first direction Y. That is, the first and second transmitting laser beams TL1 and TL2 irradiate light in opposite directions at 180 degrees from the center position, and scan an object positioned 180 degrees above.

[0087] The first and second transmitting modules 121 and 131 may include a processor or control module such as a general-purpose processor, ASIC, or FPGA that can control the driving and transmission of the first and second light source arrays 21 and 31 and the transmission of optical signals, and may also be provided with an internal memory in which code for controlling laser beam generation is stored.

[0088] The first and second light source arrays 21 and 31 may include one-dimensional or two-dimensional arrays and may be individually addressable or controllable. The first and second light source arrays 21 and 31 may include a plurality of light sources that generate laser beams or light pulses. The light sources may include, but are not limited to, laser diodes (LDs), edge emitting lasers, vertical-cavity surface emitting lasers (VCSELs), distributed feedback lasers, light emitting diodes (LEDs), and super luminescent diodes (SLDs).

[0089] The first and second light source arrays 21 and 31 may include a plurality of electrically coupled surface emitting laser diodes, such as VCSEL arrays, and each emitter may be individually addressable or controllable. The first and second light source arrays 21 and 31 may be embodied as a one-dimensional (Q*P) VCSEL array or a two-dimensional array having Q rows and P columns, where Q and P (columns, rows) may be 2 or greater (Q>P). Furthermore, each VCSEL array may be grouped together to form a respective light source. The number of light sources in the first and second light source arrays 21 and 31 may be the same or different.

[0090] The optical signals emitted from the first and second light source arrays 21 and 31 may be irradiated toward an object via the first and second transmitting optical systems 22 and 32. The first and second transmitting optical systems 22 and 32 may include one or more lenses, or one or more lenses with microlens arrays 26C and 36C (see FIG. 12 ) in front of them. The first and second transmitting optical systems 22 and 32 may include one or more optical lens elements so that the laser beams are shaped in a desired manner. That is, the first and second transmitting modules 121 and 131 may set the irradiation direction or irradiation angle of the light generated from the first and second light source arrays 21 and 31 under the control of the main process 111. The LIDAR device 100 may also include a beam splitter (not shown) therein for overlapping or separating the first transmitting laser beam TL1 and the first receiving laser beam RL1.

[0091] The first and second transmitting modules 121 and 131 may emit pulsed or continuous light and transmit it multiple times (plurality of time) toward the object to be scanned. The main processor 111 may generate a start signal at the time of light transmission and provide it to a time to digital converter (TDC). The start signal may be used to calculate the time of flight (TOF) of the light.

[0092] The first and second sensing modules 123 and 133 may include a processor that converts a primitive histogram based on the signal sensed via the first and second receiving optical systems 25 and 35 and has a matching filter, a peak detection circuit, a SPAD saturation circuit, and a quenching circuit. Such a processor may be embodied as a general-purpose processor, an application-specific integrated circuit (ASIC), one or more field-programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components. The first and second sensing modules 123 and 133 may include a memory (not shown) having one or more devices (e.g., RAM, ROM, flash memory, hard disk storage, etc.) for storing detected optical signals therein.

[0093] The first and second sensor arrays 26 and 36 may receive the laser beams RL1 and RL2 reflected or scattered from an object via the first and second receiving optical systems 22 and 32. The first and second sensor arrays 26 and 36 may include a detector divided into a plurality of pixels, and a light detecting element may be disposed in each of the plurality of pixels. The first and second receiving optical systems 22 and 32 may be optical elements for collecting reflected light at a predetermined pixel.

[0094] When reflected light is received by the first and second sensor arrays 26 and 36, the first and second sensing modules 123 and 133 can convert the reflected light into a stop signal. The stop signal, along with a start signal, may be used to calculate the time-of-flight of light. The first and second sensor arrays 26 and 36 or the first and second sensing modules 123 and 133 may include a TDC for measuring the time-of-flight of light detected by each of a plurality of photodetectors. The photodetectors may be light-receiving elements that generate an electrical signal in response to detected optical energy.

[0095] The first and second sensor arrays 26 and 36 may be implemented as one-dimensional or two-dimensional arrays and may be collections of photodetectors, such as single avalanche photodiodes (SPADs) or single photon detectors (APDs). Embodiments of the invention may be implemented using single photon photodetectors. The first and second sensor arrays 26 and 36 measure light pulses, i.e., light corresponding to image pixels, through the first and second receiving optical systems 25 and 35. For example, the first and second sensor arrays 26 and 36 may be arranged as a two-dimensional SPAD array having M rows and N columns, where M and N may be 2 or greater. Furthermore, each SPAD subarray may be grouped into a plurality of subarrays to form a photodetector. For example, the first and second sensor arrays 26 and 36 may be Geiger mode, i.e., guided mode APDs (GmAPDs).

[0096] The main processor 111 processes signals to acquire information about an object using light detected from the first and second sensing modules 123 and 133. The main processor 111 determines the distance to the object based on the time of flight of light reflected from the object and processes data to analyze the position and shape of the object. Information analyzed by the processor 111, i.e., information about the shape and position of the object, may be transmitted to another device.

[0097] The first and second transmitting optical systems 22 and 32 refract and irradiate the light pulses generated through the first and second light source arrays 21 and 31 toward the object. The light pulses are incident on and reflected from the surface of the object, and the reflected light pulses are sensed by the first and second sensor arrays 26 and 36 via the first and second receiving optical systems 25 and 35. The distance or depth to the object can be determined based on the time of flight (TOF) elapsed from the emission of the light pulse to the detection of the reflected light pulse. The LIDAR device 100 can use the acquired data to provide a scene or situation around the vehicle, or can combine it with one or more image data acquired by the camera unit 101 to gain additional insight.

[0098] 3, the first transceiver 120 is disposed on one side of the LIDAR device 100 based on a central axis Y0 passing through the horizontal first direction Y, and the second transceiver 130 is disposed on the other side. Since the first and second transceivers 120 and 130 are disposed on both sides of the central axis Y0, it is possible to achieve weight balance or rotation balance of the LIDAR device 100. The central axis Y0 may be a straight line passing through the center between both sides of the LIDAR device 100 in the second direction X.

[0099] The first transceiver 120 transmits and receives a first laser beam L1 in a first direction Y. The first transceiver 120 transmits and receives a second laser beam L2 in a direction opposite to the first direction Y. This prevents optical interference caused by the transmission and reception of the first and second laser beams L1 and L2. In addition, the distance between the first transmitting optical system 22 and the second transmitting optical system 32 may be greater than the distance between the first and second receiving optical systems 25 and 35.

[0100] As shown in FIGS. 4 to 8, the LIDAR device 100 may include a fixed frame 251, a rotating frame 253 (see FIG. 21), a housing 150, and a main frame 170 and transceivers 120 and 130 in an internal space 150A of the housing 150.

[0101] The fixed frame 251 may include a stator therein and may be fixed to a cover or upper case of a vehicle or mobile object. The fixed frame 251 may have fastening portions 12 along its outer periphery and may be coupled to a vehicle such as a mobile object using a plurality of fastening members 11. The fixed frame 251 may have a circular or ring shape in top view.

[0102] As shown in FIG. 21 , the rotating frame 253 includes a rotor (not shown) facing the internal structure of the fixed frame 251 and can rotate on the fixed frame 251. The stator may be a coil, and the rotor may be a coil. The stator and the rotor may constitute a driving unit, for example, a motor. The rotating frame 253 and the fixed frame 251 may have structures disposed in one or more regions to guide the rotation of the rotating frame 253 and prevent it from separating, and the structures may include a rotation guide or a rotation shaft (not shown). The rotating frame 253 may have a circular or ring-shaped top view. The rotating frame 253 may be a rotating platform.

[0103] 4 to 6, the housing 150 may have a cylindrical shape with an open bottom and a closed top. The housing 150 may extend outside the top of the rotating frame 253. The housing 150 may rotate together with the rotating frame 253. The housing 150 may function as an enclosure that covers the internal components and may be made of a heat dissipating material.

[0104] A number of perforations 159 for heat dissipation may be arranged in a predetermined region on the periphery of the housing 150. The perforations 159 may be arranged in a plurality of rows in the vertical and rotational directions in at least two regions. The perforations 159 may be the same size or at least one of the perforations 159 may have different sizes.

[0105] The housing 150 may include window holes 151 and 152. The window holes 151 and 152 are formed with a predetermined size between the upper and lower ends of the housing 150 and may be larger than the size of the windows 191 and 192 through which light is transmitted and received by the transceivers 120 and 130, respectively. The window holes 151 and 152 are disposed in the entrance areas of the windows 191 and 192, respectively, so that the windows 191 and 192 can be exposed.

[0106] A rotary head 111 is coupled to the upper part of the rotary frame 253 and the inside of the housing 150. The rotary head 111 may be cylindrical and rotates together with the rotary frame 253. A cover frame 141 of the rotary head 111 prevents foreign matter from entering the internal space where the internal components, such as the transceivers 120 and 130, and other components are accommodated. The upper cover 141 may be circular or polygonal and may be made of a metal frame material or a transparent plastic material.

[0107] The cover frame 141 may be one or a plurality of cover frames 141 stacked together and may be tightly coupled to the main frame 170 shown in Fig. 7. Here, the tight coupling may be achieved by coupling the two structures with a molded-in or stepped structure, fastened with a plurality of fastening members, and may include a sealing member on the outside to prevent moisture penetration.

[0108] The bottom frame 260 supports the rotary head unit 111. The bottom frame 260 may be circular and may have a diameter larger than that of the fixed frame 251. One or more bottom frames 260 may be stacked. The bottom frame 260 may have an area larger than the bottom area of ​​the main frame 170 shown in FIG. 7.

[0109] The cover frame 141 may be fastened to a first fastening portion 93 disposed around the inside upper portion of the housing 150 by a fastening member 90 (see FIG. 27). The bottom frame 260 may be fastened to a second fastening portion 91 disposed around the inside lower portion of the housing 150 by a fastening member (not shown). The cover frame 141 may have the same or different shape as upper covers 161 and 162 described below, or one of them may be omitted.

[0110] 7 to 13, the LIDAR device 100 may have optical elements such as transceivers 120 and 130, heat dissipation elements for heat dissipation, frame elements for supporting and connecting the internal components, cover elements for protecting the internal components, etc., coupled inside the housing 150. The rotating head unit 111 shown in FIG. 5 may include optical elements, heat dissipation elements for heat dissipation, frame elements for supporting and connecting the internal components, and cover elements for protecting the internal components.

[0111] The optical elements include first and second transceivers 120 and 130. The first transceiver 120 may include one or more circuit boards 21A, 26A, and 26B electrically connected to the first light source array 21 and / or the first sensor array 26. The first sensor array 26 may be disposed on a first circuit board 26A, and the first light source array 21 may be disposed on another driver board 21A. The first transceiver 120 may be disposed on a first main board 26B, and the first main board may be electrically connected to the first board.

[0112] The second transceiver 130 may include one or more circuit boards 31A, 36A, 36B electrically connected to the second light source array 31 and / or the second sensor array 36. The second sensor array 36 may be disposed on a second circuit board 36A, and the second light source array 31 may be disposed on another driver board 31A. The second transceiver 130 may be disposed on a second main board 36B, and the second main board 36B may be electrically connected to the second main board 36B.

[0113] The first circuit board 26A may be disposed between the first receiving optical system 25 and the main frame 170. The second circuit board 36A may be disposed between the second receiving optical system 35 and the main frame 170. The first circuit board 26A and the second circuit board 36A may be disposed on opposite sides of the main frame 170. By arranging the first and second transceivers 120 and 130 in opposite directions, the light source array, sensor array, and circuit board of each transceiver can be distributed, improving heat dissipation efficiency and maximizing space utilization. In addition, by providing a cooling system having heat dissipation members on at least three sides of each transceiver, the problem of reduced heat dissipation can be improved and the problem of reduced performance of the LIDAR system due to heat can be prevented.

[0114] 10 and 11 , the first transceiver 120 may include a first lens tube 25A that receives light on the incident side (front) of the first receiving optical system 25. The second transceiver 130 may include a second lens tube 35A that receives light on the incident side (front) of the second receiving optical system 35. The shape or area of ​​the entrance side of the first lens tube 25A may be different from the shape or area of ​​the entrance side of the second lens tube 35A. The first lens tube 25A may be part of the first receiving optical system 25. The second lens tube 35A may be part of the first receiving optical system 35.

[0115] Here, the first transceiver 120, the first lens tube 25A, and the circuit boards 21A, 26A, and 26B can be defined as a first transceiver assembly, and the second transceiver 130, the second lens tube 35A, and the circuit boards 31A, 36A, and 36B can be defined as a second transceiver assembly.

[0116] The first lens tube 25A extends between the first lens of the first receiving optical system 25 and the first window 191, and can improve incidence efficiency and protect the lens. The second lens tube 35A extends between the first lens of the second receiving optical system 35 and the second window 192, and can improve incidence efficiency and protect the lens.

[0117] The vertical opening height H1 of the first lens tube 25A may be different from the vertical opening height H2 of the second lens tube 35A, for example, may be greater than the vertical opening height H2 of the second lens tube 35A. The horizontal opening length H3 of the first lens tube 25A may be different from the horizontal opening length H4 of the second lens tube 35A, for example, may be smaller than the horizontal opening length H4 of the second lens tube 35A. In a side cross-sectional view, a first optical axis passing through the center of the first lens tube 25A and the center of the inner lens may be inclined with respect to a second optical axis passing through the center of the second lens tube 35A and the center of the inner lens. The second optical axis may be a horizontal optical axis, and the first optical axis may be inclined with respect to the second optical axis.

[0118] The first light source array 21 may be disposed outside the first lens tube 25A, and the second light source array 31 may be disposed outside the second lens tube 35A.

[0119] The vertical field of view of the first receiving optical system 25 may be different from the vertical field of view of the second receiving optical system 35, for example, may be larger than the vertical field of view of the second receiving optical system 35. The horizontal field of view of the first receiving optical system 25 may be different from the horizontal field of view of the second receiving optical system 35, for example, may be smaller than the horizontal field of view of the second receiving optical system 35. Furthermore, the horizontal field of view and the horizontal field of view of the first receiving optical system 25 may be different from each other. The horizontal field of view and the vertical field of view of the second receiving optical system 35 may be the same as each other. In other words, one of the multiple transceivers 120, 130 may have different horizontal and vertical receiving fields of view, while the other may have the same horizontal and vertical fields of view.

[0120] The first receiving optical system 25 of the first transceiver 120 may be disposed to extend from the third side surface to the fourth side surface of the main frame 170. The second receiving optical system 35 of the second transceiver 130 may be disposed to extend from the fourth side surface to the third side surface of the main frame 170. The third and fourth sides may be on both sides of the main frame 170 in the first direction Y, and the first and second sides may be on both sides of the main frame 170 in the second direction X. Each of the first to fourth sides of the main frame 170 may have a through-hole, and a frame having a heat dissipation element, i.e., a heat dissipation member, may be coupled to the housing on each side.

[0121] 15 to 17, the main frame 170 may include a storage section 175 for accommodating the first transceiver 120 and the second transceiver 130. The main frame 170 may include a plurality of pole frames 171, a lower frame 172, and an upper frame 173. The upper frame 173, the lower frame 172, and the pole frame 171 may include a plurality of storage sections, i.e., fascias, and may include, for example, six storage sections or fascias.

[0122] The upper frame 173, the lower frame 172, and the plurality of column frames 171 may be provided integrally. As another example, at least one of the upper frame 173, the lower frame 172, and the plurality of column frames 171 may be provided as a separable structure. The upper frame 173 or the lower frame 172 may be provided separately, and the plurality of column frames 171 may be connected to the upper frame 173 or the lower frame 172. At least one of the upper frame 173, the lower frame 172, and the plurality of column frames 171 may be fastened or detachably connected.

[0123] The upper frame 173 and the lower frame 172 may be spaced apart by the pillar frame 171 and have a polygonal frame shape. The upper frame 173 may have a polygonal or circular shape with a through-hole. The lower frame 172 may have a polygonal or circular shape with a through-hole. The upper and lower frames 172 may have the same polygonal shape, for example, a rectangular shape.

[0124] The column frame 171 may support the upper and lower frames 172 by connecting each corner of the upper and lower frames 172 to each other. The upper frame 173, the lower frame 172, and the column frame 171 may be integrally formed. As another example, the upper frame 173 may be made up of one or more pieces, and the lower frame 172 may be made up of one or more pieces. In addition, at least one of the upper and lower frames 172 may be integral with the column frame 171 or may be connected to it in a structure that allows them to be connected to each other.

[0125] The upper frame 173 has a stepped structure recessed on its inner periphery to guide the connection of the polygonal upper covers 161 and 162. The lower frame 172 has a stepped structure recessed on its inner periphery to be connected to the bottom frame 260 having a polygonal mold-fitting structure. In addition, each of the pillar frames 171 has a stepped structure recessed on each side of the main frame 170 to guide the connection of the outer frame.

[0126] The main frame 170 may have first through fourth frames 180, 180A, 190, and 190A coupled to each side of the main frame 170. The first and second frames 180 and 180A may be coupled to both sides of the main frame 170 in the second direction, and the third and fourth frames 190 and 190A may be coupled to both sides of the main frame 170 in the first direction. The first and second frames 180 and 180A may include recessed stepped structures for mating with stepped structures disposed along the inside of both sides of the main frame 170. The third and fourth frames 190 and 190A may include recessed stepped structures for mating with stepped structures disposed along the inside of both sides of the main frame 170.

[0127] The third frame 190 may have a first window 191 facing the first transmitting and receiving optical systems 22 and 25, and may have a third heat dissipation member 195 disposed on the outside. The fourth frame 190A may have a second window 192 facing the second transmitting and receiving optical systems 32 and 35, and may have a fourth heat dissipation member 196 disposed on the outside.

[0128] The first frame 180 may have the first transceiver 120 coupled thereto and first heat dissipation members 81 and 81A disposed on the outside thereof. The first heat dissipation members 81 and 81A may be disposed on the entire outside of the first frame 180 or on both sides of the outer surface thereof.

[0129] The second frame 180A may have the second transceiver 130 coupled thereto and second heat dissipation members 83 and 83A disposed on the outer side thereof. The second heat dissipation members 83 and 83A may be disposed on the entire outer side or on both sides of the second frame 180A.

[0130] The first frame 180 includes a first support part 183 therein, and the first support part 183 can support a part of the first receiving optical system 25. The first support part 183 has a first barrel hole TH1 (FIG. 11), and when the first receiving optical system 25 is inserted into the first barrel hole TH1, the first support part 183 can fix and support the position of the first receiving optical system 25.

[0131] The second frame 180A includes a second support part 184 therein, and the second support part 184 can support a portion of the second receiving optical system 35. The second support part 184 has a second barrel hole TH2 (FIG. 11), and when the second receiving optical system 35 is inserted into the second barrel hole TH2, the second receiving optical system 35 can be fixed and supported in position. Locking means for fixing each receiving optical system can be further provided inside or outside the first and second barrel holes TH1 and TH2, and the locking means may include a fastener.

[0132] The first and second support parts 183 and 184 may be made of a thermally conductive metal material, for example, at least one of an iron alloy, an aluminum alloy, and a magnesium alloy, and may be used as a mounting device for a circuit board to improve heat dissipation efficiency within the internal space. In addition, the first and second support parts 183 and 184 may further include cooling fins on their outer surfaces.

[0133] 13, the first frame 180 may include a first protective portion 38A extending from a first support portion 183 above the first light source array 21 and a second protective portion 38B extending downward. The first and second protective portions 38A and 38B may be bent from the first support portion 183, and the second protective portion 37B may be spaced from the first main board 26B by a spacer 38C. The distance between the first and second protective portions 38A and 38B is greater than the outer diameter of the first lens tube 25A, so that the lens tube 25A can be protected.

[0134] 14, the second frame 180A may include a third protective portion 48A extending from a second support portion 184 to an upper side of the second light source array 31 and a fourth protective portion 48B extending downward. The third and fourth protective portions 48A and 48B may be bent from the second support portion 184, and the fourth protective portion 48B may be spaced from the second main board 36B by a spacer 48C. The distance between the third and fourth protective portions 48A and 48B is greater than the outer diameter of the second lens tube 35A, so that the second lens tube 35A can be protected.

[0135] In addition, the first and second protection parts 38A and 38B and the third and fourth protection parts 48A and 48B of the first and second support parts 183 and 184 have holes inside, so that an increase in weight can be suppressed.

[0136] The first support portion 183 may be integrally formed or separately attached to the inside of the first frame 180. The second support portion 184 may be integrally formed or separately attached to the inside of the second frame 180A.

[0137] The first frame 180 may have a stepped inner periphery and may be coupled to a third side surface of the main frame 170. The second frame 180A may have a stepped inner periphery and may be coupled to a fourth side surface of the main frame 170.

[0138] The main frame 170 may be coupled to one or more upper covers 161 and 162. The peripheries of the upper covers 161 and 162 may be inserted into or tightly attached to an upper frame 173 of the main frame 170. The upper covers 161 and 162 may have a number of fastening holes inside or around them, and may be fastened to a frame coupled to the main frame 170. The upper covers 161 and 162 may be transparent.

[0139] The upper covers 161 and 162 may be fastened to fastening portions inside the housing 150. The upper covers 161 and 162 may have a circular or polygonal shape. That is, the upper covers 161 and 162 may have the same circular shape as the upper part of the housing 150. As another example, the upper covers 161 and 162 may have the same polygonal shape as the upper part of the main frame 170.

[0140] The main frame 170 may be coupled to a bottom frame 260. The bottom frame 260 may support the lower portions of the first and second transceivers 120 and 130. The bottom frame 260 may be coupled to the rotating frame 253. The bottom frame 260 may have coupling holes therein and coupling protrusions around the top, and may be molded to fit closely with the bottom frame 172 of the main frame 170 by a stepped structure around the top. As a result, the bottom frame 172 may fit closely around the bottom frame 260.

[0141] The connecting holes of the bottom frame 260 may protrude into the upper structure of the rotating frame 253 and be connected to the components and / or support elements of the main frame 170. That is, to prevent play due to rotation, other frames and / or side covers may be connected to the connecting holes of the bottom frame 260. Here, a plurality of frames 180, 180A, 190, and 190A may be connected to each side of the main frame 170. The plurality of frames may be first to fourth frames 180, 180A, 190, and 190A arranged on each side of the main frame 170.

[0142] The bottom frame 260 may have a circular or polygonal outer shape and may be coupled to the first through fourth frames 180, 180A, 190, and 190A using coupling protrusions 262 protruding from the outside of each side. The bottom frame 260 may have a plurality of insertion protrusions 261 on its inner periphery, which may be coupled to holes (not shown) in the main boards 26B and 36B. The insertion protrusions 261 and coupling protrusions 262 may prevent the bottom frame 260 from moving independently.

[0143] The bottom frame 260 may be coupled to the lower end of the housing 150. That is, the bottom frame 260 may have the same circular shape as the lower part of the housing 150. As another example, the bottom frame 260 may have the same polygonal shape as the lower part of the main frame 170.

[0144] Sealing members may be disposed between the main frame 170 and the bottom frame 260, between the main frame 170 and the top cover 161, and between the main frame 170 and the first through fourth frames 180, 180A, 190, and 190A. The sealing members may include a rubber material as a cleaning element and may block moisture and foreign matter from entering through each side of the main frame 170.

[0145] The first heat dissipation members 81 and 81A may be disposed on one side of the first circuit board 26A and one side of the first light source array 21. The first heat dissipation members 81 and 81A may be disposed between the housing 150 and the main frame 170. The second heat dissipation members 83 and 83A may be disposed on one side of the second circuit board 36A and one side of the second light source array 31. The second heat dissipation members 83 and 83A may be disposed between the housing 150 and the main frame 170. The first heat dissipation members 81 and 81A and the second heat dissipation members 83 and 83A may include vertically arranged heat dissipation fins. The second heat dissipation members 83 and 83A may include vertically arranged heat dissipation fins.

[0146] The third heat dissipation member 195 is disposed outside the first sensor array 26, i.e., outside the first circuit board 26A on which the first sensor array 26 is disposed, to dissipate heat generated from the first sensor array 26. The fourth heat dissipation member 196 is disposed outside the second sensor array 36, i.e., outside the second circuit board 36A on which the second sensor array 36 is disposed, to dissipate heat generated from the second sensor array 36. The third and fourth heat dissipation members 195 and 196 may have vertical heat dissipation fins. The area of ​​each of the third and fourth heat dissipation members 195 and 196 may be smaller than the area of ​​each of the first and second heat dissipation members 81A and 83A. The area of ​​each heat dissipation member is the size of the region where the heat dissipation fins are arranged.

[0147] 15 and 16, the first through fourth heat dissipation members 81A, 83A, 195, and 196 may be positioned inside the housing 150. The width (horizontal width) of the heat dissipation fins of the third and fourth heat dissipation members 195 and 196 may gradually decrease in the rotational direction, but may have the same vertical length. The first window hole 151 may face the first receiving optical system 22 and the first light source array 21 of the first transceiver 120, and the second window hole 152 may face the second receiving optical system 32 and the second light source array 31 of the second transceiver 130. The first and second windows 191 and 192 may be coupled to coupling holes of the third and fourth frames 190 and 190A, respectively (see FIG. 24).

[0148] 17 shows another example of the bottom frame 260. The bottom frame 260 has a polygonal shape, and heat dissipation holes 268 may be arranged in areas corresponding to the lower areas of the heat dissipation fins of each of the heat dissipation members 81, 81A, 195, and 196.

[0149] 15, 16, and 18, the housing 150 may further have inner walls 155 and 156 disposed on the outer side of the circular shape, facing the outer surfaces of the first and second heat dissipation members 81A and 83A. As a result, the first and second heat dissipation members 81A and 83A may come into contact with the inner walls 155 and 156 of the housing 150, thereby improving the heat dissipation effect through the housing 150. A first window 191 may be disposed on one side of the third heat dissipation member 195, and a second window 192 may be disposed on the other side of the fourth heat dissipation member 196. The first window 191 may be disposed further outward from a first side surface of the main frame 170, and the second window 192 may be disposed further outward from a second side surface of the main frame 170. The first and second heat dissipation members 81A and 83A can face the outer sides 26S and 36S of the first and second circuit boards 26A and 36A on which the first and second sensor arrays 26 and 36 are arranged.

[0150] The first window 191 may face the outside of the first receiving optical system 25 and the first light source array 21. The first window 191 may face the outside of the lens tube 25A of the first receiving optical system 25 and the first light source array 21. The second window 192 may face the outside of the second receiving optical system 35 and the second light source array 31. The second window 192 may face the outside of the lens tube 35A of the second receiving optical system 35 and the second light source array 31.

[0151] 19 shows another example of the housing 150 and / or the heat dissipation member. As shown in FIG. 19, the lidar device may further include an inner cover 350 inside the housing 150. The inner cover 350 may be in close contact with the outer surfaces of the first through fourth heat dissipation members 81B, 83A, 195, and 196.

[0152] The inner cover 350 includes heat dissipation covers 351, 352, 353, and 354 on the outer sides of the heat dissipation members 81B, 83A, 195, and 196 of the main frame 370. The heat dissipation covers 351, 352, 353, and 354 may be disposed inside the housing 150. The heat dissipation covers 351, 352, 353, and 354 may be disposed between the housing 150 and the heat dissipation members 81B, 83A, 195, and 196. The heat dissipation covers 351, 352, 353, and 354 may be provided in a curved shape on the outer sides of the heat dissipation members 81B, 83A, 195, and 196. For example, it may include a first heat dissipation cover 351 on the outside of the first heat dissipation member 81B, a second heat dissipation cover 352 on the outside of the second heat dissipation member 83A, a third heat dissipation cover 353 on the outside of the third heat dissipation member 195, and a fourth heat dissipation cover 354 on the outside of the fourth heat dissipation member 196.

[0153] The first heat-dissipating cover 351 may have a hemispherical shape and may be coupled to one side of the main frame 370. The second heat-dissipating cover 352 may have a hemispherical shape and may be coupled to the other side of the main frame 370. Here, the first, third, and fourth heat-dissipating members 81B, 195, and 196 may have different horizontal lengths so that the outer shapes of the heat-dissipating fins face the hemispherical heat-dissipating covers 351, 353, and 354.

[0154] Adjacent heat dissipation covers 351, 352, 353, and 354 may be coupled to each other or via a main frame 370. Alternatively, the main frame 370 may be separated into a plurality of pieces which are coupled to each other using fastening members. Alternatively, the main frame 370 may be composed of frames 371, 372, 373, and 374 arranged on each side. In this case, the number of frames can be reduced by arranging the main frame 370 or each side frame. Both ends of the third frame 190 may be bent so that the outer sides of the third and fourth frames face each other.

[0155] The heat dissipation covers 351, 352, 353, and 354 can cover the outside, side, and top of the heat dissipation members 81B, 83A, 195, and 196, respectively.

[0156] 20, the first transceiver 120 may scan and sense with a first beam shape B1, and the second transceiver 130 may scan and sense with a second beam shape B2. At least one or all of the first and second transceivers may be provided without a lens tube.

[0157] At the center C0 of the LIDAR device, the center of the first receiving optical system 25 and the center of the second receiving optical system 35 may be spaced apart by equal distances Y1 and Y2 in the first direction Y. At the center of the LIDAR device, the center of the first receiving optical system 25 and the center of the second receiving optical system 35 may be spaced apart by equal distances X1 and X2 in the second direction X. When the centers of gravity of the first and second transceivers 120 and 130 are at the center positions of the first and second receiving optical systems 25 and 35, they may be spaced apart by equal distances in the first and second directions Y and X, and the centers of gravity of the transceivers may be positioned diametrically opposite each other with respect to the center of rotation.

[0158] 21, outside the housing 150, the first transceiver 120 may have a first vertical angle of view R1, and the second transceiver 130 may have a second vertical angle of view R2. The second vertical angle of view R2 may be smaller than the first vertical angle of view R1 based on the horizontal axis Z1. Here, the vertical angle of view may be the angle between two straight lines extending from the upper and lower ends of the entrance side of each lens tube.

[0159] The diameter Y2 of the housing 150 may be larger than the diameter of the rotating frame 253 and / or the fixed frame 251.

[0160] 22 and 23 , the third frame 190 may provide a window hole facing the first window 191 and may include a third heat-dissipating cover 353 for covering the third heat-dissipating member 195. The third heat-dissipating cover 353 may protrude further outward than the first window 191 to protect the first window 191.

[0161] The fourth frame 190A may provide a window hole facing the second window 192 and may include a fourth heat dissipation cover 354 for covering the outside of the fourth heat dissipation member 196. The fourth heat dissipation cover 354 may protrude further outward than the second window 192 to protect the second window 192.

[0162] As shown in FIGS. 24 to 26, the third and fourth heat radiation covers 353 and 354 have window holes 270, and are fastened to the third and fourth frames 190 and 190A, and may have holes 199 in which the windows 191 and 192 are coupled.

[0163] The third and fourth heat dissipation covers 353 and 354 may be disposed outside the third and fourth heat dissipation members 195 and 196. The air guides 195A and 196A of the third and fourth heat dissipation members 195 and 196 may not be vertically arranged but may have a curved shape. Of the curved air guides 195A and 196A, the air guide with a relatively long length may have a straight or curved shape. Of the curved air guides 195A and 196A, the air guide disposed at the upper part may have a straight or curved shape. The straight shape of the air guides 195A and 196A may be disposed in an area adjacent to the window.

[0164] One ends of the plurality of air guides 195A, 196A may be horizontally arranged at different heights in areas adjacent to the windows 191, 192, and may guide the flow of air flowing in through the rotational direction or the lower second flow channel FH2. For example, the other ends of the plurality of air guides 195A, 196A may guide the flow of air toward the bottom frame 260. Conversely, when external air flows in through the lower second flow channel FH2, the air guides 195A, 196A may guide the flow of air flowing in through the lower portion and dissipate heat generated from internal heat-generating components (e.g., 26A, 36A) to the windows 191, 192 located on one side of the air guides 195A, 196A.

[0165] To this end, the bottom frame 260 may have heat dissipation holes 268 corresponding to the lower portions of the third and fourth heat dissipation members 195 and 196. The heat dissipation holes 268 may be disposed in areas corresponding to the heat dissipation fins and the air guides 195A and 196A, respectively. That is, one ends of the air guides 195A and 196A may be arranged parallel to the rotation direction of the rotary head. The other ends of the air guides 195A and 196A may face the heat dissipation holes 268 (FIG. 17) of the bottom frame 260.

[0166] The third and fourth heat dissipation covers 353 and 354 may have a first flow passage groove FH1 on the inside and a second flow passage groove FH2 on the bottom. The first flow passage groove FH1 may be connected to the window hole 270 and may correspond to one end of the plurality of air guides 195A and 196A. The second flow passage groove FH2 may correspond to the heat dissipation hole 268 of the bottom frame 260 and the other end of the plurality of air guides 195A and 196A.

[0167] 27 and 28, the housing 150 and the upper cover 161 may be fastened together using a fastening member 90. The fastening member 90 is fastened to a fastening groove 93 of the housing 150 through the upper cover 161, and an elastic spring 95 of the fastening member 90 provides elasticity between the housing 150 and a fastening body 96, thereby bringing the housing 150 and the upper cover 161 into close contact with each other and absorbing vertical shock. In addition, a fastening member (not shown) may be used to fasten the lower periphery of the housing 150 to the bottom frame 260. The housing 150 may be fastened to the upper covers 161, 162 and / or the frame, and then fastened to the bottom frame 260.

[0168] The features, structures, and effects 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, the features, structures, and effects illustrated in each embodiment may be combined or modified in other embodiments by a person skilled in the art to which the embodiments belong. Therefore, content related to such combinations and modifications should be construed as being included within the scope of the present invention. Furthermore, although the above description focuses on the embodiments, this is merely an example and does not limit the present invention. A person skilled in the art will recognize that various modifications and applications not illustrated above are possible within the scope of the present invention without departing from the essential characteristics of the present embodiments. For example, each component specifically illustrated in the embodiments may be modified. Differences related to such modifications and applications should be construed as being included within the scope of the present invention as defined by the appended claims.

Claims

1. A main frame with an internal storage compartment, The storage compartment is equipped with a plurality of transceivers, each irradiating a laser beam toward an object in a different direction and sensing the laser beam reflected from the object; A lidar device including a bottom frame located below the main frame.

2. The LiDAR device according to claim 1, wherein the plurality of transceivers include a first transceiver that senses by irradiating a laser beam in a first direction, and a second transceiver that senses by irradiating a laser beam in the opposite direction to the first direction.

3. It includes an upper cover or upper frame positioned above the first transceiver and the second transceiver and coupled to the upper inner circumference of the main frame, The LiDAR device according to claim 2, wherein the bottom frame is coupled to the lower inner circumference of the main frame.

4. Each side of the main frame is provided with a through-hole storage compartment, The LiDAR device according to claim 2, further comprising a frame having heat dissipation members coupled to storage compartments on each side of the main frame.

5. Including a first window positioned on the beam incidence side of the first transceiver and a second window positioned on the beam incidence side of the second transceiver, The LiDAR device according to claim 3, wherein the first and second windows are arranged outside the main frame.

6. The first transceiver includes a first receiving optical system and a first sensor array, The second transceiver includes a second receiving optical system and a second sensor array, The LiDAR device according to claim 5, further comprising a first lens tube disposed between the first receiving optical system and the first window, and a second lens tube between the second receiving optical system and the second window.

7. This includes a heat dissipation cover that covers each of the heat dissipation members arranged on each side of the main frame, The lidar device according to claim 4, wherein the heat dissipation cover has a hole that exposes the window.

8. The LiDAR device according to claim 4, wherein the bottom frame has heat dissipation holes corresponding to the lower part of each heat dissipation member.

9. Includes a housing that covers the top and outside of the main frame, The LiDAR device according to claim 7, wherein the housing has window holes corresponding to the holes in each of the heat dissipation covers.

10. A fixed frame that is attached to a moving body and has a stator, It includes a rotating frame having a rotor facing the stator and rotating on an axis on the fixed frame, The LiDAR device according to any one of claims 1 to 8, wherein the rotating frame rotates the main frame, the bottom frame, and the plurality of transceivers.

11. The LiDAR device according to any one of claims 1 to 8, wherein the incoming receiving angles of the plurality of transceivers are different from each other.

Images