Lidar driving device and lidar device

Abstract

The lidar device disclosed in the embodiment may comprise: a stator housing having first and second fixed sidewalls arranged in a ring shape from the inner side to the outer side, the stator housing having a lower center hole; a central shaft; a rotor housing having an upper central hole and having a first rotary sidewall disposed around the outer circumference of the central shaft and a second rotary sidewall disposed between the first rotary sidewall and the second fixed sidewall; a first bearing member coupled to the inner side of the second fixed sidewall and the outer side of the second rotary sidewall while disposed therebetween; and a second bearing member coupled to the central shaft and the inner side of the first rotary sidewall while disposed therebetween.

Description

Lidar drive unit and lidar device

[0001] The invention relates to a lidar driving device and a lidar device. The invention relates to a lidar device having a rotatable sensor unit and a fixed fixing unit.

[0002] Autonomous vehicles (AVs) use multiple sensors to achieve situational awareness. Sensors that form 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 surrounding scene of 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 from these sensors can also be used to detect conditions such as road markings, lane curvature, traffic lights, and signs. Furthermore, a scene representation, such as a 3D point cloud acquired from the vehicle's LiDAR, can be combined with one or more images acquired from cameras to provide additional insight into the scene or situation surrounding the vehicle.

[0003] Additionally, a LiDAR transceiver may 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 LiDAR require sufficient space for rigidly mounted optical components, 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 to each other to withstand automotive-grade vibrations, high-speed rotation of the mechanical LiDAR assembly, and balance and weight considerations. LiDARs also require sufficient accommodating packaging and must also take aesthetic considerations into account.

[0004] Embodiments of the invention can provide a lidar drive device and a lidar device capable of supporting a rotating rotor housing using a stator housing and a central shaft. Embodiments of the invention can provide a lidar drive device and a lidar device having a structure for preventing detachment of a first bearing member coupled between the stator housing and the rotor housing. Embodiments of the invention can provide a lidar drive device and a lidar device having a structure for preventing detachment of a second bearing member coupled between the rotor housing and the central shaft.

[0005] Embodiments of the invention can provide a lidar drive device and lidar device capable of distributing and supporting a load by assembling a first bearing member having a large diameter and a second bearing member having a small diameter. Embodiments of the invention can provide a lidar device having a structure that prevents axial displacement of the inner and outer rings of the first bearing member having a relatively large diameter.

[0006] According to an embodiment of the invention, a lidar driving device may include a stator housing having first fixed side walls and second fixed side walls arranged in a ring shape from the inside to the outside, and a lower center hole; a central shaft; a rotor housing having a first rotational side wall disposed around an outer circumference of the central shaft and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; a first bearing member coupled between an inner side of the second fixed side wall and an outer side of the second rotational side wall; and a second bearing member coupled between the central shaft and an inner side of the first rotational side wall.

[0007] According to an embodiment of the invention, the first fixed side wall may include a plurality of inner protrusions protruding toward the outer upper portion of the first bearing member along the upper inner side. The second rotating side wall may include a plurality of outer protrusions protruding toward the inner lower portion of the first bearing member along the lower inner side.

[0008] According to an embodiment of the invention, the bottom of the stator housing may have a plurality of bottom holes corresponding to each of the outer protrusions. The number of the plurality of inner protrusions may be greater than the number of the plurality of outer protrusions. The upper end of the second fixed side wall may be positioned higher than the upper end of the first bearing member. The lower end of the second rotating side wall may be positioned lower than the upper end of the second bearing member, and the second rotating side wall may have a recess on the lower inner side in which the first inner ring of the first bearing member is disposed.

[0009] According to an embodiment of the invention, the stator housing includes a bottom support portion arranged at the lower end of a central shaft and a rotation prevention portion arranged around a lower portion of the central shaft, wherein the bottom support portion and the rotation prevention portion are arranged at an inner end of the bottom portion of the stator housing, and the first and second fixed side walls may protrude from the bottom portion. The stator housing may include a fastening means fastened to the lower portion of the central shaft through a central hole in the bottom support portion.

[0010] According to an embodiment of the invention, the bearing member may include a lower stop projection extending from the first rotating side wall to the outer lower portion of the second bearing member; a stop ring disposed around the upper portion of the second bearing member and coupled to the central shaft; and a washer disposed between the stop projection and the second bearing member. The first bearing member may have an inner diameter that is at least twice the outer diameter of the second bearing member and a width that is greater than the width of the second bearing member.

[0011] According to an embodiment of the invention, a lidar device comprises: a stator housing having first fixed side walls and second fixed side walls arranged in a ring shape from the inside to the outside, and a lower center hole; a central shaft; a rotor housing having a first rotational side wall disposed around an outer circumference of the central shaft and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; a first bearing member coupled between an inner side of the second fixed side wall and an outer side of the second rotational side wall; a second bearing member coupled between the central shaft and an inner side of the first rotational side wall; a motor disposed between the stator housing and the rotor housing and having a magnet and a core; and a transceiver coupled to the rotor housing and transmitting and receiving a laser beam, wherein an inner diameter of the second bearing member is larger than an outer diameter of the first bearing member and smaller than an inner diameter of a magnet of the motor, and the rotor housing and the transceiver can rotate about an axis with respect to the central shaft.

[0012] According to an embodiment of the invention, the width of the first bearing member may be greater than the width of the second bearing member. A wireless power transmission module may be included that is arranged between the inner side of the second rotating side wall and the outer side of the first fixed side wall and the first rotating side wall.

[0013] According to an embodiment of the invention, the first fixed side wall may include a plurality of inner protrusions protruding toward the outer upper portion of the first bearing member along the upper inner side, and the second rotating side wall may include a plurality of outer protrusions protruding toward the inner lower portion of the first bearing member along the lower inner side. A horizontal position of the first bearing member may be lower than a horizontal position of the second bearing member.

[0014] According to an embodiment of the invention, the stator housing includes a bottom support portion arranged at the lower end of a central shaft and a rotation prevention portion arranged around a lower portion of the central shaft, the bottom support portion and the rotation prevention portion are arranged at an inner end of the bottom portion of the stator housing, and the first and second fixed side walls may include a fastening means that protrudes from the bottom portion and is fastened to the lower portion of the central shaft through a central hole in the bottom support portion.

[0015] According to an embodiment of the invention, the bearing member may include a lower stop projection extending from the first rotating side wall to the outer lower portion of the second bearing member; a stop ring disposed around the upper portion of the second bearing member and coupled to the central shaft; and a washer disposed between the stop projection and the second bearing member.

[0016] According to an embodiment of the invention, by coupling a first bearing member between a stator housing and a rotor housing, an excessive load can be distributed and supported, and a decrease in the coupling force between the two housings can be prevented. According to an embodiment of the invention, by suppressing the flow on opposite sides of the first bearing member, vibration or shock transmitted to the rotor housing through the first bearing member can be mitigated. According to an embodiment of the invention, the stator housing, the first bearing member, the center shaft, the rotor housing, and the second bearing member can be easily assembled, and the assembling ability of the lidar drive device can be improved.

[0017] The invention can prevent performance degradation, improve operational reliability, and extend the lifespan of a lidar device having a lidar drive unit. Furthermore, it can prevent reliability degradation of a moving object, such as a vehicle, equipped with a lidar device.

[0018] FIG. 1 is a perspective view of a vehicle having a lidar system according to an embodiment of the invention.

[0019] FIG. 2 is an example of a block diagram of a vehicle system having the lidar system of FIG. 1.

[0020] Figure 3 is a perspective view of a lidar device according to an embodiment of the invention.

[0021] Fig. 4 is a perspective view of the lidar device of Fig. 3 viewed from another direction.

[0022] Fig. 5 is an example of a side cross-sectional view of the lidar device of Fig. 3.

[0023] Fig. 6 is an example of a perspective view of the lidar driving device of Fig. 3.

[0024] Fig. 7 is a cross-sectional view of the AA side of the lidar driving device of Fig. 6.

[0025] Fig. 8 is a BB-side cross-sectional view of the lidar driving device of Fig. 6, with the bottom cover and internal substrate removed.

[0026] FIG. 9 is an exploded perspective view of the stator housing, first bearing member, rotor housing, and center shaft of FIGS. 7 and 8.

[0027] Figures 10 (a) and (b) are examples of front and rear perspective views of the stator housing of Figure 9.

[0028] Fig. 11 is a drawing explaining the assembly process of the first bearing member in the stator housing of Fig. 9.

[0029] Fig. 12 is a drawing illustrating a process of fixing the upper part of the first bearing member after staking it using a staking jig inside the stator housing of Fig. 11.

[0030] Fig. 13 is a perspective view of the first bearing member coupled to the stator housing of Fig. 12.

[0031] Fig. 14 is a partial cross-sectional view showing the combination of the stator housing and the first bearing member of Fig. 13.

[0032] Fig. 15 is a drawing illustrating the process of coupling the center shaft to the stator housing of Fig. 9.

[0033] Fig. 16 is a partial cross-sectional view showing an example of the combination of the stator housing and the lower part of the center shaft of Fig. 15.

[0034] Fig. 17 is a drawing showing the process of joining the stator housing and rotor housing of Fig. 9.

[0035] Fig. 18 is a drawing showing the process of joining a second bearing member to the upper circumference of the central shaft of Fig. 17.

[0036] Fig. 19 is a cross-sectional view showing the combination of the stator housing, rotor housing, and first bearing member of Fig. 18.

[0037] Fig. 20 is a cross-sectional view showing the combination of the stator housing, rotor housing, and second bearing member of Fig. 18.

[0038] Figure 21 (a) is a drawing showing a process of staking the lower part of the first bearing member with a staking jig through the bottom hole of the stator housing, and (b) is a perspective view showing an example of fixing the lower part of the second bearing member.

[0039] Fig. 22 is a partial cross-sectional view showing a protrusion that secures the upper and lower parts of the first bearing member of Fig. 21.

[0040] Fig. 23 is a cross-sectional view showing another example of the lidar device of Fig. 5.

[0041] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings, in which like reference numerals designate similar components. However, the present invention may be embodied in many different forms and is not limited to the embodiments set forth herein. Rather, these embodiments are provided as examples so that this disclosure will be thorough and complete, and will fully convey the features and functions of the present invention to those skilled in the art. Accordingly, processes, elements, and techniques that are not necessary for those skilled in the art to fully understand the features and functions of the present invention may not be described. Unless specifically stated otherwise, like reference numerals designate similar components in the accompanying drawings and written description, and therefore, the description thereof will not be repeated.

[0042] A LiDAR system may be referred to as a depth sensing system, a laser ranging system, a laser radar system, a LIDAR system, or a laser / light detection and ranging (LADAR) system. LiDAR is a type of distance measuring sensor characterized by a long detection range, high resolution, and little interference from the environment. LiDAR has been widely applied in the fields of intelligent robots, unmanned aerial vehicles, autonomous driving, or self-driving. The operating principle of LiDAR is to estimate distance based on the round-trip time (e.g., time of flight or latency) of electromagnetic waves between a source and a target. A LiDAR system emits a light pulse (e.g., a laser pulse) toward an object and measures the time it takes for the light pulse to reflect from the object and be detected by the LiDAR system's sensor, thereby measuring the distance to the object (e.g., depth).

[0043] The above-described aspects and features of embodiments of the present invention will be described in more detail with reference to the drawings. Fig. 1 is a perspective view of a vehicle having a lidar system according to an embodiment of the invention.

[0044] Referring to FIG. 1, a moving object such as a vehicle (500) may include a lidar system (100), a camera unit (101), a vehicle recognition sensor (102, 104), a GPS (Global Positioning System) sensor (103), a vehicle control module (107), and an ultrasonic sensor (105).

[0045] The above lidar system (100) is a device having a rotating imaging unit or sensor unit, which is attached to a portion of a vehicle (500), rotates 360 degrees, senses the distance between the vehicle and an object (static object, dynamic object), the surrounding environment, and the shape, and controls driving using the measured data. Using this sensing technology, a 3D point cloud can be used to collect and analyze objects or the environment surrounding the vehicle, and sensed data that provides information on objects located within an appropriate proximity range can be generated.

[0046] The above lidar system (100) can communicate with the vehicle control module (107) and transmit / receive information according to the driving of the vehicle. The vehicle control module (107) can communicate with various systems or sensors inside the vehicle and perform various controls. The vehicle control module (107) is a device that controls and monitors various systems of the vehicle and may include a control device such as an electronic control unit (ECU). The vehicle control module (107) can communicate with an external mobile device and be electrically connected to a removable storage device.

[0047] The above camera unit (101) may be mounted one or more times inside and / or outside the vehicle, and may capture images of the front and / or rear of the moving vehicle and provide or store the captured images through a display device (not shown). The captured image data may optionally include audio data. As another example, the camera unit (101) may be mounted on the front, rear, each corner, or each side of the vehicle (500), and may capture images of the surroundings of the vehicle and provide the captured images through a display device (not shown). The vehicle control module (107) 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. The camera unit (101) may be used as a driving assistance device.

[0048] Front radars (102) are installed in multiple numbers at the front of the vehicle (500) and detect the distance between the vehicle (500) and a front object. Rear radars (104) are installed in multiple numbers at the rear of the vehicle (500) and detect the distance between the vehicle (500) and a rear object. When object information is detected through these radars (102, 104), the driver is notified of surrounding objects or obstacles by an alarm or warning message.

[0049] The GPS sensor (103) can receive signals from satellites and provide them to devices such as a vehicle control module (107), a lidar system (100), and a camera unit (101), and the devices can provide or calculate information such as the vehicle's location, speed, and time based on the GPS location signal. The ultrasonic sensor (105) can sense the distance from nearby vehicles or obstacles, thereby providing convenience so that the vehicle can be safely parked in a parking space. In addition, the ultrasonic sensor (105) can prevent accidents that may occur while driving. The ultrasonic sensor (105) can be installed on the rear or side of the vehicle, or on a wheel, etc.

[0050]

[0051] As shown in Fig. 2, a vehicle system (200) having a lidar system (100) and a vehicle control module (107) receives input from a user or driver or provides information to the user or driver through a user interface (211). The user interface (211) may include a display device, a touch panel, a button, voice recognition, a wired or wireless input device, and is connected wired or wirelessly to enable communication with the driver and various devices. The vehicle system (200) communicates with a remote device (213), and the remote device (213) can remotely communicate with a user or an external device or receive an external control signal. The communication unit (215) can 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) therein. In addition, the storage unit (220) may include a portable or removable storage device (222). The above lidar system (100) can communicate with the user interface (211) and the camera unit (101).

[0052] The above lidar system (100) includes a driving unit (115) such as a motor, and the driving unit (115) can rotate part or all of the lidar system (100) 360 degrees by a control signal. The driving unit (115) includes a part (e.g., a stator) fixed to a moving body such as a vehicle, and a part (e.g., a rotor) that rotates together with a sensor device, and communicates with an internal configuration of the lidar system (100), for example, a measurement system (110), and enables the lidar system (100) to rotate about its axis.

[0053] The above lidar system (100) may include a measurement system (110) and at least one transceiver (120). The driving unit (115) is coupled to enable the measurement system (110) and the transceiver (120) to rotate and transmit driving force. The transceiver (120) is a device for transmitting and receiving a laser beam for recognizing an object.

[0054] The measurement system (110) may include a main processor (111) and a main memory (112), wherein the main processor (111) may be implemented 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 to complete or facilitate the various processes described herein. The main memory (112) may be or include volatile memory or non-volatile memory. The main memory (112) may include a database component, an object code component, a script component, or any other type of information structure to support the various activities and information structures described herein. In an embodiment, the main memory (112) may be communicatively coupled to the main processor (111).

[0055] The measurement system (110) may include one or more processors (also referred to as central processing units or CPUs). The one or more processors may be connected to a communications infrastructure or bus. Additionally, 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 applications. A GPU may have a parallel architecture that is efficient for parallel processing of large blocks of data, such as mathematically intensive data commonly used in computer graphics applications, images, videos, etc. The measurement system (110) may be a computer system and may be connected to one or more user input / output devices, such as a monitor, keyboard, pointing device, etc., that communicate with the communications infrastructure via a user input / output interface.

[0056] Within the lidar system (100), one or more transceivers (120) may be arranged. When multiple transceivers are arranged, laser beams can be irradiated and sensed in different directions based on the rotation axis. Here, the different directions can range from 10 degrees to 180 degrees with respect to each other, and for example, the transceivers can be arranged in any one of 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, and 180 degrees, and preferably, they can be arranged at an angle of 180 degrees. The multiple transceivers can have different divergence angles or field of view. The multiple transceivers can scan an object at different altitudes.

[0057] The transceiver (120) includes a transmission module (121) and a sensing module (123). The transmission module (121) transmits a laser beam, and the sensing module (123) senses the laser beam transmitted by the transmission module (121). The transmission 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 transmission module (121) may include a processor or control module such as a general-purpose processor, ASIC, or FPGA that can control the driving of the light source array and the transmission of an optical signal, and may also have an internal memory in which a code for controlling the generation of a laser beam is stored.

[0058] The light source array may include a plurality of light sources that generate laser beams or light pulses. The light sources may include light sources such as a laser diode (LD), an edge emitting laser, a vertical-cavity surface emitting laser (VCSEL), a distributed feedback laser, a light emitting diode (LED), or a super luminescent diode (SLD). However, the present invention is not limited thereto. The sensing module (123) may convert a raw histogram based on a signal sensed through a receiving optical system, and may include a processor having a matching filter, a peak detection circuit, and a SPAD saturation and quenching circuit. Such a processor may be implemented 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 sensing module (123) may include a memory (not shown) having one or more devices (e.g., RAM, ROM, flash memory, hard disk storage, etc.) for storing the optical signal detected therein.

[0059]

[0060] Hereinafter, a lidar device and a lidar driving device having a lidar system will be described with drawings.

[0061] As shown in FIGS. 3 to 5, the lidar device (100A) may include a fixed portion (1) and a rotating portion (2) having a cover (140). The fixed portion (1) is coupled to a part of a moving body such as a vehicle, and may be embedded in the moving body or protrude from the moving body. The fixed portion (1) may include a bottom cover (180), a first substrate (158), and a stator housing (150). The stator housing (150) and the bottom cover (180) may be separated from each other or formed integrally, and the stator housing (150) may have a plurality of fastening portions (159) and may be fastened to the moving body by a fastening means such as screws.

[0062] The above-described rotating part (2) can be rotated by the driving force of the motor (40) on the moving body. The rotation of the rotating part (2) can be axial rotation. The rotating part (2) can include the transceiver (120) disclosed above, a rotatable rotor housing (130), and a second substrate (148). The transceiver (120) can rotate about its axis 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 a wireless transmitting / receiving part and can transmit / receive wireless data. The second substrate (148) can be disposed on the rotor housing (130) and disposed below the transceiver (120).

[0063] The lidar driving device (100B) may include the following components, such as a bearing member (50, 60), a motor (40), a center shaft (311), etc., coupled to at least one of the stator housing (150), the rotor housing (130), and the stator housing (150) and the rotor housing (130).

[0064] A protective case (145) that protects the transceiver (120) may be placed inside the cover (140). The lower part of the cover (140) is placed around the upper perimeter of the fixed part (1) and covers the upper perimeter of the rotating part (2). The cover (140) has a cylindrical shape with an open lower part, has a transceiver (120) inside, and rotates together with the rotating part (2).

[0065] The cover (140) is made of an opaque material, and includes a metal or non-metal material. It covers the periphery of the transceiver (120) and may include an opening (141) for transmitting / receiving a laser beam. The opening (141) may be positioned on the transmitting / receiving path of the transceiver (120). The cover (140) is coupled to the rotor housing (130) and may rotate together with the rotor housing (130). As another example, when the cover (140) is made of a transparent material and is coupled to the stator housing (150), the cover (140) may not rotate and the transceiver (120) may rotate together with the rotor housing (130).

[0066] The above transceiver (120) includes a transmission module (121) and a sensing module (123), and the transmission module (121) can be placed on one side of the sensing module (123) or one side of a window (125). The transmission module (121) has a light source array and can be placed in an area adjacent to the window (125) to minimize loss or interference of a laser beam.

[0067] The sensing module (123) includes a sensor unit (21), a sensor substrate (24), an optical system (22), and a light guide unit (23). The light guide unit (23) can guide an incident laser beam to the optical system (22), and the diameter of the incident side can be larger than the diameter of the exit side. That is, the light guide unit (23) can have a funnel shape with a wide entrance and a narrow exit, and can be in close contact with the window (125). The optical system (22) has one or more lenses and adjusts the resolution and refractive power of the laser beam incident through the light guide unit (23) to focus it onto the sensor unit (21), and the sensor unit (21) converts the incident laser beam into an electrical signal. The above sensor substrate (24) is electrically connected to the sensor unit (21) and transmits the received signal to the processor and memory in the fixed unit (1) through the third substrate (128) and the second substrate (148).

[0068] The above light guide unit (23) may be provided with a structure inclined together with the optical axis of the lenses of the optical system (22). The above transceiver (120) provides a transmission module (121) and a sensing module (123) as a pair, but may include a plurality of transmission modules and a plurality of sensing modules that have different angles of view and transmit / receive laser beams in opposite directions.

[0069]

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

[0071] The inner region (140A) of the cover (140) is provided with a protective case (125), and the protective case (125) can prevent moisture or foreign substances from penetrating into the inside of the cover (140) from penetrating or flowing into the inside of the protective case (145). Accordingly, the protective case (145) can protect the transceiver (120) and the internal substrate (128, 148). The cover (140) and the protective case (145) can be fastened to the rotor housing (130) by a fastening means. The protective case (145) can have a shape corresponding to the inner shape of the cover (140), for example, a cylindrical shape with an upper portion blocked and a lower portion open. The window (125) can be coupled to one side of the protective case (145).

[0072] At least one or both of the cover (140) and the protective case (145) can be fastened to the rotor housing (130) by a fastening means (not shown). The outer periphery of the rotor housing (130) is provided with a cover fastening portion (139), and the cover fastening portion (139) can be coupled to another frame by a fastening means (not shown).

[0073] In addition, the cover (140) and the protective case (145) can be combined with the rotor housing (130). As shown in Fig. 6, the outer upper periphery of the rotor housing (130) has a concave ring-shaped groove, and a ring-shaped gasket (146) is combined with the ring-shaped groove, and the gasket (146) can be in close contact with the rotor housing (130) and the protective case (145) or another frame.

[0074]

[0075] The connector (190) may be coupled to a portion of the bottom cover (180). As another example, the power connector (190) may be coupled to a portion of the stator housing (150). That is, the connector (190) may be coupled to an outer side wall of the stator housing (150). The connector (190) is connected to the first substrate (158) or another substrate, and may provide necessary power or transmit and receive data.

[0076] The outer periphery of the stator housing (150) may have a cylindrical shape, and the outer periphery of the rotor housing (130) may have a cylindrical shape. The outer diameters of the stator housing (150) and the rotor housing (130) may be the same, or the outer diameter of the rotor housing (130) may be larger than the outer diameter of the stator housing (150). Here, the outer diameter is the outer periphery of the area where the stator housing (150) and the rotor housing (130) correspond to each other. As shown in FIG. 4, 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 periphery between the stator housing (150) and the rotor housing (130, 130). The inner or outer portion of the gap (11) may have a stepped structure to prevent the inflow of external foreign substances.

[0077]

[0078] A part of the motor (40) may be disposed inside the gap (11). A part of the motor (40) may be in close contact with the inside of the stator housing (150) or the rotor housing (130). A part of the motor (50) may be positioned inside the gap (11) to block a path for moisture or foreign substances to penetrate from the outside to the inside. In addition, a part of the motor (50) may be disposed higher than the upper end of the gap (11) to increase an inflow path, thereby suppressing the inflow of moisture or foreign substances. A part of the motor (50) disposed inside the gap (11) may be a yoke or a motor core.

[0079] The joining area of ​​the stator housing (150) and the rotor housing (130) of the lidar driving device (100B) may include a first substrate (158) and a central shaft (311) placed on a bottom cover (180), a wireless power transmission module (30) coupled to the stator housing (150) and the rotor housing (130), a bearing member (50, 60), and a motor (40).

[0080] The central shaft (311) guides the axial rotation of the rotor housing (130) at the center of the stator housing (150) together with the first substrate (158). The lower portion of the central shaft (311) can be fastened to a portion of the stator housing (150) by a fastening means (319). The upper portion of the central shaft (311) can be in contact with or electrically connected to a portion of the second substrate (148). An encoder module (not shown) is fastened to the joining area of ​​the stator housing (150) and the rotor housing (130), and the encoder module can detect the rotation direction and position using an encoder disk and an optical sensor.

[0081] The upper end of the central shaft (311) may protrude into the inner recess (R30) of the rotor housing (130). The second bearing member (50) may be coupled to the upper central hole (131A) of the rotor housing (130) and may be connected to the inner recess (R30).

[0082] As shown in FIGS. 7, 8, 9, and 16, the central shaft (311) has vertical flat portions (C1) on both lower sides, and the vertical flat portions (C1) suppress the rotation of the shaft (311) and can be closely coupled with the stator housing (150). The central shaft (311) is placed on the lower central hole (H1) of the stator housing (150) through the upper central hole (131A) of the rotor housing (130). The lower periphery of the central shaft (311) is arranged inside the rotation prevention portion (P1) of the bottom portion (151) of the stator housing (150), and a part of the rotation prevention portion (P1) can be closely coupled to the vertical flat portion (C1). A bottom support portion (P2) is arranged around the periphery of the lower central hole (H1) to support the bottom of the central shaft (311). The above rotation prevention part (P1) and the above floor support part (P2) can prevent rotation of the central shaft (311) and limit movement in the downward direction.

[0083]

[0084] The lower portion of the central shaft (311) has a fastening groove (G1), and the fastening means (319) is fastened to the fastening groove (G1). Accordingly, the fastening means (319) can fix the bottom support (P2) and the central shaft (311) through the lower central hole (H1) of the stator housing (150). The inner diameter of the central hole (H1) of the stator housing (150) may be smaller than the inner diameter of the central hole (131A) of the rotator housing (130). This makes it convenient to insert the central shaft (311), and can strengthen the coupling force between the stator housing (150) and the central shaft (311).

[0085] 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 a plurality of driving magnets (41), a motor core (42) and a yoke (43). The wireless power transmission module (30) wirelessly transmits power from the fixed part (1) to the rotating part (2). The wireless power transmission module (30) is coupled to the interior of the stator housing (150) and the rotor housing (130) and may face each other. The first ferrite core (31) and the first coil (32) function as a wireless power receiving unit, and the second ferrite core (33) and the second coil (34) function as a wireless power transmitting unit. The wireless power transmitting unit (33, 34) of the wireless power transmitting module (30) wirelessly transmits power within the fixed unit (1), and the wireless power receiving unit (31, 32) wirelessly receives power within the rotating unit (2) and provides power to each component within the rotating unit (2). The wireless power transmitting module (30) can enable the operation of the transceiver (120) and the substrate and system connected thereto. When the motor core (42) rotates, the wireless power transmitting module (30) can supply power to the motor core (42). The motor core (42) can be fixed to the floor plate (131) by a fastening means (191), as shown in FIG. 19.

[0086] The wireless power transmitter (33, 34) may be coupled within the stator housing (150), and the wireless power receiver (31, 32) may be coupled to the rotor housing (130). The wireless power transmission module (30) is disposed on the inner periphery of the stator housing (150) and the rotor housing (130), transmits and receives power wirelessly, and may reduce electrical influence on other components (e.g., motor) or parts.

[0087]

[0088] The above lidar driving device (100B) has a motor (40) therein for rotating the rotating part (2). The motor (40) includes a driving magnet having an electromagnetic force. The yoke (43) of the motor (40) is arranged along the outer side of the plurality of magnets (41) and shields the electromagnetic force. The yoke (43) functions 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 magnet (41) and the motor core (42). The motor core (42) can rotate about an axis 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). As another example, the yoke (43) and the plurality of magnets (41) may be coupled to and rotate in a rotor housing (130), and the motor core (42) may be coupled to and fixed in position in a stator housing (150). The magnets (41) are permanent magnets.

[0089] The stator housing (150) is a fixed frame or a first housing with a fixed position, and includes a metallic material or a non-metallic material. For example, the metallic material may include aluminum or an alloy thereof, and the non-metallic material may include a plastic material. The rotor housing (150) is a rotating frame or a second housing that rotates about an axis, and includes a metallic material or a non-metallic material. For example, the metallic material may include aluminum or an alloy thereof, and the non-metallic material may include a plastic material. As shown in Fig. 9, the inner wall of the stator housing (150) has a storage area (150A) for inserting components, and the rotor housing (150) can be mounted on the inner upper portion. In addition, the rotor housing (150) has a storage space at the lower portion, which corresponds to the storage area (150A), and can enable the storage of components.

[0090]

[0091] As shown in FIGS. 7 and 8, the stator housing (150) includes a bottom portion (151) extending from an outer wall toward a central shaft (161), a first fixed side wall (152) and a second fixed side wall (153) protruding from the bottom portion (151) toward a second substrate (148). The rotor housing (130) includes a first rotation side wall (132) and a second rotation side wall (133) extending from the bottom plate (131) toward a bottom cover (180). The first fixed side wall (152) and the first rotation side wall (132) may correspond in a vertical direction, and the lower portions of the second fixed side wall (153) and the second rotation side wall (133) may correspond in a horizontal direction.

[0092] The first and second fixed side walls (152, 153) may have a ring shape, and the first and second rotational side walls (132, 133) may have a ring shape. The first fixed side wall (152) and the first rotational side wall (132) are inner side walls of each housing (130, 150), and the second fixed side wall (153) and the second rotational side wall (133) are middle side walls of each housing (130, 150).

[0093] The wireless power receiving unit (31, 32) is accommodated in the space between the first and second rotating side walls (132, 133), and can be fixed to the outer circumference of the first rotating side wall (132) and the lower surface of the bottom plate (131). The wireless power transmitting unit (33, 34) is accommodated in the space between the first fixed side wall (152) and the second rotating side wall (133), and can be fixed to the outer circumference of the first fixed side wall (152) and the upper surface of the bottom portion (151).

[0094] The motor core (42) may be fixed to the inner circumference of the second rotation side wall (133) and the lower surface of the bottom plate (131), and the yoke (43) may be fixed on a stepped structure on the inner side of the upper outer wall of the stator housing (150). The inner surface of the yoke (43) may have a plurality of magnets (41) attached thereto and arranged in a circumferential direction. The magnets (41) may face the motor core (42).

[0095] The outer side of the yoke (43) may overlap with the gap (11) in a horizontal direction. The upper end of the yoke (43) may be arranged higher than the upper end of the gap (11), thereby preventing moisture or foreign substances from entering from the outside. The stator housing (150) may include a discharge port (18). The discharge ports (18) are arranged in multiple numbers along the outer periphery of the stator housing (150), and may be spaced apart from each other or arranged at equal angles with respect to a central axis. The outlet of the discharge port (18) may be arranged lower than the inlet. The inlet of each discharge port (18) may be located at a corner portion between the bottom portion (151) and the outer wall of the stator housing (150) or at the bottom of the outer storage space (150C) of the stator housing (150). The outlet of each discharge port (18) may be located at the lower part of the outer surface of the stator housing (150). The floor of the outer storage space (150C) where the inlets of the above discharge ports (18) are arranged may be horizontal or inclined, and in the case of an inclined structure, the outer side of the floor may be lower than the inner side of the floor.

[0096] A shielding cover (45) may be disposed on the lower side of the motor (40). The shielding cover (45) may be disposed on the outer side of the second rotation side wall (133) of the rotor housing (130). The shielding cover (45) may be disposed in an area between the motor (40) and the first bearing member (60). The first bearing member (60) may be disposed on one side or the lower side of the motor (40). A portion of the shielding cover (45) may be disposed adjacent to the motor core (42) to block the influence of electromagnetic force. The shielding cover (45) is bonded or attached to the lower side of the motor core (42), covers the entire lower side of the motor core (42), and extends to the outer side of the second fixed side wall (153) of the stator housing (150).

[0097] The shielding cover (45) may include a metal material, for example, an alloy of nickel and iron (e.g., Permalloy), and may include a magnetic material with very high magnetic permeability and low magnetic hysteresis loss. The alloy may have a nickel content greater than iron content. The electromagnetic force, i.e., leakage magnetic flux, caused by the motor (40) may cause the bearing of the first bearing member (60) to be positioned in an abnormal direction, which may increase friction within the first bearing member (60), and thereby increase power consumption. In the lidar device, the power consumption of the motor having an inertial load is generated from the friction that occurs between the bearing and the track gap (inner ring, outer ring) when rotating, and such friction may cause a rapid increase in power consumption in a low-temperature environment. To this end, the shielding cover (45) may cover the upper and outer sides of the first bearing member (60) to shield the magnetic force exerted on the first bearing (61) of the first bearing member (60).

[0098] The above lidar driving device (100B) may include one or more outer bearing members coupled to a region (60A, FIG. 19) between the stator housing (150) and the rotor housing (130), and one or more inner bearing members may be coupled to a region (i.e., 131A) between the rotor housing (130) and the central shaft (311). The first bearing member (60) may be slidably coupled to the inside of the second fixed side wall (153) of the stator housing (150), thereby facilitating assembly.

[0099]

[0100] The first bearing member (60) is an outer bearing member and includes a first bearing (61), a first inner ring (62), and a first outer ring (63). A plurality of the first bearings (61) can be arranged between the first inner ring (62) and the first outer ring (62). The first bearing member (60) can be coupled between the second fixed side wall (153) arranged on the outer side of the first bearing member (60) and the second rotating side wall (133) arranged on the inner side of the first bearing member (60).

[0101] The first bearing member (60) is disposed on the bottom portion (151) of the stator housing (150), and the first inner ring (62) is disposed between the bottom portion (151) and the upper end of the recess (R1) of the second rotation side wall (133). The first outer ring (63) of the first bearing member (60) may be disposed between the bottom portion (151) and an inner protrusion (153A, see FIG. 13) of the second fixed side wall (153). The inner protrusion (153A) may be bent inward from the upper end of the second fixed side wall (153), and a plurality of them may be arranged at regular intervals. Each of the plurality of inner protrusions (153A) can be positioned on an area corresponding to each of the plurality of first bearings (61), thereby suppressing upward flow of the first bearing member (60) due to each of the first bearings (61).

[0102] The width (difference between the inner diameter and the outer diameter) of the first bearing member (60) may be arranged to be larger than the width (difference between the inner diameter and the outer diameter) of the second bearing member (50). The inner diameter of the first bearing member (60) may be arranged to be larger than the outer diameter of the wireless power transmission module (30) and smaller than the inner diameter of the magnet (41). Since the inner diameter of the first bearing member (60) is arranged to be larger than the outer diameter of the second bearing member (50), for example, more than twice, it can support and distribute the load or weight transmitted downward through the rotating part (1, FIG. 3) having the transceiver.

[0103]

[0104] The inner protrusion (153A) of the second fixed side wall (153) may protrude in a stepped structure lower than the upper end of the second fixed side wall (153). That is, the protrusion (153A) may be formed in a stepped structure inwardly through a staking process on the upper end of the second fixed side wall (153). The inner protrusion (153A) protruding inwardly from the upper end of the second fixed side wall (153) may be arranged on a straight line, such as a horizontal straight line extending from the upper end of the recess (R1) of the second rotational side wall (133), or may be arranged lower than the straight line. Accordingly, the inner protrusion (153A) may press the upper end of the first outer ring (63), i.e., the convex curved surface, or prevent upward separation. The above inner protrusion (153A) can overlap the upper portion of the first outer ring (63) in a vertical direction (axial direction).

[0105] The first inner ring (62) of the first bearing 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 rotation side wall (133), and the lower end of the second rotation side wall (133) includes an outer protrusion (133A), and the outer protrusions (133A) are arranged in plurality, and the number thereof may be smaller than the number of the inner protrusions (153A). The number of the outer protrusions (133A) may be the same as the number of the bottom holes (TH1) and may be smaller than the number of the inner protrusions (153A). This difference in number may be due to the fact that the upper flow of the first bearing member (60) is higher than the lower flow, and there is no other structure supporting the outer upper portion of the first bearing member (60), so that the number of the inner protrusions (153A) can be increased. The above outer protrusion (133A) may protrude inwardly in a stepped structure at a position higher than the lower end of the second rotation side wall (133), and may press the lower outer side of the first inner ring (62) or prevent downward separation. In addition, by supporting it through the upper / lower protrusions (153A, 133A) of the first bearing member (60), a driving device that is resistant to external vibration and shock may be provided. The outer protrusion (133A) may overlap the upper part of the first inner ring (62) in a vertical direction (axial direction). The lower end of the outer protrusion (133A) of the second rotation side wall (133) may be arranged on the same straight line as the upper surface of the seating surface (SP1, FIG. 19) of the bottom portion (151) of the stator housing (150) on which the first outer ring (63) is seated, or may be arranged at a higher position.

[0106]

[0107] The second bearing member (50) is an inner bearing member and includes a second bearing (51), a second inner ring (52), and a second outer ring (53). A plurality of second bearings (51) may be arranged between the second inner ring (52) and the second outer ring (53). The second bearing member (50) may be coupled between the first rotation side wall (132) arranged on the outside of the second bearing member (50) and the central shaft (311) arranged on the inside of the second bearing member (50). The horizontal position of the second bearing member (50) with respect to the central shaft (311) may be arranged above the first bearing member (60).

[0108]

[0109] As shown in FIGS. 7, 8, 9, 18, and 20, the area (150B) between the central shaft (311) and the first fixed side wall (152) and the first rotation side wall (132) can be spaced apart by the outer diameter of the second bearing member (50). The second outer ring (53) of the second bearing member (50) can be disposed on the lower stop protrusion (SP2) of the first rotation side wall (132). A washer (55) is disposed between the lower portion of the second bearing member (50) and the stop protrusion (SP2) of the first rotation side wall (132), and the washer (55) can disperse a load or a force transmitted in a vertical direction and reduce friction between the second bearing member (50) and other components. The washer (55) may have a wave shape in the circumferential direction, i.e., a donut shape with different heights. A stop ring (56) is arranged on the upper portion of the second bearing member (50), and the stop ring (56) is a snap ring that is fitted into a coupling groove (311A) on the upper outer side of the central shaft (311), and can prevent the upper portion of the second bearing member (50) from being detached, and can absorb vibration and shock of the second bearing member (50). The stop ring (56) may be arranged on the upper circumference of the second inner ring (52).

[0110]

[0111] One or more bearing members may be arranged in the region (150B) between the central shaft (311) and the first fixed side wall (152) and the first rotating side wall (132). For example, one or more second bearing members (50) may be arranged on the outer side of the central shaft (311). For example, as shown in FIG. 23, the second bearing members (50, 50A) may be arranged on the upper and lower peripheries of the central shaft (311), respectively.

[0112] Referring to FIGS. 9 to 21, the assembly process of the lidar driving device will be described. As shown in FIGS. 9 to 11, after the first bearing member (60) is positioned on the stator housing (150), the first bearing member (60) is assembled to the inner circumferential surface of the second fixed side wall (153). A central hole (H1) is formed in the center of the bottom portion (151) of the stator housing (150), and a plurality of bottom holes (TH1) are arranged along an area overlapping a portion of the first bearing member (60) on the outer side of the bottom portion (151). The first bearing member (60) is arranged between the first and second fixed side walls (152, 153).

[0113] At the center of the bottom portion (151) of the stator housing (150), a rotation prevention portion (P1) is arranged around the center hole (H1), and a floor support portion (P1) is arranged at the bottom of the center hole (H1). The rotation prevention portion (P1) and the floor support portion (P1) are arranged at the inner end of the bottom portion (151) of the stator housing (150).

[0114] As shown in Fig. 12, the stator housing (150) to which the first bearing member (60) is coupled is positioned on the inner support (352) of the staking jig (350). Here, the support (352) is positioned on the base plate (351) at a certain interval, and a moving plate (354) is positioned in an area facing the base plate (351), and a plurality of up / down moving members (353) support between the base plate (351) and the moving plate (354) and can move the moving plate (354) up and down.

[0115] An outer ring staking jig (360A) is coupled to the lower portion of the moving plate (354), and a plurality of jigs are protruded around the lower portion of the outer ring staking jig (360A). When the moving plate (354) is moved downward by pressure and presses the upper portion of the second fixed side wall (153) of the stator housing (150), inner protrusions (153A) can be formed around the upper portion of the second fixed side wall (153) by the plurality of jigs. The inner protrusions (153A) have a groove (R2) that is lower than the upper portion of the second fixed side wall (153) and are arranged on the upper portion of the first outer ring (63) of the first bearing member (60). The inner protrusions (153A) can suppress upward movement of the first bearing member (60). A plurality of bottom holes (TH1) are arranged in an area that vertically overlaps the first inner ring (62) of the first bearing member (60). That is, when viewed from the bottom of the stator housing (150), the plurality of bottom holes (TH1) can expose the first inner ring (62).

[0116]

[0117] As shown in FIGS. 15 and 16, the central shaft (311) is inserted into the center of the stator housing (150), and the lower end of the central shaft (311) is supported and fixed to the stator housing (150) through a fastening means (139). At this time, the bottom support portion (P2) of the stator housing (150) supports the lower end of the central shaft (311), and an anti-rotation portion (P1) can be coupled to the lower circumference of the central shaft (311), thereby supporting the lower end and preventing rotation. The inner shaft groove (R3) of the stator housing (150) is formed by the bottom support portion (P2) and the anti-rotation portion (P1), and supports the lower end of the central shaft (311). The top view shape of the shaft groove (R3) may not be a circular shape, for example, an irregular shape or a polygonal shape. The coupling of the first bearing member (60) and the center shaft (311) is performed before the first substrate (158) and bottom cover (180) illustrated in FIG. 5 are coupled to the stator housing (150).

[0118] As shown in FIGS. 17 and 18, the rotor housing (130) is coupled to the stator housing (150), and at this time, the central shaft (311) can be coupled to the upper hole (131A) of the rotor housing (130). At this time, as shown in FIG. 19, the stator housing (150) and the rotor housing (130) can be assembled with the motor (40) coupled to the outer circumference.

[0119] As shown in Fig. 20, when the rotor housing (130) is coupled to the stator housing (150), the second bearing member (50) is coupled 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 rotation side wall (132) of the rotor housing (130), the second bearing member (60) is assembled, and the stop ring (56) is fitted into the coupling groove (311A) of the central shaft (311), and then the upper portion of the second bearing member (60) is supported. Accordingly, the lower portion of the second bearing member (60) is elastically supported, and the upper portion can be prevented from coming off.

[0120]

[0121] As shown in FIGS. 21 and 22, when the second bearing member (50) is assembled between the rotor housing (130) and the center shaft (311), the driving device (100B) is positioned on the support (352) of the staking jig (350). At this time, the driving device (100B) is positioned so that the bottom of the stator housing (150) is exposed, and then presses the lower inner side of the second rotation side wall (133) with the inner ring staking jig (360B) through the bottom holes (TH1) of the stator housing (150). Accordingly, the lower inner side of the second rotation side wall (133) has a structure in which outer protrusions (133A) protrude outward and are stepped from the lower end of the second rotation side wall (133). The above outer projections (133A) press the lower end of the first inner ring (62) of the first bearing member (50).

[0122] The upper end of the first fixed side wall (153) may protrude higher than the upper end of the first bearing member (60), thereby providing a structure capable of pressing the inner protrusions (153A) with a jig. The lower end of the second rotational side wall (133) may protrude lower than the lower end of the first bearing member (60), thereby providing a structure capable of pressing the outer protrusions (133A) with a jig. The lower end of the second rotational side wall (133) may extend lower than the upper surface of the bottom portion (151) of the stator housing (150), and for this purpose, the bottom portion (151) may be provided with a concave portion (151B) on which the lower end of the second rotational side wall (133) is placed.

[0123] When the bearing members (50, 60) are combined in the area between the stator housing (150) and the rotor housing (130), and in the area between the rotor housing (130) and the center shaft (311), the substrate and the bottom cover (180), etc. are combined to complete the assembly of the driving device. Accordingly, the first bearing member (60) can support and distribute the large load received by the driving device (100B), and also, by positioning the positions of the plurality of bearing members (50, 60) in an area with a large radius difference, it can alleviate vibrations or shocks transmitted from the outside.

[0124] As shown in Fig. 23, the upper and lower parts of the central shaft (311) are provided with a plurality of bearing members (50, 50A) in a vertical direction, which can distribute the load received around the central shaft (311) and alleviate external vibrations and shocks.

[0125] The features, structures, effects, etc. described in the embodiments above are included in at least one embodiment of the present invention, and are not necessarily limited to just one embodiment. Furthermore, the features, structures, effects, etc. illustrated in each embodiment can be combined or modified and implemented in other embodiments by a person having ordinary skill in the art to which the embodiments pertain. Therefore, the contents related to such combinations and modifications should be interpreted as being included in the scope of the present invention. In addition, although the embodiments have been described above, these are merely examples and do not limit the present invention. Those having ordinary skill in the art to which the present invention pertains will appreciate that various modifications and applications not illustrated above are possible without departing from the essential characteristics of the embodiments. For example, each component specifically shown in the embodiments can be modified and implemented. In addition, the differences related to such modifications and applications should be interpreted as being included in the scope of the present invention defined in the appended claims.

Claims

1. A stator housing having first fixed side walls and second fixed side walls arranged in a ring shape from the inside to the outside, and a lower center hole; center shaft; A rotor housing having an upper center hole, a first rotational side wall disposed on an outer periphery of the center shaft, and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; A first bearing member coupled between the inner side of the second fixed side wall and the outer side of the second rotating side wall; and A lidar actuator comprising a second bearing member coupled between the central shaft and the inner side of the first rotating side wall.

2. A lidar driving device in accordance with claim 1, wherein the first fixed side wall includes a plurality of inner projections protruding toward the outer upper portion of the first bearing member along the upper inner side.

3. A lidar actuator in the second paragraph, wherein the second rotating side wall includes a plurality of outer projections protruding toward the inner lower portion of the first bearing member along the lower inner side.

4. A lidar driving device in the third paragraph, wherein the bottom of the stator housing has a plurality of bottom holes corresponding to each of the outer protrusions.

5. A lidar actuator in the third paragraph, wherein the number of the plurality of inner protrusions is greater than the number of the plurality of outer protrusions.

6. A lidar driving device in the third paragraph, wherein the upper end of the second fixed side wall is positioned higher than the upper end of the first bearing member.

7. In the 6th paragraph, the lower end of the second rotating side wall is positioned lower than the upper end of the second bearing member, A lidar actuator having a recess on the lower inner side of the second rotating side wall in which the first inner ring of the first bearing member is placed.

8. In any one of paragraphs 1 to 7, the stator housing includes a floor support portion arranged at the lower end of the central shaft and a rotation prevention portion arranged around the lower portion of the central shaft, The above floor support member and the above rotation prevention member are arranged at the inner end of the bottom part of the stator housing, The above first and second fixed side walls are a lidar driving device that protrudes from the bottom.

9. A lidar driving device comprising a fastening means fastened to the lower portion of the central shaft through a central hole in the floor support member in the 8th paragraph.

10. A lidar actuator according to any one of claims 1 to 7, comprising: a lower stop projection extending from the first rotating side wall to the outer lower portion of the second bearing member; a stop ring arranged on an upper periphery of the second bearing member and coupled to the central shaft; and a washer arranged between the stop projection and the second bearing member.

11. A lidar driving device according to any one of claims 1 to 7, wherein the first bearing member has an inner diameter that is at least twice the outer diameter of the first bearing member and a width that is larger than the width of the second bearing member.

12. A stator housing having first and second fixed side walls arranged in a ring shape from the inside to the outside, and a lower center hole; center shaft; A rotor housing having an upper center hole, a first rotational side wall disposed on an outer periphery of the center shaft, and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; A first bearing member coupled between the inner side of the second fixed side wall and the outer side of the second rotating side wall; A second bearing member coupled between the central shaft and the inner side of the first rotating side wall; A motor having a magnet and a core, disposed between the stator housing and the rotor housing; and A transceiver coupled to the rotor housing and configured to transmit and receive a laser beam, The inner diameter of the second bearing member is larger than the outer diameter of the first bearing member and smaller than the inner diameter of the magnet of the motor. A lidar device in which the rotor housing and the transceiver rotate about the central shaft.

13. In the 12th paragraph, the width of the first bearing member is larger than the width of the second bearing member, A lidar device including a wireless power transmission module disposed between the inner side of the second rotating side wall and the outer side of the first fixed side wall and the first rotating side wall.

14. In paragraph 12, The first fixed side wall includes a plurality of inner projections protruding along the upper inner side toward the outer upper portion of the first bearing member, A lidar device wherein the second rotating side wall includes a plurality of outer projections protruding along the lower inner side toward the inner lower portion of the first bearing member.

15. In any one of paragraphs 12 to 14, The above stator housing includes a floor support disposed at the lower end of the center shaft and an anti-rotation portion disposed around the lower end of the center shaft. The above floor support member and the above rotation prevention member are arranged at the inner end of the bottom part of the stator housing, The above first and second fixed side walls protrude from the bottom, A lidar device comprising a fastening means fastened to the lower portion of the central shaft through a central hole in the floor support.

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