Lidar driving device and lidar device

Abstract

A LiDAR device disclosed in an embodiment may comprise: a stator housing: a central shaft coupled to the central portion of the stator housing; a rotor housing; a motor coupled between the stator housing and the rotor housing; a first substrate arranged in the stator housing and electrically connected to the central shaft; a second substrate arranged on the rotor housing; and a contact plate for electrically connecting the second substrate and the central shaft.

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] An embodiment of the invention can provide a lidar drive device and a lidar device capable of reducing electrical contact resistance between a stator housing and an internal configuration of a rotor housing that rotates on the stator housing.

[0005] An embodiment of the invention can provide a lidar driving device and a lidar device capable of reducing electrical contact resistance between a central shaft and a member that rotates about the central shaft.

[0006] An embodiment of the invention can provide a lidar driving device and a lidar device that can reduce electrical contact resistance between the central shaft and the rotating substrate by arranging a contact plate between the central shaft and the rotating substrate.

[0007] A lidar driving device according to an embodiment of the invention may include a stator housing; a central shaft coupled to a center of the stator housing; a rotor housing; a motor coupled between the stator housing and the rotor housing; a first substrate disposed within the stator housing and electrically connected to the central shaft; a second substrate disposed on the rotor housing; and a contact plate electrically connecting the second substrate and the central shaft.

[0008] According to an embodiment of the invention, the second substrate may include a coupling hole in the center, and the contact plate may include a fixing portion fixed around the coupling hole of the second substrate, and a contact portion having an elastic piece bent toward the central shaft and a contact piece extending from the elastic piece onto the central shaft.

[0009] According to an embodiment of the invention, the central shaft may include a contact protrusion made of a conductive material that comes into contact with the contact piece.

[0010] According to an embodiment of the invention, the contact protrusion may protrude convexly in a hemispherical shape from the upper center of the central shaft.

[0011] According to an embodiment of the invention, the contact protrusion has a ball shape and can be seated on a concave recess on the upper portion of the central shaft.

[0012] According to an embodiment of the invention, the central shaft includes a concave recess at the upper portion, the contact projection includes a lower portion having a pin shape and an upper portion having a hemispherical shape, the lower portion of the pin shape of the contact projection is inserted into the recess, and the upper portion of the hemispherical shape of the contact projection can be brought into contact with the contact piece.

[0013] According to an embodiment of the invention, the contact piece has a convex groove or an insertion hole smaller than the diameter of the contact protrusion, and can be brought into contact with the upper portion of the contact protrusion.

[0014] According to an embodiment of the invention, the central shaft includes a projection guide portion coupled with an elastic spring in an upper recess, and the contact projection is coupled within the projection guide portion and can be brought into contact with the contact piece.

[0015] According to an embodiment of the invention, the second substrate may include a first conductive layer around the periphery and lower periphery of the joining hole; and a second conductive layer on the surface of the contact plate.

[0016] According to an embodiment of the invention, the diameter of the coupling hole may be smaller than the diameter of the central shaft and smaller than the diameter of the contact plate.

[0017] According to an embodiment of the invention, a plurality of bearing members may be arranged in an area between the stator housing and the rotor housing, and an area between the rotor housing and the central shaft, respectively.

[0018] According to an embodiment of the invention, a lidar device includes: a transceiver for transmitting and receiving a laser beam; a stator housing for supporting the transceiver; a central shaft coupled to a center of the stator housing; a rotor housing for rotating together with the transceiver about the central shaft; a motor coupled between the stator housing and the rotor housing; a first bearing member coupled between the stator housing and the rotor housing; a second bearing member coupled between the central shaft and the rotor housing; a first substrate disposed within the stator housing and electrically connected to the central shaft; a second substrate disposed on the rotor housing and electrically connected to the transceiver; and a contact plate fixed to the second substrate and electrically connecting the second substrate and the central shaft, wherein a contact resistance between the first substrate and the second substrate may be 500 ohms or less.

[0019] According to an embodiment of the invention, the second substrate includes a coupling hole in the center, the contact plate includes a fixing portion fixed around the coupling hole of the second substrate, and a contact portion having an elastic piece bent toward the central shaft and a contact piece extending from the elastic piece onto the central shaft, wherein the central shaft may include a contact protrusion made of a conductive material that contacts the contact piece.

[0020] According to an embodiment of the invention, the contact protrusion may protrude convexly in a hemispherical shape from the upper center of the central shaft.

[0021] According to an embodiment of the invention, the contact protrusion has a ball shape and can be seated on a concave recess on the upper portion of the central shaft.

[0022] According to an embodiment of the invention, the central shaft includes a concave recess at the top, the contact projection includes a pin-shaped lower portion and a hemispherical upper portion, the pin-shaped lower portion of the contact projection is inserted into the recess, the hemispherical upper portion of the contact projection is in contact with the contact piece, and the contact piece has a convex groove or an insertion hole smaller than the diameter of the contact projection and can be in contact with the upper portion of the contact projection.

[0023] According to an embodiment of the invention, the central shaft includes a projection guide portion coupled with an elastic spring in an upper recess, and the contact projection is coupled within the projection guide portion and can be brought into contact with the contact piece.

[0024] According to an embodiment of the invention, by providing contact between the central shaft within the stator housing and the substrate on the rotor housing with a contact plate, the life of the internal bearing member can be improved. In addition, by providing an elastic member on the contact plate, the contact resistance between the central shaft and the substrate can be maintained at 500 ohms or less, thereby preventing a decline in current conduction performance. Furthermore, errors in wireless data communication between the rotating and fixed parts of the lidar device can be reduced.

[0025] According to an embodiment of the invention, a contact plate is used to contact a central shaft in a stator housing and a substrate on a rotor housing, and a lubricant is applied to a curved portion in contact with the contact plate to reduce noise and wear caused by the contact.

[0026] 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.

[0027] FIG. 1 is a perspective view of a vehicle having a lidar system according to an embodiment of the invention.

[0028] FIG. 2 is an example of a block diagram of a vehicle system having the lidar system of FIG. 1.

[0029] Figure 3 is a perspective view of a lidar device according to an embodiment of the invention.

[0030] Fig. 4 is a perspective view of the lidar device of Fig. 3 viewed from another direction.

[0031] Fig. 5 is an example of a side cross-sectional view of the lidar device of Fig. 3.

[0032] FIG. 6 is an example of a perspective view of a rotor housing, a contact plate, and a rotating substrate in the lidar driving device of FIG. 5.

[0033] Fig. 7 is a cross-sectional view of the coupling side of the lidar driving device of Fig. 6.

[0034] Figure 8 is an exploded perspective view of the center shaft, contact plate, and rotating substrate of Figure 5.

[0035] (A)(B) of FIG. 9 are enlarged views and side cross-sectional views of the contact plate of FIG. 8.

[0036] Fig. 10 is a perspective view showing the back side of the rotating substrate of Fig. 8.

[0037] Fig. 11 is an enlarged view illustrating the relationship between the rotating substrate, contact plate and center shaft of Fig. 7.

[0038] Fig. 12 is a first modified example of a member in contact with the contact plate of Fig. 11.

[0039] Fig. 13 is a second modified example of a member in contact with the contact plate of Fig. 11.

[0040] Figures 14 (A) and (B) are drawings showing the shape of the contact plate and the shape of the contact protrusion of Figure 13.

[0041] Fig. 15 is a third modified example of a member in contact with the contact plate of Fig. 11.

[0042] Figures 16(A)(B) are other examples of deformation of the contact plate and contact member of Figure 11.

[0043] Fig. 17 is another example of a deformation of the contact plate and contact member of Fig. 11.

[0044] 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.

[0045] 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).

[0046] 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.

[0047] 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). The lidar system (100) is a device having a rotating imaging unit or sensor unit, which is coupled to a part of the vehicle (500) and rotates 360 degrees. The device 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 around the vehicle, and sensed data that provides information on objects located within an appropriate proximity range can be generated. The 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) communicates with various systems or sensors within the vehicle and can 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.

[0048]

[0049] 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.

[0050] 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 there is object information detected through these radars (102, 104), the driver is notified of surrounding objects or obstacles by an alarm or warning message. The GPS sensor (103) can receive signals from satellites and provide them to devices such as the vehicle control module (107), the lidar system (100), and the camera unit (101), 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 to a nearby vehicle or obstacle, 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. These ultrasonic sensors (105) can be installed on the rear or side of the vehicle or on the wheels, etc.

[0051]

[0052] 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).

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

[0054]

[0055] 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).

[0056] 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.

[0057]

[0058] 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. 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.

[0059] 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.

[0060]

[0061] A lidar device having a lidar system and a lidar driving device will be described below with reference to the drawings. Fig. 3 is a perspective view of a lidar device according to an embodiment of the invention, Fig. 4 is a perspective view of the lidar device of Fig. 3 viewed from another direction, Fig. 5 is an example of a side sectional view of the lidar device of Fig. 3, Fig. 6 is an example of a perspective view of a rotor housing, a contact plate, and a rotating substrate in the lidar driving device of Fig. 5, Fig. 7 is a combined side sectional view of the lidar driving device of Fig. 6, Fig. 8 is an exploded perspective view of a center shaft, a contact plate, and a rotating substrate of Fig. 5, Fig. 9 (a) and (b) are an enlarged view and a side sectional view of the contact plate of Fig. 8, Fig. 10 is a perspective view showing a rear view of the rotating substrate of Fig. 8, and Fig. 11 is an enlarged view for explaining the relationship between the rotating substrate, the contact plate, and the central shaft of Fig. 7.

[0062] 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.

[0063] 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 above-described rotating part (2) can be axial rotation. The above-described rotating part (2) can include the transceiver (120), the rotatable rotor housing (130), and the second substrate (148) disclosed above. The transceiver (120) can rotate about its axis together with the rotor housing (130). The second substrate (148) is a rotating substrate, is electrically connected to the transceiver (120), and can receive wireless power from the fixed part (1). The above-described 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 above-described rotor housing (130) and disposed below the transceiver (120).

[0064] 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).

[0065] A protective case (145) for protecting the transceiver (120) may be placed inside the cover (140). The lower portion of the cover (140) is placed around the upper periphery of the fixed portion (1) and covers the upper periphery of the rotating portion (2). The cover (140) has a cylindrical shape with an open lower portion, has a transceiver (120) inside, and rotates together with the rotating portion (2). 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 placed on the transmitting / receiving path of the transceiver (120). The cover (140) is coupled to the rotor housing (130) and can 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]

[0067] The transceiver (120) includes a transmission module (121) and a sensing module (123), and the transmission module (121) can be arranged on one side of the sensing module (123) or one side of the window (125). The transmission module (121) has a light source array and can be arranged in an area adjacent to the window (125) to minimize loss or interference of the laser beam. The sensing module (123) includes a sensor unit (21), a sensor substrate (24), an optical system (22), and a light guide unit (23), and 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 on the sensor unit (21), and the sensor unit (21) converts the incident laser beam into an electrical signal. The sensor substrate (24) is electrically connected to the sensor unit (21) and transmits the received signal to the processor and memory in the fixed unit (1) through the third substrate (128) and the second substrate (148). The third substrate (128) and the second substrate (148) may be rotating substrates.

[0068]

[0069] 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.

[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]

[0072] 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). 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 fastened to a part of the protective case (145) or another frame by a fastening means (not shown). In addition, the cover (140) and the protective case (145) can be fastened to 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 gasket (146) having a ring-shaped groove is fastened to the ring-shaped groove, and the gasket (146) can be in close contact with the rotor housing (130), the protective case (145), or another frame.

[0073]

[0074] 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 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. 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 circumference 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 circumference 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.

[0075]

[0076] 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. 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).

[0077] The central shaft (311) guides the axial rotation of the rotor housing (130) at the center of the stator housing (150). 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 a 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 rotational direction and position using an encoder disk and an optical sensor. The upper portion of the central shaft (311) can protrude onto an inner recess (R30) of the rotor housing (130). The second bearing member (50) can be coupled to the upper central hole (131A) of the rotor housing (130) and connected to the inner recess (R30).

[0078]

[0079] 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.

[0080] In addition, 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 insertion of the central shaft (311) convenient, and can strengthen the coupling force between the stator housing (150) and the central shaft (311).

[0081] 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 rotor housing (130) by a fastening means (not shown).

[0082] 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.

[0083]

[0084] 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.

[0085]

[0086] 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. 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.

[0087]

[0088] 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. 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).

[0089]

[0090] 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).

[0091] 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 the plurality of magnets (41) attached thereto and arranged in a circumferential direction. The magnets (41) may face the motor core (42). The outer surface of the yoke (43) may overlap 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 an exhaust port (18). The above discharge ports (18) are arranged in plurality along the outer periphery of the stator housing (150), and may be spaced apart from each other or arranged at equal angles based on the central axis. The outlet of the discharge ports (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 discharge ports (18) are arranged may be horizontal or inclined, and in the inclined structure, the outer side of the floor may be lower than the inner side of the floor.

[0092]

[0093] 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).

[0094] 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).

[0095] The above lidar driving device (100B) may include one or more outer bearing members coupled to a region 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. 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), and a plurality of first bearings (61) may 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) disposed on the outside of the first bearing member (60) and the second rotating side wall (133) disposed on the inside of the first bearing member (60).

[0096] 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).

[0097] 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.

[0098] 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).

[0099] The horizontal position of the second bearing member (50) based on the central shaft (311) may be arranged above the first bearing member (60). The area (150B) between the central shaft (311) and the first fixed side wall (152) and the first rotational side wall (132) may be spaced apart by the outer diameter of the second bearing member (50). One or more bearing members may be arranged in the area between the central shaft (311) and the first fixed side wall (152) and the first rotational side wall (132). For example, one or more second bearing members (50) may be arranged on the upper or upper / lower portion of the outer side of the central shaft (311). At least one or both of the first and second bearing members (60, 50) may include a conductive lubricant, for example, conductive grease, inside, and the conductive grease may electrically connect between the inner ring (62, 52) and the outer ring (63, 53) within the first and second bearing members (60, 50).

[0100]

[0101] Between the stator housing (150) and the rotor housing (130), that is, between the fixed part (1, see FIG. 3) and the rotating part (2, see FIG. 3), a communication part (optical signal transmission / reception part) for data communication and / or a wireless transmission power module may be included. Here, the first substrate (158) may be electrically connected to a first communication part for transmitting and receiving an optical signal, and the second substrate (148) may be electrically connected to a second communication part having a transmission part and a reception part that communicate with the first communication part. When these first and second communication parts wirelessly communicate with an optical signal, if interference due to an external magnetic force is large, stable wireless communication is difficult, and if an error in data communication occurs, the reliability of the system operation may be reduced. In order to reduce such data communication errors, the contact resistance (or current resistance) between the first substrate (158) and the second substrate (148) is required to be 500 Ohm or less. When the rotating part (2, see FIG. 3) is stationary or rotates at a low speed (e.g., less than 200 rpm) on the fixed part (1, see FIG. 3), the contact resistance between the first and second substrates (158, 148) is maintained at 500 ohms or less. However, when the rotating part (2) rotates at a high speed (e.g., 200 rpm or more), the contact resistance between the first and second substrates (158, 148) may increase to 500 ohms or more. Since errors occur in wireless data communication due to this increase in contact resistance, the resistance between the two substrates (148, 158) is required to be 500 ohms or less. When the contact resistance increases due to the rotation of the rotating part (2), a lubricant such as grease enclosed inside the ball bearing member may have conductive properties. However, when used for a long time, the material of the grease having a carbon material may increase wear of the raceways (inner ring, outer ring) and shorten the life of the bearing member.

[0102]

[0103] As shown in Fig. 7, the central shaft (311) is made of a metal material and can be electrically connected to the second substrate (148). A contact plate (320) is disposed between the central shaft (311) and the second substrate (148), which is a rotating substrate. The contact plate (320) includes a conductive material, for example, a metal material. The second substrate (148) can be electrically connected to the first substrate (159) through the central shaft (311) and the contact plate (320). The contact plate (320) may have a circular or polygonal shape in a top view. A contact protrusion (312) is included between the central shaft (311) and the contact plate (320), and the contact protrusion (312) has a pin shape or a ball shape made of a conductive material and can electrically connect the central shaft (311) and the contact plate (320). The above contact protrusion (312) may be formed integrally on the upper end of the central shaft (311) or may be separately coupled to the upper end of the central shaft (311).

[0104]

[0105] As shown in FIGS. 6, 8, and 10, the second substrate (148) has a coupling hole (148A) in the center, and various components, such as passive components and / or active components, are mounted on the upper surface or front surface. The second substrate (148) may include coupling holes (6) that are respectively coupled to coupling portions (138) of the rotor housing (130) by a plurality of coupling means (5). The coupling portions (138) may be arranged at positions corresponding to the coupling holes (6) along the upper outer periphery of the rotor housing (130), as shown in FIG. 6. The diameter or maximum width of the coupling hole (148A) of the second substrate (148) may be larger than the diameter of the central shaft (311). A conductive layer (148B) is formed on the inner surface of the joining hole (148A) of the second substrate (148), and the conductive layer (148B) includes a plating layer made of copper or gold, and may extend around the inner surface and the lower surface of the joining hole (148A). The conductive layer (148B) may improve electrical conductivity between the second substrate (148) and the contact plate (320). The joining hole (148A) may have a circular or polygonal shape in a top view.

[0106] As shown in FIGS. 8 to 11, the contact plate (320) includes a body (321), a fixing portion (322) extending from the body (321) to the lower circumference of the coupling hole (148A) of the second substrate (148), an elastic piece (323A) extending into the inner hole (324) of the body (321), and a contact portion (323) having a contact piece (323B). The thickness of the contact plate (320) may be 0.5 mm or less, for example, in the range of 0.2 mm to 0.5 mm. The material of the contact plate (320) may include a stainless steel material or a copper material.

[0107] The fixing portion (322) of the contact plate (320) extends around the lower surface of the coupling hole (148A) of the second substrate (148) and is bonded to a conductive layer (148B) arranged around the lower surface of the second substrate (148), and can electrically connect the contact plate (320) and the second substrate (148). The outer surface (322A) of the body (321) of the contact plate (320) is bent between the fixing portion (322) and the upper surface of the body and provides a vertical side surface, and can be in contact with the conductive layer (148B) on the inner surface of the coupling hole (148A). Accordingly, the outer surface (322A) of the contact plate (320) can be in contact with the conductive layer (148B) of the coupling hole (148A) on different sides (inner surface and lower surface) and can be electrically connected. The height of the outer surface (322A) may be provided to be equal to the thickness of the second substrate (148) or less than twice the thickness of the second substrate (148) to provide elasticity to the contact portion (323).

[0108]

[0109] A plating layer (not shown) may be formed on at least one of the surface, i.e., the upper surface and the lower surface, of the body (321) of the contact plate (320). The plating layer formed on the surface of the body (321) may be formed as a single layer or multiple layers, and may include at least one of nickel, tin, and copper. Preferably, a plating layer may be formed on the outer side surface (322A) of the body (321) and the upper surface of the fixing portion (322). The fixing portion (322) of the contact plate (320) and the conductive layer (148B) of the second substrate (148) may be joined by a conductive bonding member (not shown), for example, soldering. In addition, the conductive layer (148B) arranged around the outer side surface (322A) of the contact plate (320) and the coupling hole (148a) of the second substrate (148) may be joined by a conductive bonding member (not shown), for example, soldering. Here, a concave groove (322B) is arranged in the folded portion between the outer surface (322A) of the contact plate (320) and the fixing member (322), thereby preventing a decrease in the rigidity of the fixing member (322). In addition, a material of a joining member, such as solder, can be introduced into the groove (322B).

[0110]

[0111] The inner hole (324) of the contact plate (320) may be formed by a partial punching process of the contact portion (323), and may have a polygonal shape or a curved shape. The contact portion (323) may extend to the center of the inner hole (324), and the elastic piece (323A) may be bent obliquely from the body (321) toward the central shaft (311), and the contact piece (323B) may extend horizontally from the elastic piece (323A). The elastic piece (323A) may be bent obliquely to have elasticity, or may be bent once or twice or more between the body (321) and the contact piece (323B). The lower surface of the contact piece (323B) may face the upper surface of the central shaft (311) and correspond to the contact protrusion (312). The above contact protrusion (312) protrudes in a hemispherical shape, and its upper end (312A) has a convex curved surface and can be in contact with the flat lower surface or concave curved surface of the contact surface (323B). The contact piece (323B) of the contact portion (323) can be in contact with or electrically connected to the upper end (312A) of the contact protrusion (312). The contact point and the periphery between the contact piece (323B) and the contact protrusion (312) can be coated with a conductive lubricant, such as grease. The conductive lubricant can reduce noise or wear generated between the contact piece (323B) and the contact protrusion (312), and can improve conductivity.

[0112] The diameter of the above-mentioned contact plate (320) may be larger than the diameter of the coupling hole (148A) of the second substrate (148). The contact plate (320) rotates together with the second substrate (148) on the central shaft (311), and at this time, the contact piece (323B) and the contact protrusion (312) are electrically connected. That is, the contact plate (320) and the contact protrusion (312) are always maintained in contact. Even if the rotating part rotates at a low speed or a high speed (i.e., a maximum speed), the contact resistance between the first and second substrates (158, 148) can be maintained at 500 ohms or less. In addition, the conductive properties of the grease in the bearing member can be lowered or the grease material (excluding the carbon material) can be changed, so that the life of the bearing member can be not affected even when used for a long time.

[0113]

[0114] Fig. 12 is a first modified example of a member in contact with the contact plate of Fig. 11.

[0115] As shown in Fig. 12, a contact protrusion (314) is arranged between the contact plate (320) and the central shaft (311). The contact protrusion (314) has a spherical shape and is arranged on a concave recess (313) on the upper portion of the central shaft (311). The recess (313) has a circular shape with a narrow lower portion and a wide upper portion when viewed from above, and the lower portion of the contact protrusion (314) is inserted into the upper portion (313A) of the recess (313) and can be in contact with the surface of the upper portion (313A). The contact protrusion (314) is made of a metal material and can be in electrical contact with the central shaft (311) and the contact piece (323B) of the contact plate (320). The diameter of the contact protrusion (314) may be larger than the gap between the upper surface of the central shaft (311) and the contact piece (323B). Accordingly, the above-mentioned challenge ball (314) can receive a predetermined elastic pressure by the above-mentioned contact piece (323B) to electrically connect the center shaft (311) and the contact plate (320).

[0116] Fig. 13 is a second modified example of a member in contact with the contact plate of Fig. 11, and Fig. 14 (A) and (B) are drawings showing the shape of the contact plate and the shape of the contact protrusion of Fig. 13. As shown in Figs. 13 and 14, the contact piece (323B) of the contact plate (310) is provided with an insertion hole (323C), and an upper portion (315A) of a contact protrusion (315) is arranged in the insertion hole (323C). The contact protrusion (315) has a columnar shape like a pin, and the upper portion (315A) has a convex curved shape. The upper recess (313) of the central shaft (311) has a depth into which the contact protrusion (315) is inserted, and the diameter of the upper portion (313A) is formed to be wider than the diameter of the lower portion. The above contact protrusion (315) is separately coupled on the central shaft (311), and its height may be greater than the depth of the recess (313). The contact protrusion (315) is inserted into and supported in the upper recess (313), and its upper portion (315A) may be partially inserted into and coupled to the insertion hole (323B). That is, the diameter of the insertion hole (323C) is formed to be smaller than the lower diameter of the contact protrusion (315) and larger than the upper diameter, so that when the upper portion (315A) of the contact protrusion (315) is inserted into the insertion hole (323C), when the contact plate (320) and the second substrate (148) rotate together, the contact protrusion (315) can maintain an electrical contact state with the contact plate (320) and the central shaft (311). A conductive lubricant may be applied to the contact area between the contact protrusion (315) and the contact piece (323B).

[0117] Fig. 15 is a third modified example of a member in contact with the contact plate of Fig. 11.

[0118] As shown in Fig. 15, the contact plate (320) may have a shape or structure as in Fig. 11 or Fig. 12. A concave recess (313) is arranged at the upper center of the central shaft (311), and a protrusion guide portion (316) is provided in the recess (313). The protrusion guide portion (316) has an elastic spring (313C) inside, a fastening structure (316B) on the outside, and a protrusion hole (316D) on the top. The protrusion guide portion (316) has a fastening structure (316B) such as a screw line, and can be fastened within the fastening structure (313B) of the recess (313). Accordingly, the protrusion guide portion (313) made of a conductive material and the central shaft (311) can be in electrical contact. The elastic spring (313C) provides an elastic repulsive force when the contact protrusion (316A) is inserted therein, thereby pushing the contact protrusion (316A) upward. A part of the contact protrusion (316A) may protrude through the protrusion hole (316D), thereby preventing the contact protrusion (316A) from being separated upwardly through the protrusion hole (316D). That is, the diameter of the contact protrusion (316A) may be smaller than the diameter of the protrusion hole (316D), so that the contact protrusion (316A) may be brought into contact with the surface of the protrusion hole (316D) and the surface of the contact plate (320). A part of the contact protrusion (316) may be inserted into the insertion hole (323C) of the contact piece (323B), so that the contact protrusion (316) and the contact piece (323B) may be brought into electrical contact. As another example, the contact piece (323B) may have a flat surface without an insertion hole, and the contact projection (316) may be brought into contact with it. A conductive lubricant may be applied to the contact area between the contact projection and the contact piece (323B).

[0119]

[0120] As shown in (A) of Fig. 16, the upper portion (316A) of the contact protrusion is partially inserted into the insertion hole (323C) of the contact piece (323B) of the contact plate (320), so that the contact protrusion and the contact piece (323B) can be in contact with each other. As shown in (B) of Fig. 16, the contact piece (323B) is provided with a concave hemispherical groove (323D), so that the upper portion (316A) of the contact protrusion can be closely adhered to the groove (323D). A conductive lubricant may be applied to the contact area between the contact protrusion and the contact piece (323B). As shown in Fig. 17, the contact piece (323B) of the contact plate (320) has a convex hemispherical protrusion (323E), and the upper portion of the contact protrusion (315) has a concave hemispherical groove (315C), and the hemispherical protrusion (323E) can be closely adhered to the hemispherical groove (315C). A conductive lubricant can be applied to the contact area between the hemispherical protrusion (323E) and the hemispherical groove (315C).

[0121]

[0122] The invention applies a predetermined pressure in the direction of the central shaft (311) by an elastic piece (323A) having a stepped or inclined structure at the center of the contact plate (320), so that even when the rotor housing rotates or external vibration or impact is transmitted, contact between the contact protrusion and the contact piece can be maintained. In addition, by applying a non-conductive lubricant or a conductive lubricant to the contact area between the contact protrusion and the contact piece, noise or wear due to rotational friction can be reduced, and conductivity reduction can be prevented. In addition, since the contact plate (320) is electrically connected to the second substrate (148), which is a rotating substrate, by a joining member such as soldering, the second substrate (148) and the first substrate (158) are always electrically connected, so that an increase in electrical contact resistance or rotating boundary resistance between the two substrates can be prevented. The rotating boundary resistance is the resistance at the boundary between the rotating rotating portion and the fixed portion, and can correspond to the contact resistance disclosed above.

[0123] It can be seen that the contact resistance by the composition of the invention is obtained as follows, below 500 ohms, depending on the temperature change.

[0124] Temperature (℃)Rotational Boundary Resistance (Spec. 500Ω Max.)Result25℃1.1ΩPass-20℃ (2 hours)1.9ΩPass65℃ (2 hours)1.0ΩPass

[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. Stator housing; A center shaft coupled to the center of the stator housing; rotor housing; A motor coupled between the stator housing and the rotor housing; A first substrate disposed within the stator housing and electrically connected to the center shaft; a second substrate disposed on the rotor housing; and A lidar actuator including a contact plate electrically connecting between the second substrate and the central shaft.

2. In paragraph 1, The above second substrate includes a bonding hole in the center, A lidar actuator, wherein the contact plate includes a fixed portion fixed around the periphery of the joining hole of the second substrate, and a contact portion having an elastic piece bent toward the central shaft and a contact piece extending from the elastic piece onto the central shaft.

3. In paragraph 2, A lidar actuator having a central shaft including a contact projection made of a conductive material that makes contact with the contact piece.

4. In paragraph 3, The above contact projection protrudes convexly in a hemispherical shape from the upper center of the above center shaft, A lidar actuator in which the above contact projection has a ball shape and is seated on a concave recess in the upper portion of the center shaft.

5. In paragraph 3, The above central shaft includes a concave recess in the upper portion, The above contact projection includes a lower part in the shape of a pin and an upper part in the shape of a hemisphere, The lower part of the pin shape of the above contact projection is inserted into the above recess, The upper part of the hemispherical shape of the above contact projection is a lidar actuator that comes into contact with the above contact piece.

6. In paragraph 5, A lidar actuator in which the above contact piece has a convex groove or an insertion hole smaller than the diameter of the contact protrusion, and comes into contact with the upper portion of the contact protrusion.

7. In paragraph 3, The above central shaft includes a projection guide portion coupled with an elastic spring in the upper recess, The above contact projection is coupled within the projection guide portion and is a lidar driving device that comes into contact with the contact piece.

8. In any one of paragraphs 2 to 7, A first conductive layer around the perimeter of the bonding hole of the second substrate and around the lower surface; and A lidar actuator comprising a second conductive layer on the surface of the contact plate.

9. In any one of paragraphs 2 to 7, A lidar actuator having a diameter of the above coupling hole smaller than the diameter of the center shaft and smaller than the diameter of the contact plate.

10. In any one of paragraphs 1 to 7, A lidar drive device including a plurality of bearing members each arranged in a region between the stator housing and the rotor housing, and a region between the rotor housing and the center shaft.

11. A transceiver for transmitting and receiving a laser beam; A stator housing supporting the above transceiver; A center shaft coupled to the center of the stator housing; A rotor housing that rotates together with the transceiver about the central shaft; A motor coupled between the stator housing and the rotor housing; A first bearing member coupled between the stator housing and the rotor housing; A second bearing member coupled between the center shaft and the rotor housing; A first substrate disposed within the stator housing and electrically connected to the center shaft; a second substrate disposed on the rotor housing and electrically connected to the transceiver; and A contact plate is fixed to the second substrate and electrically connects the second substrate and the central shaft, A lidar device wherein the contact resistance between the first substrate and the second substrate is 500 ohm or less.

12. In paragraph 11, The above second substrate includes a bonding hole in the center, The contact plate includes a fixing portion fixed around the periphery of the joining hole of the second substrate, and a contact portion having an elastic piece bent toward the central shaft and a contact piece extending from the elastic piece onto the central shaft, A lidar device wherein the central shaft includes a contact projection made of a conductive material that makes contact with the contact piece.

13. In paragraph 12, The above contact projection protrudes convexly in a hemispherical shape from the upper center of the above center shaft, A lidar device in which the above contact projection has a ball shape and is seated on a concave recess in the upper portion of the central shaft.

14. In paragraph 12, comprising a concave recess in the upper portion of the central shaft; The above contact projection includes a lower part in the shape of a pin and an upper part in the shape of a hemisphere, The lower part of the pin shape of the above contact projection is inserted into the above recess, The upper part of the hemispherical shape of the above contact projection is in contact with the above contact piece, A lidar device in which the above contact piece has a convex groove or an insertion hole smaller than the diameter of the contact protrusion, and comes into contact with the upper portion of the contact protrusion.

15. In paragraph 12, The above central shaft includes a projection guide portion coupled with an elastic spring in the upper recess, A lidar device in which the above contact projection is coupled within the projection guide portion and comes into contact with the contact piece.

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