Lidar driving device and lidar system comprising same

Abstract

According to an embodiment of the present invention, the LIDAR driving device comprises: a stator portion; a shaft disposed on the stator unit; and a rotor portion disposed on the shaft. The stator unit comprises: a first housing; a first printed circuit board (PCB) disposed on the first housing; and a wireless power transmission unit disposed in the first housing and connected to the first PCB. The rotor portion comprises: a second housing; a second PCB disposed on the second housing; and a wireless power reception unit disposed in the second housing and connected to the second PCB. The wireless power transmission unit comprises a first core and a first bobbin assembly contained in the first core. The wireless power reception unit comprises a second core and a second bobbin assembly contained in the second core. Each of the first bobbin assembly and the second bobbin assembly comprises a coil, an insulating tape surrounding the coil, and a bobbin for containing the coil and the insulating tape. The ratio of the sectional area of the coil against the sectional area formed by the inner surface of the insulating tape is 0.8 or larger.

Description

LiDAR Driving Device and LiDAR System Comprising the Same

[0001] The present invention relates to a LiDAR driving device and a LiDAR system comprising the same.

[0002] LiDAR (Light Detection and Ranging) measures the distance to an object or shapes an object by using a laser pulse that is emitted from a light emitting unit, reflected by the target object, and then returned. LiDAR is applied to various technical fields that require 3D images. For example, LiDAR can be applied to various technical fields such as meteorology, aviation, space, and vehicles. Recently, the proportion of LiDAR in the field of autonomous driving has been rapidly increasing.

[0003] Generally, the light emitting unit of LiDAR generates an output light signal, irradiates it onto an object, the light receiving unit receives an input light signal reflected from the object, and the information generating unit generates information about the object by using the input light signal received by the light receiving unit.

[0004] LiDAR can be largely classified into mechanical LiDAR and solid-state LiDAR. Mechanical LiDAR can obtain a 360-degree viewing angle by rotating the light emitting unit and the light receiving unit. Solid-state LiDAR can be, for example, one of MEMS (Micro Electro Mechanical System) LiDAR, flash LiDAR, and OPA (Optical Phase Array) LiDAR. In MEMS LiDAR, the tilt angle of the mirror can be finely changed by an electrical signal. Flash LiDAR uses an optical flash, and one large-area laser pulse can illuminate the front environment. In OPA, an optical phase modulator controls the speed of light passing through a lens, and thus the optical wavefront shape can be controlled.

[0005] In the case of a mechanical lidar, a light emitting unit and a light receiving unit are mounted on the lidar driving device, and the light emitting unit and the light receiving unit rotate on the lidar driving device. To this end, the lidar driving device includes a fixed part and a rotating part. The fixed part is fixed to the vehicle, and the light emitting unit and the light receiving unit mounted on the rotating part rotate due to the interaction between the fixed part and the rotating part.

[0006] On the other hand, in order to transmit a control signal for controlling the light emitting unit and the light receiving unit to the light emitting unit and the light receiving unit, and to transmit the electrical signal received by the light receiving unit to the vehicle side, the rotating part side must be stably supplied with power from the fixed part side. For the rotation of the rotating part, the fixed part side needs to supply power to the rotating part side wirelessly.

[0007] The technical problem to be achieved by the present invention is to provide a lidar driving device capable of wireless power supply and a lidar system including the same.

[0008] The lidar driving device according to an embodiment of the present invention includes a stator part, a shaft disposed on the stator part, and a rotor part disposed on the shaft. The stator part includes a first housing, a first Printed Circuit Board (PCB) disposed on the first housing, and a wireless power transmission unit disposed within the first housing and connected to the first PCB. The rotor part includes a second housing, a second PCB disposed on the second housing, and a wireless power reception unit disposed within the second housing and connected to the second PCB. The wireless power transmission unit includes a first core and a first bobbin assembly accommodated within the first core. The wireless power reception unit includes a second core and a second bobbin assembly accommodated within the second core. The first bobbin assembly and the second bobbin assembly each include a coil, an insulating tape wrapping the coil, and a bobbin accommodating the coil and the insulating tape. The ratio of the cross-sectional area of the coil to the cross-sectional area formed by the inner surface of the insulating tape is 0.8 or more.

[0009] The wireless power transmission unit and the wireless power reception unit are each in a ring shape centered on the shaft. The first core has an opening opened toward the wireless power reception unit, and the second core has an opening opened toward the wireless power transmission unit. The first bobbin assembly and the second bobbin assembly can be disposed to face each other and be spaced apart from each other.

[0010] The distance between the first bobbin assembly and the second bobbin assembly can be 0.5 to 1.5 mm.

[0011] A first adhesive layer, an insulating layer disposed on the first adhesive layer, and a second adhesive layer disposed on the insulating layer may be further disposed between the bottom portion of the first core and the first bobbin assembly.

[0012] The first core includes a bottom portion, a first sidewall extending from one side of the bottom portion toward the wireless power receiving unit, and a second sidewall extending from the other side of the bottom portion toward the wireless power receiving unit. The distance between the second sidewall and the shaft is greater than the distance between the first sidewall and the shaft, and the cross-sectional area of the first sidewall may be greater than the cross-sectional area of the second sidewall.

[0013] A first adhesive layer, an insulating layer disposed on the first adhesive layer, and a second adhesive layer disposed on the insulating layer may be further disposed between the first housing and the first core.

[0014] A plurality of through holes are formed in the bottom portion of the first core, and the first core and the first housing may be fastened by a plurality of fastening members passing through the plurality of through holes.

[0015] The coil may be a litz wire wound with 500 or more turns of wire.

[0016] The lidar device according to an embodiment of the present invention includes a light emitting unit that irradiates an optical signal onto an object, a light receiving unit that receives the optical signal reflected from the object, and a driving unit that rotates the light emitting unit and the light receiving unit. The driving unit includes a stator unit, a shaft disposed on the stator unit, and a rotor unit disposed on the shaft. The stator unit includes a first housing, a first printed circuit board (PCB) disposed on the first housing, and a wireless power transmission unit disposed within the first housing and connected to the first PCB. The rotor unit includes a second housing, a second PCB disposed on the second housing, and a wireless power reception unit disposed within the second housing and connected to the second PCB. The wireless power transmission unit includes a first core and a first bobbin assembly accommodated within the first core. The wireless power reception unit includes a second core and a second bobbin assembly accommodated within the second core. The first bobbin assembly and the second bobbin assembly each include a coil, an insulating tape that wraps the coil, and a bobbin that accommodates the coil and the insulating tape. The ratio of the cross-sectional area of the coil to the cross-sectional area formed by the inner surface of the insulating tape is 0.8 or more.

[0017] According to an embodiment of the present invention, a lidar driving device capable of wireless power supply and a lidar system including the same can be obtained. In particular, according to an embodiment of the present invention, since the volume ratio of the wireless power supply unit in the lidar driving device increases, the resistance decreases, heat generation is reduced, and the volume occupied by the wireless power supply unit in the lidar driving device can be reduced. In addition, according to an embodiment of the present invention, a wireless power supply unit in a lidar driving device with improved mass productivity, durability, and reliability can be obtained.

[0018] FIG. 1 is a block diagram of a lidar system according to an embodiment of the present invention.

[0019] FIG. 2 is a cross-sectional view of a light receiving unit according to an embodiment of the present invention.

[0020] FIG. 3 is a top view of an image sensor according to an embodiment of the present invention.

[0021] FIG. 4 is a bottom view of a microlens array according to an embodiment of the present invention.

[0022] FIG. 5 is a diagram for explaining a correspondence relationship among a light source, a condenser lens, a first homogenizer lens, and a second homogenizer lens of a light emitting unit according to an embodiment of the present invention.

[0023] FIG. 6 is a partial perspective view of a lidar system according to an embodiment of the present invention.

[0024] FIG. 7 is a partial exploded view of a lidar system according to an embodiment of the present invention.

[0025] FIG. 8 is a partial exploded view of a lidar device according to an embodiment of the present invention.

[0026] FIG. 9 is a perspective view of a lidar driving device according to an embodiment of the present invention.

[0027] FIG. 10 is a cross-sectional perspective view of a lidar driving device according to an embodiment of the present invention.

[0028] FIG. 11 is a perspective view of a wireless power transmitting and receiving device included in a lidar driving device according to an embodiment of the present invention.

[0029] FIG. 12 is a cross-sectional perspective view of a wireless power transmitting and receiving device included in a lidar driving device according to an embodiment of the present invention.

[0030] FIG. 13 is a top perspective view of a wireless power transmitting unit included in a lidar driving device according to an embodiment of the present invention.

[0031] FIG. 14 is an exploded perspective view of a wireless power transmitting unit included in a lidar driving device according to an embodiment of the present invention.

[0032] FIG. 15 is the core of the wireless power transmission unit included in the lidar driving device according to an embodiment of the present invention.

[0033] FIG. 16 is a bobbin assembly of the wireless power transmission unit included in the lidar driving device according to an embodiment of the present invention.

[0034] FIG. 17 is a cross-sectional view of FIG. 16.

[0035] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0036] However, the technical idea of the present invention is not limited to some embodiments described, but can be implemented in various different forms, and within the scope of the technical idea of the present invention, one or more of the components among the embodiments can be selectively combined or substituted for use.

[0037] In addition, the terms (including technical and scientific terms) used in the embodiments of the present invention can be interpreted as meanings generally understood by those of ordinary skill in the art to which the present invention pertains, unless specifically defined otherwise, and terms generally used as in a dictionary can be interpreted considering their meanings in the context of the related art.

[0038] In addition, the terms used in the embodiments of the present invention are for explaining the embodiments and are not intended to limit the present invention.

[0039] In this specification, the singular form may include the plural form unless otherwise specifically mentioned in the phrase, and when described as "at least one (or one or more) of A and (or) B, C", it may include one or more of all combinations that can be combined with A, B, and C.

[0040] In addition, when describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used.

[0041] These terms are only for distinguishing the components from other components, and are not limited by the essence, sequence, or order of the corresponding components by these terms.

[0042] And when a component is described as being 'connected', 'coupled', or 'connected' to another component, that component may include not only the case where it is directly connected, coupled, or connected to that other component, but also the case where it is 'connected', 'coupled', or 'connected' due to another component between that component and that other component.

[0043] In addition, when it is described as being formed or disposed "above or below" each component, above or below includes not only the case where two components are in direct contact with each other, but also the case where one or more other components are formed or disposed between the two components. In addition, when expressed as "above or below", it may include the meaning of the upward direction as well as the downward direction based on one component.

[0044] The lidar system according to an embodiment of the present invention may mean a lidar system mounted on an automobile and measuring the distance between the automobile and an object, but is not limited thereto. The lidar system according to an embodiment of the present invention can extract depth information using the ToF (Time of Flight) principle or the phase shift principle. In this specification, the lidar system may also be referred to as an information generating device, a depth information generating device, or a camera device.

[0045] FIG. 1 is a block diagram of a lidar system according to an embodiment of the present invention.

[0046] Referring to FIG. 1, a lidar system (1000) according to an embodiment of the present invention includes a light emitting unit (100), a light receiving unit (200), an information generating unit (300), a control unit (400), and a driving unit (500).

[0047] The light emitting unit (100) can generate and output an output light signal in the form of a pulse wave or a continuous wave. The continuous wave can be in the form of a sinusoid wave or a squared wave. By generating the output light signal in the form of a pulse wave or a continuous wave, the lidar system (1000) can detect the time difference or phase difference between the output light signal output from the light emitting unit (100) and the input light signal reflected from the target area and input to the light receiving unit (200). In the present specification, the output light refers to the light output from the light emitting unit (100) and incident on an object, and the input light can refer to the light output from the light emitting unit (100), reaching the target area, and then reflected from the target area and input to the light receiving unit (200). From the perspective of the target area, the output light can be incident light, and the input light can also be reflected light. In the present specification, the target area can be used interchangeably with an object or an object.

[0048] The light receiving unit (200) can receive the optical signal reflected from the target area. At this time, the received optical signal can be the optical signal output by the light emitting unit (100) reflected from the target area.

[0049] The light receiving unit (200) includes an image sensor, a lens unit disposed on the image sensor, and a filter.

[0050] The optical signal reflected from the target area can pass through the lens unit of the light receiving unit (200). The optical axis of the lens unit of the light receiving unit (200) can be aligned with the optical axis of the image sensor. The filter can be arranged on the optical path between the target area and the image sensor. The filter can filter light having a predetermined wavelength range. The filter can pass light of a specific wavelength. For example, the filter can pass light in the infrared or near-infrared band and block light outside the infrared or near-infrared band. The image sensor can receive the optical signal and output the received optical signal as an electrical signal. The image sensor can detect light having a wavelength corresponding to the wavelength of the light output by the light emitting unit (100). For example, the image sensor can detect light in the infrared or near-infrared band.

[0051] The image sensor can be configured in a structure in which a plurality of pixels are arranged in a grid form.

[0052] The light receiving unit (200) and the light emitting unit (100) can be arranged side by side. The light receiving unit (200) can be arranged beside the light emitting unit (100). The light receiving unit (200) can be arranged to face the same direction as the light emitting unit (100). Alternatively, the light receiving unit (200) and the light emitting unit (100) can be arranged to face different directions. When the light receiving unit (200) and the light emitting unit (100) are arranged to face different directions, an optical path conversion member can be further arranged between the light receiving unit (200) and the light emitting unit (100).

[0053] The information generation unit (300) generates information about the target area using the input optical signal input to the light receiving unit (200). The information about the target area may include three-dimensional information about the target area. For example, the information about the target area may include a point cloud. Alternatively, the information about the target area may include depth information about the target area or shape information of the target area. For example, the information generation unit (300) may calculate the depth information of the object using the flight time from when the output optical signal output from the light emitting unit (100) is reflected from the object until it is input to the light receiving unit (200). For example, the information generation unit (300) may calculate the time difference between the output optical signal and the input optical signal using the electrical signal received by the image sensor, and calculate the distance between the target area and the lidar system (1000) using the calculated time difference. For example, the information generation unit (300) may calculate the phase difference between the output optical signal and the input optical signal using the electrical signal received from the image sensor, and calculate the distance between the target area and the lidar system (1000) using the calculated phase difference.

[0054] The control unit (400) controls the driving of the light emitting unit (100), the light receiving unit (200), and the information generation unit (300). The information generation unit (300) and the control unit (400) may be implemented in the form of a printed circuit board (PCB). Alternatively, the information generation unit (300) and the control unit (400) may be implemented in other configurations. Alternatively, the control unit (400) may be included in a terminal or a vehicle in which the lidar system (1000) according to an embodiment of the present invention is disposed. For example, the control unit (400) may be implemented in the form of an application processor (AP) of a smartphone equipped with the lidar system (1000) according to an embodiment of the present invention, or may be implemented in the form of an electronic control unit (ECU) of a vehicle equipped with the lidar system (1000) according to an embodiment of the present invention.

[0055] The lidar system (1000) according to an embodiment of the present invention may be a mechanically rotating lidar that rotates 360°. To this end, the lidar system (1000) further includes a driving unit (500). The driving unit (500) includes a stator unit, a shaft disposed in the stator unit, and a rotor unit disposed on the shaft. Due to the interaction between the stator unit and the rotor unit, the lidar system (1000) may have a 360° field of view (FOV).

[0056] FIG. 2 is a cross-sectional view of the light receiving unit according to an embodiment of the present invention, FIG. 3 is a top view of the image sensor according to an embodiment of the present invention, and FIG. 4 is a bottom view of the micro lens array according to an embodiment of the present invention.

[0057] Referring to FIGS. 2 to 4, the light receiving unit (200) included in the lidar system (1000) according to an embodiment of the present invention includes an image sensor (210), a microlens array (220) disposed on the image sensor (210), a lens unit (230) disposed on the microlens array (220), a window (250) disposed on the lens unit (230), and a filter (240) disposed between the image sensor (210) and the window (250). Although the filter (240) is shown to be disposed between the lens unit (230) and the window (250), it is not limited thereto.

[0058] According to an embodiment of the present invention, the image sensor (210) includes a pixel array. Here, the pixel array may be a single photon avalanche detector (SPAD) array, and the SPAD array may include a plurality of SPADs. When a SPAD receives an optical signal, photons can be detected by an avalanche phenomenon.

[0059] Here, the image sensor (210) includes a pixel array disposed along a first direction and a second direction, and the number of pixels disposed along the first direction may be greater than the number of pixels disposed along the second direction. For example, the image sensor (210) according to an embodiment of the present invention includes an m*n pixel array, and m may be greater than n. When the ratio of m to n is 8 or more, it may be referred to as a one-dimensional pixel array or a one-dimensional SPAD array.

[0060] According to an embodiment of the present invention, the image sensor (210) may include a one-dimensional pixel array. For example, the image sensor (210) according to an embodiment of the present invention may include a 16*2 pixel array, a 32*2 pixel array, a 64*2 pixel array, a 128*2 pixel array, a 256*2 pixel array, a 512*2 pixel array, or a 1024*2 pixel array.

[0061] According to an embodiment of the present invention, the microlens array (220) is disposed to be spaced apart from the image sensor (210) on the image sensor (210). The microlens array (220) includes a first surface (220A) disposed to face the image sensor (210) and a second surface opposite to the first surface (220A), and a plurality of microlenses protrude from the first surface (220A) to face the image sensor (210). For convenience of description, the first surface (220A) of the microlens array (220) may be referred to as the bottom surface of the microlens array (220), and the second surface of the microlens array (220) may be referred to as the top surface of the microlens array (220). According to an embodiment of the present invention, a plurality of microlenses are formed on the first surface (220A) of the microlens array (220), and the second surface of the microlens array (220) may be a flat surface.

[0062] The first surface (220A) of the microlens array (220) according to an embodiment of the present invention includes an effective area (220A1) including a plurality of microlenses corresponding to the pixel array of the image sensor (210), a buffer area (220A2) including a plurality of microlenses disposed to surround the effective area (220A1), and a peripheral area (220A3) disposed to surround the buffer area (220A2).

[0063] Here, the effective area (220A1) can be matched one-to-one with the pixel array. That is, when the image sensor (210) includes an m*n pixel array, the effective area (220A1) includes m*n microlenses, and the pixels of the image sensor (210) and the microlenses of the effective area (220A1) can be matched one-to-one. Accordingly, among the optical signals incident on the light receiving part (200), the optical signals incident on the effective area (220A1) can be detected by the image sensor (210) and used to recognize an object. The optical signals incident on the light receiving part (200) are concentrated by the microlenses of the effective area (220A1) of the microlens array (220), and the light reception efficiency per pixel can be increased. Accordingly, the microlens array (220) may be referred to as a sensor window.

[0064] On the other hand, the buffer area (220A2) can be arranged to surround the effective area (220A1) around the effective area (220A1). For example, when the image sensor (210) includes an m*n pixel array and the effective area (220A1) includes m*n microlenses, the first surface (220A) of the microlens array (220) may include a buffer area (220A2) and include a total of (m + 2a)*(n + 2b) microlenses. Here, a and b may be the same or different. For example, a and b may be each 1 or more and 10 or less, preferably 1 or more and 5 or less, more preferably 2 or more and 3 or less. For example, a may be 3 and b may be 2. Thus, when the first surface (220A) of the microlens array (220) includes the buffer area (220A2) surrounding the effective area (220A1), the light concentration efficiency of the effective area (220A1) can be improved and the loss of optical signals can be reduced.

[0065] On the other hand, the peripheral area (220A3) can be arranged to surround the buffer area (220A2) around the buffer area (220A2). At this time, the peripheral area (220A3) can be a flat plane. Accordingly, the micro lens array (220) can be bonded to the structure in the image sensor (210) or the light receiving unit (200) through the peripheral area (220A3).

[0066] In FIG. 2, the lens unit (230) may include a plurality of lenses. For example, the lens unit (230) may include two lenses arranged to be spaced apart from each other, but is not limited thereto. The filter (240) may be a band-pass filter. For example, it may be a band-pass filter that transmits only IR optical signals among the optical signals input to the receiving unit (200). Although not shown, the lens group (230) and the filter (240) may be arranged in a lens barrel.

[0067] The window (250) is arranged outside the lens barrel, and the optical signal reflected from the object passes through the window (250) and then sequentially enters the filter (240), the lens group (230), the micro lens array (220), and the image sensor (210). Accordingly, the window (250) may be referred to as a glass window or an external window. The optical signal output from the light emitting unit (100) may also be output to the outside through the window (250).

[0068] FIG. 5 is a diagram for explaining the correspondence relationship among the light source, the condenser lens, the first homogenizer lens, and the second homogenizer lens of the light emitting unit according to an embodiment of the present invention.

[0069] Referring to FIG. 5, the light emitting unit (100) may include a light source (110), a condenser lens (120), a first homogenizer lens (130), and a second homogenizer lens (140).

[0070] The light source (110) generates and outputs a laser pulse. The light source may use a light emitting diode (LED), and a plurality of light emitting diodes may be arranged in a certain pattern. Alternatively, the light source may include an organic light emitting diode (OLED) or a laser diode (LD). Alternatively, the light source may be a VCSEL (Vertical Cavity Surface Emitting Laser). A VCSEL is one of the laser diodes that converts an electrical signal into an optical signal, and can output a wavelength of about 800 to 1000 nm, for example, a wavelength of about 850 nm or about 940 nm. Alternatively, the light source may output SWIR (short wavelength infrared). SWIR may mean a wavelength of 900 nm to 2500 nm, for example, a wavelength of about 1430 nm. The light source generates an output optical signal in the form of a pulse wave or a continuous wave by repeating on / off blinking at regular time intervals. The regular time interval may be the frequency of the output optical signal. Alternatively, the light source may include an EEL (edge emitting laser). Accordingly, the spectral width of the laser can be reduced, and the wavelength change according to the temperature can be suppressed.

[0071] According to an embodiment of the present invention, the light source (110) may include a plurality of point light sources (111) in a one-dimensional array shape.

[0072] According to an embodiment of the present invention, the condenser lens (120) condenses the light output from each point light source, converts it into parallel light, and outputs it. To this end, the condenser lens (120) may be disposed at a distance from the light source (110) above the light source (110). Here, the upper part of the light source (110) may mean the side from which light is output from the light source (110). The condenser lens (120) may be at least one, and when there are a plurality of condenser lenses, the plurality of condenser lenses may be aligned based on the central axis to form an optical system. Here, the central axis may be the same as the optical axis of the optical system.

[0073] According to an embodiment of the present invention, the first homogenizer lens (130) and the second homogenizer lens (140) homogenize and output the light that has become parallel light by the condenser lens (120). To this end, the first homogenizer lens (130) is disposed at a distance from the light source (110) above the light source (110), and the second homogenizer lens (140) is disposed at a distance from the light source (110) with the first homogenizer lens (130) interposed therebetween. That is, the light source (110), the condenser lens (120), the first homogenizer lens (130), and the second homogenizer lens (140) are sequentially arranged to be spaced apart from each other. The first homogenizer lens (130) and the second homogenizer lens (140) each include a plurality of convex patterns, and each point light source included in the light source (110) may correspond to each convex pattern included in the first homogenizer lens (130) and the second homogenizer lens (140).

[0074] For example, the light output from the first light source (111) is converted into parallel light through the condenser lens (120), then enters the first convex pattern (131) of the first homogenizer lens (130), and the light passing through the first convex pattern (131) of the first homogenizer lens (130) can be homogenized and output after entering the first convex pattern (141) of the second homogenizer lens (140). At this time, the distance between the first homogenizer lens (130) and the second homogenizer lens (140) can be set such that the focal plane of the light passing through the first convex pattern (131) of the first homogenizer lens (130) becomes the first convex pattern (141) of the second homogenizer lens (140).

[0075] FIG. 6 is a perspective view of a part of a lidar system according to an embodiment of the present invention, FIG. 7 is an exploded view of a part of a lidar system according to an embodiment of the present invention, and FIG. 8 is an exploded view of a part of a lidar device according to an embodiment of the present invention. In FIGS. 6 to 8, the driving unit (500) of the lidar system (1000), that is, the lidar driving device (900) to be described later, is not shown.

[0076] Referring to FIGS. 6 to 8, the light emitting unit (100) and the light receiving unit (200) can be accommodated in the housing (50) of the lidar system (1000). As shown, one lidar system (1000) may include a plurality of light emitting units (100) and light receiving units (200). For example, one lidar system (1000) may include two pairs of light emitting units (100) and light receiving units (200), and the two pairs of light emitting units (100) and light receiving units (200) may be arranged to face opposite directions. One pair of the two pairs of light emitting units (100) and light receiving units (200) may be for medium distance (1000-1), and the other pair of light emitting units (100) and light receiving units (200) may be for long distance (1000-2).

[0077] A housing (50) may be formed with a plurality of openings. Among the plurality of openings, a first opening (51) may be arranged to correspond to a window (250) and may serve as a passage for light emission and light reception. Among the plurality of openings, a second opening (52) may serve as a passage for dissipating heat generated from a light emitting unit (100) and a light receiving unit (200) housed within the housing (50).

[0078] The number of first openings (51) may be less than the number of second openings (52), and the diameter of the first opening (51) may be greater than the diameter of the second opening (52). Since the first openings (51) are arranged to correspond to the windows (250), the number of first openings (51) formed in the housing (50) may be equal to the number of light-emitting units (100) and light-receiving units (200) accommodated in the housing (50).

[0079] The light emitting unit (100) and the light receiving unit (200) can be mounted on a mount (600). The light emitting unit (100) is placed on the side of the light receiving unit (200), and both light emitted from the light emitting unit (100) and light reflected from an object and then incident on the light receiving unit (200) can pass through the window (250).

[0080] Although not specifically illustrated, the light emitting unit (100) may include a substrate, a light source, an optical member, a shield member, and a diffusion member. The substrate may include a printed circuit board (PCB). The substrate may also be connected to a connector via a flexible PCB (FPCB). The light source is disposed on the substrate, and the substrate may include a terminal. The light source may correspond to the light source (110) of the light emitting unit (100) described above. That is, the light source may include a plurality of emitters disposed in an array shape. The operation of the plurality of emitters may be individually controlled or integrated. Alternatively, the light source may be an edge emitting laser diode (EEL). The optical member may collect light emitted from the light source or convert the optical path of the light emitted from the light source. For example, when the light source is not disposed to face the window (250), the optical member may convert the optical path so that the light emitted from the light source is emitted through the window (250). The optical member may correspond to the condenser lens (120) of the light-emitting unit (100) described above. The shield member surrounds the substrate and the light source, may be referred to as a cover can, may be non-magnetic, and may thus block electromagnetic interference (EMI). The diffusion member may be a diffuser lens or a homogenizer. The diffusion member may be arranged on the optical path of light emitted from the light source. The diffusion member may correspond to the first and second homogenizer lenses (130, 140) of the light-emitting unit (100) described above.

[0081] The light receiving unit (200) may include a sensor unit and a lens unit. The sensor unit may include a substrate, an image sensor (210) disposed on the substrate, and a micro lens array disposed on the image sensor (210). The image sensor (210) may detect infrared or near-infrared light. The image sensor (210) may detect light of a specific wavelength among infrared or near-infrared light. The lens unit may include a lens barrel, a plurality of lenses, a filter, and a lens hood. The image sensor (210) may detect light passing through the filter. The image sensor (210) may detect light in the wavelength band of the light source. Through this, the image sensor (210) may detect light emitted from the light source and reflected on the subject, thereby sensing 3D image information of the subject.

[0082] As described above, the lidar system according to an embodiment of the present invention may be a mechanical lidar system. Accordingly, the lidar system according to an embodiment of the present invention may be designed to rotate 360 ​​degrees by a driving unit.

[0083] Hereinafter, a driving unit included in a lidar system according to an embodiment of the present invention will be described in detail. In this specification, the driving unit may be referred to as a lidar driving device. The lidar driving device (900) may be arranged at the lower portion of the drawings illustrated in FIGS. 6 to 8. The light-emitting unit (100) and the light-receiving unit (200) included in the lidar system according to an embodiment of the present invention may be referred to as a lidar device. Alternatively, at least a portion of the information generating unit (300) and the control unit (400), the light-emitting unit (100) and the light-receiving unit (200) included in the lidar system according to an embodiment of the present invention may be referred to as a lidar device.

[0084] FIG. 9 is a perspective view of a lidar driving device according to an embodiment of the present invention, FIG. 10 is a cross-sectional perspective view of a lidar driving device according to an embodiment of the present invention, FIG. 11 is a perspective view of a wireless power transmission / reception device included in a lidar driving device according to an embodiment of the present invention, and FIG. 12 is a cross-sectional perspective view of a wireless power transmission / reception device included in a lidar driving device according to an embodiment of the present invention. FIG. 13 is a top perspective view of a wireless power transmission unit included in a lidar driving device according to an embodiment of the present invention, and FIG. 14 is an exploded perspective view of a wireless power transmission unit included in a lidar driving device according to an embodiment of the present invention, and FIG. 15 is a core of a wireless power transmission unit included in a lidar driving device according to an embodiment of the present invention, and FIG. 16 is a bobbin assembly of a wireless power transmission unit included in a lidar driving device according to an embodiment of the present invention, and FIG. 17 is a cross-sectional view of FIG. 16.

[0085] Referring to FIGS. 9 and 10, a lidar driving device (900) according to an embodiment of the present invention includes a stator unit (910), a shaft (920), and a rotor unit (930). The shaft (920) is fixed to the stator unit (910), and the rotor unit (930) can rotate around the shaft (920) fixed to the stator unit (910). Although not shown in detail, a coil wound on a core (C) and a magnet (M) are disposed in the stator unit (910) and the rotor unit (930), and an interaction occurs between the coil wound on the core (C) and the magnet (M) by power applied by the coil, and the rotor unit (930) can rotate by the interaction between the coil and the magnet.

[0086] The stator unit (910) is fixed to a target on which the lidar system (1000) is mounted, for example, a vehicle, and the rotor unit (930) mounts the light-emitting unit (100) and the light-receiving unit (200) of the lidar system (1000) and can rotate together with the light-emitting unit (100) and the light-receiving unit (200).

[0087] According to an embodiment of the present invention, the stator portion (910) includes a first housing (911), a first printed circuit board (PCB) 912, a first retainer (913), and a first flexible printed circuit board (FPCB) 914. And, the rotor portion (930) includes a second housing (931), a second PCB (932), a second retainer (933), and a second FPCB (934).

[0088] As illustrated in FIGS. 9 and 10, the first PCB (912) is disposed in the first housing (911), and the second PCB (932) is disposed in the second housing (931). The first PCB (912) may be disposed on the outer surface of the first housing (911), and the second PCB (932) may be disposed on the outer surface of the second housing (931). That is, in a structure in which a coil and a magnet for rotation are disposed in the internal space formed by the first housing (911) and the second housing (931), the first PCB (912) and the second PCB (932) may be disposed on the outside of the internal space formed by the first housing (911) and the second housing (931), respectively. For example, as illustrated in FIG. 10, a first PCB (912), a first housing (911), a second housing (931), and a second PCB (932) may be sequentially arranged from the bottom to the top, and a coil and a magnet may be arranged between the first housing (911) and the second housing (931). In the present specification, the first housing (911) is arranged at the bottom and the second housing (931) is arranged at the top, but this is for convenience of explanation, and it is obvious that the top and the bottom may be reversed.

[0089] Here, the first PCB (912) may be placed close to a target to which the lidar system (1000) according to an embodiment of the present invention is applied, for example, a vehicle side, and the second PCB (932) may be placed close to the light emitting unit (100) and light receiving unit (200) side included in the lidar system (1000) according to an embodiment of the present invention.

[0090] The above-described information generation unit (300) and control unit (400) may be implemented in a separate PCB form on the light-emitting unit (100) and light-receiving unit (200) side as separate components from the lidar driving device (900) according to the embodiment of the present invention. Alternatively, some functions of the information generation unit (300) and control unit (400) may be performed in the first PCB (912) of the lidar driving device (900) according to the embodiment of the present invention. Alternatively, some functions of the information generation unit (300) and control unit (400) may be performed in the first PCB (912) or the second PCB (932) of the lidar driving device (900) according to the embodiment of the present invention.

[0091] For this purpose, communication between the first PCB (912) and the second PCB (932) is required. For example, a control signal for controlling the light emitting unit (100) and the light receiving unit (200) can be transmitted from the first PCB (912) toward the second PCB (932). Accordingly, the first PCB (912) becomes the transmitting side and the second PCB (932) becomes the receiving side, which can be referred to as a downlink. Conversely, an electrical signal detected by the light receiving unit (200) can be transmitted from the second PCB (932) toward the first PCB (912). Accordingly, the second PCB (932) becomes the transmitting side and the first PCB (912) becomes the receiving side, which can be referred to as an uplink.

[0092] According to an embodiment of the present invention, the shaft (920) may be fixed to the stator portion (910). For example, the shaft (920) may be fixed to the first housing (911) of the stator portion (910) and may be placed in an internal space formed by the first housing (911) and the second housing (931). In this way, the shaft (920) may be a fixed shaft.

[0093] According to an embodiment of the present invention, the first retainer (913) is arranged to surround the shaft (920). The first retainer (913) may be arranged to contact an outer surface of the shaft (920) and be fixed to the outer surface of the shaft (920). In addition, the second retainer (933) is arranged to surround the shaft (920) and the first retainer (913). The second retainer (933) may be arranged to be spaced apart from the first retainer (913). The inner surface of the second retainer (933) may be arranged to face and be spaced apart from the outer surface of the first retainer (913). In addition, the first retainer (913) is fixed together with the first housing (911) and the shaft (920), and the second retainer (933) may rotate together with the second housing (931).

[0094] According to an embodiment of the present invention, the first FPCB (914) is connected to the first PCB (912) and is disposed along the outer circumferential surface of the first retainer (913). In addition, the second FPCB (934) is connected to the second PCB (912) and is disposed along the inner circumferential surface of the second retainer (933). Accordingly, the first FPCB (914) and the second FPCB (934) are disposed to face each other and be spaced apart from each other between the outer circumferential surface of the first retainer (913) and the inner circumferential surface of the second retainer (933). Bidirectional wireless communication can be performed between the first PCB (912) and the second PCB (932) by a capacitive link between the first metal pattern (not shown) of the first FPCB (914) and the second metal pattern (not shown) of the second FPCB (934) that are disposed to face each other and be spaced apart from each other.

[0095] Meanwhile, power must be supplied from the first PCB (912) to the second PCB (932) for driving the lidar driving device (900), rotating the rotor unit (930), or operating the light emitting unit (100) and the light receiving unit (200). Since the lidar driving device (900) according to the embodiment of the present invention is of a rotary type, power must be supplied wirelessly from the first PCB (912) to the second PCB (932).

[0096] To this end, the stator unit (910) of the lidar driving device (900) according to the embodiment of the present invention includes a wireless power transmission unit (915) connected to a first PCB (912), and the rotor unit (930) includes a wireless power reception unit (935) connected to a second PCB (932).

[0097] Referring to FIGS. 10 to 12, a wireless power transmission and reception device included in a lidar driving device according to an embodiment of the present invention includes a wireless power transmission unit (915) and a wireless power reception unit (935). The wireless power transmission unit (915) and the wireless power reception unit (935) are arranged to face each other. Although not shown, the wireless power transmission unit (915) is connected to a first PCB (912) of a stator unit (910), and the wireless power reception unit (935) is connected to a second PCB (932) of a rotor unit (930). The wireless power transmission unit (915) includes a primary coil, and the wireless power reception unit (935) includes a secondary coil, and power can be wirelessly transmitted from the primary coil to the secondary coil by using electromagnetic induction or resonance between the primary coil and the secondary coil. Accordingly, the primary coil may be referred to as a transmitting coil, and the secondary coil may be referred to as a receiving coil.

[0098] Referring to FIGS. 11, 12, and 17, the wireless power transmitting unit (915) includes a first core (1110) and a first bobbin assembly (1120) accommodated within the first core (1110), and the wireless power receiving unit (935) includes a second core (1210) and a second bobbin assembly (1220) accommodated within the second core (1210). According to an embodiment of the present invention, the first bobbin assembly (1120) and the second bobbin assembly (1220) each include a coil (1121), an insulating tape (1122) wrapping the coil (1121), and a bobbin (1123) accommodated with the coil (1121) and the insulating tape (1122). The bobbin (1123) may be made of a plastic material.

[0099] At this time, the coil in the first bobbin assembly (1120) of the wireless power transmission unit (915) and the coil in the second bobbin assembly (1220) of the wireless power reception unit (935) are aligned to face each other, and the wireless power transmission unit (915) and the wireless power reception unit (935) may each have a ring shape centered on the shaft (920). Accordingly, when the rotor unit (930) rotates around the shaft (920), the wireless power reception unit (935) also rotates together with the rotor unit (930) and can receive power from the wireless power transmission unit (915). Here, both ends (In / Out) of the coil in the first bobbin assembly (1120) may be connected to the first PCB (912), and both ends (In / Out) of the coil in the second bobbin assembly (1220) may be connected to the second PCB (932).

[0100] Here, the first core (1110) and the second core (1210) may be magnetic materials. For example, the first core (1110) and the second core (1210) may be ferrite cores. Accordingly, the electromagnetic force of the first bobbin assembly (1120) may not leak in the lateral direction toward the first core (1110) but may be directed toward the second bobbin assembly (1220). Accordingly, the efficiency of wireless power transmission may be increased.

[0101] As illustrated in FIGS. 13 and 14, a groove (G1) is formed in the first core (1110), and a first bobbin assembly (1120) can be accommodated within the groove (G1). That is, the first core (1110) has an opening that is open toward the wireless power receiving unit (935), and the first bobbin assembly (1120) can be accommodated through the opening.

[0102] Here, for convenience of explanation, only the first core (1110) and the first bobbin assembly (1120) of the wireless power transmission unit (915) are illustrated and described mainly in FIGS. 13 to 16, but the second core (1210) and the second bobbin assembly (1220) of the wireless power reception unit (935) may also have the same structure as the first core (1110) and the first bobbin assembly (1120) of the wireless power transmission unit (915).

[0103] Accordingly, a groove is also formed in the second core (1210), and a second bobbin assembly (1220) can be accommodated within the groove. That is, the second core (1210) has an opening open toward the wireless power transmission unit (915), and the second bobbin assembly (1220) can be accommodated through the opening.

[0104] Accordingly, the first bobbin assembly (1120) and the second bobbin assembly (1210) can be arranged to face each other.

[0105] At this time, as illustrated in FIG. 13, when the first bobbin assembly (1120) is accommodated within the first core (1110), the maximum height of the first core (1110) may be higher than the maximum height of the first bobbin assembly (1120). Accordingly, the electromagnetic force of the first bobbin assembly (1120) may not leak in the lateral direction toward the first core (1110) but may be directed toward the second bobbin assembly (1220). Accordingly, the efficiency of wireless power transmission may be increased.

[0106] Here, the air gap between the first bobbin assembly (1120) and the second bobbin assembly (1220) may be 0.5 mm to 1.5 mm. Accordingly, high wireless power transmission efficiency can be achieved between the first bobbin assembly (1120) and the second bobbin assembly (1220).

[0107] Meanwhile, referring again to FIG. 10, the first retainer (913) and the first FPCB (914) and the second retainer (933) and the second FPCB (934) for wireless communication between the first PCB (912) and the second PCB (932) are arranged with the shaft (920) as the center. Similarly, the wireless power transmission unit (915) and the wireless power reception unit (935) for wireless power transmission between the first PCB (912) and the second PCB (932) are also arranged with the shaft (920) as the center. At this time, the wireless power transmission unit (915) and the wireless power reception unit (935) may be arranged to surround the first retainer (913) and the first FPCB (914) and the second retainer (933) and the second FPCB (934). That is, the distance from the shaft (920) to the wireless power transmission unit (915) and the wireless power reception unit (935) may be greater than the distance from the shaft (920) to the first retainer (913) and the first FPCB (914) and the second retainer (933) and the second FPCB (934).

[0108] Referring again to FIGS. 13 to 16, the first core (1110) includes a bottom portion (1111), a first side wall (1112) extending from one side of the bottom portion (1111) in a direction toward the wireless power receiving unit (935), and a second side wall (1113) extending from the other side of the bottom portion (111) in a direction toward the wireless power receiving unit (935). Here, the distance between the second side wall (1113) and the shaft (920) is greater than the distance between the first side wall (1112) and the shaft (920), and the cross-sectional area of ​​the first side wall (1112) may be greater than the cross-sectional area of ​​the second side wall (1113). That is, the thickness (T1) of the first side wall (1112) in a direction perpendicular to the axis of the shaft (920) may be greater than the thickness (T2) of the second side wall (1113).

[0109] In this way, when the thickness (T1) of the first side wall (1112) disposed toward the first retainer (913) and the first FPCB (914) and the second retainer (933) and the second FPCB (934) among the two side walls (1112, 1113) of the first core (1110) is greater than the thickness (T2) of the second side wall (1113), the electromagnetic influence of the wireless power transmission between the wireless power transmission unit (915) and the wireless power reception unit (935) on the wireless communication between the first PCB (912) and the second PCB (932) can be minimized.

[0110] At this time, a first adhesive member (1130) may be further disposed between the bottom portion (1111) of the first core (1110) and the first bobbin assembly (1120). The first adhesive member (1130) may include a first adhesive layer disposed on the bottom portion (1111) of the first core (1110), an insulating layer disposed on the first adhesive layer, and a second adhesive layer disposed on the insulating layer. Here, the insulating layer may be in the shape of a film made of a plastic material. Accordingly, the first bobbin assembly (1120) may be fixed to the bottom portion (1111) of the first core (1110). At this time, when the bottom portion (1111) of the first core (1110) and the first bobbin assembly (1120) are ring-shaped, the first adhesive member (1130) may include a plurality of first adhesive members (1131, 1132) that are symmetrical to each other and spaced apart from each other. Accordingly, after applying the first adhesive member (1130) to the first bobbin assembly (1120), it is easy to bond it to the bottom part (1111) of the first core (1110), and an overall uniform bonding force can be achieved between the first bobbin assembly (1120) and the bottom part (1111) of the first core (1110).

[0111] Meanwhile, a plurality of through holes (TH) are formed in the bottom portion (1111) of the first core (1110), and the first core (1110) and the first housing (911) can be fastened by a plurality of fastening members (not shown) that penetrate the plurality of through holes (TH). At this time, a second adhesive member (1140) can be further disposed between the first housing (911) and the first core (1110). The second adhesive member (1140) can include a first adhesive layer disposed on the upper surface of the first housing (911), an insulating layer disposed on the first adhesive layer, and a second adhesive layer disposed on the insulating layer. Here, the insulating layer can be in the form of a film made of a plastic material. In this way, when a second adhesive member (1140) is further arranged between the first housing (911) and the first core (1110), the second adhesive member (1140) also functions as a damper, so that the brittle first core (1110) can maintain high reliability without breaking even with frequent vibrations.

[0112] Meanwhile, as described above, according to an embodiment of the present invention, the first bobbin assembly (1120) and the second bobbin assembly (1220) each include a coil (1121), an insulating tape (1122) wrapping the coil (1121), and a bobbin (1123) accommodating the coil (1121) and the insulating tape (1122). The bobbin (1223) may be made of a plastic material.

[0113] Referring to Fig. 17, the ratio of the cross-sectional area of ​​the coil (1121) to the cross-sectional area formed by the inner surface of the insulating tape (1122) is 0.8 or more, preferably 0.82 or more. That is, the porosity with respect to the cross-sectional area formed by the inner surface of the insulating tape (1122) is 0.2 or less, preferably 0.18 or less. Accordingly, due to the high volume ratio of the first bobbin assembly (1120) and the second bobbin assembly (1220), the resistance may be reduced and the heat generation may be reduced. In addition, when the volume ratio of the first bobbin assembly (1120) and the second bobbin assembly (1220) increases, the sizes of the first core (1110) and the second core (1210) may also be reduced, thereby reducing the volume occupied by the wireless power transmitting unit (915) and the wireless power receiving unit (935) while increasing the efficiency of wireless power transmission and reception.

[0114] To this end, the coil (1121) according to the embodiment of the present invention may be a Litz wire wound with 500 or more, preferably 600, strands of wire. For example, 600 strands of wire with a diameter of 0.08 mm may be arranged in a cross-section formed by the inner surface of the insulating tape (1122), and a coil (1121) wrapped with the insulating tape (1122) may be wound three times in a cross-section formed by the inner surface of the bobbin (1123) included in the first bobbin assembly (1120).

[0115] At this time, the outer surface shape of the insulating tape (1122) wrapping the coil (1121) may correspond to the inner surface shape of the bobbin (1123). That is, the corners of the cross-section of the insulating tape (1122) wrapping the coil (1121) may have a round shape. Accordingly, the distance between the outer surface of the insulating tape (1122) wrapping the coil (1121) and the inner surface of the bobbin (1123) can be minimized, so that the volume ratio of the coil (1121) within the bobbin (1123) can be increased, and the efficiency of wireless power transmission and reception can be increased.

[0116] Although the above description focuses on examples, these are merely examples and do not limit the present invention. Those skilled in the art will appreciate that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present invention. For example, each component specifically shown in the examples can be modified and implemented. In addition, differences related to such modifications and applications should be construed as being included within the scope of the present invention defined in the appended claims.

Claims

1. Stator section, A shaft arranged in the above stator section, and Including a rotor part arranged on the above shaft, The stator unit includes a first housing, a first PCB (Printed Circuit Board) disposed on the first housing, and a wireless power transmission unit disposed within the first housing and connected to the first PCB. The rotor part includes a second housing, a second PCB disposed on the second housing, and a wireless power receiving unit disposed within the second housing and connected to the second PCB. The wireless power transmission unit comprises a first core and a first bobbin assembly accommodated within the first core, The wireless power receiving unit includes a second core and a second bobbin assembly accommodated within the second core, The above first bobbin assembly and the second bobbin assembly are each, coil, Insulating tape wrapping the above coil, and including a bobbin that accommodates the coil and the insulating tape; A lidar driving device in which the ratio of the cross-sectional area of ​​the coil to the cross-sectional area formed by the inner surface of the insulating tape is 0.8 or more.

2. In paragraph 1, The above wireless power transmitting unit and the above wireless power receiving unit are each ring-shaped with the shaft as the center, The first core has an opening open toward the wireless power receiving unit, The second core has an opening open toward the wireless power transmission unit, A lidar driving device in which the first bobbin assembly and the second bobbin assembly are arranged to face each other and be spaced apart from each other.

3. In paragraph 2, A lidar driving device in which a distance between the first bobbin assembly and the second bobbin assembly is 0.5 to 1.5 mm.

4. In paragraph 2, A lidar driving device further comprising a first adhesive layer, an insulating layer disposed on the first adhesive layer, and a second adhesive layer disposed on the insulating layer between the bottom portion of the first core and the first bobbin assembly.

5. In paragraph 2, The first core includes a bottom portion, a first side wall extending from one side of the bottom portion toward the wireless power receiving unit, and a second side wall extending from the other side of the bottom portion toward the wireless power receiving unit. The distance between the second side wall and the shaft is greater than the distance between the first side wall and the shaft, A lidar driving device wherein the cross-sectional area of ​​the first side wall is larger than the cross-sectional area of ​​the second side wall.

6. In paragraph 5, A lidar driving device further comprising a first adhesive layer, an insulating layer disposed on the first adhesive layer, and a second adhesive layer disposed on the insulating layer between the first housing and the first core.

7. In paragraph 6, A lidar driving device in which a plurality of through holes are formed in the bottom of the first core, and the first core and the first housing are connected by a plurality of fastening members that pass through the plurality of through holes.

8. In paragraph 1, The above coil is a Litz wire lidar drive device with more than 500 strands of wire wound around it.

9. A light emitting unit that irradiates a light signal to an object; A light receiving unit that receives a light signal reflected from the object, and It includes a driving unit that rotates the light emitting unit and the light receiving unit, The above driving part, Stator section, A shaft arranged in the above stator section, and Including a rotor part arranged on the above shaft, The stator unit includes a first housing, a first PCB (Printed Circuit Board) disposed on the first housing, and a wireless power transmission unit disposed within the first housing and connected to the first PCB. The rotor part includes a second housing, a second PCB disposed on the second housing, and a wireless power receiving unit disposed within the second housing and connected to the second PCB. The wireless power transmission unit comprises a first core and a first bobbin assembly accommodated within the first core, The wireless power receiving unit includes a second core and a second bobbin assembly accommodated within the second core, The above first bobbin assembly and the second bobbin assembly are each, coil, Insulating tape wrapping the above coil, and including a bobbin that accommodates the coil and the insulating tape; A lidar device in which the ratio of the cross-sectional area of ​​the coil to the cross-sectional area formed by the inner surface of the insulating tape is 0.8 or more.

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