Lidar drive device and lidar system including same

Abstract

A LIDAR drive device according to the present invention comprises: a stator unit that includes a first housing, a first PCB disposed on the first housing, a first retainer disposed to surround a shaft, and a first FPCB connected to the first PCB and disposed along the outer circumferential surface of the first retainer; the shaft disposed in the stator unit; and a rotor unit that includes a second housing, a second PCB disposed on the second housing, a second retainer disposed to surround the shaft and the first retainer, and a second FPCB connected to the second PCB and disposed along the inner circumferential surface of the second retainer. The first FPCB and the second FPCB are disposed spaced apart from and facing each other on the outer circumferential surface of the first retainer and the inner circumferential surface of the second retainer, respectively. The first FPCB includes a first metal pattern disposed along the outer circumferential surface of the first retainer, and the second FPCB includes a second metal pattern disposed along the inner circumferential surface of the second retainer.

Description

Lidar drive unit and lidar system including same

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

[0002] LiDAR (Light Detection and Ranging) measures the distance to an object or creates a visual representation of it using laser pulses emitted from a light source and reflected back at the target object. LiDAR is applied to a variety of technologies that require three-dimensional imaging. For example, LiDAR can be applied to various fields such as meteorology, aviation, space, and automotive. Recently, LiDAR's role in the autonomous driving field has been rapidly increasing.

[0003] In general, the light emitting part of the lidar generates an output light signal and irradiates it on an object, the light receiving part receives an input light signal reflected from the object, and the information generating part generates information about the object using the input light signal received by the light receiving part.

[0004] Lidar can be broadly categorized into mechanical and fixed lidar. Mechanical lidar can achieve a 360-degree field of view by rotating the light emitter and light receiver. Fixed lidar can be, for example, MEMS (Micro Electro Mechanical System) lidar, flash lidar, or OPA (Optical Phase Array) lidar. In MEMS lidar, the tilt angle of the mirror can be slightly changed by electrical signals. Flash lidar uses an optical flash, and a single large-area laser pulse can illuminate the forward environment. In OPA, an optical phase modulator controls the speed of light passing through the lens, thereby controlling the optical wavefront shape.

[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 unit and a rotating unit, the fixed unit is fixed to the vehicle, and the light-emitting unit and the light-receiving unit mounted on the rotating unit rotate due to the interaction between the fixed unit and the rotating unit.

[0006] Meanwhile, wireless communication between the fixed and rotating parts of the lidar actuator is required to transmit control signals for controlling the light-emitting and light-receiving parts to the light-emitting and light-receiving parts, and to transmit the electrical signals received by the light-receiving part to the vehicle. For example, an optical communication method using an optical sensor and a capacitive link method using a metal ring can be used for wireless communication between the fixed and rotating parts.

[0007] In optical communication, since the optical sensor is vulnerable to foreign substances, a hermetic structure must be secured, and there is a problem that the sensing performance changes depending on temperature changes.

[0008] In capacitive link technology, a resistor must be soldered to a metal ring to secure the impedance of the communication line, and a wire must be soldered to the metal ring to connect it to the printed circuit board (PCB). Dimensional control during soldering is difficult, and interference during rotation of the rotating part can lead to quality degradation.

[0009] In particular, a total of four metal rings are required for bidirectional communication according to the need for high-speed communication, which can be a major limitation in applying the capacitive link method to the lidar device.

[0010] The technical problem to be achieved by the present invention is to provide a lidar driving device capable of two-way communication and a lidar system including the same.

[0011] A 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 upper shaft, wherein the stator part includes a first housing, a first PCB (Printed Circuit Board) disposed on the first housing, a first retainer disposed to surround the shaft, and a first FPCB (Flexible Printed Circuit Board) connected to the first PCB and disposed along an outer circumferential surface of the first retainer, and the rotor part includes a second housing, a second PCB disposed on the second housing, a second retainer disposed to surround the shaft and the first retainer, and a second FPCB connected to the second PCB and disposed along an inner circumferential surface of the second retainer, wherein the first FPCB and the second FPCB are disposed to face each other and are spaced apart from each other on an outer circumferential surface of the first retainer and an inner circumferential surface of the second retainer, and the first FPCB includes a first metal plate disposed along the outer circumferential surface of the first retainer. The second FPCB includes a pattern, and the second FPCB includes a second metal pattern arranged along the inner surface of the second retainer.

[0012] The first FPCB includes a first transmitting FPCB connected to a transmitting unit of the first PCB and a first receiving FPCB connected to a receiving unit of the first PCB, the second FPCB includes a second transmitting FPCB connected to a transmitting unit of the second PCB and a second receiving FPCB connected to a receiving unit of the second PCB, and the first transmitting FPCB and the second receiving FPCB are arranged to face each other and be spaced apart from each other between an outer circumferential surface of the first retainer and an inner circumferential surface of the second retainer, and the first receiving FPCB and the second transmitting FPCB can be arranged to face each other and be spaced apart from each other between an outer circumferential surface of the first retainer and an inner circumferential surface of the second retainer.

[0013] The second FPCB may further include an amplifier disposed in the second receiving FPCB.

[0014] The above amplifier may be placed between the second PCB and the second retainer.

[0015] At least one of the first FPCB and the second FPCB may include at least one of a resistor and a capacitor.

[0016] The first transmitting FPCB, the first receiving FPCB, the second transmitting FPCB, and the second receiving FPCB may each have a T shape.

[0017] The first retainer includes a first lower retainer and a first upper retainer disposed on the first lower retainer, the second retainer includes a second lower retainer and a second upper retainer disposed on the second lower retainer, the first transmitting FPCB is disposed along an outer circumferential surface of the first upper retainer, the second receiving FPCB is disposed along an inner circumferential surface of the second upper retainer, and the first receiving FPCB can be disposed along an outer circumferential surface of the first lower retainer and the second transmitting FPCB can be disposed along an inner circumferential surface of the second lower retainer.

[0018] The first metal pattern may include a first lower metal pattern arranged along an outer circumferential surface of the first lower retainer and a first upper metal pattern arranged along an outer circumferential surface of the first upper retainer, and the second metal pattern may include a second lower metal pattern arranged along an inner circumferential surface of the second lower retainer and a second upper metal pattern arranged along an inner circumferential surface of the second upper retainer.

[0019] The first transmitting FPCB, the first receiving FPCB, the second transmitting FPCB, and the second receiving FPCB each include an insulating layer, a ground layer disposed on a first surface of the insulating layer, and a signal layer disposed on a second surface of the insulating layer, and the first lower metal pattern may be disposed on a first surface of the insulating layer of the first receiving FPCB, the first upper metal pattern may be disposed on a first surface of the insulating layer of the first transmitting FPCB, the second lower metal pattern may be disposed on a first surface of the insulating layer of the second transmitting FPCB, and the second upper metal pattern may be disposed on a first surface of the insulating layer of the second receiving FPCB.

[0020] Between the first upper retainer and the second upper retainer, a first surface of the insulating layer of the first transmitting FPCB and a second surface of the insulating layer of the second receiving FPCB may be arranged to face each other, and between the first lower retainer and the second lower retainer, a second surface of the insulating layer of the first receiving FPCB and a first surface of the insulating layer of the second transmitting FPCB may be arranged to face each other.

[0021] A lidar system according to one embodiment of the present invention includes a light emitting unit that irradiates an optical signal to an object, a light receiving unit that receives an optical signal reflected from the object, and a driving unit that rotates the light emitting unit and the light receiving unit, wherein the driving unit includes a stator unit, a shaft disposed on the stator unit, and a rotor unit disposed on the upper shaft, wherein the stator unit includes a first housing, a first PCB disposed on the first housing, a first retainer disposed to surround the shaft, and a first FPCB connected to the first PCB and disposed along an outer circumferential surface of the first retainer, and wherein the rotor unit includes a second housing, a second PCB disposed on the second housing, a second retainer disposed to surround the shaft and the first retainer, and a second FPCB connected to the second PCB and disposed along an inner circumferential surface of the second retainer, wherein the first FPCB and the second FPCB are disposed to face each other and are spaced apart from each other, and the first FPCB is disposed on the first retainer. The second FPCB includes a first metal pattern arranged along an outer surface, and the second FPCB includes a second metal pattern arranged along an inner surface of the second retainer.

[0022] According to embodiments of the present invention, a lidar drive device capable of two-way communication and a lidar system including the same can be obtained. In particular, according to embodiments of the present invention, since soldering for resistor or wire connections is not required, workability is improved, assembly is high, temperature change resistance is strong, and a defect rate is low, a lidar drive device and a lidar system including the same can be obtained. Furthermore, according to embodiments of the present invention, a lidar drive device with improved high-speed communication quality and a lidar system including the same can be obtained.

[0023] FIG. 1 is a block diagram of a lidar system according to one embodiment of the present invention.

[0024] Fig. 2 is a cross-sectional view of a light receiving unit according to an embodiment of the present invention.

[0025] Figure 3 is a top view of an image sensor according to an embodiment of the present invention.

[0026] Figure 4 is a bottom view of a micro lens array according to an embodiment of the present invention.

[0027] FIG. 5 is a drawing for explaining the correspondence between a light source, a condenser lens, a first homogenizer lens, and a second homogenizer lens of a light emitting unit according to one embodiment of the present invention.

[0028] FIG. 6 is a perspective view of a portion of a lidar system according to an embodiment of the present invention.

[0029] Figure 7 is an exploded view of a portion of a lidar system according to an embodiment of the present invention.

[0030] Figure 8 is an exploded view of a portion of a lidar device according to an embodiment of the present invention.

[0031] Fig. 9 is a perspective view of a lidar driving device according to an embodiment of the present invention.

[0032] Fig. 10 is a cross-sectional perspective view of a lidar driving device according to an embodiment of the present invention.

[0033] Fig. 11 is a partial cross-sectional perspective view of a lidar driving device according to an embodiment of the present invention.

[0034] FIG. 12 is a drawing for explaining the layout shape of a flexible printed circuit board (FPCB) of a lidar driving device according to an embodiment of the present invention.

[0035] Figures 13 to 16 are FPCBs of a lidar driving device according to an embodiment of the present invention.

[0036] Fig. 17 is a partial perspective view of a lidar driving device according to an embodiment of the present invention.

[0037] Figure 18 shows the eye diagram test results according to the length of the second receiving FPCB connected to the receiving section of the second PCB.

[0038] Figure 19 shows the eye diagram test results before and after placing the amplifier on the second receiving FPCB connected to the receiving section of the second PCB.

[0039] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0040] However, the technical idea of ​​the present invention is not limited to some of the 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 between the embodiments can be selectively combined or substituted for use.

[0041] In addition, terms (including technical and scientific terms) used in the embodiments of the present invention may be interpreted as having a meaning that can be generally understood by a person of ordinary skill in the technical field to which the present invention belongs, unless explicitly and specifically defined and described, and terms that are commonly used, such as terms defined in a dictionary, may be interpreted in consideration of the contextual meaning of the relevant technology.

[0042] Additionally, the terms used in the embodiments of the present invention are intended to describe the embodiments and are not intended to limit the present invention.

[0043] In this specification, the singular may also include the plural unless specifically stated otherwise in the phrase, and when it is described as “A and / or at least one (or more) of B, C”, it may include one or more of all combinations that can be combined with A, B, C.

[0044] Additionally, in describing components of embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used.

[0045] These terms are intended only to distinguish one component from another, and are not intended to limit the nature, order, or sequence of the component.

[0046] And, when a component is described as being 'connected', 'coupled' or 'connected' to another component, it may include not only cases where the component is directly connected, coupled or connected to the other component, but also cases where the component is 'connected', 'coupled' or 'connected' by another component between the component and the other component.

[0047] Additionally, when described as being formed or arranged "above or below" each component, "above" or "below" includes not only cases where the two components are in direct contact with each other, but also cases where one or more other components are formed or arranged between the two components. Furthermore, when expressed as "above" or "below", it can include the meaning of a downward direction as well as an upward direction based on one component.

[0048] A lidar system according to an embodiment of the present invention may refer to a lidar system mounted on a vehicle to measure the distance between the vehicle and an object, but is not limited thereto. The lidar system according to an embodiment of the present invention may extract depth information using the Time of Flight (ToF) 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.

[0049] FIG. 1 is a block diagram of a lidar system according to one embodiment of the present invention.

[0050] 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).

[0051] 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 may be in the form of a sinusoid wave or a square wave. By generating the output light signal in the form of a pulse wave or a continuous wave, the lidar system (1000) can detect a time difference or a 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 then input to the light receiving unit (200). In this specification, the output light refers to light output from the light emitting unit (100) and incident on an object, and the input light refers to light output from the light emitting unit (100) and reaching the target area, reflected from the target area, and then input to the light receiving unit (200). From the perspective of the target area, the output light may be incident light, and the input light may be reflected light. In this specification, the target area may be used interchangeably with an object or a substance.

[0052] The light receiving unit (200) can receive an optical signal reflected from the target area. At this time, the received optical signal may be an optical signal output by the light emitting unit (100) reflected from the target area.

[0053] The light receiving unit (200) includes an image sensor, a lens unit placed on the image sensor, and a filter.

[0054] An optical signal reflected from a target area can pass through a lens unit of a 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. A filter can be placed on an 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 an infrared or near-infrared band and block light other than the infrared or near-infrared band. The image sensor can receive an optical signal and output the received optical signal as an electrical signal. The image sensor can detect light of a wavelength corresponding to the wavelength of light output by the light emitting unit (100). For example, the image sensor can detect light in an infrared or near-infrared band.

[0055] An image sensor may be configured with a structure in which multiple pixels are arranged in a grid shape.

[0056] The light receiving unit (200) and the light emitting unit (100) may be arranged side by side. The light receiving unit (200) may be arranged next to the light emitting unit (100). The light receiving unit (200) may 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) may 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 may be further arranged between the light receiving unit (200) and the light emitting unit (100).

[0057] The information generating unit (300) generates information about a target area using an input light 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 about the target area. For example, the information generating unit (300) may calculate depth information about an object using the flight time taken for an output light signal output from the light emitting unit (100) to be input to the light receiving unit (200) after being reflected from the object. For example, the information generating unit (300) may calculate the time difference between the output light signal and the input light signal using an electrical signal received by the image sensor, and may calculate the distance between the target area and the lidar system (1000) using the calculated time difference. For example, the information generation unit (300) can calculate the phase difference between the output light signal and the input light signal using the electric signal received from the image sensor, and can calculate the distance between the target area and the lidar system (1000) using the calculated phase difference.

[0058] The control unit (400) controls the operation of the light emitting unit (100), the light receiving unit (200), and the information generating unit (300). The information generating unit (300) and the control unit (400) may be implemented in the form of a PCB (printed circuit board). Alternatively, the information generating unit (300) and the control unit (400) may be implemented in the form of other configurations. Alternatively, the control unit (400) may be included in a terminal or vehicle in which the lidar system (1000) according to an embodiment of the present invention is installed. For example, the control unit (400) may be implemented in the form of an application processor (AP) of a smartphone in which the lidar system (1000) according to an embodiment of the present invention is installed, or in the form of an electronic control unit (ECU) of a vehicle in which the lidar system (1000) according to an embodiment of the present invention is installed.

[0059] The lidar system (1000) according to an embodiment of the present invention may be a mechanical 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 on 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° FOV.

[0060] FIG. 2 is a cross-sectional view of a light receiving unit according to an embodiment of the present invention, FIG. 3 is a top view of an image sensor according to an embodiment of the present invention, and FIG. 4 is a bottom view of a micro lens array according to an embodiment of the present invention.

[0061] Referring to FIGS. 2 to 4, a light receiving unit (200) included in a lidar system (1000) according to an embodiment of the present invention includes an image sensor (210), a micro lens array (220) disposed on the image sensor (210), a lens unit (230) disposed on the micro lens 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 illustrated as being disposed between the lens unit (230) and the window (250), the present invention is not limited thereto.

[0062] 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 the SPAD receives an optical signal, photons may be detected by the avalanche phenomenon.

[0063] Here, the image sensor (210) includes a pixel array arranged along a first direction and a second direction, and the number of pixels arranged along the first direction may be greater than the number of pixels arranged 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.

[0064] 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.

[0065] According to an embodiment of the present invention, a micro lens array (220) is arranged on the image sensor (210) to be spaced apart from the image sensor (210). The micro lens array (220) includes a first surface (220A) arranged to face the image sensor (210) and a second surface opposite the first surface (220A), and a plurality of micro lenses protrude from the first surface (220A) to face the image sensor (210). For convenience of explanation, the first surface (220A) of the micro lens array (220) may be referred to as a lower surface of the micro lens array (220), and the second surface of the micro lens array (220) may be referred to as an upper surface of the micro lens array (220). According to an embodiment of the present invention, a plurality of micro lenses may be formed on the first surface (220A) of the micro lens array (220), and the second surface of the micro lens array (220) may be a flat surface.

[0066] A first surface (220A) of a micro lens array (220) according to an embodiment of the present invention includes an effective area (220A1) including a plurality of micro lenses corresponding to a pixel array of an image sensor (210), a buffer area (220A2) including a plurality of micro lenses arranged to surround the effective area (220A1), and a peripheral area (220A3) arranged to surround the buffer area (220A2).

[0067] 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 micro lenses, and the pixels of the image sensor (210) and the micro lenses of the effective area (220A1) can be matched one-to-one. Accordingly, among the optical signals incident on the light receiving unit (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 unit (200) can be collected by the micro lenses of the effective area (220A1) of the micro lens array (220), thereby increasing the optical reception efficiency for each pixel. Accordingly, the micro lens array (220) may also be referred to as a sensor window.

[0068] Meanwhile, the buffer region (220A2) may be arranged to surround the effective region (220A1) around the effective region (220A1). For example, if the image sensor (210) includes an m*n pixel array and the effective region (220A1) includes m*n micro lenses, the first surface (220A) of the micro lens array (220) may include a total of (m+2a)*(n+2b) micro lenses, including the buffer region (220A2). Here, a and b may be the same or different. For example, a and b may be 1 or more and 10 or less, preferably 1 or more and 5 or less, and more preferably 2 or more and 3 or less. For example, a may be 3 and b may be 2. In this way, if the first surface (220A) of the micro lens array (220) includes a buffer area (220A2) surrounding the effective area (220A1), the light collection efficiency of the effective area (220A1) can be improved and the loss of the optical signal can be reduced.

[0069] Meanwhile, the peripheral region (220A3) may be arranged to surround the buffer region (220A2) around the buffer region (220A2). At this time, the peripheral region (220A3) may be a flat surface. Accordingly, the micro lens array (220) may be attached to a structure within the image sensor (210) or the light receiving unit (200) through the peripheral region (220A3).

[0070] In Fig. 2, the lens unit (230) may include a plurality of lenses. For example, the lens unit (230) may include two lenses spaced apart from each other, but is not limited thereto. The filter (240) may be a bandpass filter. For example, it may be a bandpass filter that transmits only IR light signals among the light signals input to the receiver (200). Although not shown, the lens group (230) and the filter (240) may be arranged in a lens barrel.

[0071] The window (250) is positioned outside the lens barrel, and the light signal reflected from the object passes through the window (250) and is sequentially incident on the filter (240), lens group (230), micro lens array (220), and image sensor (210). Accordingly, the window (250) may be referred to as a glass window or an external window. The light signal output from the light emitting unit (100) may also be output to the outside through the window (250).

[0072] FIG. 5 is a drawing for explaining the correspondence between a light source, a condenser lens, a first homogenizer lens, and a second homogenizer lens of a light emitting unit according to one embodiment of the present invention.

[0073] 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).

[0074] The light source (110) generates and outputs a laser pulse. The light source may utilize a light emitting diode (LED), and may have a form in which a plurality of light emitting diodes are 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 vertical cavity surface emitting laser (VCSEL). 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, about 850 nm or about 940 nm. Alternatively, the light source may output short wavelength infrared (SWIR). SWIR may mean a wavelength of 900 nm to 2500 nm, for example, about 1430 nm. The light source generates an output light signal in the form of a pulse wave or continuous wave by repeatedly flashing (on / off) at regular intervals. The regular interval may correspond to the frequency of the output light signal. Alternatively, the light source may include an edge-emitting laser (EEL). This reduces the spectral width of the laser and suppresses temperature-dependent wavelength changes.

[0075] 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.

[0076] 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 positioned above the light source (110) and spaced apart from 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 multiple condenser lenses (120), the multiple condenser lenses may be aligned with respect to a central axis to form an optical system. Here, the central axis may be identical to the optical axis of the optical system.

[0077] According to an embodiment of the present invention, the first homogenizer lens (130) and the second homogenizer lens (140) homogenize and output light that has been made parallel by the condenser lens (120). To this end, the first homogenizer lens (130) is disposed above the light source (110) and spaced apart from the light source (110), and the second homogenizer lens (140) is disposed spaced apart 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 disposed 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) can correspond to each convex pattern included in the first homogenizer lens (130) and the second homogenizer lens (140).

[0078] For example, light output from a first point light source (111) may be converted into parallel light through a condenser lens (120) and then incident on a first convex pattern (131) of a first homogenizer lens (130), and light passing through the first convex pattern (131) of the first homogenizer lens (130) may be incident on a first convex pattern (141) of a second homogenizer lens (140) and then homogenized and output. At this time, the distance between the first homogenizer lens (130) and the second homogenizer lens (140) may be set so 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).

[0079] Fig. 6 is a partial perspective view of a lidar system according to an embodiment of the present invention, Fig. 7 is a partial exploded view of a lidar system according to an embodiment of the present invention, and Fig. 8 is a partial exploded view of a lidar device according to an embodiment of the present invention. In Figs. 6 and 8, the driving unit (500) of the lidar system (1000), i.e., the lidar driving device (900) described later, is not shown.

[0080] Referring to FIGS. 6 to 8, the light emitting unit (100) and the light receiving unit (200) may be accommodated in the housing (50) of the lidar system (1000). As illustrated, 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. Among the two pairs of light emitting units (100) and light receiving units (200), one pair of light emitting units (100) and light receiving units (200) may be for a medium range (1000-1), and the other pair of light emitting units (100) and light receiving units (200) may be for a long range (1000-2).

[0081] 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).

[0082] 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).

[0083] 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).

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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 partial cross-sectional perspective view of a lidar driving device according to an embodiment of the present invention, FIG. 12 is a drawing for explaining the arrangement shape of a flexible printed circuit board (FPCB) of a lidar driving device according to an embodiment of the present invention, FIGS. 13 to 16 are FPCBs of a lidar driving device according to an embodiment of the present invention, and FIG. 17 is a partial perspective view of a lidar driving device according to an embodiment of the present invention.

[0089] 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 with respect to the fixed shaft (920). Although not illustrated in detail, magnets and coils are arranged in the stator unit (910) and the rotor unit (930), and an interaction between the coil and the magnet occurs by power applied by the coil, and the rotor unit (930) can rotate by the interaction between the coil and the magnet.

[0090] 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).

[0091] 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).

[0092] As illustrated in FIGS. 9 to 11, 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 bottom may be reversed.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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).

[0098] According to an embodiment of the present invention, the first FPCB (914) is connected to the first PCB (912) and is arranged along the outer circumference of the first retainer (913). In addition, the second FPCB (934) is connected to the second PCB (912) and is arranged along the inner circumference of the second retainer (933). Accordingly, the first FPCB (914) and the second FPCB (934) are arranged to face each other and be spaced apart from each other between the outer circumference of the first retainer (913) and the inner circumference of the second retainer (933).

[0099] At this time, as illustrated in FIGS. 12 to 16, the first FPCB (914) includes a first metal pattern (9141) arranged along the outer circumferential surface of the first retainer (913), and the second FPCB (934) includes a second metal pattern (9341) arranged along the inner circumferential surface of the second retainer (933). Accordingly, the first metal pattern (9141) and the second metal pattern (9341) function as metal rings according to a capacitive link method, and wireless communication can be performed between the first PCB (912) and the second PCB (932). Here, the first metal pattern (9141) and the second metal pattern (9341) may be copper foil patterns.

[0100] In this way, according to an embodiment of the present invention, since soldering for connecting the metal ring and the resistor or wire is not required, workability is improved, and a lidar driving device with high assembly efficiency can be obtained. In addition, since the function of the metal ring is implemented using the metal pattern arranged on the FPCB, the FPCB can be easily assembled on the outer and inner peripheries of the retainer regardless of the shape and size of the retainer, so workability can be significantly improved. In addition, according to an embodiment of the present invention, since the FPCB flexibly stretches according to temperature changes, the problem of communication errors due to differences in thermal expansion coefficients between the metal ring and the retainer in the conventional metal ring implementation can be prevented.

[0101] The lidar driving device (900) according to an embodiment of the present invention performs two-way communication. To this end, as illustrated in FIGS. 11 and 12 , the first retainer (913) may include a first lower retainer (9131) and a first upper retainer (9132) positioned on the first lower retainer (9131), and the second retainer (933) may include a second lower retainer (9331) and a second upper retainer (9332) positioned on the second lower retainer (9331). And, the first FPCB (914) may include a first transmitting FPCB (914T) connected to the transmitting section of the first PCB (912) and a first receiving FPCB (914R) connected to the receiving section of the first PCB (912), and the second FPCB (934) may include a second transmitting FPCB (934T) connected to the transmitting section of the second PCB (932) and a second receiving FPCB (934R) connected to the receiving section of the second PCB (932).

[0102] At this time, the first transmitting FPCB (914T), the first receiving FPCB (914R), the second transmitting FPCB (934T), and the second receiving FPCB (934R) can be illustrated as shown in FIGS. 13 to 16. FIGS. 13(a) and 14(b) are the front and back sides of the first transmitting FPCB (914T), respectively, FIGS. 14(a) and 14(b) are the front and back sides of the first receiving FPCB (914R), respectively, FIGS. 15(a) and 15(b) are the front and back sides of the second transmitting FPCB (934T), respectively, and FIGS. 16(a) and 16(b) are the front and back sides of the second receiving FPCB (934R), respectively.

[0103] As illustrated in FIGS. 13 to 16, each FPCB may have a T shape, and a vertical region (VR) of the T shape may be an area connected to the PCB and extending to the retainer, and a horizontal region (HR) of the T shape may be an area arranged along the retainer.

[0104] Each FPCB includes an insulating layer (9142, 9342), a ground layer (9143, 9343) disposed on a first surface of the insulating layer (9142, 9342), and a signal layer (9144, 9344) disposed on a second surface of the insulating layer (9142, 9342), and the aforementioned metal pattern (9141, 9341) may be disposed on the first surface of the insulating layer (9142, 9342).

[0105] On the second surface of the insulating layer (9142, 9342), a signal connection pattern (9145, 9345) is formed at the end of the T shape, a signal layer (9144, 9344) is formed along the vertical region of the T shape, and the signal layer (9144, 9344) extends along the horizontal region of the T shape.

[0106] On the first surface of the insulating layer (9142, 9342), a ground layer (9143, 9343) is formed along a vertical region of a T shape, and a metal pattern (9141, 9341) is arranged along a horizontal region of the T shape. At this time, a through hole (t) is formed in the horizontal region of the T shape of the insulating layer (9142, 9342), and the signal layer (9144, 9344) and the metal pattern (9141, 9341) can be electrically connected through the through hole (t).

[0107] As described above, the second retainer (933) is arranged to surround the first retainer (913). To aid understanding, FIG. 12 illustrates the first retainer (913) and the second retainer (933) as being separated from each other, but in an assembled state, the second retainer (933) may be arranged to surround the first retainer (913).

[0108] According to this, the first transmitting FPCB (914T) and the second receiving FPCB (934R) may be arranged to face each other and be spaced apart from each other between the outer surface of the first retainer (913) and the inner surface of the second retainer (933), and the first receiving FPCB (914R) and the second transmitting FPCB (934T) may be arranged to face each other and be spaced apart from each other between the outer surface of the first retainer (913) and the inner surface of the second retainer (933).

[0109] As described above, the first retainer (913) may include a first lower retainer (9131) and a first upper retainer (9132) disposed on the first lower retainer (9131), and the second retainer (933) may include a second lower retainer (9331) and a second upper retainer (9332) disposed on the second lower retainer (9331). Accordingly, the horizontal region of the T shape of the first transmitting FPCB (914T) may be arranged along the outer surface of the first upper retainer (9132), the horizontal region of the T shape of the second receiving FPCB (934R) may be arranged along the inner surface of the second upper retainer (9332), the horizontal region of the T shape of the first receiving FPCB (914R) may be arranged along the outer surface of the first lower retainer (9131), and the horizontal region of the T shape of the second transmitting FPCB (934T) may be arranged along the inner surface of the second lower retainer (9331). That is, the first transmitting FPCB (914T) and the second receiving FPCB (934R) may be arranged to face each other and be spaced apart from each other between the outer surface of the first upper retainer (9132) and the inner surface of the second upper retainer (9332), and the first receiving FPCB (914R) and the second transmitting FPCB (934T) may be arranged to face each other and be spaced apart from each other between the outer surface of the first lower retainer (9131) and the inner surface of the second lower retainer (9331).

[0110] That is, the first upper metal pattern (9141T), which is the metal pattern of the first transmitting FPCB (914T), may be arranged along the outer surface of the first upper retainer (9132), the second upper metal pattern (9341R), which is the metal pattern of the second receiving FPCB (934R), may be arranged along the inner surface of the second upper retainer (9332), the first lower metal pattern (9141R), which is the metal pattern of the first receiving FPCB (914R), may be arranged along the outer surface of the first lower retainer (9131), and the second lower metal pattern (9341T), which is the metal pattern of the second transmitting FPCB (934T), may be arranged along the inner surface of the second lower retainer (9331). Accordingly, the first upper metal pattern (9141T), which is a metal pattern of the first transmitting FPCB (914T), and the second upper metal pattern (9341R), which is a metal pattern of the second receiving FPCB (934R), are arranged to correspond to each other, and the first lower metal pattern (9141R), which is a metal pattern of the first receiving FPCB (914R), and the second lower metal pattern (9341T), which is a metal pattern of the second transmitting FPCB (934T), are arranged to correspond to each other, so that wireless communication according to a capacitive link method can be performed.

[0111] Meanwhile, as described above, each FPCB includes an insulating layer (9142, 9342), a ground layer (9143, 9343) disposed on a first surface of the insulating layer (9142, 9342), and a signal layer (9144, 9344) disposed on a second surface of the insulating layer (9142, 9342), and a metal pattern (9141, 9341) may be disposed on the first surface of the insulating layer (9142, 9342). Accordingly, the first lower metal pattern (9141R) may be disposed on the first surface of the insulating layer of the first receiving FPCB (914R), the first upper metal pattern (9141T) may be disposed on the first surface of the insulating layer of the first transmitting FPCB (914T), the second lower metal pattern (9341T) may be disposed on the first surface of the insulating layer of the second transmitting FPCB (934T), and the second upper metal pattern (9341R) may be disposed on the first surface of the insulating layer of the second receiving FPCB (934R). Accordingly, the first surface of the insulating layer of the first transmitting FPCB (914T) and the second surface of the insulating layer of the second receiving FPCB (934R) may be arranged to face each other between the first upper retainer (9132) and the second upper retainer (9332), and the second surface of the insulating layer of the first receiving FPCB (914R) and the first surface of the insulating layer of the second transmitting FPCB (934T) may be arranged to face each other between the first lower retainer (9131) and the second lower retainer (9331).

[0112] Meanwhile, FIG. 17 is a schematic diagram of a shape in which a second FPCB is arranged in a second retainer according to one embodiment of the present invention.

[0113] Referring to FIG. 17, a second upper retainer (9332) may be disposed on a second lower retainer (9331), a second receiving FPCB (934R) may be disposed to surround an inner surface of the second upper retainer (9332), and a second transmitting FPCB (934T) may be disposed to surround an inner surface of the second lower retainer (9331). At this time, the second receiving FPCB (934R) and the second upper retainer (9332) and the second transmitting FPCB (934T) and the second lower retainer (9331) may be fixed by a fixing member (1800). The fixing member (1800) may be, for example, a member having insulating performance and heat insulation performance. The fixing member (1800) may be, for example, a polyimide film. The fixing member (1800) may be, for example, a heat-treated polyimide film. Accordingly, the second receiving FPCB (934R) and the second transmitting FPCB (934T) are not only stably fixed after being wound according to the inner peripheral shape of the second upper retainer (9332) and the second lower retainer (9331), but also stably withstand temperature changes. For example, the fixing member (1800) may be a Kepton tape.

[0114] Additionally, a washer (1810) may be further placed between the second lower retainer (9331) and the second upper retainer (9332). Accordingly, not only is the load distributed between the second lower retainer (9331) and the second upper retainer (9332), but electromagnetic interference between the second lower retainer (9331) and the second upper retainer (9332) can also be prevented.

[0115] Meanwhile, high-speed data communication technology is required between the target on which the lidar system is installed, such as a vehicle and the lidar device. Accordingly, two-way communication between the vehicle and the lidar device is required, and as described above, the first PCB (912) and the second PCB (932) must each include both a transmitter and a receiver.

[0116] At this time, the length of the FPCB connected to the transmitter or receiver of each PCB may affect the communication quality. In particular, in the downlink from the first PCB (912) to the second PCB (932), the communication error rate increases as the length of the second receiving FPCB (934R) connected to the receiver of the second PCB (932) increases.

[0117] Figure 18 shows the eye diagram test results according to the length of the second receiving FPCB connected to the receiving section of the second PCB.

[0118] In Fig. 18(a), the length of the second receiving FPCB connected to the receiving section of the second PCB is designed to be 1.5 cm, in Fig. 18(b), the length of the second receiving FPCB connected to the receiving section of the second PCB is designed to be 3.5 cm, and in Fig. 18(c), the length of the second receiving FPCB connected to the receiving section of the second PCB is designed to be 5 cm. Here, the length of the second receiving FPCB connected to the receiving section of the second PCB means the length of the vertical region of the T-shape, that is, the length from the receiving section of the second PCB to before the second upper retainer.

[0119] Referring to FIGS. 18(a) to 18(c), it can be seen that as the length of the second receiving FPCB connected to the receiving section of the second PCB increases, the signal quality deteriorates, and accordingly, communication errors occur more frequently.

[0120] Accordingly, in the embodiment of the present invention, in order to minimize the length of the second reception FPCB (934R) connected to the reception unit (Rx) of the second PCB (932), the second reception FPCB (934R) may be placed in the second upper retainer (9332) rather than the second lower retainer (9331). Accordingly, the first transmission FPCB (914T) connected to the transmission unit (Tx) of the first PCB (912) may be placed in the first upper retainer (9132), the second transmission FPCB (934T) connected to the transmission unit (Tx) of the second PCB (932) may be placed in the second lower retainer (9331), and the first reception FPCB (914R) connected to the reception unit (Rx) of the first PCB (912) may be placed in the first lower retainer (9131). In addition, an amplifier is placed on the second receiving FPCB connected to the receiving section of the second PCB to improve signal quality.

[0121] Referring to FIG. 12 and FIG. 16(a), an amplifier (940) is disposed on a second receiving FPCB (934R) connected to a receiving section of a second PCB (932). The amplifier (940) is a device that amplifies a signal transmitted from a transmitting section of the first PCB (912) to a receiving section of the second PCB (932). The amplifier (940) may be disposed on the second surface of the insulating layer (9342) of the second receiving FPCB (934R) on which a signal layer (9344) is disposed. The amplifier (940) may be disposed in a vertical region of a T shape of the second receiving FPCB (934R). That is, the amplifier (940) may be disposed between the second upper retainer (9332) and the receiving section of the second PCB (932). In this way, when the amplifier (940) is placed close to the receiving section of the second PCB (932), the signal received by the receiving section of the second PCB (932) can be amplified, thereby improving the signal quality.

[0122] In particular, as illustrated in FIG. 12, the amplifier (940) may be disposed between the upper surface of the second housing (931) and the lower surface of the second PCB (932). That is, the amplifier (940) may be mounted on the upper surface of the second housing (931). According to an embodiment of the present invention, the second receiving FPCB (934R) may be bent according to the detailed configuration of the lidar driving device (900) due to the flexible nature of the FPCB. Accordingly, it is easy to place the amplifier (940) on the upper surface of the second housing (931) that is close to the receiving unit of the second PCB (932) and can be mechanically supported. At this time, in order to support the bent FPCB, an FPCB holder (950) may be further disposed in the bending area of ​​the FPCB. Accordingly, the FPCB may be fixed in a stable shape.

[0123] Meanwhile, as illustrated in FIGS. 12 to 16, the first FPCB (914) and the second FPCB (934) may further include a passive component (960). The passive component (960) may include at least one of a resistor and a capacitor, but is not limited thereto. The passive component (960) is illustrated as being disposed on the second side of the insulating layer on which the signal layer is disposed, but is not limited thereto. The passive component (960) may be disposed on the first side, which is the opposite side of the second side, and may be electrically connected to the signal layer through a through hole in the insulating layer. The passive component (960) may be disposed on the metal pattern of at least one of the first FPCB (914) and the second FPCB (934), or may be disposed on the side of the metal pattern. Accordingly, the passive component may be connected to the metal pattern without soldering.

[0124] Figure 19 and Table 1 show the eye diagram test results before and after placing the amplifier on the second receiving FPCB connected to the receiving section of the second PCB.

[0125] Fig. 19(a) is an eye diagram test result before placing an amplifier on a second receiving FPCB connected to a receiving section of a second PCB, and Fig. 19(b) is an eye diagram test result after placing an amplifier on a second receiving FPCB connected to a receiving section of a second PCB.

[0126] -Before amplifier placementAfter amplifier placementEye amplitude(mV)315.03319.45Eye height(mV)283.62294.68Eye width(ps)900.84951.84

[0127] Referring to FIGS. 19(a), 19(b), and Table 1, it can be seen that placing an amplifier in the second receiving FPCB improves signal quality. Accordingly, even if the length of the second receiving FPCB increases, it is possible to prevent the problem of an increased communication error rate.

[0128] 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, Includes a rotor part placed on a commercial shaft, The stator section includes a first housing, a first PCB (Printed Circuit Board) disposed on the first housing, a first retainer disposed to surround the shaft, and a first FPCB (Flexible Printed Circuit Board) connected to the first PCB and disposed along the outer circumferential surface of the first retainer. The rotor part includes a second housing, a second PCB disposed on the second housing, a second retainer disposed to surround the shaft and the first retainer, and a second FPCB connected to the second PCB and disposed along the inner circumferential surface of the second retainer. The first FPCB and the second FPCB are arranged to face each other and be spaced apart from each other on the outer surface of the first retainer and the inner surface of the second retainer, A lidar driving device, wherein the first FPCB includes a first metal pattern arranged along an outer surface of the first retainer, and the second FPCB includes a second metal pattern arranged along an inner surface of the second retainer.

2. In paragraph 1, The first FPCB includes a first transmitting FPCB connected to a transmitting section of the first PCB and a first receiving FPCB connected to a receiving section of the first PCB, The second FPCB includes a second transmitting FPCB connected to the transmitting section of the second PCB and a second receiving FPCB connected to the receiving section of the second PCB, The first transmitting FPCB and the second receiving FPCB are arranged to face each other and be spaced apart from each other between the outer surface of the first retainer and the inner surface of the second retainer, A lidar driving device in which the first receiving FPCB and the second transmitting FPCB are arranged to face each other and be spaced apart from each other between the outer surface of the first retainer and the inner surface of the second retainer.

3. In paragraph 2, A lidar driving device wherein the second FPCB further includes an amplifier disposed on the second receiving FPCB.

4. In paragraph 3, The above amplifier is a lidar driving device disposed between the second PCB and the second retainer.

5. In paragraph 2, A lidar driving device, wherein at least one of the first FPCB and the second FPCB includes at least one of a resistor and a capacitor.

6. In paragraph 2, A lidar driving device in which the first transmitting FPCB, the first receiving FPCB, the second transmitting FPCB, and the second receiving FPCB each have a T shape.

7. In paragraph 2, The first retainer includes a first lower retainer and a first upper retainer disposed on the first lower retainer, The second retainer includes a second lower retainer and a second upper retainer disposed on the second lower retainer, The first transmitting FPCB is arranged along the outer circumference of the first upper retainer, and the second receiving FPCB is arranged along the inner circumference of the second upper retainer. A lidar driving device in which the first receiving FPCB is arranged along the outer circumference of the first lower retainer, and the second transmitting FPCB is arranged along the inner circumference of the second lower retainer.

8. In paragraph 7, The first metal pattern includes a first lower metal pattern arranged along the outer circumference of the first lower retainer and a first upper metal pattern arranged along the outer circumference of the first upper retainer, A lidar driving device, wherein the second metal pattern includes a second lower metal pattern arranged along the inner circumference of the second lower retainer and a second upper metal pattern arranged along the inner circumference of the second upper retainer.

9. In paragraph 8, The first transmitting FPCB, the first receiving FPCB, the second transmitting FPCB, and the second receiving FPCB each include an insulating layer, a ground layer disposed on a first surface of the insulating layer, and a signal layer disposed on a second surface of the insulating layer. The first lower metal pattern is arranged on the first surface of the insulating layer of the first receiving FPCB, The first upper metal pattern is arranged on the first surface of the insulating layer of the first transmission FPCB, The second lower metal pattern is arranged on the first surface of the insulating layer of the second transmission FPCB, The second upper metal pattern is a lidar driving device arranged on the first surface of the insulating layer of the second receiving FPCB.

10. In paragraph 9, Between the first upper retainer and the second upper retainer, the first surface of the insulating layer of the first transmitting FPCB and the second surface of the insulating layer of the second receiving FPCB are arranged to face each other, A lidar driving device in which the second surface of the insulating layer of the first receiving FPCB and the first surface of the insulating layer of the second transmitting FPCB are positioned so as to face each other between the first lower retainer and the second lower retainer.

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