Lidar driving device and lidar device

Abstract

A LiDAR device disclosed in an embodiment comprises: a stator housing having first and second fixed side walls; a first substrate coupled to the bottom of the stator housing; a central shaft; a rotor housing having a first rotating side wall and a second rotating side wall; a second substrate disposed on the rotor housing; a first bearing member coupled between the inner side of the second fixed side wall and the outer side of the second rotating side wall; and a second bearing member coupled between the central shaft and the inner side of the first rotating side wall, wherein a portion of the stator housing and a portion of the rotor housing include a conductive layer, and the conductive layer may electrically connect at least one of the first bearing member, the central shaft, and the second bearing member to at least one of the stator housing and the rotor housing.

Description

Lidar drive unit and lidar device

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

[0002] Autonomous vehicles (AVs) use multiple sensors to achieve situational awareness. Sensors that form part of an AV's self-driving system (SDS) may include one or more cameras, Light Detection and Ranging (LiDAR), and inertial measurement units (IMUs). Sensors such as cameras and LiDAR are used to capture and analyze the surrounding scene of the vehicle. The captured scene is then used to detect objects, including static objects such as fixed structures and dynamic objects such as pedestrians and other vehicles. Data collected from these sensors can also be used to detect conditions such as road markings, lane curvature, traffic lights, and signs. Furthermore, a scene representation, such as a 3D point cloud acquired from the vehicle's LiDAR, can be combined with one or more images acquired from cameras to provide additional insight into the scene or situation surrounding the vehicle.

[0003] Additionally, a LiDAR transceiver may include a transmitter that transmits light in the ultraviolet (UV), visible, and infrared spectral regions, and one or more photodetectors that convert other electromagnetic radiation into electrical signals. To provide high-fidelity object detection and tracking, optical sensors such as LiDAR require sufficient space for rigidly mounted optical components, one or more transceiver assemblies, processing and driver circuitry, cooling elements, cleaning elements, wiring, and motor assemblies. LiDARs may also have transceiver components rigidly mounted to each other to withstand automotive-grade vibrations, high-speed rotation of the mechanical LiDAR assembly, and balance and weight considerations. LiDARs also require sufficient accommodating packaging and must also take aesthetic considerations into account.

[0004] Embodiments of the invention can provide a lidar drive device and a lidar device capable of supporting a rotating rotor housing using a stator housing and a center shaft. Embodiments of the invention can provide a lidar drive device and a lidar device in which the stator housing and the rotor housing have an electrical path that can communicate with each other. Embodiments of the invention can provide a lidar drive device and a lidar device that provides an electrical path that can communicate with each other through a bearing member coupled between the rotor housing and the stator housing. Embodiments of the invention can provide a lidar drive device and a lidar device that can communicate with each other between the rotor housing and the shaft. Embodiments of the invention can provide a lidar device that provides an electrical path between a substrate on a rotor housing and a substrate under a stator housing, and reduces electrical resistance between the substrates, thereby reducing errors in wireless data communication.

[0005] According to an embodiment of the invention, a lidar driving device comprises: a stator housing having first fixed side walls and second fixed side walls arranged in a ring shape from the inside to the outside, and a lower center hole; a first substrate coupled to a lower portion of the stator housing; a central shaft; a rotor housing having a first rotational side wall disposed around an outer circumference of the central shaft and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; a second substrate disposed on the rotor housing; a first bearing member coupled between an inner side of the second fixed side wall and an outer side of the second rotational side wall; and a second bearing member coupled between the central shaft and an inner side of the first rotational side wall, wherein a portion of the stator housing and a portion of the rotor housing include a conductive layer, and the conductive layer can electrically connect at least one of the first bearing member, the central shaft, and the second bearing member to at least one of the stator housing and the rotor housing.

[0006] According to an embodiment of the invention, the stator housing includes a plurality of first substrate fastening portions to which the first substrate is fastened and a conductive layer on the surface of the first substrate fastening portions to which the first substrate is fastened, and the conductive layer can electrically connect the first substrate to the stator housing. According to an embodiment of the invention, the stator housing includes a ring guide portion that connects adjacent first substrate fastening portions to each other, and the conductive layer can extend along the surface of the ring guide portion.

[0007] According to an embodiment of the invention, the rotor housing includes a plurality of second substrate fastening portions to which the second substrate is fastened and a conductive layer on the surface of the second substrate fastening portions to which the second substrate is fastened, and the conductive layer can electrically connect the second substrate to the rotor housing. According to an embodiment of the invention, the rotor housing includes a ring guide portion that connects adjacent second substrate fastening portions to each other, and the conductive layer can extend along the surface of the ring guide portion.

[0008] According to an embodiment of the invention, the stator housing may have a conductive layer disposed on the surface of a floor fastening portion to which a moving body is coupled, and may be electrically connected to the moving body.

[0009] According to an embodiment of the invention, the rotor housing may have a conductive layer disposed on the surface of a cover fastening portion to which a cover covering a transceiver disposed on the rotor housing is fastened, and may be electrically connected to the cover or the transceiver. According to an embodiment of the invention, at least one of the first bearing member and the second bearing member may have a conductive lubricant therein.

[0010] According to an embodiment of the invention, the surface of the rotor housing includes an anodized insulating region, and the conductive layer disposed on the surface of the rotor housing can be disposed on the insulating region of the rotor housing or on a non-anodized metal surface.

[0011] According to an embodiment of the invention, the surface of the stator housing includes an anodized insulating region, and the conductive layer disposed on the surface of the stator housing may be disposed on the insulating region of the stator housing or on a non-anodized metal surface. According to an embodiment of the invention, the rotor housing and the stator housing may have a plurality of current conducting paths.

[0012] According to an embodiment of the invention, the first substrate and the second substrate may have a wireless transceiver for wireless data communication.

[0013] According to an embodiment of the invention, the electrical resistance between the rotor housing and the stator housing may be 500 ohms or less. According to an embodiment of the invention, the material of the rotor housing and the stator housing may include aluminum. According to an embodiment of the invention, the conductive layer may be a chromated metal film.

[0014] A lidar device according to an embodiment of the invention may include the lidar driving device.

[0015] According to an embodiment of the invention, a first bearing member is coupled between a stator housing and a rotor housing, so that an excessive load can be distributed and supported, and a decrease in the coupling force between the housings can be prevented.

[0016] According to an embodiment of the invention, an electrical path is provided between a substrate within a stator housing and a substrate within a rotor housing, thereby reducing resistance between the substrates and reducing errors in wireless data communication. In addition, the electrical path between the substrate within the stator housing and the substrate within the rotor housing provides multiple different paths, thereby preventing a decrease in reliability.

[0017] According to an embodiment of the invention, a conductive layer is formed on the vehicle-attached portion of the stator housing and the portion of the rotor housing that is coupled to the sensor unit, thereby protecting the material of the housings and securing a conductive path. In addition, by applying a ball bearing and a conductive lubricant as a bearing member, an additional path can be provided between the substrate within the stator housing and the substrate within the rotor housing, thereby suppressing an increase in electrical resistance between the two substrates.

[0018] According to an embodiment of the invention, the stator housing, the first bearing member, the center shaft, the rotor housing, and the second bearing member can be easily assembled, thereby improving the assembling efficiency of the lidar drive device.

[0019] The invention can prevent performance degradation, improve operational reliability, and extend the lifespan of a lidar device having a lidar drive unit. Furthermore, it can prevent reliability degradation of a moving object, such as a vehicle, equipped with a lidar device.

[0020] FIG. 1 is a perspective view of a vehicle having a lidar system according to an embodiment of the invention.

[0021] FIG. 2 is an example of a block diagram of a vehicle system having the lidar system of FIG. 1.

[0022] Figure 3 is a perspective view of a lidar device according to an embodiment of the invention.

[0023] Fig. 4 is a perspective view of the lidar device of Fig. 3 viewed from another direction.

[0024] Fig. 5 is an example of a side cross-sectional view of the lidar device of Fig. 3.

[0025] Fig. 6 is an example of a perspective view of the lidar driving device of Fig. 3.

[0026] Fig. 7 is a cross-sectional view of the AA side of the lidar driving device of Fig. 6.

[0027] Fig. 8 is a BB-side cross-sectional view of the lidar driving device of Fig. 6, with the bottom cover and internal substrate removed.

[0028] FIG. 9 is an exploded perspective view of the stator housing, first bearing member, rotor housing, and center shaft of FIGS. 7 and 8.

[0029] Fig. 10 is a disassembled drawing of the second substrate on the lidar driving device of Fig. 6.

[0030] Fig. 11 is a cross-sectional view showing the assembled state of the first bearing member in the stator housing of Fig. 6.

[0031] Fig. 12 is a front perspective view of the rotor housing of the invention, showing an area where a conductive layer is formed.

[0032] Fig. 13 is a drawing of the rear side of the rotor housing of the invention, showing an area where a conductive layer is formed.

[0033] Fig. 14 is a front perspective view of the stator housing of the invention, showing an area where a conductive layer is formed.

[0034] Fig. 15 is a rear perspective view of the stator housing of the invention, showing an area where a conductive layer is formed.

[0035] FIG. 16 is a drawing showing electrical paths between a rotor housing and a stator housing according to an embodiment of the invention.

[0036] FIG. 17 is a drawing illustrating an example in which a conductive layer is formed on a rotor housing and a stator housing according to an embodiment of the invention.

[0037] FIG. 18 is a drawing illustrating another example in which a conductive layer is formed on a rotor housing and a stator housing according to an embodiment of the invention.

[0038] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings, in which like reference numerals designate similar components. However, the present invention may be embodied in many different forms and is not limited to the embodiments set forth herein. Rather, these embodiments are provided as examples so that this disclosure will be thorough and complete, and will fully convey the features and functions of the present invention to those skilled in the art. Accordingly, processes, elements, and techniques that are not necessary for those skilled in the art to fully understand the features and functions of the present invention may not be described. Unless specifically stated otherwise, like reference numerals designate similar components in the accompanying drawings and written description, and therefore, the description thereof will not be repeated.

[0039] A LiDAR system may be referred to as a depth sensing system, a laser ranging system, a laser radar system, a LIDAR system, or a laser / light detection and ranging (LADAR) system. LiDAR is a type of distance measuring sensor characterized by a long detection range, high resolution, and little interference from the environment. LiDAR has been widely applied in the fields of intelligent robots, unmanned aerial vehicles, autonomous driving, or self-driving. The operating principle of LiDAR is to estimate distance based on the round-trip time (e.g., time of flight or latency) of electromagnetic waves between a source and a target. A LiDAR system emits a light pulse (e.g., a laser pulse) toward an object and measures the time it takes for the light pulse to reflect from the object and be detected by the LiDAR system's sensor, thereby measuring the distance to the object (e.g., depth).

[0040] The above-described aspects and features of embodiments of the present invention will be described in more detail with reference to the drawings. Fig. 1 is a perspective view of a vehicle having a lidar system according to an embodiment of the invention.

[0041] Referring to FIG. 1, a moving object such as a vehicle (500) may include a lidar system (100), a camera unit (101), a vehicle recognition sensor (102, 104), a GPS (Global Positioning System) sensor (103), a vehicle control module (107), and an ultrasonic sensor (105).

[0042] The above lidar system (100) is a device having a rotating imaging unit or sensor unit, which is attached to a portion of a vehicle (500), rotates 360 degrees, senses the distance between the vehicle and an object (static object, dynamic object), the surrounding environment, and the shape, and controls driving using the measured data. Using this sensing technology, a 3D point cloud can be used to collect and analyze objects or the environment surrounding the vehicle, and sensed data that provides information on objects located within an appropriate proximity range can be generated.

[0043] The above lidar system (100) can communicate with the vehicle control module (107) and transmit / receive information according to the driving of the vehicle. The vehicle control module (107) can communicate with various systems or sensors inside the vehicle and perform various controls. The vehicle control module (107) is a device that controls and monitors various systems of the vehicle and may include a control device such as an electronic control unit (ECU). The vehicle control module (107) can communicate with an external mobile device and be electrically connected to a removable storage device.

[0044]

[0045] The above camera unit (101) may be mounted one or more times inside and / or outside the vehicle, and may capture images of the front and / or rear of the moving vehicle and provide or store the captured images through a display device (not shown). The captured image data may optionally include audio data. As another example, the camera unit (101) may be mounted on the front, rear, each corner, or each side of the vehicle (500), and may capture images of the surroundings of the vehicle and provide the captured images through a display device (not shown). The vehicle control module (107) or another processor may identify traffic lights, vehicles, pedestrians, etc. based on the data captured by the camera unit (101), and provide the acquired information to the driver. The camera unit (101) may be used as a driving assistance device.

[0046] Front radars (102) are installed in multiple numbers at the front of the vehicle (500) and detect the distance between the vehicle (500) and a front object. Rear radars (104) are installed in multiple numbers at the rear of the vehicle (500) and detect the distance between the vehicle (500) and a rear object. When there is object information detected through these radars (102, 104), the driver is notified of surrounding objects or obstacles by an alarm or warning message. The GPS sensor (103) can receive signals from satellites and provide them to devices such as the vehicle control module (107), the lidar system (100), and the camera unit (101), and the devices can provide or calculate information such as the vehicle's location, speed, and time based on the GPS location signal. The ultrasonic sensor (105) can sense the distance to a nearby vehicle or obstacle, thereby providing convenience so that the vehicle can be safely parked in a parking space. In addition, the ultrasonic sensor (105) can prevent accidents that may occur while driving. These ultrasonic sensors (105) can be installed on the rear or side of the vehicle or on the wheels, etc.

[0047]

[0048] As shown in Fig. 2, a vehicle system (200) having a lidar system (100) and a vehicle control module (107) receives input from a user or driver or provides information to the user or driver through a user interface (211). The user interface (211) may include a display device, a touch panel, a button, voice recognition, a wired or wireless input device, and is connected wired or wirelessly to enable communication with the driver and various devices. The vehicle system (200) communicates with a remote device (213), and the remote device (213) can remotely communicate with a user or an external device or receive an external control signal. The communication unit (215) can support wired or wireless communication and may be, for example, a wired or wireless module. The storage unit (220) may include one or more sub-memories (221) therein. In addition, the storage unit (220) may include a portable or removable storage device (222). The above lidar system (100) can communicate with the user interface (211) and the camera unit (101).

[0049]

[0050] The above lidar system (100) includes a driving unit (115) such as a motor, and the driving unit (115) can rotate part or all of the lidar system (100) 360 degrees by a control signal. The driving unit (115) includes a part (e.g., a stator) that is fixed to a moving body such as a vehicle, and a part (e.g., a rotor) that rotates together with a sensor device, and communicates with an internal configuration of the lidar system (100), for example, a measurement system (110), and enables the lidar system (100) to rotate along an axis. The lidar system (100) may include a measurement system (110) and at least one transceiver (120). The driving unit (115) is coupled to the measurement system (110) and the transceiver (120) so that the measurement system (110) and the transceiver (120) can rotate, and can transmit a driving force. The transceiver (120) is a device for transmitting and receiving a laser beam for recognizing an object.

[0051]

[0052] The measurement system (110) may include a main processor (111) and a main memory (112), wherein the main processor (111) may be implemented as a general purpose processor, an Application Specific Integrated Circuit (ASIC), one or more Field Programmable Gate Arrays (FPGAs), a group of processing components, or other suitable electronic processing components. The main memory (e.g., memory, memory unit, storage device, etc.) (112) may include one or more devices (e.g., RAM, ROM, flash memory, hard disk storage, etc.) for storing data and / or computer code to complete or facilitate the various processes described herein. The main memory (112) may be or include volatile memory or non-volatile memory. The main memory (112) may include a database component, an object code component, a script component, or any other type of information structure to support the various activities and information structures described herein. In an embodiment, the main memory (112) may be communicatively coupled to the main processor (111).

[0053] The measurement system (110) may include one or more processors (also referred to as central processing units or CPUs). The one or more processors may be connected to a communications infrastructure or bus. Additionally, each of the one or more processors may be a graphics processing unit (GPU). In some examples, a GPU (graphics processing unit) may include a processor, which is a specialized electronic circuit designed to process mathematically intensive applications. The GPU may have a parallel architecture that is efficient for parallel processing of large blocks of data, such as mathematically intensive data commonly used in computer graphics applications, images, videos, etc. The measurement system (110) may be a computer system and may be connected to one or more user input / output devices, such as a monitor, keyboard, pointing device, etc., that communicate with the communications infrastructure via a user input / output interface.

[0054]

[0055] Within the lidar system (100), one or more transceivers (120) may be arranged. When multiple transceivers are arranged, laser beams can be irradiated and sensed in different directions based on the rotation axis. Here, the different directions can range from 10 degrees to 180 degrees with respect to each other, and for example, the transceivers can be arranged in any one of 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, and 180 degrees, and preferably, they can be arranged at an angle of 180 degrees. The multiple transceivers can have different divergence angles or field of view. The multiple transceivers can scan an object at different altitudes.

[0056] The transceiver (120) includes a transmission module (121) and a sensing module (123). The transmission module (121) transmits a laser beam, and the sensing module (123) senses the laser beam transmitted by the transmission module (121). The transmission module (121) may include a light source array (not shown), and the sensing module (123) may include a receiving optical system (not shown) and a sensor array (not shown). The transmission module (121) may include a processor or control module such as a general-purpose processor, ASIC, or FPGA that can control the driving of the light source array and the transmission of an optical signal, and may also have an internal memory in which a code for controlling the generation of a laser beam is stored.

[0057] The light source array may include a plurality of light sources that generate laser beams or light pulses. The light sources may include light sources such as a laser diode (LD), an edge emitting laser, a vertical-cavity surface emitting laser (VCSEL), a distributed feedback laser, a light emitting diode (LED), or a super luminescent diode (SLD). However, the present invention is not limited thereto. The sensing module (123) may convert a raw histogram based on a signal sensed through a receiving optical system, and may include a processor having a matching filter, a peak detection circuit, and a SPAD saturation and quenching circuit. Such a processor may be implemented as a general-purpose processor, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components. The sensing module (123) may include a memory (not shown) having one or more devices (e.g., RAM, ROM, flash memory, hard disk storage, etc.) for storing the optical signal detected therein.

[0058]

[0059] Hereinafter, a lidar device and a lidar driving device having a lidar system will be described with drawings.

[0060] FIG. 3 is a perspective view of a lidar device according to an embodiment of the invention, FIG. 4 is a perspective view of the lidar device of FIG. 3 viewed from another direction, FIG. 5 is an example of a side cross-sectional view of the lidar device of FIG. 3, FIG. 6 is an example of a perspective view of the lidar drive device of FIG. 3, FIG. 7 is a cross-sectional view taken along the line AA of the lidar drive device of FIG. 6, FIG. 8 is a cross-sectional view taken along the line BB of the lidar drive device of FIG. 6, FIG. 9 is an exploded perspective view of the stator housing, the first bearing member, the rotor housing, and the center shaft of FIGS. 7 and 8, FIG. 10 is an exploded view of the second substrate on the lidar drive device of FIG. 6, and FIG. 11 is a cross-sectional view showing an assembled state of the first bearing member in the stator housing of FIG. 6.

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

[0062] The above-described rotating part (2) can be rotated by the driving force of the motor (40) on the moving body. The rotation of the rotating part (2) can be axial rotation. The rotating part (2) can include the transceiver (120) disclosed above, a rotatable rotor housing (130), and a second substrate (148). The transceiver (120) can rotate about its axis together with the rotor housing (130). The second substrate (148) is electrically connected to the transceiver (120) and can receive wireless power from the fixed part (1). The fixed part (1) can have the stator housing (150), a first substrate (158) disposed within the stator housing (150), and a wireless transmission / reception unit. The rotating part (2) and the fixed part (1) have wireless transmission / reception units and can transmit / receive wireless data. The second substrate (148) may be placed on the rotor housing (130) and may be placed below the transceiver (120).

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

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

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

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

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

[0068]

[0069] The above light guide unit (23) may be provided with a structure inclined together with the optical axis of the lenses of the optical system (22). The above transceiver (120) provides a transmission module (121) and a sensing module (123) as a pair, but may include a plurality of transmission modules and a plurality of sensing modules that have different angles of view and transmit / receive laser beams in opposite directions.

[0070] The cover (140) has a heat dissipation unit (142) having a plurality of holes penetrating from the inside to the outside, and the heat dissipation unit (142) can dissipate heat generated inside to the outside. The heat dissipation unit (142) can be arranged on a plurality of heat dissipation areas on the outer periphery of the cover (140), and a plurality of holes can be arranged in each of the heat dissipation areas. For example, the plurality of heat dissipation areas can be arranged on the outer side of the light source unit (121) of the transceiver (120) and the outer side of the sensor unit (21) and the sensor substrate (24), respectively.

[0071] A window (125) is exposed in the opening (141) of the cover (140), and the window (125) can be positioned on the transmission / reception area of ​​the transceiver (120), thereby allowing the transmitted / received laser beam to pass through. The window (15) can be made of a transparent material.

[0072]

[0073] The inner region (140A) of the cover (140) is provided with a protective case (125), and the protective case (125) can prevent moisture or foreign substances from penetrating into the inner side of the cover (140) from penetrating or flowing into the inner side of the protective case (145). Accordingly, the protective case (145) can protect the transceiver (120) and the internal substrate (128, 148). The cover (140) and the protective case (145) can be fastened to the rotor housing (130) by a fastening means. The protective case (145) can have a shape corresponding to the inner shape of the cover (140), for example, a cylindrical shape with an upper portion blocked and a lower portion open. The window (125) can be coupled to one side of the protective case (145).

[0074] At least one or both of the cover (140) and the protective case (145) can be fastened to the rotor housing (130) by a fastening means (not shown). The outer periphery of the rotor housing (130) is provided with a cover fastening portion (139), and the cover fastening portion (139) can be coupled to another frame by a fastening means (not shown).

[0075] In addition, the cover (140) and the protective case (145) can be combined with the rotor housing (130). As shown in Fig. 6, the outer upper periphery of the rotor housing (130) has a concave ring-shaped groove, and a ring-shaped gasket (146) is combined with the ring-shaped groove, and the gasket (146) can be in close contact with the rotor housing (130) and the protective case (145) or another frame.

[0076]

[0077] The connector (190) may be coupled to a portion of the bottom cover (180). As another example, the power connector (190) may be coupled to a portion of the stator housing (150). That is, the connector (190) may be coupled to the outer side wall of the stator housing (150).

[0078] The first substrate (158) is screwed to the lower portion of the stator housing (150). The connector (190) is connected to the first substrate (158) or another substrate and can provide necessary power or transmit and receive data.

[0079]

[0080] The outer circumference of the stator housing (150) may have a cylindrical shape, and the outer circumference of the rotor housing (130) may have a cylindrical shape. The outer diameters of the stator housing (150) and the rotor housing (130) may be the same, or the outer diameter of the rotor housing (130) may be larger than the outer diameter of the stator housing (150). Here, the outer diameter is the outer circumference of the area where the stator housing (150) and the rotor housing (130) correspond to each other.

[0081] As shown in Fig. 4, the area between the stator housing (150) and the rotor housing (130) may have a gap (11). The gap (11) may be formed along the circumference between the stator housing (150) and the rotor housing (130). The inner or outer portion of the gap (11) may have a stepped structure to prevent the inflow of external foreign substances.

[0082] A part of the motor (40) may be disposed inside the gap (11). A part of the motor (40) may be in close contact with the inside of the stator housing (150) or the rotor housing (130). A part of the motor (50) may be positioned inside the gap (11) to block a path for moisture or foreign substances to penetrate from the outside to the inside. In addition, a part of the motor (50) may be disposed higher than the upper end of the gap (11) to increase an inflow path, thereby suppressing the inflow of moisture or foreign substances. A part of the motor (50) disposed inside the gap (11) may be a yoke or a motor core.

[0083] The joining area of ​​the stator housing (150) and the rotor housing (130) of the lidar driving device (100B) may include a first substrate (158) and a central shaft (311) placed on a bottom cover (180), a wireless power transmission module (30) coupled to the stator housing (150) and the rotor housing (130), a bearing member (50, 60), and a motor (40).

[0084] The central shaft (311) guides the axial rotation of the rotor housing (130) at the center of the stator housing (150) together with the first substrate (158). The lower portion of the central shaft (311) can be fastened to a portion of the stator housing (150) by a fastening means (319). The upper portion of the central shaft (311) can be in contact with or electrically connected to a portion of the second substrate (148). An encoder module (not shown) is fastened to the joining area of ​​the stator housing (150) and the rotor housing (130), and the encoder module can detect the rotation direction and position using an encoder disk and an optical sensor.

[0085]

[0086] As shown in FIGS. 7 to 9, the central shaft (311) has vertical flat portions (312) on both sides of the lower portion, and the vertical flat portions (312) suppress the rotation of the shaft (311) and can be closely coupled with the stator housing (150). The central shaft (311) is placed on the lower central hole (H1) of the stator housing (150) through the upper central hole (131A) of the rotor housing (130). The lower periphery of the central shaft (311) is arranged inside the rotation prevention portion (P1) of the bottom portion (151) of the stator housing (150), and a part of the rotation prevention portion (P1) can be closely coupled to the vertical flat portion (312). A bottom support portion (P2) is arranged around the periphery of the lower central hole (H1) to support the bottom of the central shaft (311). The above rotation prevention part (P1) and the floor support part (P2) can prevent the rotation of the center shaft (311) and limit its downward movement. The lower part of the center shaft (311) has a fastening groove (G1), and the fastening means (319) is fastened to the fastening groove (G1). Accordingly, the fastening means (319) can fix the bottom support part (P2) and the center shaft (311) through the lower center hole (H1) of the stator housing (150). The inner diameter of the center hole (H1) of the stator housing (150) can be smaller than the inner diameter of the center hole (131A) of the rotator housing (130). This makes it convenient to insert the center shaft (311) and can strengthen the coupling force between the stator housing (150) and the center shaft (311).

[0087]

[0088] The wireless power transmission module (30) may include first and second ferrite cores (31, 33) and first and second coils (32, 34). The motor (40) may include a plurality of driving magnets (41), a motor core (42) and a yoke (43). The wireless power transmission module (30) wirelessly transmits power from the fixed part (1) to the rotating part (2). The wireless power transmission module (30) is coupled to the interior of the stator housing (150) and the rotor housing (130) and may face each other. The first ferrite core (31) and the first coil (32) function as a wireless power receiving unit, and the second ferrite core (33) and the second coil (34) function as a wireless power transmitting unit. The wireless power transmitting unit (33, 34) of the wireless power transmitting module (30) wirelessly transmits power within the fixed unit (1), and the wireless power receiving unit (31, 32) wirelessly receives power within the rotating unit (2) and provides power to each component within the rotating unit (2). The wireless power transmitting module (30) can enable the operation of the transceiver (120) and the substrate and system connected thereto. When the motor core (42) rotates, the wireless power transmitting module (30) can supply power to the motor core (42). The motor core (42) can be fixed to the floor plate (131) by a fastening means (191).

[0089] The wireless power transmitter (33, 34) may be coupled within the stator housing (150), and the wireless power receiver (31, 32) may be coupled to the rotor housing (130). The wireless power transmission module (30) is disposed on the inner periphery of the stator housing (150) and the rotor housing (130), transmits and receives power wirelessly, and may reduce electrical influence on other components (e.g., motor) or parts.

[0090]

[0091] The above lidar driving device (100B) has a motor (40) therein for rotating the rotating part (2). The motor (40) includes a driving magnet having an electromagnetic force. The yoke (43) of the motor (40) is arranged along the outer side of the plurality of magnets (41) and shields the electromagnetic force. The yoke (43) functions as a back yoke. The yoke (43) and the plurality of magnets (41) are arranged in a circumferential direction, and the motor core (42) has a coil and faces the plurality of magnets (41). When power is supplied to the coil of the motor core (42), an electromagnetic force is generated between the magnet (41) and the motor core (42). The motor core (42) can rotate about an axis together with the rotor housing (130), and the yoke (43) and the plurality of magnets (41) can be fixed together with the stator housing (150). As another example, the yoke (43) and the plurality of magnets (41) can be coupled to and rotate in a rotor housing (130), and the motor core (42) can be coupled to and fixed in position in a stator housing (150). The magnets (41) are permanent magnets.

[0092]

[0093] The above stator housing (150) is a fixed frame or a first housing with a fixed position, and includes a metallic material or a non-metallic material. For example, the metallic material may include aluminum or an alloy thereof, and the non-metallic material may include a plastic material. The above rotor housing (150) is a rotating frame or a second housing that rotates about an axis, and includes a metallic material or a non-metallic material. For example, the metallic material may include aluminum or an alloy thereof, and the non-metallic material may include a plastic material.

[0094] As shown in Fig. 9, the inner wall of the stator housing (150) has a storage area (150A) for inserting components, and the rotor housing (150) can be installed on the inner upper portion. In addition, the rotor housing (150) has a storage space at the lower portion, which corresponds to the storage area (150A) and enables the storage of components.

[0095] As shown in FIGS. 7 and 8, the stator housing (150) includes a bottom portion (151) extending from an outer wall toward a central shaft (161), a first fixed side wall (152) and a second fixed side wall (153) protruding from the bottom portion (151) toward a second substrate (148). The rotor housing (130) includes a first rotation side wall (132) and a second rotation side wall (133) extending from the bottom plate (131) toward a bottom cover (180). The first fixed side wall (152) and the first rotation side wall (132) may correspond in a vertical direction, and the lower portions of the second fixed side wall (153) and the second rotation side wall (133) may correspond in a horizontal direction.

[0096] The first and second fixed side walls (152, 153) may have a ring shape, and the first and second rotational side walls (132, 133) may have a ring shape. The first fixed side wall (152) and the first rotational side wall (132) are inner side walls of each housing (130, 150), and the second fixed side wall (153) and the second rotational side wall (133) are middle side walls of each housing (130, 150).

[0097]

[0098] The wireless power receiving unit (31, 32) is accommodated in the space between the first and second rotating side walls (132, 133), and can be fixed to the outer circumference of the first rotating side wall (132) and the lower surface of the bottom plate (131). The wireless power transmitting unit (33, 34) is accommodated in the space between the first fixed side wall (152) and the second rotating side wall (133), and can be fixed to the outer circumference of the first fixed side wall (152) and the upper surface of the bottom portion (151).

[0099] The motor core (42) may be fixed to the inner circumference of the second rotation side wall (133) and the lower surface of the bottom plate (131), and the yoke (43) may be fixed on a stepped structure on the inner side of the upper outer wall of the stator housing (150). The inner surface of the yoke (43) may have a plurality of magnets (41) attached thereto and arranged in a circumferential direction. The magnets (41) may face the motor core (42).

[0100] The outer side of the yoke (43) may overlap with the gap (11) in a horizontal direction. The upper end of the yoke (43) may be arranged higher than the upper end of the gap (11), thereby preventing moisture or foreign substances from entering from the outside. The stator housing (150) may include a discharge port (18). The discharge ports (18) are arranged in multiple numbers along the outer periphery of the stator housing (150), and may be spaced apart from each other or arranged at equal angles with respect to a central axis. The outlet of the discharge port (18) may be arranged lower than the inlet. The inlet of each discharge port (18) may be located at a corner portion between the bottom portion (151) and the outer wall of the stator housing (150) or at the bottom of the outer storage space (150C) of the stator housing (150). The outlet of each discharge port (18) may be located at the lower part of the outer surface of the stator housing (150). The floor of the outer storage space (150C) where the inlets of the above discharge ports (18) are arranged may be horizontal or inclined, and in the case of an inclined structure, the outer side of the floor may be lower than the inner side of the floor.

[0101]

[0102] A shielding cover (45) may be disposed on the lower side of the motor (40). The shielding cover (45) may be disposed on the outer side of the second rotation side wall (133) of the rotor housing (130). The shielding cover (45) may be disposed in an area between the motor (40) and the first bearing member (60). The first bearing member (60) may be disposed on one side or the lower side of the motor (40). A portion of the shielding cover (45) may be disposed adjacent to the motor core (42) to block the influence of electromagnetic force. The shielding cover (45) is bonded or attached to the lower side of the motor core (42), covers the entire lower side of the motor core (42), and extends to the outer side of the second fixed side wall (153) of the stator housing (150). The shielding cover (45) may include a metal material, for example, an alloy of nickel and iron (e.g., Permalloy), and may include a magnetic material with very high magnetic permeability and low magnetic hysteresis loss. The alloy may have a nickel content greater than iron content. The electromagnetic force, i.e., leakage magnetic flux, caused by the motor (40) may cause the bearing of the first bearing member (60) to be positioned in an abnormal direction, which may increase friction within the first bearing member (60), and thereby increase power consumption. In the lidar device, the power consumption of the motor having an inertial load is generated from the friction that occurs between the bearing and the track gap (inner ring, outer ring) when rotating, and such friction may cause a rapid increase in power consumption in a low-temperature environment. To this end, the shielding cover (45) may cover the upper and outer sides of the first bearing member (60) to shield the magnetic force exerted on the first bearing (61) of the first bearing member (60).

[0103] The above lidar driving device (100B) may include one or more outer bearing members coupled to a region (60A, FIG. 19) between the stator housing (150) and the rotor housing (130), and one or more inner bearing members may be coupled to a region (i.e., 131A) between the rotor housing (130) and the central shaft (311). The first bearing member (60) may be slidably coupled to the inside of the second fixed side wall (153) of the stator housing (150), thereby facilitating assembly.

[0104]

[0105] The first bearing member (60) is an outer bearing member and includes a first bearing (61), a first inner ring (62), and a first outer ring (63). A plurality of the first bearings (61) can be arranged between the first inner ring (62) and the first outer ring (62). The first bearing member (60) can be coupled between the second fixed side wall (153) arranged on the outer side of the first bearing member (60) and the second rotating side wall (133) arranged on the inner side of the first bearing member (60).

[0106] The first bearing member (60) is disposed on the bottom portion (151) of the stator housing (150), and the first inner ring (62) is disposed between the bottom portion (151) and the upper end of the recess (R1) of the second rotation side wall (133). The first outer ring (63) of the first bearing member (60) may be disposed between the bottom portion (151) and the second fixed side wall (153). A lubricant such as grease may be disposed on the first bearing (61), thereby facilitating the rotation of the first bearing member (60). The lubricant may include a lubricant having a conductive material additive, i.e., a conductive lubricant.

[0107] The width (difference between the inner diameter and the outer diameter) of the first bearing member (60) may be arranged to be larger than the width (difference between the inner diameter and the outer diameter) of the second bearing member (50). The inner diameter of the first bearing member (60) may be arranged to be larger than the outer diameter of the wireless power transmission module (30) and smaller than the inner diameter of the magnet (41). Since the inner diameter of the first bearing member (60) is arranged to be larger than the outer diameter of the second bearing member (50), for example, more than twice, it can support and distribute the load or weight transmitted downward through the rotating part (1, FIG. 3) having the transceiver.

[0108]

[0109] The first inner ring (62) of the first bearing member (60) is fitted between the bottom part (151) of the stator housing (150) and the upper end of the outer recess (R1) of the second rotation side wall (133), and the lower end of the second rotation side wall (133) includes an extension part (133A), which can correspond to the outer second fixed side wall (153). The extension part (133A) can protrude inwardly in a stepped structure at a position lower than the lower end of the second rotation side wall (133), and can press the lower outer side of the first inner ring (62) or prevent downward separation. In addition, the second rotation side wall (133) and the second fixed side wall (153) can support the upper and lower sides of the first bearing member (60), thereby providing a driving device that is resistant to external vibration and shock. The above extension (133A) may overlap the upper portion of the first inner ring (62) in a vertical direction (axial direction). The lower end of the extension (133A) of the second rotation side wall (133) may be arranged on the same straight line as the upper surface of the mounting surface of the bottom portion (151) of the stator housing (150) on which the first outer ring (63) is mounted, or may be arranged at a higher position.

[0110]

[0111] The second bearing member (50) is an inner bearing member and includes a second bearing (51), a second inner ring (52), and a second outer ring (53). A plurality of second bearings (51) may be arranged between the second inner ring (52) and the second outer ring (53). The second bearing member (50) may be coupled between the first rotation side wall (132) arranged on the outside of the second bearing member (50) and the center shaft (311) arranged on the inside of the second bearing member (50). A lubricant such as grease may be arranged on the second bearing (51), thereby facilitating the rotation of the second bearing member (50). The lubricant may include a lubricant having a conductive material additive, i.e., a conductive lubricant. A horizontal position of the second bearing member (50) with respect to the center shaft (311) may be arranged above the first bearing member (60).

[0112]

[0113] As shown in FIGS. 7 to 9, the area (150B) between the central shaft (311) and the first fixed side wall (152) and the first rotational side wall (132) may be spaced apart by the outer diameter of the second bearing member (50). The second outer ring (53) of the second bearing member (50) may be disposed on the lower stop protrusion (SP2) of the first rotational side wall (132). One or more bearing members may be disposed in the area (150B) between the central shaft (311) and the first fixed side wall (152) and the first rotational side wall (132). For example, one or more second bearing members (50) may be disposed on the outer side of the central shaft (311).

[0114] The first substrate (158) is housed and fixed in the lower space of the stator housing (150) and can be protected by the outer bottom cover (180). Here, the coupling of the first bearing member (60) and the center shaft (311) is performed before the first substrate (158) and the bottom cover (180) are coupled to the stator housing (150). A wireless data transmission / reception module is mounted on the first and second substrates (158, 148), so that wireless communication can be performed, and the second substrate (148) is provided with a power supply module, so that power can be supplied to the wireless power transmission module (30) and the motor (40).

[0115] When the bearing members (50, 60) are combined in the area between the stator housing (150) and the rotor housing (130), and in the area between the rotor housing (130) and the center shaft (311), the first substrate (158) and the bottom cover (180), etc. are combined to complete the assembly of the driving device. Therefore, the first bearing member (60) can support and distribute the large load received by the driving device (100B), and also, by positioning the positions of the plurality of bearing members (50, 60) in an area with a large radial difference, vibration or shock transmitted from the outside can be mitigated. The upper and lower portions of the center shaft (311) are provided with a plurality of bearing members (50, 50A) in the vertical direction, and these can disperse the load received around the center shaft (311) and mitigate external vibration and shock.

[0116]

[0117] As shown in FIGS. 8 to 11, after the first bearing member (60) is positioned on the stator housing (150), the first bearing member (60) is assembled to the inner circumferential surface of the second fixed side wall (153). A central hole (H1) is formed in the center of the bottom portion (151) of the stator housing (150), and the first bearing member (60) is placed between the first and second fixed side walls (152, 153).

[0118] At the center of the bottom portion (151) of the stator housing (150), a rotation prevention portion (P1) is arranged around the center hole (H1), and a floor support portion (P1) is arranged at the bottom of the center hole (H1). The rotation prevention portion (P1) and the floor support portion (P1) are arranged at the inner end of the bottom portion (151) of the stator housing (150).

[0119] The second substrate (148) has a first fastening hole (148B) on the outer periphery, and the second fastening hole (148B) can be screw-fastened to and joined with the first fastening hole of the second substrate fastening part (138) arranged on the upper periphery of the rotor housing (130). The second substrate (148) can have a shaft hole (148A) arranged therein through which a central shaft (311) is exposed. Passive and / or active components can be mounted on the upper portion of the second substrate (148).

[0120]

[0121] The lidar device of the invention transmits / receives wireless data for wireless communication between the rotor housing (130) and the stator housing (150). In this case, if the electrical resistance between the rotor housing (130) and the stator housing (150) is too large, an error may occur in the wireless data communication. For example, the electrical resistance between the first substrate (158) and the second substrate (148) for wireless data communication by the wireless transmission / reception unit is required to be 500 Ohm or less, and if it exceeds this, an error may occur in the wireless data communication, which may affect the reliability of the product.

[0122]

[0123] When the rotor housing (130) and the stator housing (150) include a metal, for example, aluminum, anodizing is performed to prevent surface corrosion. The surfaces of the rotor housing (130) and the stator housing (150) have insulating properties due to the anodizing treatment, which may make it difficult to secure a current path between the rotor housing (130) and the stator housing (150). However, current conductivity is required in the path between the rotating second circuit board and the fixed first circuit board, and when the current resistance is 500 ohms or less, errors resulting from wireless data communication can be reduced. According to the invention, the surfaces of each of the rotor housing (130) and the stator housing (150) may include an insulating region and a conductive region. The surface area of ​​each of the surfaces of the rotor housing (130) and the stator housing (150) may be larger than the area of ​​the conductive region. The above insulating region is an anodized region, and the conductive region may be a region that is not anodized or a region on which a metallic conductive layer is applied.

[0124]

[0125] The above rotor housing (130) is a rotating frame, and is coupled with the inner ring (63) of the first bearing member (60) for coupling with the first bearing member (60), and is coupled with a cover (140) having a transceiver (120), and can be electrically connected to the inner ring (63) of the first bearing member (60), the transceiver (120), and the second substrate (148).

[0126] As shown in FIG. 12 and FIG. 5 to FIG. 8, the rotor housing (60) has a conductive layer (C1) formed on the surface of a plurality of cover coupling portions (139) to which the lower portion of the cover (140) is coupled. The cover coupling portions (139) can be electrically connected to the cover (140) through the conductive layer (C1). The conductive layers (C1) disposed on adjacent cover coupling portions (139) can be connected to each other through the conductive layer (C2) formed on the surface of the outer guide portion (139A). The cover coupling portions (139) can be electrically connected to the cover (140) through the conductive layers (C1, C2).

[0127] A plurality of second substrate fastening portions (138) arranged around the upper periphery of the rotor housing (130) can be electrically connected to a second substrate (148). A conductive layer (C3) is formed on the surface of the plurality of second substrate fastening portions (138), and the conductive layers (C3) of adjacent second substrate fastening portions (138) can be connected to each other by a conductive layer (C4) arranged on a ring guide portion (138A). The second substrate (148) can be electrically connected to a part of the rotor housing (130) through the conductive layers (C3, C4). A conductive layer (C5) is formed on the outer surface of the central hole (131A) of the rotor housing (130), and the conductive layer (C5) can be electrically connected to the central shaft (311) or / and the inner ring (52) of the second bearing member (50).

[0128] As shown in FIG. 13, FIG. 5 to FIG. 8, the rotor housing (60) includes a conductive layer (C6) on the outer surface of the extension (133A) of the inner second rotation side wall (133), and the conductive layer (C6) can be electrically connected to the inner ring (62) of the first bearing member (60).

[0129] The first bearing member (60) may have an inner ring (62) and an outer ring (63) that are connected to each other by the first bearing (61) and a conductive lubricant (i.e., grease) therein, and may be electrically connected to a part of the stator housing (150) through the outer ring (63) of the first bearing member (60). As shown in Fig. 14, the stator housing (150) has a conductive layer (C7) arranged on the inner surface of the second fixed side wall (153), and the conductive layer (C7) is arranged in a single region or multiple regions, through which it may be electrically connected to the outer ring (63) of the first bearing member (60).

[0130] As shown in Fig. 15, a conductive layer (C10) is formed on the surface of a bottom support member (P2) to which a central shaft is screwed through a fastening groove (G1) at the bottom center of the stator housing (150). The conductive layer (C10) can electrically connect the stator housing (150) and the central shaft (311) through the bottom support member (P2) and the central shaft (311).

[0131] The above stator housing (150) can electrically connect the stator housing (150) and the moving body through a conductive layer (C12) arranged on the upper surface of a plurality of bottom fastening portions (159). The conductive layers (C12) of adjacent bottom fastening portions (159) can be connected to each other through a conductive layer (C11) arranged on an outer guide portion (159B).

[0132] The above stator housing (150) can be fastened to the first substrate (158) by a fastening means such as a screw to the first substrate coupling portion (158A). A conductive layer (C13) is formed on the surface of the first substrate coupling portion (158A), and conductive layers (C13) disposed on adjacent first substrate coupling portions (158A) can be connected to each other through a conductive layer (C14) extending to a ring guide portion (158B). The first substrate (158) can be electrically connected to the stator housing (150) through the conductive layers (C13, C14).

[0133] A portion of the stator housing (150) may be electrically connected to a bottom cover (180). The stator housing (150) has a plurality of bottom cover connecting portions (157A), and the plurality of bottom cover connecting portions (157A) may be connected to a ring guide portion (157B). A conductive layer (C15) is respectively disposed on the bottom cover connecting portions (157A), and the conductive layers (C15) on adjacent bottom cover connecting portions (157A) may be connected to each other through a conductive layer (C16) extending onto the ring guide portion (157B). Accordingly, the stator housing (150) may be electrically connected to the bottom cover (180) through the conductive layers (C15, C16).

[0134] Accordingly, the rotor housing (130) and the second substrate (158) therein can have an electrical path through the stator housing (150) and the first substrate (148) therein. In addition, the stator housing (150) can have an electrical path with a fastening portion of a moving body such as a vehicle. Accordingly, the transceiver (120) is connected to the stator housing (150) and the first substrate (158) through the rotor housing (130), the center shaft (311), and the first and second bearing members (60, 50), and the stator housing (150) can be coupled to a moving body such as a vehicle with an electrical path. Accordingly, since the electrical path between the transceiver (120) and the moving body and the electrical path between the rotor housing (130) and the stator housing (150) are connected, the electrical conductivity, i.e., the resistance, can be provided at 500 ohms or less, and communication errors of the wireless data transmission unit disposed on the first and second substrates (158, 148) can be prevented.

[0135]

[0136] As shown in Fig. 17, the inner region (M1) of the rotor housing (130) and the stator housing (150) is a sub-surface region, and may be made of a metal, i.e., aluminum, and may have electrical and thermal conductivity properties. The first surface region (M2) of the rotor housing (130) and the stator housing (150) is an anodized region or an insulating region. The second surface region (M3) of the rotor housing (130) and the stator housing (150) is a metal region or an electrically conductive region. When a metal, such as aluminum, is exposed to the second surface region (M3), corrosion may occur, which may reduce electrical conductivity. Accordingly, a metallic conductive layer (C0) may be formed on the second surface region (M3). The above conductive layer (C0) is a chromate-treated layer, which is a layer in which an article is placed in a solution containing chromium acid or dichromate as a main component and a rust-preventive film (chromate film) is applied. The above conductive layer (C0) has electrically conductive properties, and thus can lower resistance in the current path.

[0137] As shown in Fig. 18, this is a structure in which a conductive layer (C0) is formed on the insulating first surface area (M2) of the rotor housing (130) and the stator housing (150). The conductive layer (C0) is disposed on the insulating surface, and can lower the current resistance between the rotor housing (130) and the stator housing (150). The conductive layer (M4) is a chromated layer.

[0138] When the metal surfaces of the rotor housing (130) and the stator housing (150) are exposed, corrosion may occur, so they have an anodized first surface area (M2). In each of the rotor housing (130) and the stator housing (150), the area of ​​the first surface area (M2) may be larger than the area of ​​the conductive layer (C0) and larger than the area of ​​the second surface area (M3).

[0139] As shown in Fig. 16, the rotor housing (130) and the second substrate (148) can provide an electrical path (CP1, CP2, CP3) between the spacer housing (150) and the first substrate (158) through the first bearing member (60), the center shaft (311), and the second bearing member (50). Accordingly, an electrical path and current resistance can be secured from the transceiver (120) to a moving object such as a vehicle, thereby preventing data loss due to wireless data communication between the first and second substrates (158, 148) and preventing deterioration of wireless communication reliability.

[0140] The features, structures, effects, etc. described in the embodiments above are included in at least one embodiment of the present invention, and are not necessarily limited to just one embodiment. Furthermore, the features, structures, effects, etc. illustrated in each embodiment can be combined or modified and implemented in other embodiments by a person having ordinary skill in the art to which the embodiments pertain. Therefore, the contents related to such combinations and modifications should be interpreted as being included in the scope of the present invention. In addition, although the embodiments have been described above, these are merely examples and do not limit the present invention. Those having ordinary skill in the art to which the present invention pertains will appreciate that various modifications and applications not illustrated above are possible without departing from the essential characteristics of the embodiments. For example, each component specifically shown in the embodiments can be modified and implemented. In addition, the differences related to such modifications and applications should be interpreted as being included in the scope of the present invention defined in the appended claims.

Claims

1. A stator housing having first and second fixed side walls arranged in a ring shape from the inside to the outside, and a lower center hole; A first substrate disposed at the lower portion of the stator housing; center shaft; A rotor housing having an upper center hole, a first rotational side wall disposed on an outer periphery of the center shaft, and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; A second substrate disposed on the rotor housing; A first bearing member coupled between the inner side of the second fixed side wall and the outer side of the second rotating side wall; and A second bearing member coupled between the central shaft and the inner side of the first rotating side wall, A portion of the stator housing and a portion of the rotor housing include a conductive layer, A lidar drive device, wherein the conductive layer electrically connects at least one of the first bearing member, the center shaft, and the second bearing member to at least one of the stator housing and the rotor housing.

2. In paragraph 1, The above stator housing includes a plurality of first substrate fastening portions to which the first substrate is fastened and a conductive layer on the surface of the first substrate fastening portion to which the first substrate is fastened. A lidar driving device, wherein the conductive layer electrically connects the first substrate to the stator housing.

3. In paragraph 2, The above stator housing is a lidar driving device, wherein the ring guide portion connects adjacent first substrate fastening portions to each other and the conductive layer extends along the surface of the ring guide portion.

4. In paragraph 1, The rotor housing includes a plurality of second substrate fastening portions to which the second substrate is fastened and a conductive layer on the surface of the second substrate fastening portions to which the second substrate is fastened. A lidar driving device in which the conductive layer electrically connects the second substrate to the rotor housing.

5. In paragraph 4, The above rotor housing is a lidar driving device, wherein the conductive layer extends along the surface of the ring guide portion, and the ring guide portion connects adjacent second substrate fastening portions to each other.

6. In paragraph 1, The above stator housing is a lidar driving device in which a conductive layer is disposed on the surface of a floor fastening portion to which a moving body is coupled and is electrically connected to the moving body.

7. In paragraph 6, A lidar driving device in which the rotor housing has a conductive layer disposed on the surface of a cover fastening portion to which a cover covering a transceiver disposed on the rotor housing is fastened, and is electrically connected to the cover or the transceiver.

8. In paragraph 6, A lidar actuator, wherein at least one of the first bearing member and the second bearing member has a conductive lubricant therein.

9. In any one of paragraphs 1 to 8, The surface of the above rotor housing includes an anodized insulating area, A lidar actuator, wherein the conductive layer disposed on the surface of the rotor housing is disposed on an insulating area of ​​the rotor housing or a non-anodized metal surface.

10. In paragraph 9, The surface of the above stator housing includes an anodized insulating area, A lidar drive device, wherein the conductive layer disposed on the surface of the stator housing is disposed on an insulating area of ​​the stator housing or a non-anodized metal surface.

11. In paragraph 10, The above rotor housing and the above stator housing have multiple current paths, The above first substrate and the above second substrate are a lidar driving device having a wireless transceiver for wireless data communication.

12. In paragraph 10, A lidar drive device in which the electrical resistance between the rotor housing and the stator housing is 500 ohms or less.

13. In paragraph 10, A lidar driving device in which the material of the rotor housing and the stator housing includes aluminum.

14. In paragraph 10, The above conductive layer is a lidar actuator which is a chromated metal film.

15. A lidar device having a lidar driving device according to Article 10.

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