Lidar drive device and lidar device

Abstract

A LiDAR device according to an embodiment disclosed herein comprises: a stator housing having a first fixed sidewall and a second fixed sidewall that are arranged annularly from the inside to the outside, and a lower center hole; a center shaft; a rotor housing that has a first rotating sidewall on the outer circumference of the center shaft and a second rotating sidewall between the first rotating sidewall and the second fixed sidewall; a first bearing member between the inner side of the second fixed sidewall and the outer side of the second rotating sidewall; a motor for rotating the rotor housing; and a board having an encoder and disposed on the rotor housing. The board may include: a shaft hole in the center; a plurality of fastening holes arranged along the outer circumference; and first and second guide holes disposed on opposite sides of the center shaft. The rotor housing may include first and second guide pins coupled to the first and second guide holes, respectively, the center shaft and the encoder may be disposed on a first straight line that passes through the first and second guide pins, and the maximum length of the second guide hole may be greater than the diameter of the first guide hole.

Description

Lidar drive unit and lidar device

[0001] The invention relates to a lidar driving 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 driving device and a lidar device that provide different sizes of guide holes of a substrate for alignment between a magnetic disk and an encoder. Embodiments of the invention can provide a lidar driving device and a lidar device that place an encoder on a straight line between first and second guide holes on both sides of a substrate, and place a first guide hole of a positive hole and a second guide hole of an elongated hole. Embodiments of the invention can provide a lidar driving device in which the shapes of the first and second guide holes of a substrate placed on both sides of an encoder are different to facilitate assembly of the substrate. In an embodiment of the invention, a lidar driving device can be provided in which one of the first and second guide holes of a substrate placed on both sides of an encoder is provided as an elongated hole to facilitate assembly of the substrate within a gap tolerance, and the other is placed as an elongated hole to reduce an alignment tolerance with the encoder.

[0005] In an embodiment of the invention, a lidar driving device may be provided in which a first guide hole having a shorter length than the lengths of the first and second guide holes of a substrate arranged on both sides of an encoder is positioned closer to the encoder than the second guide holes. The embodiment of the invention provides a lidar driving device and a lidar device capable of providing a precise angle.

[0006] Embodiments of the invention can provide a lidar drive device and a lidar device that can support 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 conduct current to each other. Embodiments of the invention can provide a lidar drive device that improves the assembling property of a back yoke that faces a magnet of a motor. Embodiments of the invention provide a lidar drive device that provides a plurality of guide bosses on a back yoke that faces magnets arranged in a circumferential direction within a stator housing, thereby guiding and positioning both sides of adjacent magnets. Embodiments of the invention provide a lidar drive device and a lidar device having stacked back yokes that have guide bosses that prevent the magnets arranged in a circumferential direction from being separated.

[0007] 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 central shaft; a rotor housing having a first rotational side wall disposed around an outer circumference of the central shaft, and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; a first bearing member coupled between an inner side of the second fixed side wall and an outer side of the second rotational side wall; a motor for rotating the rotor housing; And a substrate having an encoder and disposed on the rotor housing, the substrate including a shaft hole in the center, a plurality of fastening holes disposed along an outer periphery, and first and second guide holes disposed on opposite sides of the central shaft, the rotor housing including first and second guide pins coupled to the first and second guide holes on an upper periphery, the central shaft and the encoder being disposed on a first straight line passing through the first and second guide pins, and the maximum length of the second guide hole can be greater than a diameter of the first guide hole.

[0008] According to an embodiment of the invention, the upper surface area of ​​the second guide hole may be in a range of two to four times the upper surface area of ​​the first guide hole. The encoder may be arranged closer to the first guide hole than to the second guide hole. The distance between the encoder and the second guide pin may be greater than the distance between the encoder and the first guide pin.

[0009] According to an embodiment of the invention, the magnetic disk is disposed on the stator housing and disposed below the second substrate, and the encoder disposed on the substrate can sense a change in magnetic field intensity through a sensing hole of the substrate that vertically overlaps a portion of the magnetic disk.

[0010] According to an embodiment of the invention, the second guide hole satisfies the following mathematical formula, and satisfies the mathematical formula: -0.5 mm ≤ r*sinθ ≤ 0.5 mm, where r is a distance between the centers of the first and second guide holes, and θ may be an angle between an imaginary straight line passing through the center of a position where the second guide pin coupled within the second guide hole moves to the maximum, based on a first straight line passing through the center of the first guide hole and the encoder, with the center of the first guide hole as a starting point.

[0011] According to an embodiment of the invention, the diameter of the first guide hole is D1, the maximum length of the second guide hole is D2, and the mathematical formula: 2 < D2 / D1 < 5 can be satisfied. The maximum length of the second guide hole can satisfy ±0.5 m based on the first straight line.

[0012] According to an embodiment of the invention, the second guide hole includes a straight section on both sides extending in a direction perpendicular to the first straight line, and a curved section connected between the straight sections on both sides, and a radius of curvature of the curved section may be the same as the radius of curvature of the first guide hole.

[0013] According to an embodiment of the invention, the motor includes a motor core coupled to the rotor housing, a yoke disposed around the inner periphery of the stator housing, and a plurality of magnets arranged along the inner surface of the yoke, wherein the yoke may include guide bosses respectively disposed between adjacent magnets.

[0014] 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 central shaft; a rotor housing having an upper center hole, a first rotational side wall disposed on an outer periphery of the central shaft, and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; a first bearing member coupled between an inner side of the second fixed side wall and an outer side of the second rotational side wall; and a motor for rotating the rotor housing, wherein the motor includes a motor core coupled to the rotor housing, a yoke disposed on an inner periphery of the stator housing, and a plurality of magnets arranged along an inner circumference of the yoke, and the yoke may include guide bosses respectively disposed between adjacent magnets.

[0015] In an embodiment of the invention, the yoke may include an outer protrusion disposed on an outer surface that overlaps radially with the center of each of the magnets. The yoke may include a plurality of concave portions extending from one side and the other side of the guide boss to an inner surface of the yoke, and the plurality of concave portions may overlap radially with respect to the magnets and the central shaft. In an embodiment of the invention, the yoke may include a plurality of metal sheets stacked in a vertical direction, and each of the metal sheets of the yoke may include a plurality of first mating portions respectively disposed in a region adjacent to the guide boss; and a plurality of second mating portions radially overlapping with respect to each of the magnets and the central shaft. A protruding length of the guide boss may be smaller than a thickness of the magnet.

[0016] A lidar device according to an embodiment of the invention may include the lidar driving device disclosed above.

[0017] According to an embodiment of the invention, a substrate can be assembled so as to be positionally corrected for alignment between a magnetic disk and an encoder within a housing in a lidar driving device. Furthermore, since the substrate provides guide holes that enable positional correction in the rotational direction during assembly, error correction of the encoder can be enabled after assembly. Accordingly, the alignment between the magnetic disk and the encoder within the housing and the guide holes in the substrate of the rotor housing can have the effect of improving assembly efficiency.

[0018] According to an embodiment of the invention, magnets in a lidar drive device can be assembled without a separate jig, and the inner and outer diameters of the yokes can be easily controlled. Furthermore, the magnets fixed to the inner surface of the yokes within the stator housing in the lidar drive device can be prevented from coming off.

[0019] According to an embodiment of the invention, a bearing member is coupled between a stator housing and a rotor housing, so that excessive load can be distributed and supported, and a decrease in the coupling force between the housings can be prevented.

[0020] 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.

[0021] According to an embodiment of the invention, the assembly of magnets within a housing and a back yoke in a lidar actuator can be improved. Furthermore, the bonding strength between the magnets and the bosses of the back yoke, which guide the magnets arranged in a circumferential direction within the housing, can be improved. Furthermore, the back electromotive force (BEMF) between the magnets and the back yoke can be compensated for. Furthermore, the stacked yokes have a beneficial effect in reducing eddy current loss.

[0022] According to an embodiment of the invention, magnets in a lidar drive device can be assembled without a separate jig, and the inner and outer diameters of the yokes can be easily controlled. Furthermore, the magnets fixed to the inner surface of the yokes within the stator housing in the lidar drive device can be prevented from coming off.

[0023] 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.

[0024] 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.

[0025] FIG. 1 is a perspective view of a vehicle having a lidar system according to an embodiment of the invention.

[0026] FIG. 2 is an example of a block diagram of a vehicle system having the lidar system of FIG. 1.

[0027] Figure 3 is a perspective view of a lidar device according to an embodiment of the invention.

[0028] Fig. 4 is a perspective view of the lidar device of Fig. 3 viewed from another direction.

[0029] Fig. 5 is an example of a side cross-sectional view of the lidar device of Fig. 3.

[0030] Fig. 6 is a perspective view of the lidar driving device of Fig. 3.

[0031] Fig. 7 is a cross-sectional view of the AA side of the lidar driving device of Fig. 6.

[0032] Fig. 8 is a BB-side cross-sectional view of the lidar driving device of Fig. 6.

[0033] Fig. 9 is a plan view showing the alignment of the second substrate having the encoder portion and the guide pin within the rotor housing of Fig. 6.

[0034] Fig. 10 is a perspective view showing a substrate support member and guide pins that support and fix the second substrate of Fig. 9.

[0035] Fig. 11 is a perspective view of a second substrate having an encoder section coupled within the rotor housing of Fig. 9.

[0036] Fig. 12 is a drawing explaining the alignment of the guide hole of the second substrate of Fig. 9, the guide pin of the rotor housing, and the encoder section.

[0037] Fig. 13 is a drawing explaining the encoder section and sensing magnet of Fig. 9.

[0038] Fig. 14 is a drawing explaining an example of correcting the position of the encoder unit by the first and second guide holes of the second substrate of Fig. 9.

[0039] Fig. 15 is a plan view showing the motor within the stator housing of Fig. 6.

[0040] Fig. 16 is a drawing showing the magnet, core, and yoke of the motor of Fig. 15.

[0041] Fig. 17 is a partial cross-sectional view showing an example of the combination of the magnet and yoke of the motor of Fig. 16.

[0042] Fig. 18 is an example of a partial plan view of the yoke of Fig. 17.

[0043] Fig. 19 is a cross-sectional view showing an example of the joint structure of the yokes of Fig. 17.

[0044] Fig. 20 is a cross-sectional view showing another example of the joint structure of the yokes of Fig. 17.

[0045] Fig. 21 is a drawing illustrating a magnet saturation section by magnets and a yoke in the lidar driving device of the invention.

[0046] 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.

[0047] 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).

[0048] 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.

[0049] Referring to FIG. 1, a moving object such as a vehicle (500) may include a lidar system (100), a camera unit (101), a vehicle recognition sensor (102, 104), a GPS (Global Positioning System) sensor (103), a vehicle control module (107), and an ultrasonic sensor (105). The lidar system (100) is a device having a rotating imaging unit or sensor unit, which is coupled to a part of the vehicle (500) and rotates 360 degrees. The device senses the distance between the vehicle and an object (static object, dynamic object), the surrounding environment, and the shape, and controls driving using the measured data. Using this sensing technology, a 3D point cloud can be used to collect and analyze objects or the environment around the vehicle, and sensed data that provides information on objects located within an appropriate proximity range can be generated. The lidar system (100) can communicate with the vehicle control module (107) and transmit / receive information according to the driving of the vehicle. The vehicle control module (107) communicates with various systems or sensors within the vehicle and can perform various controls. The vehicle control module (107) is a device that controls and monitors various systems of the vehicle and may include a control device such as an electronic control unit (ECU). The vehicle control module (107) can communicate with an external mobile device and be electrically connected to a removable storage device.

[0050]

[0051] 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.

[0052] 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.

[0053]

[0054] 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).

[0055]

[0056] 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.

[0057] 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).

[0058] 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.

[0059]

[0060] Within the above 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 may range from 10 degrees to 180 degrees with respect to each other, and for example, the transceivers may be arranged at any one of 30 degrees, 60 degrees, 90 degrees, 120 degrees, 150 degrees, and 180 degrees, and preferably, the transceivers may be arranged at an angle of 180 degrees. The multiple transceivers may have different divergence angles or field of view. The multiple transceivers may scan an object at different altitudes.

[0061] 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.

[0062] 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.

[0063]

[0064] Hereinafter, a lidar device and a lidar driving device having a lidar system will be described with drawings. FIG. 3 is a perspective view of a lidar device according to an embodiment of the invention, FIG. 4 is a perspective view of the lidar device of FIG. 3 when 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 a perspective view of the lidar drive device of FIG. 3, FIG. 7 is a cross-sectional view taken along the AA side of the lidar drive device of FIG. 6, FIG. 8 is a cross-sectional view taken along the BB side of the lidar drive device of FIG. 6, FIG. 9 is a plan view showing an alignment of a second substrate having an encoder part and a guide pin in a rotor housing of FIG. 6, FIG. 10 is a perspective view showing a substrate support part and a guide pin for supporting and fixing the second substrate of FIG. 9, FIG. 11 is a perspective view of a second substrate having an encoder part coupled to a rotor housing of FIG. 9, FIG. 12 is a drawing explaining an alignment of a guide hole of the second substrate, a guide pin of the rotor housing, and an encoder part of FIG. 9, and FIG. 13 is a drawing This is a drawing explaining the encoder part and sensing magnet of 9.

[0065] As shown in FIGS. 3 to 8, 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.

[0066] 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).

[0067]

[0068] The lidar driving device (100B) may include the stator housing (150), the rotor housing (130), and the following components coupled to at least one of the stator housing (150) and the rotor housing (130), such as a bearing member (50, 60), a motor (40), and a center shaft (311). The cover (140) may protect the transceiver (120). The lower portion of the cover (140) is arranged around the upper periphery of the fixed portion (1) and covers the upper periphery of the rotating portion (2). The cover (140) has a cylindrical shape with an open lower portion, has a transceiver (120) therein, and rotates together with the rotating portion (2). A protective case (145) may be arranged inside the cover (140) to protect the transceiver (120). 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).

[0069] 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).

[0070]

[0071] 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 the 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 the laser beam.

[0072] 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).

[0073]

[0074] 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.

[0075] The cover (140) has a heat dissipation unit (142) having a plurality of holes penetrating from the inside to the outside, and the heat dissipation unit (142) can dissipate heat generated inside to the outside. The heat dissipation unit (142) can be arranged on a plurality of heat dissipation areas on the outer circumference of the cover (140), and a plurality of holes can be arranged in each of the heat dissipation areas. For example, the plurality of heat dissipation areas can be arranged on the outside of the light source unit (121) of the transceiver (120) and the outside of the sensor unit (21) and the sensor substrate (24), respectively. A window (125) is exposed in the opening (141) of the cover (140), and the window (125) can be arranged on the transmission / reception area of ​​the transceiver (120) to allow a transmitted / received laser beam to pass through. The window (15) can be made of a transparent material.

[0076]

[0077] The inner region (140A) of the cover (140) is provided with a protective case (125), and the protective case (125) can prevent moisture or foreign substances from penetrating into the inside of the cover (140) from penetrating or flowing into the inside of the protective case (145). Accordingly, the protective case (145) can protect the transceiver (120) and the internal substrate (128, 148). The cover (140) and the protective case (145) can be fastened to the rotor housing (130) by a fastening means. The protective case (145) can have a shape corresponding to the inner shape of the cover (140), for example, a cylindrical shape with an upper portion blocked and a lower portion open. The window (125) can be coupled to one side of the protective case (145).

[0078] At least one or both of the cover (140) and the protective case (145) can be fastened to the rotor housing (130) by a fastening means (not shown). The outer periphery of the rotor housing (130) is provided with a cover fastening portion (139), and the cover fastening portion (139) can be fastened to another frame by a fastening means (not shown). In addition, the cover (140) and the protective case (145) can be fastened to the rotor housing (130). The outer upper periphery of the rotor housing (130) has a concave ring-shaped groove, and a gasket (146) having a ring-shaped groove is fastened to the ring-shaped groove, and the gasket (146) can be in close contact with the rotor housing (130), the protective case (145), or another frame.

[0079]

[0080] The first substrate (158) is fastened to the lower portion of the stator housing (150) using a fastening means, for example, a screw. The connector (190) is connected to the first substrate (158) or another substrate and can provide necessary power or transmit and receive data. The connector (190) is coupled to a portion of the bottom cover (180) and can supply power. As another example, the connector (not shown) may be coupled to a portion of the stator housing (150). That is, the connector may be coupled to the outer side wall of the stator housing (150).

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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).

[0085] As shown in FIGS. 7 and 8, 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) may be fastened to a portion of the stator housing (150) by a fastening means (319). The upper portion of the central shaft (311) may be in contact with or electrically connected to a portion of the second substrate (148). The joining area of ​​the stator housing (150) and the rotor housing (130) may detect the rotation direction and position using a magnetic disk (171) and an encoder (170), as shown in FIGS. 7 and 13. The magnetic disk (171) includes a magnetic encoder disposed within the stator housing (150) and may have a fixed position. The encoder (170) may include an optical sensor, i.e., a Hall sensor, arranged within the rotor housing (130) and rotates together with the rotor housing (130). The magnetic disk (171) is arranged in a circumferential shape of a predetermined length around the central shaft (311) and may have a ring shape in which a predetermined number of N poles and S poles are alternately arranged. The encoder (170) may face a predetermined area of ​​the magnetic disk (171). A sensing hole (not shown) may be arranged within a second substrate (148) corresponding to a portion of the magnetic disk (171) and the encoder (170).

[0086]

[0087] The magnetic disk (171) and the encoder (170) can be defined as an encoder module, and the encoder (170) detects a change in resistance according to the magnetic field strength of the magnetic disk (171). Therefore, the lidar system or control unit can adjust the rotational position and rotational speed of the rotor housing (130) through the change in resistance according to the magnetic field strength. The first substrate (158) can be a fixed substrate or a lower substrate, and the second substrate (148) can be a rotating substrate, an encoder substrate, or an upper substrate.

[0088] The central shaft (311) has vertical flat portions (C1) on both sides of the lower portion, and the vertical flat portions (C1) suppress the rotation of the shaft (311) and can be closely coupled with the stator housing (150). The central shaft (311) is placed on the lower central hole (H1) of the stator housing (150) through the upper central hole (131A) of the rotor housing (130). The lower periphery of the central shaft (311) is arranged inside the rotation prevention portion (P1) of the bottom portion (151) of the stator housing (150), and a part of the rotation prevention portion (P1) can be closely attached to the vertical flat portion (C1). A bottom support portion (P2) is arranged around the periphery of the lower central hole (H1) to support the bottom of the central shaft (311). The above rotation prevention part (P1) and the above floor support part (P2) can prevent rotation of the central shaft (311) and limit movement in the downward direction.

[0089] In addition, the lower portion of the central shaft (311) has a fastening groove (G1), and the fastening means (319) is fastened to the fastening groove (G1). Accordingly, the fastening means (319) can fix the bottom support (P2) and the central shaft (311) through the lower central hole (H1) of the stator housing (150). The inner diameter of the central hole (H1) of the stator housing (150) may be smaller than the inner diameter of the central hole (131A) of the rotator housing (130). This makes insertion of the central shaft (311) convenient, and can strengthen the coupling force between the stator housing (150) and the central shaft (311).

[0090]

[0091] 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 magnets (41), a motor core (42) and a yoke (43). The magnet (41) is a driving magnet. 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 bottom plate (131) of the rotor housing (130) by a fastening means (191).

[0092] 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.

[0093]

[0094] 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) has a ring shape and functions as a back yoke. The plurality of magnets (41) are attached along the inner circumferential surface of the yoke (43) arranged on the inner side of the stator housing (150), and adjacent magnets are spaced apart from each other. The plurality of magnets (41) may be bonded with an adhesive.

[0095] The yoke (43) and the plurality of magnets (41) are arranged in a circumferential direction, the motor core (42) has a coil and faces the plurality of magnets (41), and when power is supplied to the coil of the motor core (42), an electromagnetic force is generated between the magnets (41) and the motor core (42). The motor core (42) can rotate along with the rotor housing (130), and the yoke (43) and the plurality of magnets (41) can be fixed along with the stator housing (150). As another example, the yoke (43) and the plurality of magnets (41) can be coupled to and rotate with the rotor housing (130), and the motor core (42) can be coupled to and fixed in position with the stator housing (150). The magnet (41) is a permanent magnet. The yoke (43) can be made of at least one of iron, pure iron, zinc, or steel, or an alloy thereof, and can be single-layered or multi-layered. The above yoke (43) can be manufactured as a sheet using a non-oriented electrical steel plate pressed. The above yoke (43) can be laminated as a multilayer sheet.

[0096]

[0097] The stator housing (150) is a fixed frame or a first housing with a fixed position, and includes a metallic material or a non-metallic material. For example, the metallic material may include aluminum or an alloy thereof, and the non-metallic material may include a plastic material. The rotor housing (150) is a rotating frame or a second housing that rotates about an axis, and includes a metallic material or a non-metallic material. For example, the metallic material may include aluminum or an alloy thereof, and the non-metallic material may include a plastic material. The inner wall of the stator housing (150) has a storage area (150A) for inserting components, and the rotor housing (150) can be mounted on the inner upper portion. In addition, the rotor housing (150) has a storage space at the lower portion, which corresponds to the storage area (150A), and can enable the storage of components.

[0098] The stator housing (150) includes a bottom portion (151) extending from an outer wall toward a central shaft (311), a first fixed side wall (152) and a second fixed side wall (153) protruding from the bottom portion (151) in the direction of a second substrate (148). The rotor housing (130) includes a first rotation side wall (132) and a second rotation side wall (133) extending from the bottom plate (131) toward a bottom cover (180). The first fixed side wall (152) and the first rotation side wall (132) may correspond in a vertical direction, and the lower portions of the second fixed side wall (153) and the second rotation side wall (133) may correspond in a horizontal direction. The first and second fixed side walls (152, 153) may have a ring shape, and the first and second rotation side walls (132, 133) may have a ring shape. The first fixed side wall (152) and the first rotation side wall (132) are inner side walls of each housing (130, 150), and the second fixed side wall (153) and the second rotation side wall (133) are middle side walls of each housing (130, 150).

[0099]

[0100] 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). The motor core (42) can be fixed to the inner circumference of the second rotating side wall (133) and the lower surface of the bottom plate (131), and the yoke (43) can be mounted on a stepped structure on the inner side of the upper outer wall of the stator housing (150). The inner surface of the above yoke (43) can have a plurality of magnets (41) arranged and attached in a circumferential direction. Each of the magnets (41) can face the motor core (42).

[0101] 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.

[0102]

[0103] 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 and 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).

[0104]

[0105] The above lidar driving device (100B) may include one or more outer bearing members coupled to a region between the stator housing (150) and the rotor housing (130), and one or more inner bearing members may be coupled to a region (i.e., 131A) between the rotor housing (130) and the central shaft (311). The first bearing member (60) may be slidably coupled to the inside of the second fixed side wall (153) of the stator housing (150), thereby facilitating assembly. The first bearing member (60) is an outer bearing member and includes a first bearing (61), a first inner ring (62), and a first outer ring (63), and a plurality of first bearings (61) may be arranged between the first inner ring (62) and the first outer ring (62). The first bearing member (60) may be coupled between the second fixed side wall (153) disposed on the outside of the first bearing member (60) and the second rotation side wall (133) disposed on the inside of the first bearing member (60). 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) to facilitate rotation of the first bearing member (60). The above lubricant may include a lubricant having an additive of a conductive material, i.e., a conductive lubricant.

[0106] 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, see FIG. 3) having the transceiver.

[0107] The first inner ring (62) of the first bearing member (60) is fitted between the bottom portion (151) of the stator housing (150) and the upper end of the outer recess (R1) of the second rotation side wall (133), and the lower end of the second rotation side wall (133) can correspond horizontally to the second fixed side wall (153) on the outer side.

[0108] The lower end of the second rotation side wall (133) may protrude inwardly in a stepped structure at a position lower than the lower end of the second rotation side wall (133), and may press the lower outer side of the first inner ring (62) or prevent downward separation. In addition, the second rotation side wall (133) and the second fixed side wall (153) may 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 lower end of the second rotation side wall (133) may overlap the upper end of the first inner ring (62) in a vertical direction (axial direction). The lower end of the second rotation side wall (133) may be arranged on the same straight line as the upper surface of the seating surface of the bottom portion (151) of the stator housing (150) on which the first outer ring (63) is seated, or may be arranged at a higher position.

[0109] 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).

[0110]

[0111] 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 projection (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).

[0112] 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).

[0113] 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) in the vertical direction, and these can disperse the load received around the center shaft (311) and mitigate external vibration and shock.

[0114]

[0115] After positioning the first bearing member (60) 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).

[0116] At the center of the bottom portion (151) of the stator housing (150), a rotation prevention portion (P1) is disposed around the center hole (H1), and a bottom support portion (P1) is disposed at the bottom of the center hole (H1). The rotation prevention portion (P1) and the bottom support portion (P1) are disposed at the inner end of the bottom portion (151) of the stator housing (150). The second substrate (148) can be coupled by being screwed around the upper portion of the rotor housing (130). The second substrate (148) can have a shaft hole (148A) disposed therein, through which a center shaft (311) is exposed. Passive and / or active components can be mounted on the upper portion of the second substrate (148).

[0117] The lidar device of the invention transmits / receives wireless data for wireless communication between a rotor housing (130) and a stator housing (150). When the rotor housing (130) and the stator housing (150) include a metal, for example, aluminum, anodizing is performed to prevent corrosion of the surface. The rotor housing (130) serves as a rotating frame, and is coupled with an inner ring (63) of a 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).

[0118]

[0119] As shown in FIGS. 9 and 10, the second substrate (148) has the encoder (170) mounted on the upper or lower surface, and the encoder (170) may overlap a portion of the magnetic disk (171) in a vertical direction. The encoder (170) may be equipped with a Hall sensor for detecting a change in resistance value according to the strength of the magnetic field generated in the magnetic disk (171) when the second substrate (148) rotates, and the second substrate (148) may be equipped with an electronic circuit and connected to the Hall sensor.

[0120] The magnetic disk (171) of the rotor housing (130) has N and S poles alternately arranged along the circumference of the central shaft (311), and is arranged closer to the central shaft (311) or shaft hole (148A) than to the edge of the second substrate (148). The magnetic disk (171) is spaced apart from or separated from the second substrate (148). A plurality of support parts (138A, 138B) are arranged on the upper circumference of the rotor housing (130), and the plurality of support parts (138A, 138B) may each protrude inwardly from the upper end of the rotor housing (130). The lower circumference of the second substrate (148) may be mounted on the plurality of support parts (138A, 138B). The above plurality of supports (138A, 138B) include a plurality of first supports (138A) and a plurality of second supports (138B).

[0121] The plurality of first support portions (138A) may be spaced apart from each other in the circumferential direction based on the plurality of second support portions (138B). The plurality of second support portions (138B) may be arranged on a virtual first straight line (X) passing through the central shaft (311) and the encoder (170). The central shaft (311) and the encoder (170) may be arranged on the virtual first straight line (X) connecting the plurality of second support portions (138B). A first fastening hole (138A1) is arranged in each of the plurality of first support portions (138A), and a fastening means, for example, a screw, may be fastened through the second fastening holes (148B) of the second substrate (148). Accordingly, the second substrate (148) may be placed on the first support portion (138A) and fastened by a fastening means such as a screw. The plurality of second support portions (138B) are arranged on opposite sides with respect to the central shaft (311), and each has a guide pin (138B1) on its upper surface. The guide pins (138B1) and the first fastening hole (138A1) of the first support portion (138A) may be arranged at the same radius or the same distance with respect to the center of the central shaft (311). That is, the guide pins (138B1, 138B2) and the first fastening hole (138A1) arranged in the support portions (138A, 138B) may be arranged on the same virtual circle.

[0122] As shown in Fig. 12, the second substrate (148) includes a plurality of second fastening holes (148B) corresponding to each of the first fastening holes (138A1) of the first support member (138A), and a plurality of guide holes (148C, 148D) corresponding to each of the guide pins (138B1, 138B2).

[0123] The plurality of first fastening holes (138A1) may have the same diameter. The plurality of second fastening holes (148B) may have the same diameter. The plurality of guide holes (148C, 148D) may include a first guide hole (148C) and a second guide hole (148D) that are spaced apart from each other. The guide pins (138B1, 138B2) may include a first guide pin (138B1) coupled to the first guide hole (148C) and a second guide pin (138B2) coupled to the second guide hole (148D). The upper surface diameters or upper surface areas of the guide pins (138B1, 138B2) may be the same. The upper surface area or upper surface diameter of the first guide pin (138B1) may be smaller than the upper surface area or upper surface diameter of the first guide hole (148C), and may be 50% or more, for example, in the range of 50% to 99%, of the upper surface area or upper surface diameter of the first guide pin (138B1).

[0124] The upper surface area or upper surface diameter of the second guide pin (138B2) may be smaller than the upper surface area or upper surface diameter of the second guide hole (148D), and may be less than 50%, for example, in the range of 10% to 49%. The upper surface area or upper surface diameter of the second guide pin (138B2) may be the same as the upper surface area or upper surface diameter of the first guide pin (138B1). The upper surface shapes of the first and second guide pins (138B1, 138B2) may be circular.

[0125] The encoder (170) may be placed on an imaginary straight line passing through the first and second guide pins (138B1, 138B2). The upper surface shapes or upper surface areas of the first guide hole (148C) and the second guide hole (148D) may be different from each other. For example, the upper surface shape of the first guide hole (148C) may be a circular shape, and the upper surface shape of the second guide hole (148D) may be an oval shape. That is, the upper surface shape of the second guide hole (148D) may have a length in a direction perpendicular to the imaginary straight line or a rotational direction that is greater than the diameter of the first guide hole (148C). The upper surface area of ​​the second guide hole (148D) may be 1.5 times or more, for example, 1.5 to 4 times, or 2 to 4 times, the upper surface area of ​​the first guide hole (148C). As another example, the upper surface shapes or upper surface areas of the first and second guide pins (138B1, 138B2) may have different shapes or different sizes. For example, the upper surface shape of the second guide pin (138B2) may be oval, and the upper surface shape of the first guide pin (138B1) may be circular. That is, the upper surface area of ​​the second guide pin (138B2) may be larger than the upper surface area of ​​the first guide pin (138B1), and may be 30% or more, for example, in the range of 30% to 70%, of the upper surface area of ​​the second guide hole (148D). This may adjust the range in which the second guide pin (138B2) moves within the second guide hole (148D).

[0126]

[0127] The first guide hole (148C) may be a circular hole, and the second guide hole (148D) may be a long hole having a long length in the rotational direction to facilitate position adjustment. A metal layer (not shown) may be disposed on the inner circumferential surface of the first guide hole (148C) and the second guide hole (148D), and this metal layer may electrically connect the rotator housing (130) and the second substrate (148). The edge of the second substrate (148) may have a curved shape, and some areas may be flat portions (138F1, 138F2). The flat portions (138F1, 138F2) are disposed on opposite sides and may overlap the shaft hole (148A) in the direction of the first straight line (X). The straight length of the above flat portion (138F1, 138F2) may be greater than the diameter of the shaft hole (148A), and may indicate the bonding position or identification position of the second substrate (148).

[0128]

[0129] As shown in Fig. 13, the encoder (170) can move within a tolerance (E1) on the first straight line (X) passing through the center of the central shaft (311) and the first guide hole (148C). At this time, if the first and second guide holes (148C, 148D) and the first and second guide pins (138B1, 138B2) are not provided, when the encoder (170) and the second substrate (148) move together, a problem may occur in which the center of the encoder (170) moves to the second straight line (X1) by the tolerance (E1), and when the position is fixed based on the encoder (170), assembly of the second substrate (148) may not be easy. In the magnetic disk (171) of Fig. 13, TR1 represents a master track, and TR2 represents a nonius track.

[0130] As shown in Fig. 14, the second guide hole (148D) may have a bilateral straight section (148D1) and bilateral curved sections (148D2, 148D3) connected between the bilateral straight sections (148D1). The radius of curvature of the bilateral curved sections (148D2, 148D3) may be the same as the radius of curvature of the first guide hole (148C). The straight length of the straight section (148D1) may be more than 1 or more than 1.5 times the diameter of the first guide hole (148C). Accordingly, the second guide hole (148D) may provide a flow space of the second guide pin (138B2).

[0131] The second substrate (148) on which the encoder (170) is mounted is mounted on the upper portion of the rotator housing (130), and the first and second guide pins (138B1, 138B2) are inserted into the first and second guide holes (148C, 148D), and then the second substrate (148) can be fixed on the rotator housing (130) using a fastening means. The encoder (170) and the first and second guide pins (138B1, 138B2) are arranged on an imaginary first straight line (X).

[0132] The encoder (170) may be positioned closer to the first guide hole (148C) or the hole than to the central shaft (311). The encoder (170) may be positioned closer to the first guide pin (138B1) than to the central shaft (311). The linear distance between the encoder (170) and the first guide hole (148C) or the first guide pin (138B1) may be smaller than the linear distance between the encoder (170) and the second guide hole (148D) or the second guide pin (138B2). Accordingly, the flow range of the encoder (170) can be positioned within an allowable error range.

[0133]

[0134] The first guide pin (138B1) is fixed in position after being inserted into the first guide hole (148C), and the second guide pin (138B2) can be positioned variably after being inserted into the second guide hole (148D). Accordingly, when the second substrate (148) and the rotator housing (130) are coupled, the second substrate (148) is fixed in position so as not to move in the first straight line (X) direction, and can move within an allowable error range in the second direction (Y) or rotational direction based on the first guide pin (138B1) or the center shaft (311). The allowable error range can be adjusted by the length difference and distance (r) between the first and second guide holes (148C, 148D).

[0135]

[0136] Referring to Fig. 14, the position and area of ​​the second guide hole (148D) based on the first guide hole (148C) can be calculated as in the following mathematical formula.

[0137] [Mathematical formula]

[0138] -0.5mm ≤ r*sinθ ≤ 0.5mm

[0139] In the mathematical expression, r is the distance between the centers of the first and second guide holes (148C, 148D) or the distance between the centers of the first and second guide pins (148B1, 148B2). The angle (θ) is the angle between the center of the first guide hole (148C) and the first straight line (X) passing through the center of the encoder (170), and an imaginary straight line (X2) passing through the center of the position (i.e., assembly error) at which the second guide pin (138B2) coupled within the second guide hole (148D) moves the most, based on the first straight line (X). In the mathematical expression, r*sinθ may be -0.5 mm or more and 0.5 mm or less based on the imaginary straight line. Preferably, the mathematical expression: -0.5 mm < r*sinθ < 0.5 mm may be satisfied. That is, ±C can be satisfied based on the center of the second guide pin (138B2) and the second guide hole (148D), and C is 0.5 mm or less. The length or diameter of the first guide hole (138B1) is D1, and the length of the second guide hole (138B2), that is, the maximum length, is D2, and the condition: D1 < D2 can be satisfied, and preferably, 1 < D2 / D1 < 5 or 2 < D2 / D1 < 5 can be satisfied.

[0140] Accordingly, the center of the encoder (170) coupled to the second substrate (148) can be positioned at a difference of less than ±0.5 mm with respect to the first straight line (X), and may not deviate from the length difference (D2-D1) of the first and second guide holes (138B1, 138B2). By positioning the encoder (170) within the angle range with respect to the reference straight line (X), the encoder (170) can satisfy the alignment tolerance and prevent performance degradation, and the assembly of the second substrate (148) can be facilitated.

[0141]

[0142] The motor disclosed above will be described with reference to FIGS. 15 to 18. FIG. 15 is a plan view showing the motor within the stator housing of FIG. 6, FIG. 16 is a drawing showing the magnet, core, and yoke of the motor of FIG. 15, FIG. 17 is a partial cross-sectional view showing an example of the combination of the magnet and yoke of the motor of FIG. 15, and FIG. 18 is an example of a partial plan view of the yoke of FIG. 17.

[0143] As shown in FIGS. 15 to 17, a plurality of magnets (41) of the motor (40) may be respectively arranged on a yoke (43) and a core (42). The yoke (43) is provided with a plurality of metal sheets (L1), i.e., sheets made of metal material. The yoke (43) may have a structure in which a plurality of metal sheets are laminated in a vertical direction (axial direction of the shaft). That is, the yoke (43) may have a structure in which sheets made of non-oriented electrical steel plates are laminated. The thickness or height of each of the metal sheets (L1) of the yoke (43) may be 0.7 mm or less, for example, in a range of 0.3 mm to 0.7 mm or in a range of 0.4 mm to 0.6 mm. Accordingly, the plurality of metal sheets (L1) of the yoke (43) may face each other on the outer side of each of the magnets (41).

[0144] The yoke (43) has a plurality of guide bosses (43A) on the inside, and the plurality of guide bosses (43A) are arranged along the inner surface of the yoke (43). The plurality of guide bosses (43A) and the magnets (41) can be alternately arranged on the inner surface of the yoke (43). The storage area (43D) between the plurality of guide bosses (43A) on the inside of the yoke (43) serves as a magnet coupling portion, and the magnets (41) can be coupled to each other.

[0145] The plurality of guide bosses (43A) may protrude from the inner circumferential surface of each of the yokes (43), i.e., the metal sheets (L1), in the direction of the core (41). The magnets (41) may be respectively arranged between adjacent guide bosses (43A). The interval between adjacent guide bosses (43A) may be the maximum length in the circumferential direction of the magnets (41). Accordingly, the magnets (41) may be coupled between the adjacent guide bosses (43A), thereby alleviating magnetic flux saturation generated between the magnets (41). As shown in Fig. 21, by arranging the guide bosses (43A) between adjacent magnets (41), the magnetic saturation may be alleviated in a section (F10) where back electromotive force (Back EMF) is generated.

[0146] The protruding length (T2) of the guide boss (43A) is the length from the curve extending the inner surface of the yoke (42) to the center of the outer surface (43A3, see FIG. 18) of the guide boss (43A). The length (T2) of the guide boss (43A) may be smaller than the thickness (T1) of the magnet (41). The thickness (T1) of the magnet (41) is the distance between the inner surface and the outer surface of the magnet. The length (T2) of the guide boss (43A) may be 60% or less, for example, 55% or less, of the thickness (T1) of the magnet (41), and preferably, may be in the range of 30% to 55% or 45% to 55%. For example, the length (T2) of the guide boss (43A) may be in the range of 0.5 mm to 1.7 mm, and preferably, may be in the range of 1 mm to 1.6 mm.

[0147] T2 (mm)Back EMF (Vrms)0 or comparison example9.960.510.19110.331.510.411.610.41.710.39

[0148] Under the measurement conditions of Table 1, the material of the magnet was measured as 50PN470, and the comparative example is a structure in which the yoke is manufactured as a single body rather than multiple sheets using S45C material. As shown in Table 1, when the length (T2) of the guide boss (43A) of the embodiment is 1 mm to 1.6 mm, it can be seen that the back electromotive force (Back EMF) is higher than that of the comparative example. When the length (T2) of the guide boss (43A) is 1.5 mm, it can be provided as 1 / 2 to 1 / 4 of the thickness (T1) of the magnet (41), and is preferably 1 / 2. The magnet thickness (T1) may range from 2 mm to 3.2 mm.

[0149]

[0150] Table 2 shows the calculated values ​​of the length (T2) of the guide boss considering the back EMF and cogging torque when the magnet thickness (T1) is 2 mm in an embodiment of the invention.

[0151] T2 [mm]Cogging[mNm]Back EMF[Vrms]0.110.90566.09610.210.1596.17740.39.56416.23750.49.28416.26610.59.2908 6.28050.69.46826.28660.79.83736.28650.810.38816.28160.911.03596.2728112.01636.2 6091.113.15466.24731.214.43616.2321.315.80986.21511.417.68856.19741.519.74136.17831.622.01436.15811.724.46626.13891.827.08456.11651.929.55766.0975232.25626.077

[0152] In Table 2, it can be seen that the length (T2) of the guide boss (43A) of the yoke is obtained as being 60% or less of the thickness (T1) of the magnet, for example, in the range of 25% to 60% or 30% to 36%, and preferably, it can be seen that it is optimal when it is 0.7 mm. Table 3 shows the calculated values ​​of the length (T2) of the guide boss considering the back EMF and cogging torque when the magnet thickness (T1) is 3.5 mm in an embodiment of the invention.

[0153] Guide[mm]Cogging[Nm]EMF[Vrms]0.60.2985.480.70.225.50.80.1565.520.90.1175.5410.1 175.551.10.1175.571.20.1165.581.30.1175.581.40.1175.581.50.1185.571.60.1195.571. 70.125.561.80.1215.551.90.1225.5420.1225.532.10.1235.522.20.1245.512.30.1255.52.40.1265.492.50.1275.482.60.1285.462.70.1295.452.80.135.432.90.1315.4130.1315.39

[0154] In Table 3, it can be seen that the length (T2) of the guide boss (43A) of the yoke is obtained to be 60% or less of the thickness (T1) of the magnet, for example, in the range of 25% to 60% or 30% to 36%, and preferably, it can be seen that it is optimal when it is 1.2 mm.

[0155]

[0156] As shown in Fig. 18, the horizontal length (T3) of the guide boss (43A) may be longer in the outer length than in the inner length. That is, the horizontal length (T3) of the guide boss (43A) of each of the metal sheets (L1) may be longer in the outer length than in the inner length. The guide boss (43A) of each of the metal sheets (L1) may have a rhombus shape in the top view. The magnets (41) coupled along the inner circumferential surface of the yoke (43) may be easily inserted by the guide boss (43A). One side (43A1) and the other side (43A2) of the guide boss (43A) of the yoke (43) may not be parallel to each other based on the direction from the inner side to the outer side (i.e., the radial direction). One side (43A1) and the other side (43A2) of the guide boss (43A) may be in contact with the magnet (41). The outer surface (43A3) of the above guide boss (43A) may have the same radius of curvature as the inner surface (43S1) or the outer surface (43S2) of the yoke (43) at the vertex, or may have a concave or convex surface. An edge (43A4) between the outer surface (43A3) and one side surface (43A1) of the above guide boss (43A), and an edge (43A5) between the outer surface (43A3) and the other side surface (43A2) may be curved. The edges of these curved surfaces may not affect the insertion of the magnet (41).

[0157] The inner surface of the yoke (43) may be provided with a plurality of concave portions (43R1, 43R2). The plurality of concave portions (43R1, 43R2) may be recessed outward based on the inner surface (43S1) of the yoke (43). The plurality of concave portions (43R1, 43R2) may be respectively arranged in areas extending from both sides of the plurality of guide bosses (43A). The number of the plurality of concave portions (43R1, 43R2) may be twice the number of the guide bosses (43A). The plurality of concave portions (43R1, 43R2) may overlap with each of the magnets (41) in a direction from the inner side to the outer side (i.e., in a radial direction). The plurality of concave portions (43R1, 43R2) may be arranged on both inner sides of each of the magnets (41). That is, among the plurality of concave portions (43R1, 43R2), the first concave portion (43R1) can be connected to the lower end of one side (43A1) of each guide boss (43A), and the second concave portion (43R2) can be connected to the lower end of the other side (43A2) of each guide boss (43A).

[0158] The plurality of concave portions (43R1, 43R2) above can allow the magnets (41) to be in close contact with each other at the boundary between the guide boss (43A) and the inner surface of the yoke (43S1) when each of the magnets (41) is inserted. That is, the plurality of concave portions (43R1, 43R2) can prevent a problem in which a protrusion such as a burr protrudes from the area between the boss and the inner surface during the manufacturing process of the metal sheets (L1), and can provide a space in which the magnets are in close contact. The radius of the plurality of concave portions (43R1, 43R2) may be 0.5 mm or less, and may be smaller than the radius of the molding portion (molding projection or molding groove) disclosed below.

[0159]

[0160] The metal sheet (L1) of the yoke (43) may have a plurality of molding portions (43B) therein. The plurality of molding portions (43B) may include a first molding portion (43B1) and a second molding portion (43B2). That is, the plurality of molding portions (43B) may have a first molding portion (43B1) that does not overlap with the magnet (41) in a radial direction, and a second molding portion (43B2) that overlaps with the magnet (41) in the radial direction. The first molding portion (43B1) may overlap with a yoke region from which each of the guide bosses (43A) protrudes in a radial direction. The second molding portion (43B2) may overlap with a central region of a storage region (43D) in which the magnet (41) is stored in a radial direction. Each of the above first molded parts (43B1) may be positioned adjacent to each of the above guide bosses (43A). Each of the above second molded parts (43B2) may be positioned between the outer protrusions (41C) and the magnets (41).

[0161] At least one or both of the first mating portion (43B1) and the second mating portion (43B2) of the plurality of mating portions (43B) may be protruding or grooved. The gap between the adjacent first and second mating portions (43B1, 43B2) may be smaller than the length of each magnet (41). Accordingly, when the metal sheets (L1) are laminated, mating may be facilitated, and horizontal flow or separation may be prevented. The metal sheets (L1) may be bonded to the magnets (41) with an adhesive, so that horizontal and vertical flow may be blocked.

[0162] As shown in Fig. 19, the first and second molded portions (43B1, 43B2) may protrude in a groove shape, i.e., a concave groove shape. The first and second molded portions (43B1, 43B2) may protrude in a hemispherical shape from the lower surface of the metal sheet (L1) toward the lower surface. In this structure, the sheet arranged at the bottom or the last sheet may have a convex protrusion arranged below the area of ​​the first and second molded portions (43B1, 43B2). As shown in Fig. 20, the first and second molded portions (43B1, 43B2) may protrude in a protrusion shape, i.e., a hemispherical shape. The first and second molded portions (43B1, 43B2) may protrude in a hemispherical shape from the lower surface of the metal sheet (L1) toward the upper surface. In this structure, the sheet placed at the bottom or the last sheet may have a concave groove placed below the area of ​​the first and second molded portions (43B1, 43B2).

[0163]

[0164] The centers of the first and second molded parts (43B1, 43B2) may be arranged at different distances from the center shaft (311). Accordingly, the metal sheets (L1) of the yoke (43) can be stacked more firmly. That is, the virtual circle (K2) connecting the first molded parts (43B1) may be arranged inside the virtual circle (K1) connecting the second molded parts (43B2). The difference between the circles (K1, K2) may be less than the radius of the first or second molded part (43B1, 43B2). The first and second molded parts (43B1, 43B2) may have different shapes. As another example, at least one of the first and second molded parts (43B1, 43B2) may have a circular shape and the other may have a polygonal shape. As another example, both the first and second shaped parts (43B1, 43B2) may have a circular shape, an oval shape, or a polygonal shape.

[0165]

[0166] In addition, the yoke (43) includes a plurality of outer protrusions (43C) on the outer surface (43S2). Each of the plurality of outer protrusions (43C) may be positioned to magnetize each of the magnets (41). The plurality of outer protrusions (43C) protrude outward from the outer surface of the yoke (43) and may have a hemispherical shape or a polygonal shape. Each of the plurality of outer protrusions (43C) may overlap with the magnet (41), i.e., the center of the magnet (41), in a radial direction. Each of the plurality of outer protrusions (43C) may overlap with each of the second matching portions (43B2) on a straight line in the radial direction.

[0167] The above yoke (43) can have the guide boss (43A), the molding part (43B), and the outer projection (43C) as one piece. In addition, each of the metal sheets (L1) of the yoke (43) can have the guide boss (43A), the molding part (43B), and the outer projection (43C) as one piece. Accordingly, each of the magnets (41) is guided using the guide bosses (43A) of the yoke (43), and the assembly of the magnets is easy, and the magnets (41) can be brought into close contact by the concave parts (43R1, 43R2) on both sides, and the magnetization position of the magnets can be set by the outer projections (43C).

[0168] 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; center shaft; A rotor housing having an upper center hole, a first rotational side wall disposed on an outer periphery of the center shaft, and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; A first bearing member coupled between the inner side of the second fixed side wall and the outer side of the second rotating side wall; a motor for rotating the rotor housing; and A substrate having an encoder and disposed on the rotor housing, The substrate includes a shaft hole in the center, a plurality of fastening holes arranged along the outer periphery, and first and second guide holes arranged on opposite sides of the central shaft. The rotor housing includes first and second guide pins coupled to the first and second guide holes on the upper periphery, The above central shaft and the above encoder are arranged on a first straight line passing through the first and second guide pins, A lidar driving device, wherein the maximum length of the second guide hole is greater than the diameter of the first guide hole.

2. In paragraph 1, A lidar driving device, wherein the upper surface area of ​​the second guide hole is in a range of two to four times the upper surface area of ​​the first guide hole.

3. In paragraph 1, A lidar driving device, wherein the encoder is positioned closer to the first guide hole than to the second guide hole.

4. In paragraph 1, A lidar driving device, wherein the distance between the encoder and the second guide pin is greater than the distance between the encoder and the first guide pin.

5. In any one of paragraphs 1 to 4, A magnetic disk disposed on the stator housing and disposed below the second substrate, A lidar driving device in which the encoder disposed on the substrate senses a change in magnetic field intensity through a sensing hole of the substrate that vertically overlaps a portion of the magnetic disk.

6. In any one of paragraphs 1 to 4, The above second guide hole satisfies the following mathematical equation: Mathematical formula: -0.5mm ≤ r*sinθ ≤ 0.5mm r is the distance between the centers of the first and second guide holes, θ is an angle between an imaginary straight line passing through the center of the position where the second guide pin coupled within the second guide hole moves to the maximum, based on a first straight line passing through the center of the first guide hole and the center of the encoder, with the center of the first guide hole as a reference point.

7. In any one of paragraphs 1 to 4, The diameter of the first guide hole is D1, The maximum length of the above second guide hole is D2, Mathematical formula: 2 < D2 / D1 < 5 A lidar actuator that satisfies .

8. In any one of paragraphs 1 to 4, A lidar driving device in which the maximum length of the second guide hole satisfies ±0.5 m based on the first straight line.

9. In any one of paragraphs 1 to 4, The second guide hole includes a straight section on both sides extending in a direction perpendicular to the first straight line, and a curved section connected between the straight sections on both sides, A lidar driving device, wherein the radius of curvature of the above curved section is the same as the radius of curvature of the first guide hole.

10. A stator housing having first and second fixed side walls arranged in a ring shape from the inside to the outside, and a lower center hole; center shaft; A rotor housing having an upper center hole, a first rotational side wall disposed on an outer periphery of the center shaft, and a second rotational side wall disposed between the first rotational side wall and the second fixed side wall; A first bearing member coupled between the inner side of the second fixed side wall and the outer side of the second rotating side wall; and It includes a motor for rotating the above rotor housing, The motor includes a motor core coupled to the rotor housing, a yoke arranged around the inner periphery of the stator housing, and a plurality of magnets arranged along the inner surface of the yoke. A lidar actuator, wherein the yoke includes guide bosses each positioned between adjacent magnets.

11. In paragraph 10, A lidar actuator, wherein the yoke includes an outer protrusion arranged on an outer surface that overlaps the center and radial direction of each of the magnets.

12. In paragraph 10 or 11, The above yoke includes a plurality of concave portions extending from one side and the other side of the guide boss to the inner surface of the yoke, A lidar driving device in which the plurality of concave portions overlap in a radial direction based on the magnet and the central shaft.

13. In paragraph 10 or 11, The above yoke comprises a plurality of metal sheets stacked in a vertical direction, A lidar driving device, wherein each of the metal sheets of the yoke includes a plurality of first molded portions each arranged in an area adjacent to the guide boss; and a plurality of second molded portions radially overlapping each of the magnets with respect to the central shaft.

14. In paragraph 10 or 11, A lidar actuator having a protruding length of the above guide boss smaller than the thickness of the above magnet.

15. A lidar device having a lidar driving device according to any one of claims 1 to 4.

Images