Transceiver, lidar device, and vehicle

Abstract

According to an embodiment of the present disclosure, a transmission module of a LiDAR device comprises: a light source array; a transmission optical system for forming light emitted from the light source array; a PCB electrically connected to the light source array; a bottom cover having an accommodation space in which the light source array, the transmission optical system, and the PCB are accommodated; and an upper cover for covering the bottom cover, wherein a plurality of heat dissipation fins may be formed to protrude from the outer surface of the upper cover. A reception module of the LiDAR device may comprise: a sensor array; a receiving optical system configured to condense light to the sensor array; a PCB electrically connected to the sensor array; a rear cover accommodating the sensor array, the receiving optical system, and the PCB; and a front cover covering the rear cover, wherein a plurality of heat dissipation fins may be formed to protrude from the outer surface of the rear cover.

Description

Transceivers, lidar devices and vehicles

[0001] The present invention relates to a transceiver, a lidar device, and a vehicle. The present invention relates to a rotatable transceiver and lidar device, and a vehicle having the same.

[0002] Autonomous vehicles (AVs) utilize multiple sensors for 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) devices, and inertial measurement units (IMUs). Sensors such as cameras and LiDAR devices 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 device, 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. When sensors such as lidar devices, cameras, and radars are integrated into vehicles or other industrial platforms, environmental conditions such as heat, debris, and condensation can affect detection performance. Technical solutions are needed to mitigate the negative effects of these environmental conditions. Furthermore, since lidar devices are installed in vehicles and other places, miniaturization is required to minimize interference with external elements and for aesthetic purposes. Furthermore, as lidar devices become smaller, heat generation issues become more severe, requiring miniaturization and improved heat dissipation measures to optimize performance.

[0004] The present invention aims to provide a miniaturized transmission module, a lidar device including the same, and a vehicle while ensuring heat dissipation performance.

[0005] The present invention aims to provide a miniaturized receiving module, a lidar device including the same, and a vehicle while ensuring heat dissipation performance.

[0006] The present invention provides a transmission module capable of constant temperature operation, a lidar device including the same, and a vehicle.

[0007] The present invention provides a receiving module capable of constant temperature operation, a lidar device including the same, and a vehicle.

[0008] A transmission module according to an embodiment of the present disclosure includes a light source array, a transmission optical system arranged on one side of the light source array, a PCB electrically connected to the light source array, a bottom cover having an accommodation space in which the light source array, the transmission optical system, and the PCB are accommodated, and an upper cover covering the bottom cover, and a plurality of heat dissipation fins may be formed to protrude on an outer surface of the upper cover.

[0009] The plurality of heat dissipation fins may have a curved shape.

[0010] The curved shape may extend downward from an edge facing the direction of rotation of the transmitting module.

[0011] The plurality of heat sink fins may include a conduit arranged to guide air downwardly, which is forced convectively by the rotation of the transmitter module.

[0012] The upper cover has first to fourth ends, the first end faces the rotational direction of the transmitter module, the second end is disposed downward between the first end and the third end, the third end faces the first end, and the fourth end is disposed upward between the first end and the third end, and a plurality of heat dissipation fins can connect the second end or the third end from the first end or the fourth end.

[0013] The transmitter module may further include a thermoelectric element disposed between at least a portion of the transmitter optical system and the PCB.

[0014] The light source array can irradiate light in the SWIR wavelength.

[0015] The transmitter module may further include a PD sensor positioned behind the light source array to monitor whether light is normally emitted from the light source array.

[0016] The transmission optical system may include a collimator for collecting light irradiated from a light source array so that it travels in a straight line, a VBG for locking the wavelength of the light passing through the collimator, and a groove lens for connecting the light passing through the VBG in a row.

[0017] The transmitter module further includes a supporter that supports the collimator and the VBG, and the supporter may have protrusions formed on both sides to support the collimator and the VBG, respectively.

[0018] A lidar device according to an embodiment of the present disclosure may include a transmitting module having the above-described characteristics.

[0019] A vehicle according to an embodiment of the present disclosure may include a lidar device having a transmitting module having the above-described characteristics.

[0020] A receiving module according to an embodiment of the present invention includes a sensor array, a receiving optical system that focuses light onto the sensor array, a PCB electrically connected to the sensor array, a rear cover that accommodates the sensor array, the receiving optical system, and the PCB, and a front cover that covers the rear cover, and a plurality of heat dissipation fins may be formed to protrude from an outer surface of the rear cover.

[0021] The plurality of heat dissipation fins may have a curved shape.

[0022] The curved shape may extend downward from an edge facing the direction of rotation of the receiving module.

[0023] The plurality of heat dissipation fins may include a conduit arranged to guide air downwardly, which is forced convectively by the rotation of the receiver module.

[0024] The rear cover has first to fourth ends, the first end faces the rotational direction of the receiving module, the second end is disposed downward between the first end and the third end, the third end faces the first end, and the fourth end is disposed upward between the first end and the third end, and a plurality of heat dissipation fins can connect the second end or the third end from the first end or the fourth end on the outer surface of the rear cover.

[0025] The PCB can be formed so that at least part of it has a copper coin embedded in it.

[0026] A sensor array could be placed on the front of the copper coin.

[0027] The receiving module may further include a thermoelectric element disposed on the rear surface of the copper coin.

[0028] The receiving module may further include a thermal conductive element disposed between the thermoelectric element and the rear cover.

[0029] The sensor array can receive light in the SWIR wavelength.

[0030] The receiving optical system, sensor array, copper coin, thermoelectric element and thermal conductive element can be arranged in close contact in sequence.

[0031] The PCB is divided into a copper coin and a substrate, which is the remaining area excluding the copper coin, and the receiving module may further include an insulating material placed between the copper coin and the substrate.

[0032] The receiving module may further include a temperature sensor and a sensor reader disposed around the sensor array.

[0033] A lidar device according to an embodiment of the present disclosure may include a receiving module having the above-described characteristics.

[0034] A vehicle according to an embodiment of the present disclosure may include a lidar device having a receiving module having the above-described characteristics.

[0035] A lidar device according to an embodiment of the present disclosure includes a transmitting module, a receiving module that receives light emitted by the transmitting module and reflected back by an object, a main frame on which the transmitting module and the receiving module are arranged, and a fixed frame that supports a rotation axis of a driving unit that rotates the main frame, and at least one of the transmitting module and the receiving module may include a cover having a plurality of heat dissipation fins protrudingly formed thereon.

[0036] The plurality of heat dissipation fins may have a curved shape.

[0037] The curved shape may extend downward from an edge facing the direction of rotation of the main frame.

[0038] A plurality of heat sink fins may form a conduit that guides air downwards, forced by the rotation of the main frame.

[0039] The main frame includes a base, a first mounting portion protruding from the base and having a transmitting module mounted thereon, a second mounting portion protruding from the base and having a receiving module mounted thereon, and the lidar device may further include at least one heat pipe disposed on at least some of the base, the first mounting portion, and the second mounting portion.

[0040] The heat pipe may include a first heat pipe extending from the first mounting portion to the base.

[0041] The heat pipe may include a second heat pipe extending from the top of the sensing module to the base.

[0042] The second heat pipe can be formed by an upper heat pipe arranged along the upper portion of the sensing module, a lower heat pipe arranged along the base, and a middle heat pipe connecting the upper heat pipe and the lower heat pipe.

[0043] At least one of the transmitter module and the receiver module may include a thermoelectric element.

[0044] The transmitter module and receiver module can irradiate and receive light in the SWIR wavelength.

[0045] A vehicle according to an embodiment of the present disclosure may include a lidar device having the above-described features.

[0046] The present invention has the advantage of minimizing the problem of heat generation by using forced convection driven by a motor, and thus providing a transmission module with minimized increase in volume without adding a separate configuration for improving the problem of heat generation, and a lidar device and vehicle including the same.

[0047] The present invention has the advantage of minimizing the problem of heat generation by using forced convection driven by a motor, and thus providing a receiving module with minimized increase in volume without adding a separate configuration for improving the problem of heat generation, and a lidar device and vehicle including the same.

[0048] The present invention has the advantage of minimizing the problem of heat generation by using forced convection driven by a motor, and thus providing a transceiver with minimized increase in volume without adding a separate configuration for improving the problem of heat generation, and a lidar device and vehicle including the same.

[0049] The present invention has the advantage of minimizing noise increase due to wavelength change and power reduction, etc., by enabling at least one of a transmitting module, a receiving module, and a transceiver to operate within a preset temperature range through application of a thermoelectric element and / or a heat dissipation fin structure, etc.

[0050] The lidar device according to the present invention has the advantage of maximizing the heat dissipation effect since a heat dissipation auxiliary component such as a heat pipe is added within a range that does not significantly infringe on the existing layout.

[0051] FIG. 1 is a perspective view of a vehicle having a lidar device according to an embodiment of the invention.

[0052] Fig. 2 is an example of a block diagram of a vehicle system having the lidar device of Fig. 1.

[0053] Figure 3 is a conceptual diagram explaining the operation of the lidar device of Figure 2.

[0054] Fig. 4 is a perspective view illustrating the lidar device of Fig. 1.

[0055] Fig. 5 is a perspective view showing the upper case of the lidar device illustrated in Fig. 4 separated.

[0056] Figure 6 is a plan view of the lidar device illustrated in Figure 5.

[0057] Fig. 7 is a perspective view showing the upper cover separated from the transmitter module provided in the lidar device of Fig. 5.

[0058] Figure 8 is an exploded view of the transmission module illustrated in Figure 7.

[0059] Fig. 9 is a perspective view showing the upper cover combined with the transmission module of Fig. 7.

[0060] Fig. 10 is a perspective view showing the transmitter module of Fig. 9 as viewed from below.

[0061] Fig. 11 is a cross-sectional view taken along line AA' of Fig. 9.

[0062] Fig. 12 is a cross-sectional view for explaining the thermoelectric element shown in Fig. 11.

[0063] Fig. 13 is a drawing for explaining how heat generated in the transmission module described through Figs. 7 to 11 is emitted through the upper cover.

[0064] Figures 14 and 15 are drawings for explaining changes in the performance of a transmission module depending on temperature.

[0065] Fig. 16 is a perspective view showing the front cover separated from the sensing module provided in the lidar device of Fig. 5.

[0066] Figure 17 is a drawing showing a front cover combined with the sensing module illustrated in Figure 16.

[0067] Fig. 18 is a drawing showing the FPCB separated from the sensing module illustrated in Fig. 17.

[0068] Fig. 19 is a perspective view showing the sensing module illustrated in Fig. 18 as viewed from above.

[0069] Fig. 20 is an exploded view of the sensing module illustrated in Fig. 17.

[0070] Fig. 21 is a cross-sectional view taken along line BB' of Fig. 18.

[0071] FIG. 22 is a drawing for explaining how heat generated in the sensing module described through FIGS. 16 to 21 is emitted through the rear cover.

[0072] Figures 23 to 25 are drawings for explaining changes in the performance of a sensing module according to temperature.

[0073] Hereinafter, embodiments related to the present invention will be described in more detail with reference to the drawings. However, the present invention may be implemented in many different forms, and the embodiments described herein are merely examples and are not limited to the embodiments illustrated in this specification. Rather, these embodiments are provided as examples so that this disclosure will be thorough and complete, and so as to 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, similar reference numbers designate similar components in the accompanying drawings and written description, and therefore, the description thereof will not be repeated.

[0074] LiDAR systems can be referred to as depth detection systems, laser ranging systems, laser radar systems, LIDAR systems, or laser / light detection and ranging (LADAR) systems. LiDAR is a type of distance measurement sensor characterized by long detection range, high resolution, and minimal environmental interference. LiDAR has been widely applied in the fields of intelligent robots, unmanned aerial vehicles, and autonomous or self-driving vehicles. LiDAR operates by estimating distance based on the round-trip time (e.g., time of flight or delay) of electromagnetic waves between a source and a target.

[0075] Typically, lidar systems, such as direct time-of-flight (D-TOF) lidar systems, emit a light pulse (e.g., a laser pulse) toward an object and measure the distance (e.g., depth) to an object by measuring the time it takes for the light pulse to reflect off the object and be detected by a sensor in the lidar system. For example, to reduce noise from ambient light, repeated measurements may be taken to generate individual histograms of relative times-of-flight (TOF) values ​​based on the repeated measurements, and the peaks of the individual histograms may be calculated to detect events (e.g., to detect the depth of a point or region of an object that reflects the light pulse back).

[0076] The above-described aspects and features of embodiments of the present invention will be described in more detail with reference to the drawings.

[0077] FIG. 1 is a perspective view of a vehicle having a lidar device according to an embodiment of the invention.

[0078] Referring to FIG. 1, a moving object such as a vehicle (500) may include at least one of a lidar device (100), a camera unit (101), a radar (102, 104), a GPS (Global Positioning System) sensor (103), a vehicle control module (212), and an ultrasonic sensor (105).

[0079] The lidar device (100) is a rotating imaging device or sensor device, which is attached to a part of a vehicle (500), rotates 360 degrees, senses the distance between the vehicle and an object (static object, dynamic object), the surrounding environment, and the shape, and uses the measured data to assist the driving of the vehicle (500). Using this sensing technology, a 3D point cloud can be used to collect and analyze objects or the environment surrounding the vehicle, and sensed data that provides information on objects located within an appropriate proximity range can be generated.

[0080] The lidar device (100) can communicate with the vehicle control module (212) and transmit / receive information according to the driving of the vehicle. The vehicle control module (212) can communicate with various systems or sensors inside the vehicle and perform various controls. The vehicle control module (212) 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 (212) can communicate with an external mobile device and be electrically connected to a removable storage device.

[0081] The 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 (212) or another processor may identify traffic lights, vehicles, pedestrians, etc. based on the data captured by the camera unit (101), and provide the captured information to the driver. The camera unit (101) may be used as a driving assistance device.

[0082] 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 object information is detected through these radars (102, 104), an alarm or warning message indicating that an object or obstacle is detected in the vicinity is notified to the driver.

[0083] The GPS sensor (103) can receive signals from satellites and provide them to devices such as a vehicle control module (212), a lidar device (100), and a camera unit (101), and these devices can provide or calculate information such as the vehicle's location, speed, and time based on the GPS location signal.

[0084] An ultrasonic sensor (105) can sense the distance from nearby vehicles or obstacles, providing convenience by allowing the vehicle to be safely parked in a parking space. Furthermore, the ultrasonic sensor (105) can prevent accidents that may occur while driving. This ultrasonic sensor (105) can be installed on the rear or side of the vehicle, or on the wheels, etc.

[0085] Fig. 2 is an example of a block diagram of a vehicle system having the lidar device of Fig. 1.

[0086] As shown in Fig. 2, a vehicle system (200) having a lidar device (100) and a vehicle control module (212) 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 between the driver and various devices.

[0087] The vehicle system (200) communicates with a remote device (213), and the remote device (213) can remotely communicate with a user or an external party or receive an external control signal. The communication unit (215) can support wired or wireless communication and can be, for example, a wired or wireless module.

[0088] 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 lidar device (100) may communicate with the user interface (211) and the camera unit (101).

[0089] The lidar device (100) includes a driving unit (150) such as a motor, and the driving unit (150) can rotate part or all of the lidar device (100) 360 degrees by a control signal. The driving unit (150) communicates with an internal component of the lidar device (100), for example, a measurement system (110), and enables the lidar device (100) to rotate about its axis.

[0090] A lidar device (100) may include a measurement system (110), a transmission module (120), and a sensing module (130). A driving unit (150) may transmit driving force to rotate the measurement system (110), the transmission module (120), and the sensing module (130).

[0091] 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 elements, or other suitable electronic processing elements. 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).

[0092] 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 communication 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, and the like.

[0093] The measurement system (110) is a computer system that can be connected to one or more user input / output devices, such as a monitor, keyboard, pointing device, etc., that communicate with the communication infrastructure via a user input / output interface.

[0094] The transmission module (120) may include a light source array (121) and a transmission optical system (123). The transmission module (120) may include a processor or control module such as a general-purpose processor, ASIC, or FPGA that can control the driving control of the light source array (121) 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.

[0095] The light source array (121) may include a one-dimensional or two-dimensional array and may be individually addressable or controllable. The light source array (121) 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), a super luminescent diode (SLD), etc., but are not limited thereto.

[0096] The light source array (121) may include a plurality of electrically coupled surface-emitting laser diodes, such as a VCSEL array, each emitter being individually addressable or controllable. The light source array (121) may be implemented as a one-dimensional (Q*P) VCSEL array or a two-dimensional array having Q rows and P columns, where Q, P (columns, rows) may be 2 or more (Q > P). Additionally, each VCSEL array may be grouped in plurality to form each light source.

[0097] An optical signal emitted from the light source array (121) can be irradiated toward an object through a transmission optical system (123). The transmission optical system (123) may include one or more lenses, or one or more lenses and a micro lens array in front of the lenses. The transmission optical system (123) may include one or more optical lens elements so that the laser beams can be shaped in a desired manner. That is, the transmission module (120) can set the irradiation direction or irradiation angle of the light generated from the light source array (121) according to the control of the main process (111). In addition, the lidar device (100) may include a beam splitter (not shown) therein for overlapping or separating a transmission laser beam (L1) and a reception laser beam (L2).

[0098] The transmission module (120) can irradiate with pulsed light or continuous light and transmit multiple times (plurality of time) toward the object to be scanned. The main processor (111) can generate a start signal at the time of light transmission and provide it to a time-to-digital converter (TDC). The start signal can be used for time-of-flight calculation of light (TOF).

[0099] The sensing module (130) may include a sensor array (131) and a receiving optical system (133). The sensing module (130) may include a processor that performs at least one of the following functions: transforming a raw histogram, including a matching filter, a peak detection circuit, a SPAD saturation and quenching circuit, and compensating for pulse-shaped distortion. The 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 (130) may include a memory (not shown) having one or more devices (e.g., RAM, ROM, flash memory, hard disk storage, etc.) for storing an optical signal detected therein.

[0100] The sensor array (131) can receive a laser beam (L2) reflected or scattered from an object through a receiving optical system (133). The sensor array (131) can include a detector divided into a plurality of pixels, and a light detection element can be arranged in each of the plurality of pixels. The receiving optical system (133) can be an optical element for focusing reflected light onto a specific pixel.

[0101] The sensing module (130) can convert the reflected light into a stop signal when the reflected light is received by the sensor array (131). The stop signal can be used to calculate the time of flight of the light together with the start signal. The sensor array (131) or the sensing module (130) can include a TDC for measuring the time of flight of the light detected by each of the plurality of photodetectors. The photodetector can be a light-receiving element that generates an electrical signal by the detected light energy, and can be, for example, a single photon avalanche diode (SPAD) with high sensing sensitivity.

[0102] The sensor array (131) may be implemented as a one-dimensional or two-dimensional array, and may be a set of photodetectors, such as a single avalanche photodiode (SPAD), or a single photon detector (APD: Avalanche Photo Diode). An embodiment of the invention may be implemented using a single photon photodetector. The sensor array (131) measures a light pulse, i.e., light corresponding to an image pixel, through a receiving optical system (133). In addition, the sensor array (131) may be a SPAD array, and may be arranged as a two-dimensional SPAD array having M rows and N columns. Here, M and N may be 2 or more. Alternatively, M may be 2 or more, and N may be 1. In addition, a plurality of SPAD sub-arrays may be grouped to form a photo sensor. The sensor array (131) may be a Geiger mode, i.e., a Geiger mode APD (GmAPD).

[0103] The main processor (111) performs signal processing to obtain information about an object using light detected from the sensing module (130). The main processor (111) determines the distance to the object based on the flight time of the light reflected from the object, and processes data to analyze the location and shape of the object. Information analyzed by the processor (111), i.e., information about the shape and position of the object, can be transmitted to another device.

[0104] The transmitting optical system (123) refracts the light pulse generated through the light source array (121) and irradiates it toward the object, and the light pulse is incident on and reflected from the surface of the object, and the reflected light pulse can be sensed by the sensor array (131) through the receiving optical system (133). Based on the elapsed time (TOF: Time of Flight) from the emission of the light pulse to the detection of the reflected light pulse, the distance or depth to the object can be determined.

[0105] When the light detection element includes a SPAD, the sensing sensitivity is high and noise also increases. The main processor (111) irradiates light toward the object multiple times to calculate a reliable time of flight (TOF) of light using the SPAD, generates a histogram of reflected light reflected from the object, and then statistically analyzes the histogram. The main processor (111) can calculate the distance from the TOF of the light to points on the surface of the object, and can generate a point cloud based on this distance data. The generated point cloud data can be stored in a database of the main memory (112). The point cloud data stored in this database can be converted into a shape and stored in three dimensions. This point cloud data can be preprocessed by a preprocessing unit according to the purpose and noise can be removed. The preprocessing unit can automatically detect and remove noise, such as distortion of light reflected through special environments such as glass.

[0106] The lidar device (100) can be combined with one or more image data acquired from the camera unit (101) to obtain additional insight into the scene or situation around the vehicle for image representation such as an acquired point cloud.

[0107] Figure 3 is a conceptual diagram explaining the operation of the lidar device of Figure 2.

[0108] As shown in FIG. 3, the lidar device (100) can determine the position of an object using the angle of the irradiated laser beam. For example, if the irradiation angle of a single laser beam irradiated toward the scan area (TO) from the lidar device (100) is known, a laser beam reflected from an object existing on the scan area (TO) is detected by the sensor array (131), and the lidar device (100) can determine the position of the object using the irradiation angle of the irradiated laser beam. In addition, the lidar device (100) can determine the position of the object using the angle of the received laser beam. For example, if a first object and a second object are at the same distance from the lidar device (100) but are at different positions with respect to the lidar device (100), the laser beam reflected from the first object and the laser beam reflected from the second object can be detected at different points of the sensor array (131). That is, the lidar device (100) can determine the location of the target object based on the points where reflected laser beams are detected by the sensor array (131).

[0109] The lidar device (100) may have a scan area (TO) including an object in order to detect the location of an arbitrary object in the vicinity. Here, the scan area (T0) is a detectable area expressed as one screen, and may mean a set of points, lines, or planes forming one screen for one frame. In addition, the scan area (TO) may mean an irradiation area of ​​a laser beam irradiated from the lidar device (100), and the irradiation area may mean a set of points, lines, or planes where the laser irradiated for one frame meets a sphere at the same distance. In addition, the field of view (FOV) means a detectable area (Field), and may be defined as an angular range of each scan area (TO) of the rotating lidar device when the lidar device (100) is viewed as the origin.

[0110] To expand the scan area (TO), the light source array (131) can be driven in a line or plane shape. For example, when multiple light sources are arrayed in a line or plane shape, the direction and size of the laser beam irradiated by these light sources can be changed through driving control, and the scan area (T0) of the lidar device (100) can be expanded in a line or plane shape.

[0111] As another example, the transmission module (120) or the transmission optical system (123) may include a scanning unit (not shown). The scanning unit may change the irradiation direction and / or size of the laser beam from the light source array (121), and may expand the scan area (TO) of the lidar device (100) or change the scan direction. The scanning unit may expand or change the scan area (TO) of the point-shaped laser beam into a line or plane shape. The scanning unit may be composed of one or two or more, but is not limited thereto.

[0112] The lidar device (100) may provide a single photon photodetector (SAPD) or Geiger-mode lidar having a light source array (121) and a sensor array (131). Geiger-mode is sensitive to single photons and can transmit space-filling (i.e., gapless) images. That is, a space-filling image has a recovery time in which the detector must return to the photon detection state after detecting one photon to detect the next photon, and this recovery time appears as a time difference or gap between detected photons.

[0113] A photodetector is defined as an APD by applying a reverse voltage to cause an avalanche entry to have gain inside the device. APD has a high signal-to-noise ratio and higher quantum efficiency than other detectors due to the current amplification action by the avalanche effect in the diode. APD can be divided into Geiger mode and linear mode. In linear mode, the reverse voltage is applied smaller than the entry voltage, and the size of the output current is linearly proportional to the intensity of the input light and has a gain characteristic proportional to the size of the reverse voltage. Geiger mode detects a single photon by applying a reverse voltage larger than the breakdown voltage.

[0114] In addition, the Geiger mode according to the invention can operate in a short-time Geiger mode, can generate a digital output signal from a single-photon level input, and has a gain range that is 100 times larger than that of the linear mode. The receiving sensitivity is 100 photons / 1 nsec in the leading mode, and single photon detection (SAPD) is possible at 1 photons / 1 nsec in the Geiger mode.

[0115] Furthermore, the laser beam used in the Geiger mode of the invention uses an infrared wavelength exceeding 1000 nm, for example, exceeding 1400 nm or 1550 nm, which is higher than the linear mode using a wavelength of 900 nm or less. Furthermore, the Geiger mode drives the light source array and the sensor array to transmit uniform space-filling imaging, i.e., gapless imaging. This wavelength exceeding 1400 nm is an eye-safe wavelength, which can reduce problems caused by beam divergence or distance limitations.

[0116] FIG. 4 is a perspective view showing the lidar device of FIG. 1, FIG. 5 is a perspective view showing the upper case of the lidar device of FIG. 4 separated, and FIG. 6 is a plan view of the lidar device of FIG. 5.

[0117] Referring to FIG. 4, the outer surface of the lidar device (100) may be composed of a lower case (127) and an upper case (128). Each of the lower case (127) and the upper case (128) may protect the internal structure of the lidar device (100) from the outside.

[0118] A lidar device (100) can be mounted on a vehicle or the like and sense surrounding objects while rotating 360 degrees. A transceiver that transmits and receives laser beams for sensing can be placed inside an upper case (128). In addition, a driving unit (150) and a measuring system (110) for rotating the transceiver can be placed inside a lower case (127).

[0119] The transceiver may be composed of a transmitting module (120) and a sensing module (130). The sensing module (130) may be a receiving module.

[0120] As illustrated in FIGS. 4 to 6, the lidar device (100) may include a transmission module (120) and a sensing module (130) as an integral unit. The lidar device (100) may include a main frame (300) in which the transmission module (120) and the sensing module (130) are arranged.

[0121] The main frame (300) can be rotated by the driving unit (150). The driving unit (150) can rotate the main frame (300) at about 600 rpm. The main frame (300) can be composed of a first mounting unit (300A), a second mounting unit (300B), and a base (300C). The base (300C) can be a plate that is connected to the driving unit (150) and rotates. The first mounting unit (300A) and the second mounting unit (300B) can be formed to protrude upward from the base (300C).

[0122] One of the first mounting portion (300A) and the second mounting portion (300B) is a surface on which the transmission module (120) is mounted, and the other is a surface on which the sensing module (130) is mounted. For example, the transmission module (120) may be mounted on the first mounting portion (300A), and the sensing module (130) may be mounted on the second mounting portion (300B).

[0123] The first and second mounting portions (300A) (300B) may be formed in a direction intersecting with respect to the direction of rotation. The first and second mounting portions (300A) (300B) may be formed in a direction intersecting at right angles or nearly right angles with respect to the direction of rotation. For example, the first and second mounting portions (300A) (300B) may be formed such that the first and second mounting portions (300A) (300B) intersect with respect to the direction of rotation, but may be inclined downward. In this way, when the first and second mounting portions (300A) (300B) are inclined, there is an advantage in that objects around the vehicle can be precisely sensed even when mounted on the upper part of the vehicle.

[0124] In addition, the first mounting portion (300A) and the second mounting portion (300B) may be arranged at a right angle or close to a right angle. For example, the first mounting portion (300A) and the second mounting portion (300B) may be arranged at a right angle. The first mounting portion (300A) may be formed to protrude from the second mounting portion (300B).

[0125] The transmission module (120) and the sensing module (130) may be covered by an upper case (128). The upper case (128) may protect internal components including the transmission module (120) and the sensing module (130).

[0126] The upper case (128) may be fixed to the lower case (127) or may be installed in a detachable manner. At least a portion of the upper case (128) may be formed of a transparent protective plate (129).

[0127] The laser beam transmitted from the transmission module (120) and received by the sensing module (130) can pass through the protective plate (129). In addition, the laser beam generated from the transmission module (120) can be transmitted through the window (1209).

[0128] A first heat pipe (301) may be arranged in a first mounting portion (300A) on which a transmission module (120) is mounted. Specifically, a through hole (300AH) may be formed in the first mounting portion (300A), and a first heat pipe (301) may be arranged in the through hole (300AH). The first heat pipe (301) may extend from the first mounting portion (300A) to the base (300C). The first heat pipe (301) may cool heat generated in the transmission module (120). Specifically, as the heat of the transmission module (120) moves to the base (300C) along the first heat pipe (301), the heat around the transmission module (120) may be cooled. That is, by moving the heat generated in the transmission module (120) to a lower portion where the temperature is relatively low, the heat generation problem of the sensing module (130) may be minimized.

[0129] In addition, the lidar device (100) may further include a second heat pipe (302) in addition to the first heat pipe (301). The second heat pipe (302) may cool heat generated in the sensing module (130). The second heat pipe (302) may extend from the upper portion of the sensing module (130) to the base (300C). Accordingly, heat around the sensing module (130) may move to the base (300C) along the second heat pipe (302), thereby cooling the heat around the sensing module (130). That is, by moving heat generated in the sensing module (130) to a lower portion where the temperature is relatively lower, the heat generation problem of the sensing module (130) may be minimized.

[0130] In particular, the second heat pipe (302) can move heat generated in the sensing module (130) and collected upwardly downward to uniformize the temperature distribution. The second heat pipe (302) can be formed of an upper heat pipe (302a), a middle heat pipe (302b), and a lower heat pipe (302c). The upper heat pipe (302a) is arranged long along the upper portion of the sensing module (130), the lower heat pipe (302c) is arranged long along the base (300C), and the middle heat pipe (302b) can connect the upper heat pipe (302a) and the lower heat pipe (302c). Accordingly, the heat collected in the upper portion of the sensing module (130) can be moved downward to cool the heat around the sensing module (130).

[0131] The first and second heat pipes (301) (302) are installed in the first and second mounting portions (300A) (300B) and the base (300C) on which the transmitting module (120) and the receiving module (130) are mounted, and thus, there is an advantage in that heat dissipation can be assisted while minimizing volume increase since no separate member is added for installing them. In particular, the second heat pipe (302) can assist heat dissipation to the upper edge of the rear cover (1340).

[0132] The sensing module (130) may further include at least one of a lens hood (311) and a lens tube (312). The lens hood (311) may block light other than light reflected from an object and received. The lens tube (312) may collect light reflected from an object and received. One end of the lens tube (312) may be mounted on the second mounting portion (300B), and the other end may be connected to the lens hood (311). The lens tube (312) may be placed between the second mounting portion (300B) and the lens hood (311).

[0133] This lidar device (100) has a line shape and a vertical light source array (121) and a transmission optical system (123), and the transmission module (120) and the sensing module (130) can be arranged to face the object in the same direction.

[0134] The light source array (121) may have a predetermined number of light sources arranged in one or more rows in the vertical direction, for example, 48 light sources may be arranged in two rows. The light sources arranged in this manner are arranged on a one-dimensional plane and may transmit light in the lateral direction of the lidar device (100). The laser beam irradiated by the light source array (121) passes through the transmission optical system (123), and the transmission optical system (123) may be configured to focus the beam on a scan area (TO, see FIG. 3) and lock a desired wavelength by a pattern such as a micro lens array.

[0135] As illustrated in Fig. 5, a fixed frame (251) may be placed inside the lower case (127). The fixed frame (251) may serve to support the rotation axis of the driving unit (150), etc. The driving unit (150) may be placed in the internal space of the lower case (127).

[0136] The main frame (300) is positioned above the fixed frame (251) and rotates 360 degrees by the rotation axis of the driving unit (150) positioned below. The main frame (300) may be a rotating frame. The main frame (300) has a rotor (not shown), and the fixed frame (251) may include a stator (not shown) therein. The main frame (300) may rotate on the fixed frame (251). The stator may be a coil, and the rotor may be a coil. The stator and the rotor may constitute a driving unit, for example, a motor.

[0137] The transmission module (120) and the sensing module (130) can rotate by the rotation of the main frame (300). The transmission module (120) and the sensing module (130) can transmit a laser beam while rotating and receive light that is reflected from an object and returned by the transmitted laser beam.

[0138] FIG. 7 is a perspective view showing the upper cover separated from the transmitting module provided in the lidar device of FIG. 5, FIG. 8 is an exploded view of the transmitting module shown in FIG. 7, FIG. 9 is a perspective view showing the upper cover combined with the transmitting module of FIG. 7, FIG. 10 is a perspective view showing the transmitting module of FIG. 9 as viewed from below, and FIG. 11 is a cross-sectional view taken along line AA' of FIG. 9.

[0139] The transmission module (120) may include a bottom cover (1201), a PCB (1205), a light source array (121), a window (1209), a VBG (1212), a collimator (1214), a home lens (1219), a window (1209), and an upper cover (1240).

[0140] A receiving space (S1) is formed in the bottom cover (1201), and the upper cover (1240) can cover the receiving space (S1). The receiving space (S1) can accommodate various components, such as a light source array (121) and a PCB (1205).

[0141] The PCB (1205) is placed in the receiving space (S1) and can be electrically connected to the light source array (121), thermoelectric element (1230), etc.

[0142] The light source array (121) can generate and irradiate light for sensing an object. For example, the light source array (121) can be a laser bar and can generate and irradiate a laser beam. The light source array (121) can be placed on a light source carrier (1216). The light source array (121) can be installed on top of the light source carrier (1216). The light source carrier (1216) can support the light source array (121).

[0143] A PD sensor (1250) may be placed at the rear of the light source array (121). The PD sensor is a Photo Diode (PD) sensor and can detect whether a laser beam is properly emitted from the light source array (121). In other words, the PD sensor (1250) can monitor whether the light source array (121) is operating normally.

[0144] As illustrated in FIG. 11, the PD sensor (1250) may be arranged horizontally parallel to the light source array (121). That is, the PD sensor (1250) may be arranged at the same height as the height at which the laser beam is irradiated from the light source array (121). In this way, when the transmission module (120) includes the PD sensor (1250), an event in which the laser beam does not normally come out from the light source array (121) can be detected. An event in which the laser beam does not normally come out can cause an object sensing problem, and thus, there is an advantage in that stability can be secured through the PD sensor (1250).

[0145] At least one of a collimator (1214), a VBG (1212), a home lens (1219), and a window (1209) may be placed in front of the light source array (121).

[0146] The light source array (121), the collimator (1214), the VBG (1212), the home lens (1219), and the window (1209) may be arranged in a horizontal direction. Specifically, the light source array (121), the collimator (1214), the VBG (1212), the home lens (1219), and the window (1209) may be arranged in order from the inside to the outside of the receiving space (S1), i.e., in the transmission direction of the laser beam.

[0147] The collimator (1214) can collect the laser beam irradiated from the light source array (121) so that it is straight. The collimator (1214) can align the light irradiated from the light source array (121) in a straight line. The collimator (1214) can align the light irradiated from the light source array (121) in an intended irradiation direction.

[0148] VBG(1212) can stabilize the wavelength. VBG(1212) is a Volume Bragg Grating and can lock (rock) the wavelength of a laser beam to a specific wavelength.

[0149] The home lens (1219) can connect light in a line. For example, the home lens (1219) can connect light incident at multiple points to form a line.

[0150] The window (1209) can transmit light generated from the light source array (121) to the outside.

[0151] In summary, a plurality of point-shaped lights generated and irradiated from the light source array (121) are aligned in a straight line through the collimator (1214), fixed to a specific wavelength through the VBG (1212), connected in a line shape through the home lens (1219), and then transmitted to the outside through the window (1209).

[0152] A collimator (1214), a VBG (1212), and a home lens (1219) may constitute a transmission optical system (123). The transmission optical system (123) may shape light emitted from the light source array (121). Each configuration of the transmission optical system (123) may be designed so that the light is shaped in a desired manner. The window (1209) may allow light shaped by the transmission optical system (123) to pass through it.

[0153] Meanwhile, the VBG (1212), the collimator (1214), and the light source carrier (1216) may be supported by a supporter (1210). The supporter (1210) may have projections (1210a, 1210b) formed to protrude upward to support the VBG (1212) and the collimator (1214) on both sides, respectively. In this way, when the projections (1210a, 1210b) support the VBG (1212) and the collimator (1214) on both sides, the front of the VBG (1212) and the collimator (1214) can be supported without covering them, which has the advantage of enabling miniaturization of the VBG (1212) and the collimator (1214).

[0154] The home lens (1219) can be supported by a lens bracket (1218).

[0155] The window (1209) may be placed on the side of the bottom cover (1201). In particular, the window (1209) may be installed in the side hole (O1) formed on the side of the bottom cover (1201).

[0156] Specifically, a side hole (O1) (O2) may be formed in at least one of the side surfaces of the bottom cover (1201). A window (1209) or an FPCB (1221) may be arranged in the side hole (O1) (O2). For example, a window (1209) may be arranged in the first side hole (O1), and at least a portion of an FPCB (1221) may be arranged in the second side hole (O2).

[0157] FPCB (1221) is a Flexible Printed Circuit Board and can be connected to the main processor (111). A connector (1225) for connection to the main processor (111) can be formed on the FPCB (1221). The connector (1225) can include tens or hundreds of pins connected to the main processor (111).

[0158] The bottom cover (1201) may be formed with at least one fastening portion (1201A) for fastening to the main frame (300). For example, the fastening portion (1201A) may be coupled to the first mounting portion (300A) of the main frame (300) using a screw or the like.

[0159] A thermoelectric element (1230) may be placed below the supporter (1210). The thermoelectric element (1230) may be placed between the supporter (1210) and the PCB (1205). The thermoelectric element (1230) may be placed between the transmission optical system (123) and the PCB (1205). The thermoelectric element (1230) may be placed adjacent to at least a portion of the transmission optical system (123) and the light source array (121).

[0160] Fig. 12 is a cross-sectional view for explaining the thermoelectric element shown in Fig. 11.

[0161] A thermoelectric element (1230) can perform temperature control. The thermoelectric element (1230) can be composed of first and second substrates (1231, 1232), a P / N semiconductor element (1234), and a conductive layer (1236, 1237). One of the first substrate (1231) and the second substrate (1232) can be disposed on the cold side, and the other can be disposed on the hot side.

[0162] The conductive layers (1236, 1237) can connect the first and second substrates (1231, 1232) to the P / N semiconductor element (1234). The P / N semiconductor element (1234) can be disposed between the first substrate (1231) and the second substrate (1232). Depending on the direction of the current flowing through the P / N semiconductor element (1234), heat absorption or heat generation can occur. In addition, the amount of heat absorption and heat generation can be controlled depending on the amount of current flowing through the P / N semiconductor element (1234), and accordingly, the thermoelectric element can perform more precise temperature control.

[0163] A thermoelectric element (1230) is placed under the supporter (1210) to control the internal temperature of the transmission module (120), particularly the temperature around the light source array (121), collimator (1214), and VBG (1212), within a preset range.

[0164] Meanwhile, at least a portion of the upper cover (1240) may be formed with a structure for heat dissipation. For example, the upper cover (1240) may be formed with heat dissipation fins (1242) that form a path for rapid heat dissipation. The upper cover (1240) may dissipate heat by applying curved heat dissipation fins (1242) that take into account the rotational direction and flow rate of the lidar device (100).

[0165] Fig. 13 is a drawing for explaining how heat generated in the transmission module described through Figs. 7 to 11 is emitted through the upper cover.

[0166] The upper cover (1240) of the transmission module (120) can cover the receiving space (S1), thereby protecting the internal configuration of the light source array (121) and the transmission optical system (123) described above. In addition, at least one heat dissipation fin (1242) for heat dissipation can be formed on the upper cover (1240).

[0167] The heat dissipation fins (1242) may be formed to protrude outward from the outer surface of the upper cover (1240). The number of heat dissipation fins (1242) may be multiple, and the multiple heat dissipation fins (1242) may form a flow path that guides the direction in which air flows. Each heat dissipation fin (1242) may form an air flow path between adjacent heat dissipation fins (1242). The multiple heat dissipation fins (1242) may form a flow path that guides air that is forcedly convected downward by the rotation of the transmission module (120).

[0168] That is, the heat dissipation fin (1242) may be a guide that guides the direction in which air flows. Guy

[0169] The heat dissipation fin (1242) may be formed in a curved shape. At least a portion of the heat dissipation fin (1242) may be curved. The heat dissipation fin (1242) may have a horizontal cross-section that is curved. The heat dissipation fin (1242) may have a curvature.

[0170] The heat dissipation fin (1242) may extend from either the first end (1240A) or the fourth end (1240D) of the upper cover (1240) to either the second end (1240B) or the third end (1240C). The heat dissipation fin (1242) may be formed in a curved shape extending from the first end (1240A) or the fourth end (1240D) of the upper cover (1240) to the second end (1240B) or the third end (1240C). Each of the first to fourth ends (1240A to 1240D) represents one of four edges or four sides, respectively.

[0171] The first end (1240A) may be an edge facing the rotational direction of the transmission module (120) among the first to fourth ends (1240A to 1240D) of the upper cover (1240). For example, when the transmission module (120) rotates clockwise as in the example of FIG. 13, the first end (1240A) may be an edge facing the rotational direction, the third end (1240C) may be an edge facing the first end (1240A), the second end (1240B) may be an edge positioned downward between the first end (1240A) and the third end (1240C), and the fourth end (1240D) may be an edge positioned upward between the first end (1240A) and the third end (1240C). That is, the first end (1240A) may face the left edge of the upper cover (1240), the second end (1240B) may face the right edge of the upper cover (1240), the third end (1240C) may face the lower edge of the upper cover (1240), and the fourth end (1240D) may face the upper edge of the upper cover (1240). That is, the heat dissipation fin (1242) may form a flow path that faces downward from the left side or downward from the top of the upper cover (1240). That is, the heat dissipation fin (1242) may be designed in a shape that circulates downward so that heat inside the sealed compartment does not accumulate upward.

[0172] In this way, the heat dissipation fins (1242) can be formed to extend downward from the edge facing the rotational direction of the transmission module (120), in which case the heated air can be quickly moved downward. Accordingly, as the hot air from above moves downward, the internal temperature distribution becomes uniform, thereby preventing overheating of the transmission module (120). That is, the heat dissipation fins (1242) can guide the internal air downward by utilizing forced convection according to the rotation of the transmission module (130), and thus have the advantage of improving heat dissipation efficiency.

[0173] The number of heat dissipation fins (1242) may vary. The distance between a heat dissipation fin (1242) and an adjacent heat dissipation fin (1242) may vary. The length of each of the plurality of heat dissipation fins (1242) may vary.

[0174] The heat dissipation fin (1242) may be arc-shaped. In this way, when the heat dissipation fin (1242) is arc-shaped, the air flow path can be lengthened. That is, the heat dissipation length is lengthened, and as the surface area increases, there is an advantage of improved heat dissipation performance.

[0175] Depending on the embodiment, the heat dissipation fin (1242) may have a straight horizontal cross-section. For example, the heat dissipation fin (1242) may be formed in a straight shape, i.e., a diagonal shape, extending from the first end (1240A) or the fourth end (1240D) of the upper cover (1240) to the second end (1240B) or the third end (1240C).

[0176] Figures 14 and 15 are drawings for explaining changes in the performance of a transmission module depending on temperature.

[0177] Specifically, Fig. 14 is a graph showing optical power according to voltage and temperature. Fig. 15 is a graph showing amplitude according to wavelength and temperature.

[0178] Referring to Figures 14 and 15, it can be confirmed that the optical power and amplitude vary depending on the temperature. In other words, it can be confirmed that the transmission module (120) can more accurately transmit light according to the design when operating within a preset temperature range. In this respect, it can be confirmed that the transmission module (120) requires improved temperature control and heat generation performance.

[0179] FIG. 16 is a perspective view showing the front cover separated from the sensing module provided in the lidar device of FIG. 5, FIG. 17 is a view showing the front cover combined with the sensing module shown in FIG. 16, FIG. 18 is a view showing the FPCB separated from the sensing module shown in FIG. 17, FIG. 19 is a perspective view showing the sensing module shown in FIG. 18 as viewed from above, FIG. 20 is an exploded view of the sensing module shown in FIG. 17, and FIG. 21 is a cross-sectional view taken along line BB' of FIG. 18.

[0180] The sensing module (130) may include a front cover (1301), a micro lens array (1308), a sensor array (131), a PCB (1305), a temperature sensor (1306), a sensor reader (1307), and a rear cover (1340).

[0181] A receiving space (S2) is formed in the rear cover (1340), and the front cover (1301) can cover the receiving space (S2). The receiving space (S2) can accommodate various components such as a sensor array (131) and a PCB (1305). The internal configuration of the PCB (1305) and the sensor array (131) placed in the receiving space (S2) can be protected by the front cover (1301) and the rear cover (1340).

[0182] The PCB (1305) is placed in the receiving space (S2) and can be electrically connected to the sensor array (131), thermoelectric element (1330), etc.

[0183] The sensor array (131) can receive light reflected from an object. For example, the sensor array (131) can be a photodiode array (PDA). The sensor array (131) can be placed toward the center of the PCB (1305). For example, the sensor array (131) can be placed at the center of the front surface of the PCB (1305).

[0184] A micro lens array (1308) may be arranged in front of the sensor array (131). The micro lens array (MLA) may be a specific arrangement of multiple micro lenses having apertures and relief depths in the micron range. The micro lens array (1308) may focus light reflected from an object onto the sensor array (131).

[0185] Meanwhile, a temperature sensor (1306) may be installed around the sensor array (131). The sensing module (130) may include a temperature sensor (1306) and a sensor reader (1307) for detecting the temperature around the sensor array (131).

[0186] The temperature sensor (1306) and the sensor reader (1307) may be installed around the sensor array (131). For example, the temperature sensor (1306) and the sensor reader (1307) may be placed within a predetermined distance from the sensor array (131).

[0187] The sensor reader (1307) may be a ROIC (Read-Out Integrated Circuit). The ROIC is an ultra-small, low-power, complex environmental sensor. When the sensing module (130) includes the ROIC as the sensor reader (1307), the increase in the volume of the sensing module (130) is minimized. The sensor reader (1307) can process the sensing signal of the temperature sensor (1306).

[0188] The sensing module (130) can sense the temperature around the sensor array (131) through signal processing of the sensor reader (1307) and adjust the temperature around the sensor array (131) to a preset range.

[0189] The thermoelectric element (1331) can perform temperature control so that the temperature around the sensor array (131) is adjusted to a preset range.

[0190] The thermoelectric element (1330) may be placed around the sensor array (131). For example, the thermoelectric element (1330) may be placed at the rear of the sensor array (131). As a specific example, the sensor array (131) may be placed on the front side of the PCB (1305), and the thermoelectric element (131) may be placed at the rear side of the PCB (1305). In particular, the thermoelectric element (131) may be placed at a position overlapping the sensor array (131) on the rear side of the PCB (1305).

[0191] The structure of the thermoelectric element (131) is the same as described in Fig. 12.

[0192] The thermoelectric element (131) can control the internal temperature of the sensing module (130), particularly the temperature around the sensor array (131), to a preset range. For example, the temperature around the sensor array (131) can be controlled to 40 degrees.

[0193] As illustrated in FIG. 21, the PCB (1305) may be a Buried Copper Coin PCB. That is, the PCB (1305) may be formed with a copper coin (1312) embedded in at least a portion thereof. The PCB (1305) may be a PCB in which a copper coin (1312) is embedded. In this case, the PCB (1305) may be divided into a copper coin (1312) and a substrate (1310), and the substrate (1310) may represent the remaining area excluding the copper coin (1312).

[0194] The copper coin (1312) can transfer heat from a component attached to its surface. Accordingly, a sensor array (131) and a temperature sensor (1306) may be arranged on the front side of the copper coin (1312), and a thermoelectric element (1330) may be arranged on the back side of the copper coin (1312). In this case, the copper coin (1312) can transfer heat from at least one of the sensor array (131) and the temperature sensor (1306) to the thermoelectric element (1330). That is, when the copper coin is embedded in the PCB (1305), there is an advantage of improved heat transfer performance. However, this is merely an example, and depending on the embodiment, the PCB (1305) may be a general PCB and the copper coin (1312) may not be embedded therein.

[0195] Alternatively, the thermoelectric element (1330) may be arranged in a structure in which both the transmission module (120) and the sensing module (130) are surrounded by copper coins (1312), or the transmission module (120) may be arranged without a copper coin and the sensing module (130) may be arranged in a structure surrounded by a copper coin (1312).

[0196] A thermal conductive element (1331) may be arranged on the rear side of the thermoelectric element (1330). The thermal conductive element (1331) may be formed between the thermoelectric element (1330) and the rear cover (1340). The thermal conductive element (1331) may be a TIM (Thermal Interface Materials). For example, the thermal conductive element (1331) may be a material that promotes heat transfer and improves thermal conductivity between two bonding surfaces. Accordingly, heat around the sensor array (131) may be quickly conducted to the rear cover (1340) through the thermoelectric element (1330) and the thermal conductive element (1331).

[0197] According to an embodiment, an insulating material (not shown) may be further placed between the copper coin (1312) and the substrate (1310). The insulating material (not shown) may minimize the heat of the copper coin (1312) from being transferred to the substrate (1310).

[0198] Referring to FIG. 20, at least one hole (h1, h2) may be formed in the front cover (1301). The hole (h1, h2) may be a passage through which light passes.

[0199] The front cover (1301) may have only one hole formed. According to the example of Fig. 20, the front cover (1301) has a first hole (h1) and a second hole (h2) formed therein, and the first hole (h1) and the second hole (h2) may be connected to each other. The horizontal cross-sectional area of ​​the first hole (h1) may be smaller than or equal to the horizontal cross-sectional area of ​​the second hole (h2).

[0200] The second hole (h2) may be a space in which a window (1309) is mounted. The horizontal cross-sectional area of ​​the second hole (h2) may be greater than or equal to the horizontal cross-sectional area of ​​the window (1309).

[0201] The first hole (h1) may be a passage through which light passing through the window (1309) passes. Light passing sequentially through the window (1309) and the first hole (h1) may pass through the micro lens array (1308) and reach the sensor array (131).

[0202] The window (1309) can be mounted on the front cover (1301). Specifically, due to the size and height differences between the first hole (h1) and the second hole (h2), a mounting portion (1302) can be formed below the second hole (h2). That is, the mounting portion (1302) can be formed on the front cover (1301). The window (1309) can be installed in a form that is placed on the mounting portion (1302). The window (1309) can receive light reflected from an object and returned.

[0203] A micro lens array (1308) and a sensor array (131) can constitute a receiving optical system (133).

[0204] A receiving optical system (133), a sensor array (131), a copper coin (1312), a thermoelectric element (1330), and a heat conducting element (1331) can be arranged in close contact with each other in sequence.

[0205] The front cover (1301) can be fastened to the rear cover (1340) using screws (SC), etc.

[0206] A side hole (O3) may be formed in the rear cover (1340), and an FPCB (1321) may be placed in the side hole (O3). The FPCB (1321) may be connected to the main processor (111). A connector (1325) for connecting to the main processor (111) may be formed in the FPCB (1321). The connector (1325) may include tens or hundreds of pins connected to the main processor (111).

[0207] As illustrated in FIG. 19, at least one heat dissipation fin (1342) for heat dissipation may be formed on the rear cover (1340).

[0208] The heat dissipation fins (1342) may be formed to protrude outward from the outer surface of the rear cover (1340). The number of heat dissipation fins (1342) may be multiple, and the multiple heat dissipation fins (1342) may form a flow path for air to flow. Each heat dissipation fin (1342) may form an air flow path between adjacent heat dissipation fins (1342). The multiple heat dissipation fins (1342) may form a flow path for guiding air that is forcedly convected downward by the rotation of the receiving module (130).

[0209] FIG. 22 is a drawing for explaining how heat generated in the sensing module described through FIGS. 16 to 21 is emitted through the rear cover.

[0210] The heat dissipation fins (1342) may be guides that direct the direction in which air flows.

[0211] The heat dissipation fin (1342) may be formed in a curved shape. At least a portion of the heat dissipation fin (1342) may be curved. The heat dissipation fin (1342) may have a curved horizontal cross-section. The heat dissipation fin (1342) may have a curvature.

[0212] The heat dissipation fin (1342) may extend from either the first end (1340A) or the fourth end (1340D) of the rear cover (1340) to the second end (1340B) or the third end (1340C). The heat dissipation fin (1342) may be formed in a curved shape extending from the first end (1340A) or the fourth end (1340D) of the rear cover (1340) to the second end (1340B) or the third end (1340C). Each of the first to fourth ends (1340A to 1340D) represents one of four edges or four sides of the rear cover (1340).

[0213] The first end (1340A) may be an edge facing the rotational direction of the sensing module (130) among the first to fourth ends (1340A to 1340D) of the rear cover (1340). For example, when the sensing module (130) rotates clockwise as in the example of FIG. 22, the first end (1340A) may be an edge facing the rotational direction, the third end (1340C) may be an edge facing the first end (1340A), the second end (1340B) may be an edge positioned downward between the first end (1340A) and the third end (1340C), and the fourth end (1340D) may be an edge positioned upward between the first end (1340A) and the third end (1340C). That is, the first end (1340A) may face the left edge of the rear cover (1340), the second end (1340B) may face the right edge of the rear cover (1340), the third end (1340C) may face the lower edge of the rear cover (1340), and the fourth end (1340D) may face the upper edge of the rear cover (1340). That is, the heat dissipation fin (1342) may form a flow path that faces downward from the left side or downward from the upper side of the rear cover (1340). That is, the heat dissipation fin (1342) may be designed in a shape that circulates downward so that heat inside the sealed compartment does not accumulate upward.

[0214] In this way, the heat dissipation fin (1342) can be formed to extend downward from the edge facing the rotational direction of the sensing module (130), in which case the heated air can be quickly moved downward. Accordingly, as the hot air from above moves downward, the internal temperature distribution becomes uniform, thereby preventing overheating of the sensing module (130). That is, the heat dissipation fin (1342) can guide the internal air downward by utilizing forced convection according to the rotation of the transmitting module (130), and thus has the advantage of improving heat dissipation efficiency.

[0215] The number of heat dissipation fins (1342) may vary. The distance between a heat dissipation fin (1342) and another adjacent heat dissipation fin (1342) may vary. The length of each of the plurality of heat dissipation fins (1342) may vary.

[0216] The heat dissipation fin (1342) may be arc-shaped. In this way, when the heat dissipation fin (1342) is arc-shaped, the air flow path can be lengthened. That is, the heat dissipation length is lengthened, which has the advantage of improving heat dissipation performance.

[0217] Depending on the embodiment, the heat dissipation fin (1342) may have a straight horizontal cross-section. For example, the heat dissipation fin (1342) may be formed in a straight shape, i.e., a diagonal shape, extending from the first end (1340A) or the fourth end (1340D) of the rear cover (1340) to the second end (1340B) or the third end (1340C).

[0218] Figures 23 to 25 are drawings for explaining changes in the performance of a sensing module according to temperature.

[0219] Specifically, Fig. 23 is a graph showing the average DCR according to voltage by temperature. DCR is Dark Count Rate, which represents the number of pulses per second in dark conditions, i.e., the count rate measured even when there are no photons in dark conditions. In other words, DCR represents a false detection event. Fig. 24 is a graph showing Fired Pixels according to voltage by temperature. Fig. 25 is a graph showing the average PDE according to voltage by temperature. PDE is Photon Detection Efficiency, which represents the probability of generating an output signal in response to an incident photon.

[0220] Referring to Figures 23 to 25, it can be confirmed that the average DCR, Fired Pixel, and average PDE vary depending on the temperature. That is, it can be confirmed that the sensing module (130) has high sensing accuracy when operating within a preset temperature range. In this respect, it can be confirmed that the sensing module (130) requires improved temperature control and heating performance.

[0221] The above-described transmission module (120) and sensing module (130) can transmit and receive light of shortwave infrared (SWIR) wavelength or near infrared (NIR) wavelength. Light of shortwave infrared wavelength has the characteristic of being sensitive to temperature, such as its characteristics changing depending on temperature. That is, if heat dissipation is not performed, wavelength change and power reduction occur, which lead to problems such as reduced detection distance and increased noise.

[0222] In addition, since each of the light source array (121) and the sensor array (131) is placed adjacent to the PCB (1205) (1305), heat dissipation for the light source array (121) and the sensor array (131) is important to prevent overheating of the PCB (1205) (1305).

[0223] In this respect, the lidar device (100) of the present invention has the advantage of minimizing sensing errors by controlling the internal temperature of the transmission module (120) and the sensing module (130) to a preset range through at least one of the thermoelectric element (1230) (1330), the structure of the upper cover (1240), and the structure of the rear cover (1340).

[0224] In addition, the upper cover (1240) and the rear cover (1340) can minimize overheating of the transmission module (120) and the sensing module (130) through a heat dissipation fin structure that can dissipate heat using air flow according to rotation. That is, at least one of the transmission module (120) and the reception module (130) includes a cover (1240) (1340) in which a plurality of heat dissipation fins (1242) (1342) are protruded, thereby ensuring miniaturization of the lidar device and a heat dissipation function.

[0225] 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. In the transmission module equipped in the lidar device, light source array; A transmission optical system arranged on one side of the above light source array; A PCB electrically connected to the above light source array; A bottom cover having a receiving space formed to accommodate the light source array, the transmitting optical system, and the PCB; and Including an upper cover covering the above bottom cover, A plurality of heat dissipation fins are formed by protruding from the outer surface of the upper cover. Transmitter module.

2. In claim 1, The above plurality of heat dissipation fins having a curved shape Transmitter module.

3. In claim 2, The above curve shape is extending downward from the edge facing the rotational direction of the above transmitting module; Transmitter module.

4. In claim 1, The above plurality of heat dissipation fins A conduit is provided to guide the air forcedly convected downward by the rotation of the above transmitting module. Transmitter module.

5. In claim 1, The above upper cover has first to fourth ends, The first end faces the rotational direction of the transmitting module, The second end is positioned downward between the first end and the third end, The third end faces the first end, The fourth end is positioned above between the first end and the third end, The above plurality of heat dissipation fins Connecting the second end or the third end from the first end or the fourth end Transmitter module.

6. In claim 1, Further comprising a thermoelectric element disposed between at least a portion of the transmitting optical system and the PCB. Transmitter module.

7. In claim 1, The above light source array Investigating light in the SWIR wavelength Transmitter module.

8. In claim 1, Further comprising a PD sensor disposed at the rear side of the light source array to monitor whether light is normally emitted from the light source array. Transmitter module.

9. In claim 1, The above transmission optical system A collimator that collects the light irradiated from the above light source array so that it travels in a straight line; A VBG that locks the wavelength of light passing through the collimator, and A home lens including a home lens that connects the light passing through the above VBG in a row. Transmitter module.

10. In claim 9, Further comprising a supporter supporting the collimator and the VBG, The above supporter is formed with protrusions to support the collimator and the VBG on both sides. Transmitter module.

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