Lidar device

Abstract

A lidar device according to an embodiment of the present invention, comprises: a lidar module; at least one housing including a rotating unit and a fixed unit that are coupled to the lidar module; a cover coupled to the other side of the housing; a plurality of board units arranged to be spaced apart from the rotating unit and the fixed unit in the axial direction; and a first connector arranged on the cover. The plurality of board units include a rotating board unit arranged on the rotating unit and a fixed board unit arranged on the fixed unit. The fixed board unit includes a main board arranged adjacent to the cover and the first connector is connected to the main board through the cover.

Description

Lidar device

[0001] The present invention relates to a lidar device.

[0002] The light emitted from the light source of the lidar device can be utilized in a variety of ways.

[0003] For example, it can be used for object detection and ranging, or laser imaging, detection, and ranging, whereby a lidar device can fire millions of laser pulses per second and measure the time it takes for them to return to scan or receive the light to determine the shape of the reflected object.

[0004] In particular, for object detection and distance measurement, lidar devices can detect things that are not visible in environments with chemical gases or smoke or in the dark by utilizing the characteristics of light wavelengths.

[0005] In addition, in the case of a lidar device that rotates 360 degrees, a rotor including a magnet and a yoke is placed on a rotating module, and although it is adhered to the radial direction and does not come off due to centrifugal force resulting from the rotation, there may be a problem in that it may come off in the axial direction due to vibration.

[0006] A method is needed to solve the problem of the magnet and yoke being dislodged due to vibration.

[0007] The present invention is an invention devised to solve the problems of the above-described prior art, and has as its object the prevention of separation of the magnet and the yoke.

[0008] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned herein will be clearly understood by those skilled in the art from the description below.

[0009] According to an embodiment of the present invention for achieving the above-described object, a lidar device includes a housing including a lidar module, a rotating part in which the lidar module is arranged, and a fixed part, wherein the rotating part includes a shaft extending in an axial direction, a rotor arranged radially outside the shaft, and an encoder part arranged below the rotor in the axial direction, and the fixed part includes a stator arranged between the shaft and the rotor, and the rotor overlaps the encoder part in the axial direction.

[0010] The above rotating portion includes a second wall portion extending in the axial direction away from the lidar module, and the second wall portion may be formed such that at least one side of the internal space is open in the axial direction.

[0011] The rotor includes a yoke and a plurality of magnets coupled to an inner wall of the yoke in a radial direction, and the yoke can be brought into radial contact with an inner wall of the second wall portion.

[0012] The encoder section includes a holder coupled to an end of the second wall section in the axial direction and a disk coupled to the holder, and the holder can be positioned between the rotor and the disk.

[0013] The holder may include a first part that contacts a portion of the outer wall of the second wall portion in a radial direction, a second part that extends radially from an end of the first part and overlaps the rotor in an axial direction, and a third part that extends axially from an end of the second part and contacts a side surface of the disk.

[0014] The second part overlaps the second wall portion and the yoke in the axial direction, and the plurality of magnets may overlap at least partly with the second part in the axial direction.

[0015] An adhesive member may be placed between the second part and the rotor.

[0016] The axial length of the second wall portion may be longer than the axial length of the rotor, and the radial length of the second part may be longer than the radial length of the second wall portion and the rotor.

[0017] The above-mentioned rotating portion further includes a step portion formed at a step with respect to the second wall portion, and the step portion extends radially from the second wall portion toward the shaft so as to overlap at least a portion of the rotor in the axial direction.

[0018] The radial length of the above-mentioned step portion may be less than the radial length of the above-mentioned rotor.

[0019] The above yoke and the encoder portion may have a ring shape extending along the circumferential direction based on the shaft.

[0020] The above-mentioned fixed part includes a drive board arranged to face the disk in the axial direction, and the drive board can have an encoder element part and a drive element part arranged thereon.

[0021] The above encoder element can overlap with the disk in the axial direction.

[0022] A lidar device according to an embodiment of the present invention includes a housing including a lidar module, a rotating part in which the lidar module is arranged, and a fixed part, wherein the rotating part includes a shaft extending in an axial direction, a rotor arranged radially outside the shaft, and a holder arranged on one side of the rotor in the axial direction, and the fixed part includes a stator arranged between the shaft and the rotor, and the rotor includes a yoke and a ring-shaped magnet coupled to an inner wall of the yoke in a radial direction.

[0023] A lidar device according to an embodiment comprises: a lidar module; at least one housing including a rotating part and a fixed part coupled to the lidar module; a cover coupled to the other side of the housing; a plurality of board parts arranged axially spaced apart from the rotating part and the fixed part; and a first connector arranged on the cover, wherein the plurality of board parts include a rotating board part arranged on the rotating part and a fixed board part arranged on the fixed part, and the fixed board part includes a main board arranged adjacent to the cover, and the first connector penetrates the cover and is connected to the main board.

[0024] The above fixed board part may include a sub-board that is spaced apart from the main board in a direction from the cover toward the lidar module, a driving board that is spaced apart from the sub-board in a direction from the cover toward the lidar module, and a driving board that is spaced apart from the rotation board part in a direction from the lidar module toward the cover.

[0025] The above main board, the above sub board and the above driving board can be placed within the above fixed part.

[0026] In the above cover, the main board, the sub board, the driving board, and the rotation board may be sequentially spaced apart and arranged in the direction toward the lidar module.

[0027] The first connector may include an insertion portion that penetrates the cover and is positioned on the inside of the cover, a body portion that is positioned on the outside of the cover, and a limiting portion that extends from the periphery of the body portion in a direction away from the body portion and comes into contact with the cover in a direction from the cover toward the lidar module.

[0028] The above insertion portion and the main board may be spaced apart from the cover in a direction toward the lidar module.

[0029] The cover includes a first wall portion that protrudes toward the main board and comes into contact with the main board, and the insert portion may be arranged on the inside of the first wall portion.

[0030] The first wall portion may be spaced apart from the insert portion in a direction perpendicular to the direction toward the lidar module in the cover, and the insert portion may include a connection terminal protruding in a direction toward the main board.

[0031] It may include a second connector arranged between the main board and the sub-board and a third connector arranged between the sub-board and the driving board.

[0032] The third connector may include a frame, a terminal portion disposed inside the frame and having elasticity, and a groove portion formed between the frame and the terminal portion.

[0033] The second connector may not overlap the driving board in the direction from the cover toward the lidar module.

[0034] The above sub-board may overlap only a portion of the main board in the direction from the lidar module toward the cover.

[0035] In the above lidar module, the driving board and the main board may overlap only partially in the direction toward the cover.

[0036] A lidar device according to an embodiment of the present invention for solving the above problem can have the effect of preventing detachment of a magnet and a yoke.

[0037] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

[0038] In addition, the effects of the present invention may be described in more detail in the detailed description of the present invention, and may not necessarily be limited to what is presented above.

[0039] The summary set forth above, as well as the detailed description of preferred embodiments of the present application described below, will be better understood when read in conjunction with the accompanying drawings.

[0040] For the purpose of illustrating the present invention, preferred embodiments are shown in the drawings.

[0041] However, it should be understood that the present application is not limited to the precise arrangements and means illustrated.

[0042] FIG. 1 is a block diagram illustrating a lidar module according to one embodiment of the present invention;

[0043] FIG. 2 is a cross-sectional view of a light-receiving portion of a lidar module according to an embodiment of the present invention;

[0044] FIG. 3 is a drawing showing a top view of a sensor part of a lidar module according to an embodiment of the present invention;

[0045] FIG. 4 is a diagram illustrating a bottom view of a micro lens array of a lidar module according to an embodiment of the present invention;

[0046] FIG. 5 is a drawing showing an exploded view of a lidar device according to an embodiment of the present invention;

[0047] FIG. 6 is a drawing showing an exploded view of a driving module of a lidar device according to an embodiment of the present invention;

[0048] FIG. 7 is a cross-sectional view of a driving module of a lidar device according to an embodiment of the present invention;

[0049] FIG. 8 is a drawing specifically illustrating a shaft of a lidar device according to an embodiment of the present invention;

[0050] FIG. 9 is a drawing illustrating a first connector of a lidar device according to an embodiment of the present invention;

[0051] FIG. 10 is a drawing illustrating a second connector of a lidar device according to an embodiment of the present invention;

[0052] FIG. 11 is a drawing illustrating a third connector of a lidar device according to an embodiment of the present invention;

[0053] FIG. 12 is a drawing illustrating an overlapping area of ​​a plurality of board sections of a lidar device according to an embodiment of the present invention;

[0054] FIG. 13 is a drawing illustrating a motor unit of a lidar device according to an embodiment of the present invention;

[0055] FIG. 14 is a drawing illustrating an encoder section of a lidar device according to an embodiment of the present invention; and

[0056] Fig. 15 is a drawing showing an exploded view of a rotating part of a lidar device according to an embodiment of the present invention.

[0057] The present invention is susceptible to various modifications and embodiments, and specific embodiments are illustrated and described in detail in the drawings. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. In describing the present invention, detailed descriptions of related known technologies will be omitted if they are deemed to obscure the gist of the present invention.

[0058] Terms such as first, second, etc. may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another.

[0059] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprises" or "has" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0060] Additionally, throughout the specification, when we say "connected," this does not only mean that two or more components are directly connected, but also that two or more components are indirectly connected through other components, that they are electrically connected as well as physically connected, or that they are referred to by different names depending on location or function but are one.

[0061] Additionally, when described as being formed or arranged "above or below" each component, "above" or "below" includes not only cases where the two components are in direct contact with each other, but also cases where one or more other components are formed or arranged between the two components. Furthermore, when expressed as "above" or "below," it can include the meaning of a downward direction as well as an upward direction based on one component.

[0062] In addition, when explaining as 'same' or 'similar' based on objects that can be compared numerically or geometrically, such as length, inner diameter, diameter, area, etc., it may mean including cases where there is a range of error. For example, when explaining that the lengths of components A and B are the same, it may be desirable to interpret it to mean that the length of B is included within the range of error of the length of A. This is because it takes into account the range of error that occurs during the injection molding and manufacturing of the device, and because it is a matter that can obviously occur physically, it may be desirable to understand it taking into account the range of error as described above even when explaining as 'same' or 'similar.' In this case, the range of error may range from -5% to +5% of the mentioned number or shape, but this is only an example of the range of error and may not necessarily have a range limited to what was mentioned.

[0063] Hereinafter, preferred embodiments of the present invention, in which the purpose of the present invention can be specifically realized, will be described with reference to the attached drawings.

[0064] A lidar device according to an embodiment of the present invention may refer to a lidar device mounted on a vehicle to measure the distance between the vehicle and an object, but is not limited thereto. A lidar device according to an embodiment of the present invention may extract depth information using the Time of Flight (ToF) principle or the phase shift principle. In this specification, a lidar device may also be referred to as an information generating device, a depth information generating device, or a camera device.

[0065] FIG. 1 is a block diagram of a lidar module according to one embodiment of the present invention.

[0066] Referring to FIG. 1, a lidar module (1000) according to an embodiment of the present invention includes a light emitting unit (100), a light receiving unit (200), an information generating unit (300), and a control unit (400).

[0067] The light emitting unit (100) can generate and output an output light signal in the form of a pulse wave or a continuous wave. The continuous wave may be in the form of a sinusoid wave or a square wave. By generating the output light signal in the form of a pulse wave or a continuous wave, the lidar module (1000) can detect a time difference or a phase difference between the output light signal output from the light emitting unit (100) and the input light signal reflected from the target area and then input to the light receiving unit (200). In this specification, the output light refers to light output from the light emitting unit (100) and incident on an object, and the input light refers to light output from the light emitting unit (100) and reaching the target area, reflected from the target area, and then input to the light receiving unit (200). From the perspective of the target area, the output light may be incident light, and the input light may be reflected light. In this specification, the target area may be used interchangeably with an object or a thing.

[0068] The light receiving unit (200) can receive an optical signal reflected from the target area. At this time, the received optical signal may be an optical signal output by the light emitting unit (100) reflected from the target area.

[0069] The light receiving unit (200) includes a sensor unit, a lens group arranged on the sensor unit, and a filter.

[0070] An optical signal reflected from the target area can pass through the lens group of the light receiving unit (200). The optical axis of the lens group of the light receiving unit (200) can be aligned with the optical axis of the sensor unit. A filter can be placed on the optical path between the target area and the sensor unit. The filter can filter light having a predetermined wavelength range. The filter can pass light of a specific wavelength. For example, the filter can pass light in the infrared or near-infrared band and block light other than the infrared or near-infrared band. The sensor unit can receive an optical signal and output the received optical signal as an electrical signal. The sensor unit can detect light of a wavelength corresponding to the wavelength of light output by the light emitting unit (100). For example, the sensor unit can detect light in the infrared or near-infrared band.

[0071] The sensor unit may be configured with a structure in which multiple pixels are arranged in a grid shape.

[0072] The light receiving unit (200) and the light emitting unit (100) may be arranged side by side. The light receiving unit (200) may be arranged next to the light emitting unit (100). The light receiving unit (200) may be arranged to face the same direction as the light emitting unit (100). Alternatively, the light receiving unit (200) and the light emitting unit (100) may be arranged to face different directions. When the light receiving unit (200) and the light emitting unit (100) are arranged to face different directions, an optical path conversion member may be further arranged between the light receiving unit (200) and the light emitting unit (100).

[0073] The information generating unit (300) generates information about a target area using an input light signal input to the light receiving unit (200). The information about the target area may include three-dimensional information about the target area. For example, the information about the target area may include depth information about the target area or shape information about the target area. For example, the information generating unit (300) may calculate depth information about an object using the flight time it takes for an output light signal output from the light emitting unit (100) to be input to the light receiving unit (200) after being reflected from an object. For example, the information generating unit (300) may calculate a time difference between an output light signal and an input light signal using an electric signal received by the sensor unit, and may calculate a distance between the target area and the lidar module (1000) using the calculated time difference. For example, the information generating unit (300) may calculate a phase difference between an output light signal and an input light signal using an electric signal received from the sensor unit, and may calculate a distance between the target area and the lidar module (1000) using the calculated phase difference.

[0074] The control unit (400) controls the operation of the light emitting unit (100), the light receiving unit (200), and the information generating unit (300). The information generating unit (300) and the control unit (400) may be implemented in the form of a PCB (printed circuit board). Alternatively, the information generating unit (300) and the control unit (400) may be implemented in the form of other configurations. Alternatively, the control unit (400) may be included in a terminal or vehicle in which the lidar module (1000) according to an embodiment of the present invention is installed. For example, the control unit (400) may be implemented in the form of an application processor (AP) of a smartphone in which the lidar module (1000) according to an embodiment of the present invention is installed, or in the form of an electronic control unit (ECU) of a vehicle in which the lidar module (1000) according to an embodiment of the present invention is installed.

[0075] FIG. 2 is a cross-sectional view of a light receiving unit according to an embodiment of the present invention, FIG. 3 is a top view of a sensor unit according to an embodiment of the present invention, and FIG. 4 is a bottom view of a micro lens array according to an embodiment of the present invention.

[0076] Referring to FIGS. 2 to 4, a light receiving unit (200) included in a lidar module (1000) according to an embodiment of the present invention includes a sensor unit (210), a micro lens array (220) disposed on the sensor unit (210), a lens group (230) disposed on the micro lens array (220), a filter unit (240) disposed on the lens group (230), and a window (250) disposed on the filter unit (240). In this case, the sensor unit (210) may be an image sensor.

[0077] According to an embodiment of the present invention, the sensor unit (210) includes a pixel array. Here, the pixel array may be a single photon avalanche detector (SPAD) array, and the SPAD array may include a plurality of SPADs. When the SPAD receives an optical signal, a photon may be detected by the avalanche phenomenon.

[0078] Here, the sensor unit (210) includes a pixel array arranged along a first direction and a second direction, and the number of pixels arranged along the first direction may be greater than the number of pixels arranged along the second direction. For example, the sensor unit (210) according to an embodiment of the present invention includes an m*n pixel array, and m may be greater than n. When the ratio of m to n is 8 or more, it may be referred to as a one-dimensional pixel array or a one-dimensional SPAD array.

[0079] According to an embodiment of the present invention, a micro lens array (220) is arranged on the sensor unit (210) to be spaced apart from the sensor unit (210). The micro lens array (220) includes a first surface (220A) arranged to face the sensor unit (210) and a second surface opposite the first surface (220A), and a plurality of micro lenses protrude from the first surface (220A) to face the sensor unit (210). For convenience of explanation, the first surface (220A) of the micro lens array (220) may be referred to as a lower surface of the micro lens array (220), and the second surface of the micro lens array (220) may be referred to as an upper surface of the micro lens array (220). According to an embodiment of the present invention, a plurality of micro lenses may be formed on the first surface (220A) of the micro lens array (220), and the second surface of the micro lens array (220) may be a flat surface.

[0080] A first surface (220A) of a micro lens array (220) according to an embodiment of the present invention includes an effective area (220A1) including a plurality of micro lenses corresponding to the pixel array of the sensor unit (210), a buffer area (220A2) including a plurality of micro lenses arranged to surround the effective area (220A1), and a peripheral area (220A3) arranged to surround the buffer area (220A2).

[0081] Here, the effective area (220A1) can be matched one-to-one with the pixel array. That is, when the sensor unit (210) includes an m*n pixel array, the effective area (220A1) includes m*n micro lenses, and the pixels of the sensor unit (210) and the micro lenses of the effective area (220A1) can be matched one-to-one. Accordingly, among the optical signals incident on the light receiving unit (200), the optical signals incident on the effective area (220A1) can be detected by the sensor unit (210) and used to recognize an object. The optical signals incident on the light receiving unit (200) can be collected by the micro lenses of the effective area (220A1) of the micro lens array (220), so that the optical reception efficiency for each pixel can be increased. Accordingly, the micro lens array (220) may also be referred to as a sensor window.

[0082] Meanwhile, the buffer area (220A2) may be arranged to surround the effective area (220A1) around the effective area (220A1). For example, if the sensor unit (210) includes an m*n pixel array and the effective area (220A1) includes m*n micro lenses, the first surface (220A) of the micro lens array (220) may include a total of (m+2a)*(n+2b) micro lenses, including the buffer area (220A2). Here, a and b may be the same or different. For example, a and b may be 1 or more and 10 or less, preferably 1 or more and 5 or less, and more preferably 2 or more and 3 or less. For example, a may be 3 and b may be 2. In this way, if the first surface (220A) of the micro lens array (220) includes a buffer area (220A2) surrounding the effective area (220A1), the light collection efficiency of the effective area (220A1) can be improved and the loss of the optical signal can be reduced.

[0083] Meanwhile, the peripheral region (220A3) may be arranged to surround the buffer region (220A2) around the buffer region (220A2). At this time, the peripheral region (220A3) may be a flat surface. Accordingly, the micro lens array (220) may be attached to a structure within the sensor unit (210) or the light receiving unit (200) through the peripheral region (220A3).

[0084] Referring to FIG. 2, a lens group (230), a filter unit (240), and a window (250) are sequentially arranged on a sensor unit (210) and a micro lens array (220). Here, the lens group (230) may include a plurality of lenses. For example, the lens group (230) may include two lenses arranged to be spaced apart from each other, but is not limited thereto. The filter unit (240) arranged on the lens group (230) may be a band pass filter. For example, it may be a band pass filter that transmits only a SWIR optical signal among the optical signals input to the receiver (200). Although not illustrated, the lens group (230) and the filter unit (240) may be arranged on a lens barrel. Although the sensor unit (210), micro lens array (220), lens group (230), and filter unit (240) are shown to be arranged sequentially, this is not limited to the above, and the sensor unit (210), micro lens array (220), filter unit (240), and lens group (230) may be arranged in that order.

[0085] The window (250) is positioned outside the lens barrel, and the light signal reflected from the object passes through the window (250) and is sequentially incident on the filter unit (240), lens group (230), micro lens array (220), and sensor unit (210). Accordingly, the window (250) may be referred to as a glass window or an external window. The light signal output from the light emitting unit (100) may also be output to the outside through the window (250).

[0086] The above-described content specifically describes the contents that may include the overall functions of the lidar device to help understand the lidar device according to an embodiment of the present invention, and this should be understood as an exemplary description of a lidar module (1000) utilized in the lidar device, and the lidar device according to an embodiment of the present invention can be explained based on the above-described content.

[0087] Meanwhile, a lidar device according to an embodiment of the present invention can be described with reference to FIGS. 5 to 14.

[0088] Specifically, FIG. 5 is a diagram showing an exploded view of a lidar device according to an embodiment of the present invention, FIG. 6 is a diagram showing an exploded view of a drive module of a lidar device according to an embodiment of the present invention, FIG. 7 is a diagram showing a cross-sectional view of a drive module of a lidar device according to an embodiment of the present invention, FIG. 8 is a diagram specifically illustrating a shaft of a lidar device according to an embodiment of the present invention, FIG. 9 is a diagram showing a first connector of a lidar device according to an embodiment of the present invention, FIG. 10 is a diagram showing a second connector of a lidar device according to an embodiment of the present invention, FIG. 11 is a diagram showing a third connector of a lidar device according to an embodiment of the present invention, FIG. 12 is a diagram showing an overlapping area of ​​a plurality of board parts of a lidar device according to an embodiment of the present invention, FIG. 13 is a diagram showing a motor part of a lidar device according to an embodiment of the present invention, FIG. 14 is a diagram showing an encoder part of a lidar device according to an embodiment of the present invention, and FIG. 15 is an exploded view of a rotation part of a lidar device according to an embodiment of the present invention. It's a drawing.

[0089] First, as illustrated in FIG. 5, a lidar device according to an embodiment of the present invention may include the lidar module (1000), case module (2000), and drive module (3000) described above.

[0090] Here, the lidar module (1000) has been described, but in addition to the light receiving unit (200) and light emitting unit (100) described above, a plate unit on which the light receiving unit (200) and light emitting unit (100) are arranged may be further included. Here, the plate unit can rotate 360 ​​degrees to irradiate light in all directions and receive reflected light. That is, the lidar device according to the embodiment of the present invention may be a device that rotates 360 degrees.

[0091] In addition, the case module (2000) may have an movable space formed on the inside, and the lidar module (1000) may be arranged within the movable space. In addition, a plurality of heat exhaust portions may be formed to effectively release heat generated from the lidar module (1000) to the outside, and the heat exhaust portions may be formed to protrude from the upper surface of the case module (2000) and may be arranged to be spaced apart from each other at a predetermined interval in the circumferential direction. That is, the plurality of heat exhaust portions may be arranged radially based on the center of the upper surface of the case module (2000).

[0092] Meanwhile, the lidar device according to the embodiment of the present invention may include a driving module (3000) for rotating the lidar module (1000) since the lidar module (1000) rotates 360 degrees as described above. At this time, an operating space for rotating the lidar module (1000) may be formed inside the case module (2000), but an arrangement space for rotating the lidar module (1000) and arranging various components and PCBs for receiving and transmitting information and transmitting power may be formed inside the driving module (3000).

[0093] Specifically, as illustrated in FIG. 6, the driving module (3000) according to the embodiment of the present invention may include a housing (3100) including a rotating part (3110) and a fixed part (3120) coupled to a lidar module (1000), a cover (3200) coupled to the other side of the housing (3100), and a plurality of board parts (3400) spaced apart from the rotating part (3110) and the fixed part (3120) in the axial direction.

[0094] Here, the rotating part (3110) of the housing (3100) is coupled with the lidar module (1000) and rotates together, and the fixed part (3120) may not rotate together with the lidar module (1000). That is, the rotating part (3110) rotates due to the components arranged in the fixed part (3120), and the lidar module (1000) coupled to the rotating part (3110) can rotate by the driving force transmitted to the rotating part (3110). This will be described in more detail with reference to the drawings to be described later.

[0095] In addition, a case module (2000) may be coupled to the rotating part (3110) to close the inside, and a cover (3200) may be coupled to the fixed part (3120) to close the inside. As a result, the internal space of the lidar device according to the embodiment of the present invention may be formed as a completely sealed space. However, this is only one exemplary description for implementing the present invention and may not necessarily be limited thereto.

[0096] Meanwhile, the plurality of board parts (3400) according to the embodiment of the present invention are largely divided into a fixed board part (3420) placed on a fixed part (3120) and a rotating board part (3410) placed on a rotating part (3110). The rotating board part (3410) is coupled to the plate part and can be placed between the lidar module (1000) and the rotating part (3110) in the direction toward the cover (3200) in the lidar module (1000).

[0097] In addition, the fixed board part (3420) includes a main board (3421), a sub board (3422), and a driving board (3423). The main board (3421) can receive power and transmit it to the sub board (3422), the driving board (3423), the rotating board part (3410), and the lidar module (1000). The sub board (3422) can distribute power transmitted from the main board (3421) or distribute and process information transmitted to the main board (3421). The driving board (3423) can receive power to rotate the rotating part (3110) and rotate the rotating part (3110) through various factors.

[0098] For example, the driving board (3423) can operate the operating part through the supplied power to rotate the rotating part (3110), and the operating part will be described separately through the drawings described later.

[0099] Meanwhile, referring to FIG. 7 for a general description of a lidar device according to an embodiment of the present invention, as illustrated in FIG. 7, a fixed part (3120) and a rotating part (3110) are coupled to each other, the fixed part (3120) forms the outer appearance of the driving module (3000), and a rotating part (3110) may be arranged on the inner upper part of the fixed part (3120).

[0100] Here, the rotating part (3110) will be described first. The rotating part (3110) includes a shaft (3111), a rotor (3112) that is spaced apart from the shaft (3111) in the radial direction, and the fixed part (3120) may include a stator (3121, 3122) that is placed between the shaft (3111) and the rotor (3112).

[0101] In addition, a rotating board part (3410) is arranged on the upper side of the rotating part (3110), a shaft (3111) extends axially from the radial center of the rotating part (3110), and the rotating part (3110) further includes a second wall part (3115) extending axially from a portion radially spaced from the shaft (3111), and the rotor (3112) can be in contact with the inner wall of the second wall part (3115). Here, the radial center may mean the center of an imaginary line formed radially with respect to the component.

[0102] In addition, a step portion (3116) is formed on the upper side of the rotor (3112) in the axial direction, and the step portion (3116) can be formed to extend radially inward from the second wall portion (3115). Here, the step portion (3116) can prevent the rotor (3112) from being dislodged in the axial direction during the process of rotating the rotating portion (3110).

[0103] Meanwhile, the rotor (3112) includes a yoke (3112a) that is in contact with the inner wall of the second wall portion (3115) and a magnet (3112b) that is positioned radially inward from the yoke (3112a) and is positioned between the stator (3121, 3122) and the yoke (3112a), and the magnet (3112b) may be coupled to the inner surface of the yoke (3112a).

[0104] Here, the yoke (3112a) is provided in a ring shape, and the second wall portion (3115) is provided to have an inner diameter larger than the outer diameter of the yoke (3112a) in response thereto, and the magnet (3112b) is provided in a ring shape and may be coupled to the inner surface of the yoke (3112a), or a plurality of magnets may be provided and arranged to be spaced apart from each other in the circumferential direction.

[0105] In addition, the rotating part (3110) includes an encoder part (3113, 3114) coupled to the second wall part (3115), and the encoder part (3113, 3114) includes a disk (3114) and a holder (3113), and the holder (3113) is coupled to an axial end of the second wall part (3115) and overlaps with the rotor (3112) and the second wall part (3115) in the axial direction, and another part of the holder (3113) can overlap with the rotor (3112) and the second wall part (3115) in the radial direction. In addition, the holder (3113) may be arranged axially between the end of the second wall portion (3115) and the disk (3114), and the disk (3114) may be arranged axially between the end of the second wall portion (3115) and the lower portion of the holder (3113). Here, the holder (3113) and the disk (3114) may also be provided in a ring shape. This will be described in more detail with reference to the drawings to be described later.

[0106] In addition, the shaft (3111) extends axially from the center of the rotating part (3110) as described above, but extends in a direction away from the lidar module (1000), and a first bearing (3610) and a second bearing (3620) can be coupled to the shaft (3111).

[0107] At this time, the radial outer diameter of the first bearing (3610) is larger than the radial outer diameter of the second bearing (3620), and the radial inner diameter of the first bearing (3610) may be the same as the radial inner diameter of the second bearing (3620).

[0108] Additionally, a catch member (3630) may be arranged at the lower portion in the axial direction of the second bearing (3620), and the catch member (3630) may be coupled to an end of the shaft (3111) and may come into contact with the bottom surface of the second bearing (3620).

[0109] This means that the first bearing (3610) is prevented from axially detaching at the upper part by the rotating part (3110) and the lower part is prevented from axially detaching at the lower part by the second bearing (3620). However, since the second bearing (3620) does not have a separate support member at the lower part in the axial direction, it can detach, and therefore detachment of the second bearing (3620) can be prevented through the above-described catch member (3630).

[0110] At this time, the catch member (3630) may be provided in a C-shaped ring shape with a portion open, but may also be provided in a ring shape made of rubber material or in a plate shape as needed, and may not necessarily be limited to what has been mentioned.

[0111] To explain this in detail, referring to FIG. 8, as shown in FIG. 8, a shaft (3111) extends axially from a rotating part (3110) toward a cover (3200), a first bearing (3610) is arranged on an upper outer surface of the shaft (3111), a second bearing (3620) is arranged on a lower outer surface, a catch member (3630) is provided on the bottom surface of the second bearing (3620), and a separate catch groove may be formed in the shaft (3111) for inserting the catch member (3630).

[0112] In addition, the catch member (3630) is in axial contact with the bottom surface of the second bearing (3620), but a space may be formed between the first bearing (3610) and the second bearing (3620) in the axial direction.

[0113] Meanwhile, a communication hole (3111a) extending axially is formed on the inside of the shaft (3111), and the rotating board part (3410) includes a first communication protrusion (3411) inserted into the upper side of the communication hole (3111a), and the first communication protrusion (3411) can be formed to extend axially from the bottom surface of the rotating board part (3410) toward the main board (3421). As a result, the upper side of the communication hole (3111a) can form a space having a relatively wide diameter for arranging the first communication protrusion (3411).

[0114] That is, the diameter of the axial center of the communication hole (3111a) and the diameter of the space where the upper first communication protrusion (3411) is arranged may be different from each other, and more specifically, the diameter of the space where the first communication protrusion (3411) is arranged may be larger. Here, the axial center may mean the center of a virtual line formed in the axial direction with respect to the component.

[0115] In addition, the main board (3421) includes a second communication protrusion (3424) that overlaps the first communication protrusion (3411) in the axial direction and extends toward the communication hole (3111a). Unlike the first communication protrusion (3411), the second communication protrusion (3424) is not inserted into the communication hole (3111a), does not overlap the communication hole (3111a) in the radial direction, and may be arranged to overlap the communication hole (3111a) in the axial direction. This can prevent the second communication protrusion (3424) from being damaged during the process of rotating the shaft (3111) by being inserted into the inside of the communication hole (3111a).

[0116] Meanwhile, the lower part of the communication hole (3111a), i.e., the part adjacent to the second communication protrusion (3424), is formed to have a diameter that gradually increases. This may be to facilitate information transmission between the first communication protrusion (3411) and the second communication protrusion (3424). In addition, the rotating part (3110) will be described in more detail with reference to the drawings to be described later.

[0117] Meanwhile, regarding the fixed part (3120), the fixed part (3120) may have a fixed board part (3420) arranged on the inside, and the fixed board part (3420) may include a main board (3421), a sub board (3422), and a driving board (3423). In addition, the main board (3421), the sub board (3422), and the driving board (3423) may be arranged to be spaced apart from each other in the axial direction, that is, in the direction from the cover (3200) toward the lidar module (1000), as illustrated in FIGS. 6 and 7.

[0118] At this time, the sub-board (3422) and the driving board (3423) are illustrated as being arranged on one side based on FIG. 7, for example, the sub-board (3422) on the left side based on FIG. 7, and the driving board (3423) on the right side based on FIG. 7. However, since the sub-board (3422) is formed to be elongated in the circumferential direction based on the shaft (3111), it may be arranged on both sides, and the same applies to the driving board (3423), and it should not be interpreted as being limited to what is illustrated. In addition, in the detailed description of the lidar device according to the embodiment of the present invention, the sub-board (3422) and the driving board (3423) are described as being arranged singly, but this is described as being arranged singly to prevent misunderstanding due to the complex configuration arrangement. However, the sub-board (3422) and the driving board (3423) are not necessarily limited to being arranged singly, and may be arranged on both sides based on FIG. 7, or may be formed as one configuration elongated in the circumferential direction as described above, and are not necessarily limited to what has been mentioned, and may be implemented in various modifications.

[0119] Here, the main board (3421) may be arranged adjacent to the cover (3200), and the driving board (3423) may be arranged adjacent to the rotation unit (3110). In other words, the driving board (3423) may be spaced apart from the sub-board (3422) in the direction from the cover (3200) toward the lidar module (1000), and may be spaced apart from the rotation board unit (3410) in the direction from the lidar module (1000) toward the cover (3200). In addition, when the driving board (3423) is viewed in a direction perpendicular to the axial direction, the driving board (3423) may be arranged between the rotation board unit (3410) and the sub-board (3422) in the axial direction.

[0120] At this time, the axial direction means a direction parallel to the rotation axis formed based on the shaft (3111), which may be used interchangeably with the direction from the lidar module (1000) toward the cover (3200) and the direction from the cover (3200) toward the lidar module (1000) in the detailed description of the present invention, and the radial direction means a direction perpendicular to the axial direction described above, and may be used interchangeably with the direction perpendicular to the direction from the lidar module (1000) toward the cover (3200) or the direction perpendicular to the direction from the cover (3200) toward the lidar module (1000) as described above.

[0121] In addition, during the manufacturing process of the drive module (3000), the rotating part (3110) and the fixed part (3120) are coupled to each other, and the cover (3200) is coupled last. However, as an exception, the main board (3421) may be first coupled to the cover (3200) and then placed inside the fixed part (3120).

[0122] Here, the main board (3421) has a larger area than the sub board (3422) and the drive board (3423), the sub board (3422) has a smaller area than the main board (3421) and a larger area than the drive board (3423), and the drive board (3423) can have a smaller area than the main board (3421) and the sub.

[0123] Meanwhile, the lidar device according to an embodiment of the present invention includes a first connector (3510), a second connector (3520), and a third connector (3530). The first connector (3510) is disposed on a cover (3200), penetrates the cover (3200), and is directly connected to a main board (3421). The second connector (3520) connects the main board (3421) and the sub-board (3422), and the third connector (3530) can electrically connect the sub-board (3422) and the driving board (3423). In addition, although not shown, each board section (3400) may be individually connected to each other through an FPCB having elasticity, stretchability, and flexibility.

[0124] Here, it is preferable that the first connector (3510), the second connector (3520), and the third connector (3530) are arranged so as not to overlap each other in the axial direction. Specifically, the first connector (3510) and the second connector (3520) may not overlap each other in the axial direction, and the second connector (3520) and the third connector (3530) may not overlap each other in the axial direction. This is to prevent a problem in which a terminal provided on the first connector (3510) is connected to the second connector (3520) or to prevent a problem in which the size of the lidar device increases in order to secure space for the first connector (3510) or the second connector (3520). Since the first connector (3510) and the third connector (3530) are spaced apart from each other in the axial direction, they may overlap each other in the axial direction.

[0125] First, referring to FIG. 9 to explain the first connector (3510), as illustrated in FIG. 9, the first connector (3510) of the lidar device according to the embodiment of the present invention may include an insertion portion (3511) that penetrates the cover (3200) and is positioned on the inside of the cover (3200), a body portion (3512) that is positioned on the outside of the cover (3200), and a restriction portion (3513) that extends radially away from the body portion (3512) from the periphery of the body portion (3512) and comes into contact with the cover (3200) in a direction from the cover (3200) toward the lidar module (1000).

[0126] Here, the first connector (3510) is conventionally connected to the side of the fixed part (3120) and connected to the main board (3421) through a separate member, and the separate member is likely to come off due to vibration or the assembly is complicated, and a part of the main board (3421) cannot be used for the first connector (3510) due to the space required for the insertion of the separate member and the insertion part (3511). However, the first connector (3510) according to the embodiment of the present invention is connected to the cover (3200), and the insertion part (3511) is disposed on the inside of the cover (3200) by penetrating the cover (3200), and the first connector (3510) is directly connected to the main board (3421), so that the above-described conventional problems can be effectively solved.

[0127] Meanwhile, in order to prevent damage to the main board (3421) caused by the collision between the insertion portion (3511) and the main board (3421) during the process of combining the first connector (3510), the cover (3200) includes a first wall portion (3210) that extends toward the main board (3421) and comes into contact with the main board (3421), and the insertion portion (3511) can be arranged on the inside of the first wall portion (3210).

[0128] Here, the first wall portion (3210) is positioned radially apart from the insert portion (3511) and does not directly contact the insert portion (3511). This prevents vibration of the rotating portion (3110), external shock, etc. from being directly transmitted to the main board (3421) through the connector and the first wall portion (3210), and physically, there may also be an effect of reducing vibration by forming a gap.

[0129] In addition, the insertion portion (3511) is formed to be shorter than the first wall portion (3210) in the axial direction, does not directly contact the main board (3421), and a connection terminal (3511a) is formed at the end of the insertion portion (3511) so that it can be electrically connected to the main board (3421) through the connection terminal (3511a).

[0130] In addition, the restriction portion (3513) contacts the outer surface of the cover (3200) to prevent the insertion portion (3511) from being inserted beyond a preset height, thereby effectively preventing damage to the main board (3421) due to the insertion portion (3511) together with the first wall portion (3210). In addition, since the lidar device according to the embodiment of the present invention is sealed on the inside as described above, a gasket (G) may be placed between the cover (3200) and the fixing portion (3120) to increase the sealing efficiency of the internal space.

[0131] Meanwhile, the second connector (3520) connects the main board (3421) and the sub board (3422), but may be provided with a predetermined range of movement to prevent damage to terminals or components due to difficulty in exact overlap depending on manufacturing tolerance during the process of combining the main board (3421).

[0132] Specifically, as illustrated in FIG. 10, the second connector (3520) is disposed between the main board (3421) and the sub board (3422), and the second connector (3520) may include a frame (3521), a terminal portion (3522), and a groove portion (3523). Here, the frame (3521) forms the exterior of the second connector (3520), and the terminal portion (3522) is disposed on the inside of the frame (3521), and the terminal portion (3522) and the frame (3521) may be spaced apart from each other in the radial direction, so that a groove portion (3523) may be formed between the frame (3521) and the terminal portion (3522). In addition, the terminal portion (3522) is formed of a material having a predetermined elasticity so that the connecting pin (C) positioned from the sub-board (3422) toward the main board (3421) can be easily connected even with a slight twist when inserted into the groove portion (3523).

[0133] Here, the elasticity of the terminal portion (3522) is elastic in a direction spaced apart from the frame (3521), and specifically, elastic deformation in the left and right directions can be achieved based on FIG. 10, and accordingly, the terminal portion (3522) can have a predetermined fluid range.

[0134] In addition, since the terminal portion (3522) has elasticity, it is possible to solve the problem of damage occurring during the manufacturing tolerance and the process of assembling the main board (3421) and cover (3200) to the fixing portion (3120) as described above, and since the connection pin (C) must be inserted into the groove portion (3523), it is also possible to form a reference point for aligning the main board (3421) in the correct direction.

[0135] Meanwhile, an exhaust part (3220) may be formed in the cover (3200) to create a low-vacuum or sealed state of the internal space of the lidar device according to an embodiment of the present invention, and the exhaust part (3220) may include an exhaust hole (3221), a sealing member (3222), and a rubber member (3223).

[0136] Here, the exhaust hole (3221) extends outward from the cover (3200) and forms a hole penetrating the cover (3200) inside, and the lidar device according to the embodiment of the present invention can be connected to the outside through the inside of the exhaust hole (3221). In order to close this, the sealing member (3222) is formed to be forcibly fitted inside the exhaust hole (3221), thereby sealing the internal space of the lidar device according to the embodiment of the present invention. Here, the sealing member (3222) is illustrated as being fitted in the shape of a stopper, but may be provided in the shape of a screw-in lid if necessary, and may not necessarily be limited thereto.

[0137] In addition, a rubber member (3223) is placed between the inner surface of the sealing member (3222) and the exhaust hole (3221). The rubber member (3223) may be provided to prevent the inside and outside from being properly sealed due to structural limitations and fluid characteristics. Here, the rubber member (3223) may have the same characteristics as the gasket (G) described above.

[0138] Meanwhile, referring to FIG. 11 to explain the third connector (3530), as shown in FIG. 11, the third connector (3530) is arranged between the driving board (3423) and the sub-board (3422), and the fixed part (3120) is divided into a first space (A1) where the main board (3421) and the sub-board (3422) are arranged and a second space (A2) formed in a direction toward the rotation part (3110), and a fixed member may be arranged in the first space (A1), and members arranged adjacent to the rotation part (3110) may be arranged in the second space (A2).

[0139] Here, the first space (A1) and the second space (A2) are separated by the inner wall of the fixed part (3120), and the fixed part (3120) has a communication hole (3123) formed therein through which the first space (A1) and the second space (A2) communicate with each other, so that the third connector (3530) can be placed in the communication hole (3123). As a result, the positions of the sub-board (3422) and the driving board (3423) can be fixed relative to each other, and the driving board (3423) and the sub-board (3422) can be electrically connected by the third connector (3530).

[0140] Meanwhile, referring to FIG. 12 to explain the arrangement of the main board (3421), the sub board (3422), and the driving board (3423), as shown in FIG. 12, the main board (3421) has a larger area than the sub board (3422) and the driving board (3423), the sub board (3422) is smaller than the main board (3421) and has a larger area than the driving board (3423), and the driving board (3423) can have a smaller area than the main board (3421) and the sub board (3422).

[0141] In addition, the main board (3421) can overlap both the sub board (3422) and the drive board (3423) in the axial direction, and the sub board (3422) can overlap only a part of the main board (3421), and the drive board (3423) can also overlap only a part of the main board (3421). This is because the main board (3421) is relatively larger than the drive board (3423) and the sub.

[0142] In addition, the sub-board (3422) may include an area that does not overlap with the driving board (3423) in the axial direction and an area that overlaps with it, and the driving board (3423) may include an area that does not overlap with the sub-board (3422) in the axial direction and an area that overlaps with it. Accordingly, an overlapping area (O) in which the main board (3421), the sub-board (3422), and the driving board (3423) all overlap in the axial direction may be formed.

[0143] Here, the overlapping area (O) is formed radially inward based on the main board (3421), and can be formed on one side and the other side based on the sub board (3422) and the driving board (3423), respectively.

[0144] Meanwhile, to describe the rotating part (3110) according to the embodiment of the present invention in more detail, as illustrated in FIG. 13, the rotating part (3110) includes a shaft (3111) extending away from the lidar module (1000), a rotor (3112) positioned radially outside the shaft (3111), and an encoder part (3113, 3114) positioned axially below the rotor (3112), and the fixed part (3120) may include a stator (3121, 3122) positioned between the shaft (3111) and the rotor (3112).

[0145] As described above, the rotating part (3110) may be provided with a shaft (3111), a rotor (3112), and an encoder part (3113, 3114), and a stator (3121, 3122) may be arranged in the fixed part (3120). Here, the rotating part (3110) includes a second wall part (3115) extending in the extension direction of the shaft (3111) so that the rotor (3112) is arranged, the second wall part (3115) is arranged to be spaced apart from the shaft (3111) in the radial direction, and the rotor (3112) may be arranged to be in contact with the inner side of the second wall part (3115).

[0146] In addition, the rotor (3112) includes a yoke (3112a) and a magnet (3112b). The yoke (3112a) is arranged on the inner wall of the second wall portion (3115), and a plurality of magnets (3112b) may be arranged circumferentially on the inner surface of the yoke (3112a). In addition, the yoke (3112a) and the plurality of magnets (3112b) may be arranged to overlap the second wall portion (3115) in the radial direction. Here, the axial height of the yoke (3112a) and the axial height of the magnet (3112b) are smaller than the axial height of the second wall portion (3115), and the second wall portion (3115) may include a step portion (3116) that extends radially inward and contacts the upper surfaces of the yoke (3112a) and the magnet (3112b) in the axial direction.

[0147] Here, the step portion (3116) may be formed to overlap the yoke (3112a) in the axial direction and at least partially overlap the magnet (3112b). That is, the radial length of the step portion (3116) may be shorter than the radial length of the rotor (3112).

[0148] Meanwhile, the encoder unit (3113, 3114) includes a holder (3113) arranged at an axial end of the second wall unit (3115) and a disk (3114) coupled to the holder (3113). The disk (3114) may be provided as an optical encoder among a magnetic encoder and an optical encoder. Here, the magnetic encoder has low precision and accuracy but is durable against foreign substances and vibrations, and the optical encoder has high precision and accuracy but may be vulnerable to foreign substances and vibrations. However, in the lidar device according to the embodiment of the present invention, the disk (3114) is coupled to the holder (3113), is arranged to face the driving board (3423), and is arranged to overlap with a plurality of magnets (3112b) in the axial direction. Therefore, when a magnetic encoder is utilized, performance may be affected, and therefore, it may be preferable to utilize an optical encoder.

[0149] In addition, the stator (3121, 3122) disposed on the fixed portion (3120) includes a stator core (3122) and a coil (3121). The stator core (3122) may be formed by axially stacking a plurality of panels, and the coil (3121) may be formed to surround the stator core (3122). In addition, the fixed portion (3120) further includes a third wall portion (3130) extending toward the lidar module (1000), and the stator core (3122) may be disposed on a radially outer surface of the third wall portion (3130), and a first bearing (3610) may be disposed on a radially inner surface. That is, the first bearing (3610) may be disposed between the shaft (3111) and the third wall portion (3130). In addition, although the drawing number is not indicated, a fourth wall portion may be further included that extends in the opposite direction to the third wall portion (3130) and is radially spaced from the shaft (3111), and a second bearing (3620) may be arranged between the fourth wall portion and the shaft (3111).

[0150] In addition, a dividing step (3131) is formed on the third wall portion (3130) to separate the space where the first bearing (3610) is placed and the space where the second bearing (3620) is placed in order to prevent the first bearing (3610) from moving axially toward the second bearing (3620), and the dividing step (3131) may be formed to extend radially toward the shaft (3111) from the inner surface of the third wall portion (3130). Accordingly, the dividing step (3131) may overlap a portion of each of the first bearing (3610) and the second bearing (3620) in the axial direction.

[0151] In addition, the first bearing (3610), the third wall portion (3130), the stator core (3122), the coil (3121), the magnet (3112b), the yoke (3112a), and the second wall portion (3115) may be arranged to overlap at least part of each other in the radial direction.

[0152] In this arrangement, the rotating part (3110) rotates according to the electrical interaction between the rotor (3112) and the stator (3121, 3122), and since the rotor (3112) is arranged in the rotating part (3110), radial deviation can be prevented by centrifugal force, but axial deviation cannot be completely prevented by vibration, so there is a problem that the lidar device according to the embodiment of the present invention can effectively prevent deviation of the magnet (3112b) and the yoke (3112a) by arranging the echo unit at the end of the second wall unit (3115) in the axial direction and forming it to overlap at least a portion with the rotor (3112) in the axial direction.

[0153] To explain this in detail, referring to FIG. 14, as illustrated in FIG. 14, the holder (3113) can be divided into a first part (3113a) that radially overlaps the second wall portion (3115), a second part (3113b) that extends radially from the end of the first part (3113a) and is formed to overlap at least a portion of the second wall portion (3115), the yoke (3112a), and the magnet (3112b) in the axial direction, and a third part (3113c) that extends axially from the end of the second part (3113b) and overlaps the disk (3114) in the radial direction.

[0154] Here, the first part (3113a) overlaps the second wall portion (3115) in the radial direction to support the second part (3113b), and a separate adhesive member is provided between the inner surface of the first part (3113a) and the outer surface of the second wall portion (3115) in the radial direction so that the first part (3113a) can be attached to the outer surface of the second wall portion (3115). In addition, the second part (3113b) is arranged to overlap at least a portion of the second wall portion (3115), the yoke (3112a), and the magnet (3112b) in the axial direction so that the magnet (3112b) and the yoke (3112a) can be effectively prevented from being detached in the axial direction. In addition, the above-described contact member is provided between the second part (3113b) and the second wall portion (3115), the yoke (3112a) and the magnet (3112b) in the axial direction, so that the second wall portion (3115), the yoke (3112a) and the magnet (3112b) can be effectively fixed, and in the event that the rotor (3112) is detached in the axial direction and collides with the second part (3113b), the contact member can also perform a buffering function. As a result, detachment of the yoke (3112a) and the magnet (3112b) in the axial direction can be effectively prevented.

[0155] In addition, the third part (3113c) is arranged to overlap the disk (3114) in the radial direction, and in the lidar device according to the embodiment of the present invention, it is illustrated as being arranged radially inside the disk (3114), but it may be arranged radially outside the disk (3114) as needed. However, in order to properly position the disk (3114) provided in a ring shape, it may be effective to arrange the third part (3113c) radially inside, and in the case where the disk (3114) is provided as an optical encoder, it may be preferable to arrange the third part (3113c) radially inside according to the encoder element and drive element provided on the drive board (3423) in order to prevent interference with light scattering.

[0156] Here, the encoder element can generally be an encoder IC (Integrated Circuit), and the drive element can be a drive IC. The encoder element can be arranged on the drive board (3423) to overlap with the disk (3114) in the axial direction, and the space requirement is reduced due to the encoder element, drive element, and encoder element (3113, 3114) being integrated in one space. At the same time, since the encoder element and drive element are arranged on the same drive board (3423), loss in the information transmission process can be prevented, and faster and more accurate information transmission can be enabled.

[0157] In this way, by arranging the encoder section (3113, 3114) so ​​that at least a portion thereof overlaps the rotor (3112) in the axial direction, the advantages of arranging the disk (3114) so ​​as to directly overlap the driving board (3423) and the advantage of preventing the magnet (3112b) from being dislodged in the axial direction can be simultaneously achieved.

[0158] Meanwhile, it can be explained with reference to FIG. 15 that it is impossible to replace the encoder unit (3113, 3114) by extending the end of the second wall unit (3115) inward in the lidar device according to the embodiment of the present invention.

[0159] Here, as illustrated in FIG. 15, the yoke (3112a) is provided in a ring shape, and a plurality of magnets (3112b) are arranged spaced apart from each other in the circumferential direction on the inner surface of the yoke (3112a). Therefore, in the process of arranging the rotor (3112) on the inner side of the second wall (3115), if the end of the second wall (3115) extends radially to form a protrusion, the rotor (3112) may not be inserted, and if it is forcibly inserted, there may be a disadvantage in that damage may occur.

[0160] Therefore, since the lidar device according to the embodiment of the present invention cannot form a separate protrusion at the end of the second wall portion (3115) due to the shape of the rotor (3112), the encoder portions (3113, 3114) are arranged axially lower than the rotor (3112), thereby preventing the rotor (3112) from coming off, and as described above, the encoder portions (3113, 3114) are arranged relatively inside the fixed portion (3120), thereby providing an advantage of simultaneously utilizing the structural arrangement advantage with the drive board (3423).

[0161] In addition, since forming a ring-shaped yoke (3112a) is generally utilized in conventional lidar devices, it is impossible to simply form a separate chin at the end of the second wall portion (3115), and the lidar device according to the embodiment of the present invention may have a difference in that it exhibits various effects and advantages as described above through the encoder portion (3113, 3114).

[0162] Having described preferred embodiments of the invention, it will be apparent to those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or scope thereof, in addition to the embodiments described above.

[0163] Therefore, the above-described embodiments should be considered as illustrative rather than restrictive, and accordingly, the present invention is not limited to the above description but may be modified within the scope of the appended claims and their equivalents.

Claims

1. Lidar module; At least one housing including a rotating part and a fixed part coupled to the above lidar module; A cover coupled to the other side of the housing; A plurality of board parts arranged axially apart from the rotating part and the fixed part; and including a first connector disposed on the cover; The plurality of board parts include a rotating board part arranged in the rotating part and a fixed board part arranged in the fixed part, The above fixed board portion includes a main board positioned adjacent to the cover, The above first connector is a lidar device that penetrates the cover and is connected to the main board.

2. In paragraph 1, The above fixed board part, A sub-board spaced apart from the main board in the direction toward the lidar module in the above cover; Including a driving board spaced apart from the sub-board in the direction toward the lidar module in the cover and spaced apart from the rotation board in the direction toward the cover in the lidar module, A lidar device in which the main board, the sub board, and the driving board are placed within the fixed part.

3. In paragraph 2, A lidar device in which the main board, the sub-board, the driving board, and the rotation board are sequentially spaced apart from each other in the direction toward the lidar module from the cover.

4. In paragraph 3, The above first connector, An insertion portion that penetrates the cover and is placed inside the cover; A body portion disposed on the outside of the above cover; and A limiting portion extending from the circumference of the body portion in a direction away from the body portion and contacting the cover in a direction toward the lidar module from the cover, A lidar device in which the insertion portion and the main board are spaced apart from the cover in a direction toward the lidar module.

5. In paragraph 4, The cover includes a first wall portion that protrudes toward the main board and makes contact with the main board, A lidar device in which the insertion part is placed on the inner side of the first wall part.

6. In paragraph 5, The first wall portion is spaced apart from the insertion portion in a direction perpendicular to the direction from the cover toward the lidar module, A lidar device in which the insertion portion includes a connection terminal protruding in a direction toward the main board.

7. In paragraph 3, A second connector arranged between the main board and the sub board; and A lidar device including a third connector arranged between the subboard and the driving board.

8. In paragraph 7, The third connector above, frame; A terminal portion disposed inside the frame and having elasticity; and A lidar device including a groove formed between the frame and the terminal portion.

9. In paragraph 7, The second connector is a lidar device that does not overlap with the driving board in the direction from the cover toward the lidar module.

10. In paragraph 2, The above sub-board overlaps only a portion of the main board in the direction toward the cover from the lidar module, A lidar device in which the driving board and the main board overlap only partially in the direction toward the cover in the lidar module.

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