Lidar device

Abstract

An embodiment of the present invention provides a LiDAR device comprising: a light-emitting unit that emits an optical signal to an object; a light-receiving unit that receives the optical signal reflected from the object; a driving unit that rotates the light-emitting unit and the light-receiving unit; a housing disposed on the outside of the light-emitting unit, the light-receiving unit, and the driving unit; and a mount that connects the light-emitting unit and the light-receiving unit to the driving unit. The mount includes a protrusion disposed coaxially with a shaft of the driving unit, and the protrusion is axially coupled to the housing in a manner that allows heat transfer.

Description

Lidar device

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

[0002] LiDAR (Light Detection and Ranging) measures the distance to an object or creates a visual representation of it using laser pulses emitted from a light source and reflected back at the target object. LiDAR is applied to various technologies that require three-dimensional imaging.

[0003] In general, a lidar may include a light emitter, a light receiver, and an information generator. The light emitter generates an output light signal and projects it onto an object, the light receiver receives an input light signal reflected from the object, and the information generator generates information about the object using the input light signal received by the light receiver.

[0004] Lidar can be broadly categorized into mechanical and fixed-mount lidar. Mechanical lidar can achieve a 360-degree field of view by rotating the light emitter and light receiver. Mechanical lidar includes a drive unit that rotates the light emitter and light receiver.

[0005] The light emitter, light receiver, and driving unit can be positioned inside the housing. The interior of the housing can be sealed. This is to ensure water and dust resistance, as the lidar is mounted on the exterior of the vehicle.

[0006] At this time, power consumption may be applied to the light emitter and light receiver to process the transmitted and received data, which may generate heat. Furthermore, heat may also be generated by the operation of the motor in the drive unit. Since the internal space of the housing is sealed, this heat generation may degrade the performance of the sensors controlling the operation of the light emitter and light receiver, or the motors.

[0007] Therefore, the lidar device requires a configuration that allows heat generated within the housing to be dissipated outside the housing. Heat generated in the drive unit can be conducted to the housing in contact with the drive unit and discharged outside the housing. However, since the rotating light emitter and light receiver are separated from the housing, the heat generated in the light emitter and light receiver is dissipated outside the housing through convection.

[0008] However, when discharging heat through convection in this way, there is a problem that the efficiency of discharging heat is greatly reduced.

[0009] The technical problem to be solved by the present invention is to provide a lidar device capable of efficiently discharging internal heat outside the housing.

[0010] The embodiment can provide a lidar device including a light emitting unit that irradiates an optical signal to an object, a light receiving unit that receives an optical signal reflected from the object, a driving unit that rotates the light emitting unit and the light receiving unit, a housing that is arranged outside the light emitting unit, the light receiving unit, and the driving unit, and a mount that connects the light emitting unit, the light receiving unit, and the driving unit, wherein the mount includes a protrusion that is arranged coaxially with a shaft of the driving unit, and the protrusion is axially coupled to the housing in a heat transfer manner.

[0011] It further includes a holder assembly coupled to the housing, and a bearing coupled to the holder assembly, wherein the protrusion can be coupled to the bearing.

[0012] The holder assembly includes a holder body coupled to the housing and a plurality of contact portions coupled to the holder body, and the plurality of contact portions can contact the outer surface of the outer ring of the bearing.

[0013] The above contact portion can have a variable radial length while in contact with the outer surface of the outer ring of the bearing in the radial direction.

[0014] A plurality of the above contact portions can be arranged at equal intervals along the circumference of the holder body in the circumferential direction.

[0015] The above contact part includes a contact body including a slot, an elastic member disposed in the slot and having a restoring force when contracted, and a ball disposed in the slot and moving along the slot in response to the expansion and contraction of the elastic member, wherein the ball can contact the outer surface of the outer ring of the bearing.

[0016] The holder body includes a first groove for accommodating the bearing, and a plurality of holes penetrating the inner surface forming the first groove and the outer surface of the holder body, and the contact portion can be positioned in the hole so that the ball protrudes from the inner surface.

[0017] The above holder body includes a second groove formed concavely on the inner surface, and the second groove can be communicated with the hole.

[0018] The above contact body can be rotationally fastened to the hole.

[0019] The housing includes a third groove formed concavely on the inner surface of the housing, the third groove is located at the center of the housing when viewed in the axial direction, and the holder body can be located in the third groove.

[0020] The above holder body includes a protrusion protruding from the upper surface of the holder body, and the protrusion can be located in the third groove.

[0021] The holder body includes a first surface facing the inner surface of the housing and a second surface protruding from the first surface, wherein the first surface is in contact with the inner surface of the housing, and the second surface can be in contact with the bottom surface of the third groove.

[0022] The mount includes a base coupled to the driving unit, a mount body connected to the base, and an extension extending from the mount body, wherein the light emitting unit and the light receiving unit are mounted on the mount body, and the protrusion can be arranged on the extension.

[0023] The above projection may be positioned at the center of the base when viewed in the axial direction.

[0024] The above extension portion can extend vertically from the mount body.

[0025] The above mount body includes a first part and a second part vertically connected to the first part, and the extension part can be connected to the upper end of the first part and the upper end of the second part.

[0026] The housing includes a housing body including the driving unit therein and a cover that covers the housing body so as to be coupled to the housing body and include the light emitting unit and the light receiving unit therein, and the protrusion can be axially coupled to the cover.

[0027] The housing body includes a first heat dissipation portion that is disposed on a side of the housing body and has a protruding shape, the cover includes a second heat dissipation portion that is disposed on an upper surface of the cover and has a protruding shape, and a heat conduction path that is connected from the driving portion to the first heat dissipation portion can be formed, and a heat conduction path that is connected from the light emitting portion and the light receiving portion to the second heat dissipation portion through the mount can be formed.

[0028] A heat conduction path connected to the light emitting unit, the light receiving unit, the mount, the bearing, the holder assembly, and the housing can be formed.

[0029] According to an embodiment of the present invention, there is an advantage in that the heat dissipation effect can be increased by transferring heat generated in the light emitting unit and the light receiving unit to the housing through conduction rather than convection.

[0030] In addition, the mount equipped with the light emitting unit and the light receiving unit is rotatably brought into contact with the housing, and by aligning the rotation axis of the mount and the rotation axis of the driving unit through the holder assembly arranged in the housing, the rotation axes of the light emitting unit and the light receiving unit can be prevented from being misaligned.

[0031] Figure 1 is a block diagram of a lidar device according to one embodiment of the present invention;

[0032] Figure 2 is a perspective view of a lidar device according to one embodiment of the present invention;

[0033] Figure 3 is an exploded view of the lidar device illustrated in Figure 2;

[0034] Fig. 4 is a side cross-sectional view of a lidar device based on AA of Fig. 2.

[0035] Figure 5 is a cross-sectional view showing a light receiving unit.

[0036] Figure 6 is a cross-sectional side view of a housing having a sealed internal space;

[0037] Figure 7 is a perspective view showing the mount;

[0038] Fig. 8 is a side cross-sectional view of the mount based on the BB of Fig. 7.

[0039] Fig. 9 is a plan view of the mount illustrated in Fig. 7;

[0040] Figure 10 is a drawing showing the relationship between the mount and the rotor body.

[0041] Figure 11 is a drawing showing a heat dissipation pass in a lidar device.

[0042] Figure 12 is a drawing showing a bearing and holder assembly coupled to a mount.

[0043] Figure 13 is a drawing showing a holder assembly coupled to a top cover and a bearing coupled to the holder assembly.

[0044] Figure 14 is an exploded view of the holder assembly.

[0045] Figure 15 is a drawing showing the holder body.

[0046] Fig. 16 is a bottom view of the holder body.

[0047] Fig. 17 is a side cross-sectional view of the contact portion;

[0048] Figure 18 is a side cross-sectional view of the central portion of the top cover where the holder assembly and bearing are arranged.

[0049] Figure 19 is a drawing showing how the axis of the protrusion is adjusted to be turned by the holder assembly.

[0050] Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0051] However, the technical idea of ​​the present invention is not limited to some of the embodiments described, but can be implemented in various different forms, and within the scope of the technical idea of ​​the present invention, one or more of the components between the embodiments can be selectively combined or substituted for use.

[0052] In addition, terms (including technical and scientific terms) used in the embodiments of the present invention may be interpreted as having a meaning that can be generally understood by a person of ordinary skill in the technical field to which the present invention belongs, unless explicitly and specifically defined and described, and terms that are commonly used, such as terms defined in a dictionary, may be interpreted in consideration of the contextual meaning of the relevant technology.

[0053] Additionally, the terms used in the embodiments of the present invention are intended to describe the embodiments and are not intended to limit the present invention.

[0054] In this specification, the singular may also include the plural unless specifically stated otherwise in the phrase, and when it is described as “A and / or at least one (or more) of B, C”, it may include one or more of all combinations that can be combined with A, B, C.

[0055] Additionally, in describing components of embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used.

[0056] These terms are intended only to distinguish one component from another, and are not intended to limit the nature, order, or sequence of the component.

[0057] And, when a component is described as being 'connected', 'coupled' or 'connected' to another component, it may include not only cases where the component is directly connected, coupled or connected to the other component, but also cases where the component is 'connected', 'coupled' or 'connected' by another component between the component and the other component.

[0058] 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.

[0059] The 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. The 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, the lidar device may also be referred to as an information generating device, a depth information generating device, or a camera device.

[0060] Figure 1 is a block diagram of a lidar device according to one embodiment of the present invention. Hereinafter, in the drawing, the z-axis represents the axial direction of the lidar device, and the y-axis represents the radial direction of the lidar device.

[0061] Referring to FIG. 1, a lidar device (10) according to an embodiment of the present invention includes a light emitting unit (100), a light receiving unit (200), a driving unit (300), an information generating unit (400), and a control unit (500).

[0062] 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 device (10) can detect a time difference or a phase difference between the output light signal output from the light emitting unit (100) and the input light signal reflected from the target area and then input to the light receiving unit (200). In this specification, the output light refers to light output from the light emitting unit (100) and incident on an object, and the input light refers to light output from the light emitting unit (100) and reaching the target area, reflected from the target area, and then input to the light receiving unit (200). From the perspective of the target area, the output light may be incident light, and the input light may be reflected light. In this specification, the target area may be used interchangeably with an object or a substance.

[0063] The light source may utilize a light emitting diode (LED), and may have a form in which a plurality of light emitting diodes are arranged in a certain pattern. Alternatively, the light source may include an organic light emitting diode (OLED) or a laser diode (LD). Alternatively, the light source may be a vertical cavity surface emitting laser (VCSEL). A VCSEL is one of the laser diodes that converts an electrical signal into an optical signal, and can output a wavelength of about 800 to 1000 nm, for example, about 850 nm or about 940 nm. Alternatively, the light source may output short wavelength infrared (SWIR). SWIR can mean a wavelength of 900 nm to 2500 nm, for example, about 1430 nm. Alternatively, the light source may include an edge emitting laser (EEL). According to this, the spectral width of the laser can be reduced, and the change in wavelength due to temperature can be suppressed.

[0064] The light receiving unit (200) can receive an optical signal reflected from a 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. The light receiving unit (200) may include an image sensor, a lens group disposed on the image sensor, and a filter.

[0065] The driving unit (300) is connected to the light emitting unit (100) and the light receiving unit (200) in a power transmission manner to rotate the light emitting unit (100) and the light receiving unit (200). The driving unit (300) may include a motor.

[0066] The information generating unit (400) 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 (400) 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 (400) may calculate a time difference between an output light signal and an input light signal using an electrical signal received by an image sensor, and may calculate a distance between the target area and the lidar device (10) using the calculated time difference. For example, the information generating unit (400) may calculate a phase difference between an output light signal and an input light signal using an electrical signal received from an image sensor, and may calculate a distance between the target area and the lidar device (100) using the calculated phase difference.

[0067] The control unit (500) controls the operation of the light emitting unit (100), the light receiving unit (200), and the information generating unit (400). The information generating unit (400) and the control unit (500) may be implemented in the form of a PCB (printed circuit board). Alternatively, the information generating unit (400) and the control unit (500) may be implemented in the form of other configurations. Alternatively, the control unit (500) may be included in a terminal or vehicle in which the lidar device (100) according to an embodiment of the present invention is installed. For example, the control unit (500) may be implemented in the form of an application processor (AP) of a smartphone in which the lidar device (100) according to an embodiment of the present invention is installed, or may be implemented in the form of an electronic control unit (ECU) of a vehicle in which the lidar device (100) according to an embodiment of the present invention is installed.

[0068] FIG. 2 is a perspective view of a lidar device according to one embodiment of the present invention, FIG. 3 is an exploded view of the lidar device illustrated in FIG. 2, and FIG. 4 is a side cross-sectional view of the lidar device taken along line AA of FIG. 2.

[0069] Referring to FIGS. 2 to 4, the light emitting unit (100) may be placed next to the light receiving unit (200). The light emitting unit (100) may also be placed so as to face a different direction from the light receiving unit (200). At this time, an optical path conversion member may be further placed between the light emitting unit (100) and the light receiving unit (200).

[0070] However, the present invention is not limited thereto, and the light emitting unit (100) may be arranged parallel to the light receiving unit (200). Alternatively, the light emitting unit (100) may be arranged to face the same direction as the light receiving unit (200).

[0071] The lidar device (10) according to an embodiment of the present invention may be a mechanical lidar that rotates 360°. To this end, the lidar device (10) may include a driving unit (300) that rotates a light-emitting unit (100) and a light-receiving unit (200). The lidar device (10) may have a 360° FOV by the driving unit (300).

[0072] The driving unit (300) may include a shaft (310), a rotor unit (320), and a stator unit (330).

[0073] The shaft (310) is rotatably coupled to the housing (600). The housing (600) may include a column (611). A bearing (B) may be disposed inside the column (611). The shaft (310) may be rotatably supported by the bearing (B). The rotor portion (320) may include a rotor body (321). The shaft (310) is coupled to the center of the rotor body (321). The rotor body (321) may be coupled to a mount (700). The mount (700) may rotate together with the rotor body (321). The rotor portion (320) may include a magnet disposed in the rotor body (321). The stator portion (330) may be fixed to the housing (600). The housing (600) may include a housing body (610) and a cover (620) coupled to the housing body (610). The housing cover (620) accommodates the driving unit (300). A column (611) may be positioned in the housing body (610). The housing body (610) may include a first heat dissipation unit (RA1). The first heat dissipation unit (RA1) may be positioned on a side of the housing cover (620).

[0074] The cover (620) may include a top cover (621) and a middle cover (622). The middle cover (622) may be coupled to the housing body (610), and the top cover (621) may be coupled to the middle cover (622). The middle cover (622) and the top cover (621) may form a space that accommodates the light emitting unit (100) and the light receiving unit (200). The top cover (621) may include a second heat dissipating unit (RA2). The second heat dissipating unit (RA2) may be located on the upper surface of the top cover (621).

[0075] The lidar device (10) according to the embodiment may include a mount (700).

[0076] The light emitting unit (100) and the light receiving unit (200) are mounted on a mount (700). The mount (700) connects the light emitting unit (100) and the light receiving unit (200) to the driving unit (300). Since the mount (700) is coupled to the rotor body (321), as the rotor body (321) rotates, the mount (700) rotates, and the light emitting unit (100) and the light receiving unit (200) mounted on the mount (700) rotate.

[0077] As shown in Fig. 3, a rotating body (R) composed of a light emitting unit (100), a light receiving unit (200), a mount (700), and a rotor unit (320) rotates, and the housing (600) and the stator unit (330) are fixed without rotating.

[0078] A holder assembly (800) and a top cover (621) may be included to connect a rotating mount (700) to a top cover (621). The holder assembly (800) serves to fix a bearing (900) to the housing (600). The holder assembly (800) may be coupled to the inside of the top cover (621). The holder assembly (800) may be positioned at the center of the top cover (621). And the bearing (900) is fixed to the holder assembly (800). The bearing (900) rotatably supports a protrusion (710) of the mount (700).

[0079] Figure 5 is a cross-sectional view illustrating a light receiving unit (200).

[0080] Referring to FIG. 5, the light receiving unit (200) may include an image sensor (210), a window (220) positioned on the image sensor (210), a lens group (230), and a filter (240) positioned on the lens group (230).

[0081] According to an embodiment of the present invention, the image sensor (210) includes a pixel array. Here, the pixel array may be a single photon avalanche detector (SPAD) array, and the SPAD array may include a plurality of SPADs. When the SPAD receives an optical signal, photons may be detected by the avalanche phenomenon.

[0082] The window (220) is placed outside the lens barrel, and an optical signal reflected from an object can pass through the window (220) and then be incident on the image sensor (210).

[0083] The lens group (230) may include a plurality of lenses. For example, the lens group (230) may include, but is not limited to, two lenses spaced apart from each other.

[0084] The filter (240) arranged on the lens group (230) may be a bandpass filter. For example, it may be a bandpass filter that transmits only IR light signals among the light signals input to the receiver (200). The lens group (230) and the filter (240) may be arranged on the lens barrel.

[0085] Figure 6 is a cross-sectional side view of a housing (600) having a sealed internal space.

[0086] Referring to FIGS. 4 and 6, the internal space (S) of the housing (600) is sealed. This is to ensure waterproof and dustproof performance of the lidar device. Heat is generated in the light-emitting unit (100), the light-receiving unit (200), and the driving unit (300) accommodated inside the housing (600). Since the internal space (S) of the housing (600) is sealed, it is important to discharge the generated heat outside the housing (600). For heat dissipation, the housing body (610) of the housing (600) may include a first heat dissipation unit (RA1) on the side. In addition, the top cover (621) may include a second heat dissipation unit (RA2) on the upper surface.

[0087] Since the driving unit (300) is in physical contact with the housing body (610), heat generated in the driving unit (300) is transferred to the first heat dissipation unit (RA1) through conduction as shown in T1 of FIG. 6, and the heat transferred to the first heat dissipation unit (RA1) can be discharged to the outside through the first heat dissipation unit (RA1).

[0088] Heat generated from the light emitting unit (100) or the light receiving unit (200) can be transferred to the second heat dissipation unit (RA2) as shown in T2 of Fig. 6. Heat transferred to the second heat dissipation unit (RA2) can be discharged to the outside through the second heat dissipation unit (RA2). At this time, since the light emitting unit (100) and the light receiving unit (200) are spaced apart from the top cover (621), in order to conduct the heat generated from the light emitting unit (100) and the light receiving unit (200) to the second heat dissipation unit (RA2), it is necessary to physically connect the light emitting unit (100) and the light receiving unit (200) to the top cover (621).

[0089] The mount (700) can physically connect the light emitting unit (100) and the light receiving unit (200) to the top cover (621). The specific configuration of this mount (700) is as follows.

[0090] Fig. 7 is a perspective view illustrating a mount (700), Fig. 8 is a side cross-sectional view of the mount (700) based on BB of Fig. 7, and Fig. 9 is a plan view of the mount (700) illustrated in Fig. 7.

[0091] Referring to FIGS. 7 to 9, the mount (700) may include a protrusion (710), a base (720), a mount body (730), and an extension (740).

[0092] The protrusion (710) is rotatably connected to the bearing (900). The protrusion (710) corresponds to the rotation axis of the mount (700).

[0093] The base (720) is coupled to the rotor section (320). The base (720) may have an annular plate shape. The mount body (730) may be formed to form an angle on the upper surface of the base (720). The mount body (730) may include a first part (731) and a second part (732).

[0094] The first part (731) may have a flat plate shape. Either the light emitting unit (100) or the light receiving unit (200) may be mounted on the first part (731). For example, the light receiving unit (200) may be mounted on the first part (731). In addition, the first part (731) may be formed to form an inclined angle with the base (720).

[0095] The second part (732) may have a flat plate shape. Either the light emitting unit (100) or the light receiving unit (200) may be mounted on the second part (732). For example, the light emitting unit (100) may be mounted on the second part (732). In addition, the second part (732) may be formed to form an angle with the first part (731). For example, the second part (732) may be arranged perpendicular to the first part (731).

[0096] The extension (740) can extend vertically from the top of the first part (731) to the first part (731). The extension (740) can extend vertically from the top of the second part (732) to the second part (732). And the extension (740) can be connected to the top of the first part (731) and the top of the second part (732).

[0097] The protrusion (710) is arranged on the extension (740). The protrusion (710) may protrude from the upper surface of the extension (740). The protrusion (710) may be arranged at the center of the mount (700) when the mount (700) is viewed in the axial direction.

[0098] This mount (700) rotates around the protrusion (710) along with the rotation of the rotor (320). As the mount (700) rotates, the light emitting unit (100) and the light receiving unit (200) can rotate.

[0099] Figure 10 is a drawing showing the coupling relationship between the mount (700) and the rotor body (321) of the rotor part (320).

[0100] Referring to FIG. 10, the mount (700) can be coupled to the rotor body (321) of the rotor section (320). The rotor body (321) can be an annular member including a rim and an arm. The rotor body (321) includes a plurality of bosses (321a) protruding from the rim of the rotor body (321), and the base (720) of the mount (700) is fastened to the bosses (321a) so that the mount (700) can be fastened to the rotor body (321). When the rotor body (321) rotates, the mount (700) rotates together.

[0101] Meanwhile, a third heat dissipation portion (RA3) may be formed on the boss (321a) of the rotor body (321). Accordingly, heat generated from the light-emitting portion (100) and the light-receiving portion (200) may be conducted from the mount body (730) through the base (720) to the boss (321a) of the rotor body (321) and discharged through the third heat dissipation portion (RA3).

[0102] Figure 11 is a drawing showing a heat dissipation pass in a lidar device.

[0103] Referring to Fig. 11, the driving unit (300) is in contact with the housing body (610). As illustrated in PT1 of Fig. 11, heat generated in the stator unit (330) or the substrate (ST) of the driving unit (300) can be conducted to the housing body (610). In this way, the heat conducted and transferred to the housing body (610) can be discharged outside the housing (600) through the first heat dissipation unit (RA1).

[0104] Meanwhile, the mount (700) is connected to the top cover (621) through the bearing (900) and the holder assembly (800). As in PT2 of FIG. 11, heat generated from the light emitting unit (100) and the light receiving unit (200) can be transferred to the top cover (621) through the mount (700), the bearing (900), and the holder assembly (800). Specifically, the heat generated from the light emitting unit (100) and the light receiving unit (200) is transferred to the bearing (900) and the holder assembly (800) through the extension (740) and the protrusion (710). The heat transferred to the holder assembly (800) is transferred to the second heat dissipation unit (RA2) of the top cover (621). Although the light emitting unit (100) and the light receiving unit (200) are spaced apart from the top cover (621), since the light emitting unit (100) and the light receiving unit (200) are connected to the top cover (621) through the mount (700) to enable heat conduction, heat can be dissipated more effectively through conduction rather than convection.

[0105] The mount (700) is rotatably coupled to the top cover (621) via the holder assembly (800) and the bearing (900). The center of rotation of the top cover (621) is aligned with the axial center of the driving unit (300). That is, the protrusion (710) can be aligned with the shaft (310) of the driving unit (300). Since the mount (700) rotates about the shaft (310) as the axial center, it is important that the protrusion (710) be aligned with the shaft (310). The protrusion (710) and the shaft (310) can be aligned via the holder assembly (800).

[0106] FIG. 12 is a drawing showing a bearing (900) and a holder assembly (800) coupled to a mount (700), and FIG. 13 is a drawing showing a holder assembly (800) coupled to a top cover (621) and a bearing (900) coupled to the holder assembly (800).

[0107] Referring to FIGS. 12 and 13, the protrusion (710) of the mount (700) is axially coupled to the top cover (621) through the holder assembly (800) and the bearing (900). The bearing (900) is coupled to the protrusion (710) of the mount (700). And the bearing (900) can be accommodated in the holder assembly (800). The holder assembly (800) can be fixed to the inner surface of the top cover (621). A third groove (G3) can be formed in the inner surface of the top cover (621). The third groove (G3) can be located at the center of the top cover (621). A part of the holder assembly (800) can be accommodated in the third groove (G3) and fixed to the top cover (621). The extension portion (740) of the bearing (900) and the mount (700) face each other in the axial direction. A washer (W) may be placed between the bearing (900) and the extension (740) of the mount (700) in the axial direction.

[0108] Fig. 14 is an exploded view of the holder assembly (800), Fig. 15 is a drawing showing the holder body, and Fig. 16 is a bottom view of the holder body.

[0109] Referring to FIGS. 14 to 16, the holder assembly (800) may include a holder body (810) and a plurality of contact portions (820). The holder body (810) may include a first groove (G1). The first groove (G1) forms a receiving space for a cylindrical bearing (900). In addition, the holder body (810) may include a plurality of holes (H). The holes (H) may be formed by penetrating the inner surface forming the first groove (G1) and the outer surface of the holder body (810). The plurality of holes (H) may be arranged at equal intervals along the circumferential direction of the holder body (810). In addition, the holder body (810) may include a second groove (G2). The second groove (G2) may be formed in a concave shape on the inner surface forming the first groove (G1). The hole (H) can be placed in the second groove (G2).

[0110] Meanwhile, as illustrated in FIG. 16, the holder body (810) may include a protrusion (811). The protrusion (811) may protrude from the lower surface of the holder body (810). The protrusion (811) is accommodated in the third groove (G3) of the top cover (621). This protrusion (811) has the advantage of increasing the bonding between the holder assembly (800) and the top cover (621) and increasing the contact area between the holder body (810) and the top cover (621), thereby increasing thermal conductivity.

[0111] There may be a plurality of contact portions (820). The contact portions (820) are fixed to the holes (H) of the holder body (810) and pressurize the outer ring of the bearing (900) accommodated in the holder body (810) in the radial direction. The plurality of contact portions (820) may be arranged at equal intervals in the circumferential direction. In addition, a pair of contact portions (820) may be arranged to face each other with respect to the center of the holder body (810). For example, three pairs of six contact portions (820) may be provided, and two contact portions (820) forming a pair may be arranged to face each other with respect to the center of the holder body (810).

[0112] Fig. 17 is a cross-sectional side view of the contact portion (820).

[0113] Referring to FIGS. 14 and 17, the contact portion (820) may include a contact body (821), an elastic member (822), and a ball (823). The contact body (821) may have a cylindrical shape. The contact body (821) may include a slot (SO). The slot (SO) may be formed along the longitudinal direction of the contact body (821) at one end of the contact body (821). The slot (SO) may be formed so that one side is open. The elastic member (822) may be disposed in the slot (SO). The elastic member (822) may be a coil spring having a restoring force when stretched. The ball (823) is disposed in the slot (SO) and connected to the elastic member (822). The ball (823) may move along the slot (SO) as the elastic member (822) stretches. The ball (823) comes into contact with the outer ring (910) of the bearing (900).

[0114] Fig. 18 is a side cross-sectional view of the central portion of the top cover (621) where the holder assembly (800) and bearing (900) are arranged.

[0115] Referring to FIGS. 16 and 18, the contact body (821) may be screw-fastened to the hole (H). Alternatively, the contact body (821) may be fixed to the hole (H) via an adhesive. The contact body (821) is fixed to the hole (H) so as not to move radially. The ball (823) contacts the outer ring of the bearing (900). The ball (823) maintains the bearing (900) in a radial state by the restoring force of the elastic member (822).

[0116] The protrusion (811) of the holder body (810) is located in the third groove (G3). The holder body (810) may include a first surface (S1) facing the inner surface of the housing (600), and a second surface (S2) protruding from the first surface (S1). The first surface (S1) may contact the inner surface of the housing (600), and the second surface (S2) may contact the bottom surface of the third groove (G3). By increasing the contact area between the holder body (810) and the top cover (621) due to the first surface (S1) and the second surface (S2), the bonding property between the holder body (810) and the top cover (621) may be improved and thermal conductivity may be increased.

[0117] Fig. 19 is a drawing showing how the axis of the protrusion (710) is adjusted to be turned by the holder assembly (800).

[0118] Referring to Fig. 19, the ball (823) of the contact portion (820) protrudes beyond the inner surface of the holder body (810). This ball (823) comes into contact with the outer ring of the bearing (900). The plurality of contact portions (820) arranged on the holder body (810) each pressurize the bearing (900) in the radial direction. Due to assembly tolerance, the alignment of the axial center (C) of the mount (700) and the axial center of the driving portion (300) may be misaligned, but since the pair of contact portions (820) are arranged to face each other with respect to the center of the holder body (810), the center of the protrusion (710) can be aligned with the axial center of the driving portion (300) while the mount (700) rotates. In addition, since the contact portions (820) pressurize the bearing (900) in the radial direction while the mount (700) rotates, there is an advantage of minimizing vibration.

[0119] Although the above description focuses on examples, these are merely examples and do not limit the present invention. Those skilled in the art will appreciate that various modifications and applications not exemplified above are possible without departing from the essential characteristics of the present invention. For example, each component specifically shown in the examples can be modified and implemented. In addition, differences related to such modifications and applications should be construed as being included within the scope of the present invention defined in the appended claims.

Claims

1. A light emitting unit that irradiates an object with a light signal; A light receiving unit that receives a light signal reflected from the object; A driving unit that rotates the light emitting unit and the light receiving unit; A housing disposed outside the light emitting unit, the light receiving unit, and the driving unit; Including a mount connecting the light emitting unit, the light receiving unit, and the driving unit, The above mount includes a protrusion arranged coaxially with the shaft of the driving unit, The above projection is a lidar device that is axially coupled to the housing so as to enable heat transfer.

2. In paragraph 1, It further includes a holder assembly coupled to the housing, and a bearing coupled to the holder assembly, The above projection is a lidar device coupled to the above bearing.

3. In paragraph 2, The holder assembly includes a holder body coupled to the housing and a plurality of contact parts coupled to the holder body, A lidar device in which the plurality of contact portions contact the outer surface of the outer ring of the bearing.

4. In paragraph 3, A lidar device in which the radial length is variable while the above contact portion is in contact with the outer surface of the outer ring of the bearing in the radial direction.

5. In paragraph 3 A lidar device in which a plurality of the above contact portions are arranged at equal intervals along the circumference of the holder body in the circumferential direction.

6. In paragraph 3, The contact part includes a contact body including a slot, an elastic member disposed in the slot and having a restoring force when contracted, and a ball disposed in the slot and moving along the slot in response to the expansion and contraction of the elastic member. The above ball is a lidar device that comes into contact with the outer surface of the outer ring of the bearing.

7. In paragraph 6, The holder body includes a first groove for accommodating the bearing, and a plurality of holes penetrating the inner surface forming the first groove and the outer surface of the holder body, A lidar device in which the contact portion is positioned in the hole so that the ball protrudes from the inner surface.

8. In paragraph 7, The above holder body includes a second groove formed concavely on the inner surface, The above second home is a lidar device that is connected to the above hole.

9. In paragraph 8, The above contact body is a lidar device that is rotationally connected to the hole.

10. In paragraph 3, The housing includes a third groove formed concavely on the inner surface of the housing, The third groove is located at the center of the housing when viewed in the axial direction, The above holder body is a lidar device located in the third groove.

11. In paragraph 10, The above holder body includes a protrusion protruding from the upper surface of the holder body, The above protrusion is a lidar device located in the third groove.

12. In paragraph 10, The holder body includes a first surface facing the inner surface of the housing and a second surface protruding from the first surface, The above first surface is in contact with the inner surface of the housing, A lidar device in which the second surface is in contact with the bottom surface of the third groove.

13. In paragraph 1, The mount includes a base coupled to the driving unit, a mount body connected to the base, and an extension extending from the mount body. The above light emitting unit and the above light receiving unit are mounted on the mount body, The above protrusion is a lidar device arranged on the above extension.

14. In paragraph 13, The above projection is a lidar device arranged at the center of the base when viewed in the axial direction.

15. In paragraph 13, The above extension is a lidar device that extends vertically from the above mount body.

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