Encoder-integrated voice coil-applied scanner device

Abstract

The present invention relates to an encoder system comprising: a scanner housing; a plurality of permanent magnets positioned inside the scanner housing; a coil positioned between the permanent magnets; a rotary shaft coupled to the coil; a circuit board coupled to the inside of the coil; an encoder IC mounted on the circuit board; and an encoder disk coupled to one permanent magnet among the plurality of permanent magnets.

Description

Scanner device with integrated encoder and voice coil

[0001] The present invention relates to a scanner device with an integrated encoder and voice coil.

[0002] Conventional scanners or precision position control devices necessarily utilize encoder ICs and encoder disks to precisely control the azimuth or position of a mirror. These encoder systems detect position information and transmit it to the control system, enabling the accurate operation of the device. However, in conventional technology, the encoder IC and disk are manufactured as separate components, requiring additional mounting parts such as housings or brackets to install and secure them. This design approach complicates the assembly process, increases the overall system size, and is a major cause of higher manufacturing costs.

[0003] In particular, the housing components required to secure the encoder IC and disk, respectively, increase the overall volume of the scanner, posing a significant design constraint in modern equipment where miniaturization is required. Furthermore, if the alignment between these securing components is inaccurate during the assembly process, it can lead to a decrease in the precision of positional information. In addition, environmental factors such as external temperature changes, vibration, and shock increase the likelihood of the encoder IC and disk's mounting stability becoming unstable, presenting a limitation that makes it difficult to ensure long-term reliability.

[0004] Conventional encoder systems require additional components (housings, brackets, etc.) to separately secure the encoder IC and disk, which increases the overall size of the scanner. To solve this problem, the encoder disk is attached to one surface of a permanent magnet, and the encoder IC is coupled inside the voice coil, thereby eliminating the fixing components and achieving system miniaturization.

[0005] In conventional technology, the encoder IC and the disk are assembled onto separate fixed components, and additional processes and time are required during the alignment process. The present invention simplifies the assembly process and reduces manufacturing costs by designing the encoder IC and the disk as a simple combined structure and eliminating fixed components.

[0006] Conventional encoder systems are susceptible to reduced stability of fixed components due to environmental factors such as external temperature changes or vibrations. The present invention is designed to enhance structural robustness and maintain stable performance even in external environments by incorporating a circuit board with an encoder IC attached inside a voice coil.

[0007] In conventional technology, there was a possibility that the precision of position information detection could be reduced due to misalignment between the encoder IC and the disk. The present invention solves the alignment problem and enables the detection of more precise position information by attaching the encoder disk to a magnetic surface and fixing the encoder IC in a position exactly facing the disk.

[0008] In conventional technology, the start and end lines of a voice coil had to be connected with separate wiring, which caused the electrical connection to become complex. The present invention simplifies the electrical connection and improves the reliability of the system by directly connecting the start and end lines of a voice coil to a circuit board with an encoder IC attached, and connecting it to a main driving board through a single FPCB.

[0009] The present invention relates to an encoder system comprising: a scanner housing; a plurality of permanent magnets located inside the scanner housing; a coil located between the permanent magnets; a rotating shaft coupled to the coil; a circuit board coupled inside the coil; an encoder IC mounted on the circuit board; and an encoder disk coupled to one of the plurality of permanent magnets.

[0010] In addition, the encoder disk is made of a non-magnetic material and is configured to be attached to the surface of the permanent magnet.

[0011] In addition, the circuit board is configured to connect the start and end lines of the coil and to be electrically connected to the main driving board through a single Flexible Printed Circuits Board (FPCB).

[0012] In addition, the plurality of permanent magnets are configured to be symmetrically arranged on both sides of the coil.

[0013] In addition, the encoder IC is configured to detect the movement of the encoder disk and generate position data of the rotation axis.

[0014] In addition, the coil is designed to generate an electromagnetic force according to the flow of current to drive the rotation axis at a predetermined angle.

[0015] The present invention relates to a scanner comprising: a scanner housing; a plurality of permanent magnets located inside the scanner housing and generating a magnetic field; a coil disposed between the plurality of permanent magnets and generating an electromagnetic force according to the flow of current; a rotating shaft connected to the coil and performing reciprocating motion at a predetermined angle inside the scanner; a circuit board located inside the coil and processing control data of the scanner; an encoder IC mounted on the circuit board and detecting the movement of the rotating shaft; and an encoder disk coupled to one of the plurality of permanent magnets and providing information on the movement of the rotating shaft.

[0016] In addition, the rotation axis is configured to drive the optical component of the scanner to perform azimuth control.

[0017] In addition, the encoder disk is made of a non-magnetic material and is configured to be directly attached to the surface of one of the plurality of permanent magnets.

[0018] In addition, the circuit board is configured to connect the start and end lines of the coil and to be electrically connected to the main driving board through a single Flexible Printed Circuit Board (FPCB).

[0019] In addition, the plurality of permanent magnets are configured to be symmetrically arranged on both sides of the coil.

[0020] In this invention, the structure of the scanner is efficiently designed by placing an encoder device for determining the azimuth position information of the mirror between permanent magnets. This allows for a reduction in the size of the scanner compared to existing designs, making it particularly advantageous for modern devices where miniaturization is important (e.g., small optical scanners, smartphone camera modules).

[0021] The present invention eliminates the need for separate fixing parts (housing, bracket, etc.) by attaching the encoder disk to the surface of a permanent magnet. This simplifies the number of parts and the assembly process, thereby reducing overall manufacturing costs.

[0022] The present invention ensures the structural robustness of the voice coil even under environmental conditions such as external temperature changes, vibration, and shock by combining a circuit board with an encoder IC attached to the empty space inside the voice coil. This allows the electromagnetic force performance to be stably maintained and improves the reliability of the device.

[0023] The present invention adopts a structure in which the start and end lines of a voice coil are directly connected to a circuit board equipped with an encoder IC, and connected to a main driving board through a single FPCB. This simplifies electrical connections, reduces the possibility of wiring errors, and increases system reliability.

[0024] The present invention effectively solves alignment problems by designing the encoder IC and encoder disk to be fixed in a position precisely facing the magnet. This improves the precision of position information detection, thereby enabling more stable and accurate control.

[0025] FIG. 1 is a drawing for explaining the configuration of a scanner including an encoder disk and an encoder IC according to the present invention.

[0026] FIG. 2 is an exploded view of a scanner to explain the configuration of a scanner including an encoder disk and an encoder IC according to the present invention.

[0027] FIG. 3 is a drawing showing an encoder disk and a permanent magnet according to the present invention.

[0028] FIG. 4 is a diagram showing an encoder IC and an encoder disk, respectively, according to the present invention.

[0029] FIG. 5 is a diagram showing a circuit board with an encoder IC attached inside a voice coil according to the present invention.

[0030] FIG. 6 is a drawing showing a voice coil, a circuit board, an encoder disk, and a magnet according to the present invention.

[0031] FIG. 7 is a diagram illustrating the vertical range that a scanner according to one embodiment of the present invention can detect.

[0032] Specific details of the embodiments are included in the detailed description and drawings.

[0033] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but may be implemented in various different forms. These embodiments are provided merely to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0034] FIG. 1 is a diagram illustrating the configuration of a scanner including an encoder disk and an encoder IC according to the present invention. A lidar device using a lidar mirror driving device may be a vertical scanner, but is not limited thereto.

[0035] Rotation axis (160)

[0036] As described, the scanner (100) according to the present invention may include a rotation axis (160). Specifically, the rotation axis (160) is the central axis of the rotor (161) and is connected to the mirror (180) to perform the function of adjusting the azimuth angle information of the mirror. The rotation axis (160) of the present invention is designed to reciprocate only up to a specific angle rather than to rotate 360 ​​degrees completely, thereby preventing unnecessary complete rotation and providing the effect of simplifying the structure and reducing energy consumption. Due to the reciprocating motion design, parts such as complex gear systems or additional bearings are not required, and through this, the present invention can achieve structural simplification that simplifies the number of parts and manufacturing processes and reduces the possibility of failure.

[0037] According to the present invention, a spring (170) is coupled to the rotation shaft (160) so that the rotation shaft (160) maintains an appropriate load even when fixed, and the spring (170) allows the rotation shaft (160) to return to its original position at the point where the reciprocating motion ends. In addition, the rotation shaft (160) is aligned with the encoder disk (130) and the encoder IC (120) so that position data can be generated even within a limited range of motion.

[0038] Bearing (150)

[0039] According to the present invention, the scanner (100) may include a bearing (150). Specifically, the bearing (150) supports the rotating shaft (160) to move stably and can perform the role of minimizing vibration, friction, or instability that may occur during the movement of the scanner (100). In addition, the bearing (150) has the effect of reducing friction by reducing direct contact between the rotating shaft (160) and the stator part (140), and minimizing kinetic energy loss, thereby enabling efficient operation. As a result, wear on the parts is reduced, which has the effect of improving the durability and lifespan of the system. Furthermore, the bearing (150) mitigates or absorbs vibrations that may occur while the rotating shaft (160) moves, and can stably maintain the position of the rotating shaft even when external shocks or abnormal loads are applied.

[0040] According to the present invention, the bearing (150) limits the range of motion of the rotation axis (160) to within a designed trajectory and prevents unnecessary movement or deviation, thereby enabling precise position control. In addition, it is manufactured with high-quality materials and design so that it does not easily wear out even under repetitive reciprocating motion or load, which can provide the effect of extending the maintenance cycle and reducing operating costs.

[0041] According to one embodiment of the present invention, each bearing (150) may be coupled to each stator housing (153). At this time, each bearing (150) may be coupled to both ends of the rotation axis (160) to assist in the rotation of the rotor part (110). That is, one bearing of each bearing (150) may be coupled to one end of the rotation axis (160), and the other bearing of each bearing (150) may be coupled to the opposite end of the rotation axis (160). Meanwhile, in this embodiment, the bearing (150) belongs to the rotor part (110), but it may also be included in the stator part (140).

[0042] Rotor part (110)

[0043] According to one embodiment of the present invention, the rotor (110) is designed in the form of a voice coil so that when current flows, it can generate an electromagnetic force to reciprocate the rotation axis (160) at a specific angle. The rotor (110) is positioned between the stator (140) while coupled with the rotation axis (160) and can generate motion by interacting with the magnetic field lines of the stator (140). The voice coil structure can provide a simple yet efficient driving method.

[0044] According to one embodiment of the present invention, since the driving direction of the rotor (110) changes depending on the current direction, the movement of the rotation axis (160) can be precisely controlled. In addition, the structure is easy to miniaturize, contributing to a reduction in the overall size of the system, and the design can be simplified while maintaining high performance. The voice coil design has excellent durability as there is almost no friction or mechanical contact, and it can operate stably even under high speed and repetitive motion.

[0045] Stabilizer (140)

[0046] According to one embodiment of the present invention, the stator part (140) is composed of a permanent magnet and can perform the role of driving the rotor part (10) through electromagnetic interaction with the voice coil (rotor part, 110). The stator part (140) generates a strong magnetic field and, by interacting with the electromagnetic force generated when current flows through the coil, generates motion of the rotation axis. Through this, the rotor part (110) performs reciprocating motion, enabling precise control such as adjusting the azimuth angle of the mirror (180).

[0047] According to one embodiment of the present invention, the stator (140) interacts with the rotor (110) to contribute to the generation of electromagnetic force, which is the power of the rotor (110), and can induce rotation of the rotation shaft (160). Accordingly, the stator (140) can provide the effect of uniformly transmitting electromagnetic force, reducing energy loss, and improving the operational stability of the system. The stator (140) can generate electromagnetic force by being symmetrically positioned on both sides of the coil of the rotor (110). Such symmetrical arrangement maintains the balance of the rotor (110) during operation and can prevent vibration and malfunction that may occur due to abnormal movement or imbalance.

[0048] According to one embodiment of the present invention, the stator part (140) composed of permanent magnets does not require an external power source and can continuously provide a strong magnetic field, and can maintain stable performance for a long time without maintenance or replacement. In addition, the present invention optimizes the position of the stator part (140) and the shape of the magnets to maintain high efficiency and performance even in a miniaturized system.

[0049] Spring part (170)

[0050] According to one embodiment of the present invention, a spring portion (170) coupled to a rotating shaft (160) may be designed to maintain a constant distance between the rotor (161) and the stator (140) even while the rotating shaft (160) performs reciprocating motion. Additionally, the spring (170) may provide a restoring force to naturally return the rotating shaft (160) to its original position at the point where the movement ends. Such a restoring force assists the rotating shaft (160) in not losing balance due to external impact or abnormal load during movement, and enables the rotating shaft (160) to always move within a designed trajectory.

[0051] According to one embodiment of the present invention, the spring portion (170) can also perform the role of ensuring the balance of electromagnetic forces while maintaining the distance between the rotor (161) and the stator (140). In addition, the appropriate load-maintaining function of the spring portion (170) ensures that the movement of the rotation axis (160) is smooth and consistent, and can improve the durability of the system by preventing vibration or unnecessary deflection. Specifically, in order to change the rotation direction of the scanner (100), current direction switching of the rotor portion (110) is required. At this time, a slight time interval inevitably occurs for current direction switching, and this problem occurs at the upper and lower boundaries of the VFOV section (20) where the scanner (100) changes direction. In this case, the spring portion (170) can provide a restoring force in the direction that the rotor portion (110) intends to change direction from before the current direction switching of the rotor portion (110). Accordingly, the scanner (100) can scan at a constant speed throughout the entire VFOV section (20).

[0052] According to one embodiment of the present invention, the spring portion (170) may be fixed in a manner such as a fixing pin, clip fixing, adhesive fixing, bracket fixing, screw fixing, rivet fixing, slot fixing, ring fixing, etc., and may be appropriately selected to implement the present invention. At this time, both ends of the spring portion (170) may be fixed to the spring fixing portion. That is, one end of the spring portion (170) may be fixed to one end of the spring fixing portion, and the other end of the spring portion (170) may be fixed to the other end of the spring fixing portion. Meanwhile, the spring portion (170) may be composed of two or more spring portions, and half of the plurality of spring portions (170) may be connected on one side with respect to the center of the rotation axis (160), and the other half of the spring portions (170) may be connected on the opposite side with respect to the center of the rotation axis (160).

[0053] According to one embodiment of the present invention, a first spring fixing part (331) may not be formed in the stator housing (153), and one end of the spring part (170) may be fixed by contacting the surface of the stator part (140). That is, without a separate spring fixing part, the spring part (170) can be firmly fixed to the stator part (140) simply by contacting the surface of the stator part (140), and the one end of the spring part (170) is not separated from the stator part (140) during operation of the scanner (100). In addition, as one embodiment, the shape of the spring fixing part may be formed as an L-shaped groove. In this case, the end of the spring part (170) can be pushed in after being inserted into the L-shaped groove formed in the mirror holder (181), and the spring part (170) can be fixed to the mirror holder (181).

[0054] Mirror part (180)

[0055] According to one embodiment of the present invention, the mirror unit (180) is attached to the rotation axis (160) and can perform optical functions while moving to a specific azimuth angle. The angle of the mirror unit (180) is adjusted according to the reciprocating motion of the rotation axis (160), thereby controlling the direction of light or reflecting it to perform desired optical operations. For example, in a scanner (100) or optical equipment, the movement of the azimuth angle of the mirror unit (180) can perform optical operations when detecting the location of an object or investigating a specific area. In the present invention, a structure linked with an encoder system is adopted to identify and control the azimuth angle information of the mirror unit (180). The encoder system detects the angle and movement of the rotation axis (160) in real time and can measure the azimuth angle position of the mirror unit (180). In addition, the present invention is designed so that the mirror can operate stably while coupled with the rotation axis.

[0056] According to one embodiment of the present invention, the mirror unit (180) can reflect a laser beam as part of the process of scanning a specific area of ​​the surrounding environment. At this time, the material of the mirror unit (180) may be selected considering high reflectivity, lightness, and durability. In addition, the mirror unit (180) can be coupled with a mirror holder (181), and the mirror holder (181) can be coupled with a coil holder (171) described later, and accordingly, the mirror holder (181) and the rotor unit (110) described later can be connected. With such a coupling, the rotor unit (110) rotates by the force generated by the rotor unit (110), and the mirror unit (180) and encoder disk (130) connected to the rotor unit (110) can rotate in conjunction.

[0057] encoder disk (130)

[0058] According to one embodiment of the present invention, the encoder disk (130) is made of a non-magnetic material and can be directly attached to one surface of the stator part (140). Accordingly, the present invention can be attached to a magnet without a fixing part (housing, bracket, etc.), thereby simplifying the assembly process and providing the effect of reducing manufacturing costs. The encoder disk (130) generates position data according to the movement of the rotation axis, and based on this, the system can determine the azimuth information of the rotation axis (160) and the mirror part (180) in real time. In addition, the encoder disk (130) can measure and store information such as the current position, angle, and speed of the mirror part (180). At this time, the information of the mirror part (180) measured and stored by the encoder disk (130) can be transmitted to the encoder IC (120).

[0059] Encoder IC (120)

[0060] According to one embodiment of the present invention, the encoder IC (120) of the present invention is fixed to a circuit board inside the voice coil and can be positioned in a position aligned with the encoder disk (130). The encoder IC (120) detects the movement of the encoder disk (130) to generate precise position information, and such information can be transmitted to a control system and used to adjust the movement of the rotation axis (160) and the mirror part (180). That is, the encoder IC (120) can be protected from the external environment (temperature change, vibration, etc.) by being located inside the coil.

[0061] According to one embodiment of the present invention, the encoder IC (120) may receive a signal containing at least one of position information, angle information, and speed information from the encoder unit (100), process the received signal, and perform the role of generating a signal to drive the rotor unit (110). Specifically, the encoder IC (120) may calculate the position, speed, and angle of the mirror unit (180) in real time based on a signal containing information of the mirror unit (180), and adjust the signal to drive the rotor unit (110). More specifically, according to the driving signal generated by the encoder IC (120), a current in a certain direction flows to the rotor unit (110), so that the rotor unit (110) can rotate and pivot up and down. In addition, the encoder IC (120) may be manufactured through a PCBA (Printed Circuit Board Assembly) process. In addition, the encoder IC (120) may be coupled to the stator unit (140).

[0062] According to one embodiment of the present invention, the rotor part (110) may include a bearing (150), a spring part (170), and a rotation shaft (160). Specifically, the rotor part (110) may generate power to rotate the mirror part (180) and perform the role of transmitting power to the mirror part (180). Specifically, the rotor part (110) may rotate the rotation shaft (160) and control the position and angle of the mirror part (180), encoder disk (130), etc., which are indirectly connected to the rotation shaft (160), in real time. At this time, the bearing (150) may be fixed in a bearing groove (150') formed in the stator part (140) and may be coupled to the rotation shaft (160). In addition, the spring part (170) may be coupled to the rotation shaft (160). The rotation axis (160) can rotate by being coupled with the bearing (150) and is indirectly connected to the mirror part (180) so that the rotational force of the rotation axis (160) can be transmitted to the mirror part (180).

[0063] FIG. 7 is a diagram illustrating the vertical range that a scanner according to one embodiment of the present invention can detect.

[0064] As described, the encoder IC (120) can generate a driving signal based on information from the mirror unit (180). That is, the encoder IC (120) can determine the current direction of the rotor unit (110) according to the driving signal, and accordingly, the rotor unit (110) can rotate within the VFOV (20) range. Specifically, VFOV (Vertical Field of View) may refer to the vertical field of view of the scanner (100) according to the present invention. Since the rotation axis (160) of the present invention performs reciprocating motion only up to a predetermined angle, the rotor unit (110) can rotate within the VFOV (20) range within a predetermined range.

[0065] The present invention eliminates separate fixing parts (housing, bracket, etc.) by directly attaching the encoder disk (130) to one surface of the stator part (140). This simplifies the assembly process and reduces the number of parts, thereby lowering manufacturing costs. Furthermore, this structure contributes to reducing the overall size of the system and can provide an effect suitable for modern precision devices that require a miniaturized design. Additionally, the present invention secures the structural robustness of the encoder system by attaching a circuit board with an encoder IC (120) attached to the empty space inside the voice coil. This design protects the encoder IC (120) from the external environment (temperature changes, vibration, etc.), enabling stable operation.

[0066] In addition, the rotation axis (160) is designed to reciprocate only at a specific angle, rather than rotating 360 degrees. Accordingly, the present invention can provide the effect of simplifying the structure of the scanner (100) and enabling miniaturization by ensuring that the rotation axis (160) does not have a structure more complex than necessary. Furthermore, the present invention applies a structure in which the start and end lines of the rotor (110) are directly connected to a circuit board to which an encoder IC (120) is attached, and connected to the main driving board with a single FPCB. Accordingly, the present invention can provide the effect of reducing wiring complexity and improving the reliability of electrical connections.

[0067] According to one embodiment of the present invention, a rotor part (110) is surrounded by a stator part (140), and a mirror holder (181) coupled with the rotor part (110) can be coupled with a mirror part (180). Accordingly, the size of the mirror part (180) can be determined within the size limit of the scanner (100) according to the present invention, and accordingly, there is a degree of freedom in the design of the scanner (100) according to the present invention.

[0068] FIG. 2 is an exploded view of a scanner to explain the configuration of a scanner including an encoder disk and an encoder IC according to the present invention.

[0069] Mirror holder (181)

[0070] According to FIG. 2, the mirror portion (180) can be coupled with a mirror holder (181) that can be coupled with the rotor portion (110). Additionally, the encoder IC (120) can be coupled with the stator housing (153), which is the stator portion (140). Furthermore, the rotor portion (110) and the stator portion (140) can be coupled in such a way that the stator portion (140) surrounds the rotor portion (110). At this time, the fixing screw (153') can be coupled with the stator housing (153) divided to surround the rotor portion (110), and accordingly, the scanner (100) according to the present invention can be firmly assembled.

[0071] According to one embodiment of the present invention, an inclined surface may be formed on a part of the outer surface of the mirror holder (181). Specifically, the inclined surface of the mirror holder (181) may be formed obliquely along the longitudinal direction of the rotation axis (160). This structure can prevent contact with other components when the mirror holder (181) rotates. That is, the inclined surface of the mirror holder (130) can facilitate coupling with the spring part (170).

[0072] Stator housing (153)

[0073] According to one embodiment of the present invention, the stator housing (153) fixes and supports the bearing (150) and the spring part (170) so that the position of the rotation axis (160) is maintained without shaking, and can provide the effect of preventing misalignment between parts that may occur due to external shock or vibration. In addition, the stator housing (153) is made of a robust material so that its durability against external environments (e.g., shock, vibration, temperature change, etc.) can be enhanced. In particular, it functions to absorb and mitigate vibrations generated from the outside, thereby enabling the scanner (100) of the present invention to operate stably.

[0074] According to one embodiment of the present invention, a bearing (150) can be fixed in a bearing groove (150') formed in a stator housing (153). Meanwhile, conventionally, the bearing was often coupled to an opening and the lidar device rotated along the axis. However, according to one embodiment of the present invention, the bearing (150) can be fixed in a bearing groove (150') that is closed on one side. This structure has a sealing effect, which can prevent the loss of lubricant applied to the bearing (150). In addition, since the lubricant can remain in the bearing (150) for a longer period, friction and wear of the bearing (150) can be effectively reduced.

[0075] coil holder (171)

[0076] According to the present invention, the coil holder (171) is designed to maintain the rotor part (110) of the present invention in an aligned state with the stator part (140). Additionally, the coil holder (171) is coupled to the rotation axis (160) and operates stably according to the movement of the rotation axis (160). This prevents the position of the coil from becoming misaligned due to vibrations or shocks that may occur during movement, and can improve the stability and durability of the system.

[0077] According to one embodiment of the present invention, the rotor part (110) can be coupled with a coil holder (171), and accordingly, the rotation axis (160) coupled with the coil holder (171) can be indirectly connected to the rotor part (110). Additionally, a mirror holder (181) can be coupled with the coil holder (171), and a mirror part (180) coupled with the mirror holder (181) can be indirectly connected to the rotor part (110). Additionally, an encoder disk (130) and an encoder IC (120) connected to the mirror holder (181) can be indirectly connected to the rotor part (110). Furthermore, the rotor part (110) is positioned at a certain distance from the stator part (140). At this time, the rotor part (110) can interact with the stator part (140) to induce rotation of the rotation axis (160). Specifically, when a current of a certain direction and strength flows through the rotor (110), the rotation axis (160) rotates due to the electromagnetic force induced by the rotor (110) and the stator (140), and accordingly, the rotor (110) can rotate.

[0078] Meanwhile, in conventional lidar devices, coils often include a core. When a core is included in a coil, it can amplify the magnetic field to generate a large force. However, in conventional lidar devices containing a core, even if the current direction of the coil is switched for direction change, the magnetic field amplified by the core may not disappear and may remain; this is called the phenomenon of magnetic hysteresis. The presence of such a residual magnetic field can delay the direction change of the lidar device, which can have an adverse effect on the scanning performance of the lidar device. In contrast, in one embodiment of the present invention, the rotor part (110) does not include a core, so less residual magnetic field may be generated compared to the case where a core is included, and the scanning speed of the scanner (100) of the present invention can be maintained at a constant level.

[0079] According to one embodiment of the present invention, the coil holder (171) can be coupled with the rotor part (110) to support the rotor part (110) and can be coupled with the rotation shaft (160) and the mirror holder (181). An opening may be formed in the coil holder (171), and the rotation shaft (160) may pass through the opening. That is, the rotation shaft (160) can be coupled with the coil holder (171) while passing through the opening of the coil holder (171). Through such coupling, energy generated from the rotor part (110) is transmitted to the rotation shaft (160) through the coil holder (171), and as the rotation shaft (160) rotates, the mirror part (180) connected to the rotation shaft (160) can also rotate. Meanwhile, the coil holder (171) can be positioned at the center of the rotation shaft (160) by being penetrated by the rotation shaft (160). And, each stator housing (153) is joined to both ends of the rotation axis (160) to surround the rotor part (110).

[0080] FIG. 3 is a drawing showing an encoder disk and a permanent magnet according to the present invention.

[0081] As described, the stator housing (153) included in the scanner (100) absorbs external shocks or vibrations to ensure that the internal components remain stable in their designed positions. Permanent magnets (140) are symmetrically arranged inside the stator housing (153) to generate a strong magnetic field, thereby enabling electromagnetic interaction with the coil (110). Additionally, the coil (110) is positioned between each permanent magnet (140) and can support the driving of the rotation axis by generating an electromagnetic force when current flows. Furthermore, an encoder disk (130) is positioned aligned with the coil (110), and this disk is made of a non-magnetic material so that it can be directly attached to one surface of the permanent magnet (140).

[0082] According to the present invention, the encoder IC (120) is fixed to a circuit board inside the coil (110) and can be positioned in alignment with the encoder disk (130). The encoder IC (120) can detect the movement of the encoder disk (130) in real time and convert it into precise position data. In addition, the encoder IC (120) located inside the coil is protected from the external environment (temperature changes, vibrations, etc.) and can maintain stable performance even during repetitive operation. Furthermore, the circuit board simplifies the electrical connection of the system and enables efficient data processing and control signal transmission.

[0083] As illustrated in FIG. 3, all components of the scanner (100) of the present invention are arranged in a miniaturized structure. The integration of the encoder disk (130) and the permanent magnet (140), the alignment of the coil (110) and the stator part (140), and the internal arrangement of the encoder IC (120) can contribute to increasing electromagnetic efficiency and reducing the size of the system.

[0084] FIG. 4 is a diagram showing an encoder IC and an encoder disk, respectively, according to the present invention.

[0085] As described, the encoder IC (120) is mounted on a circuit board and can be placed in an empty space inside the voice coil. Additionally, the encoder IC (120) is positioned in alignment with the encoder disk (130) and can generate position and movement data by detecting the movement of the encoder disk (130) in real time. Furthermore, the encoder disk (130) is made of a non-magnetic material and can be directly attached to one surface of the stator part (140). Additionally, since the encoder disk (130) is fixed without separate fixing parts, the assembly process is simplified and manufacturing costs are reduced. Furthermore, the encoder disk (130) moves together with the rotation axis (160) and can generate position data through interaction with the encoder IC (120).

[0086] FIG. 5 is a diagram showing a circuit board with an encoder IC attached inside a voice coil according to the present invention. FIG. 6 is a diagram showing a voice coil, a circuit board, an encoder disk, and a magnet according to the present invention.

[0087] As described, the permanent magnet (140) can be symmetrically positioned between the encoder disk (130) and the voice coil (110) to generate a strong magnetic field. This magnetic field can be used to drive the rotation axis (160) by electromagnetically interacting with the voice coil (110). The permanent magnet (140) is designed to be combined with the encoder disk (130) so that it can be simply assembled without fixed parts, thereby reducing the size of the scanner (100), simplifying the assembly process, and reducing manufacturing costs. Additionally, the encoder disk (130) is made of a non-magnetic material and is directly attached to one surface of the permanent magnet (140). Furthermore, the encoder disk (130) detects position and movement information of the rotation axis (160), and the encoder IC (120) can measure this in real time and generate precise position data.

[0088] According to the present invention, the voice coil (110) can perform the function of driving the rotation axis (160) to a specific angle by generating an electromagnetic force when current flows. The empty space inside the voice coil is designed to accommodate a circuit board and an encoder IC (120), and can stably provide electromagnetic force performance while maintaining robustness even in external environments (e.g., temperature changes, vibrations, etc.). In addition, the circuit board and the encoder IC (120) are located in the internal space of the voice coil (110) and can perform the function of detecting the movement of the encoder disk (130) in real time and converting it into a control signal. The circuit board directly connects the start line and end line of the voice coil and can be connected to the main driving board through a single FPCB. This design not only realizes miniaturization of the scanner (100), but also provides the effect of reducing manufacturing costs through an integrated structure of the encoder disk and permanent magnet, a design that combines a circuit board and an IC inside the voice coil, and simplification of electrical connections through a single FPCB.

[0089] The scope of the present invention is not limited to the embodiments described above but may be implemented in various forms of embodiments within the scope of the appended claims. It is deemed that the scope of the claims of the present invention includes various modifications that are possible by anyone with ordinary knowledge in the technical field to which the invention pertains, without departing from the essence of the invention claimed in the claims.

[0090] [Explanation of the symbol]

[0091] 100: Scanner

[0092] 110: Rotor part

[0093] 120: Encoder IC

[0094] 130: Encoder disk

[0095] 140: Stator section

[0096] 150: Bearing

[0097] 153: Stator housing

[0098] 160: Rotation axis

[0099] 170: Spring part

[0100] 171: Coil holder

[0101] 180: Mirror section

Claims

1. In an encoder system, Scanner housing; A plurality of stator parts located inside the scanner housing; A rotor part located between the stator parts above; A mirror coupled to the rotor part above; A rotating shaft coupled to the above rotor part; A circuit board coupled inside the rotor part above; An encoder IC mounted on the above circuit board; and It includes an encoder disk coupled to one of the plurality of permanent magnets; The above circuit board generates a driving signal, and The stator and rotor are configured to generate electromagnetic force based on the generated driving signal. Encoder system.

2. In Paragraph 1, The above encoder IC is It is configured to store at least one of the position information, angle information, and velocity information of the above mirror, and The above circuit board is configured to generate a driving signal based on the above stored information, Encoder system.

3. In Paragraph 1, The above rotor part is, A mirror holder coupled to the above mirror part; and It further includes a coil holder coupled to the rotor part above, and The above mirror holder further includes an inclined surface formed along the direction of the rotation axis. Encoder system.

4. In Paragraph 1, The above encoder disk is It is made of non-magnetic material, and configured to be attached to the surface of the above permanent magnet, Encoder system.

5. In Paragraph 1, The above circuit board is Connect the start and end lines of the above coil, and Configured to be electrically connected to the main driver board via a single FPCB (Flexible Printed Circuits Board), Encoder system.

6. In Paragraph 1, The above plurality of permanent magnets Configured to be symmetrically positioned on both sides of the above coil, Encoder system.

7. In Paragraph 1, The above encoder IC is Configured to detect the movement of the encoder disk and generate position data of the rotation axis, Encoder system.

8. In Paragraph 1, The above coil is Designed to generate an electromagnetic force according to the flow of current to drive the rotation axis at a predetermined angle, Encoder system.

9. Regarding scanners, Scanner housing; A plurality of permanent magnets located inside the scanner housing and generating a magnetic field; A coil disposed between the plurality of permanent magnets and generating an electromagnetic force according to the flow of current; A rotating shaft connected to the coil and performing reciprocating motion at a predetermined angle inside the scanner; A circuit board located inside the coil and processing control data of the scanner; An encoder IC mounted on the circuit board to detect the movement of the rotation axis; and An encoder disk coupled to one of the plurality of permanent magnets to provide movement information of the rotation axis; including, scanner.

10. In Paragraph 9, The above rotation axis is Configured to drive the optical components of the above scanner to perform azimuth control, scanner.

11. In Paragraph 9 or 10, The above encoder disk is It is made of non-magnetic material, and Configured to be directly attached to the surface of one of the plurality of permanent magnets, scanner.

12. In Paragraph 9 or 10, The above circuit board is Connecting the start and end lines of the above coil and configured to be electrically connected to the main driving board through a single FPCB (Flexible Printed Circuit Board), scanner.

13. In Paragraph 9 or 10, The above plurality of permanent magnets Configured to be symmetrically positioned on both sides of the above coil, scanner.

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