BOARD STRUCTURE FOR TRANSMITTING AND RECEIVING IN LIDAR DEVICE

The board structure for transmitting and receiving in a lidar device according to the present disclosure is installed in the lidar device, and includes a lens barrel having a lens mounted on a first inner circumferential surface so as to be movable, and having at least one first connection part provided on a first outer circumferential surface; a guide barrel having at least one second connection part connected to the first connection part on a second outer circumferential surface, and having a first fixing hole formed to penetrate from the second outer circumferential surface to a second inner circumferential surface; a transmission/reception board having a diode mounted on a part of an upper surface and at least partially inserted into an inner space of the guide barrel; and a first support member that penetrates through the first fixing hole and supports an upper surface or lower surface of the transmission/reception board.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority to and the benefit of Korean Patent Application No. 10-2020-0071381, filed on Jun. 12, 2020, the disclosure of which is incorporated herein by reference in its entirety.

TECHNICAL FIELD

The present disclosure relates to a board structure for transmitting and receiving in a lidar device, and more specifically, the present disclosure relates to a board structure for transmitting and receiving in a lidar device, which is installed to transmit and receive optical signals in the lidar device.

BACKGROUND ART

Looking at the transmission/reception board of a LiDAR device installed for autonomous driving, the TO CAN-type laser diodes are mostly applied.

Referring toFIG. 1, after a separate frame protruding in the upper surface direction of a transmission/reception board50is installed characteristically in consideration of the emission and reception directions of optical signals, it can be seen that the transmission/reception board, on which such TO CAN-type laser diodes are mounted, has a lens17which is fixed thereby.

Meanwhile, in a lidar device, it is necessary to apply a surface mount device (SMD) diode in order to improve the rising time and increase the power of emitted optical signals. However, in the case of a surface-mount diode, there is a problem in that the structure of the transmission/reception board, which is applied to the TO CAN-type laser diode, cannot be applied due to structural characteristics.

Specifically, since the surface-mount diode receives an optical signal from a lens arranged in the side direction of the transmission/reception board or outputs an optical signal through a lens arranged in the side direction, the conventional method of installing a separate frame on the upper surface of the board is no longer suitable.

Therefore, in order to apply the surface-mount diode, it is necessary to develop a board structure for transmitting and receiving in a lidar device, in which a transmission/reception board equipped with a surface-mount diode can be easily installed in consideration of the relationship with the lens arranged on the side direction of the board.

DISCLOSURE

Technical Problem

An exemplary embodiment of the present disclosure is to provide a board structure for transmitting and receiving in a lidar device, in which a surface-mount diode can be easily mounted.

An exemplary embodiment of the present disclosure is to provide a board structure for transmitting and receiving in a lidar device, which facilitates alignment between a transmission/reception board and a lens barrel on which a lens is mounted.

Technical Solution

According to an aspect of the present disclosure, as a board structure for transmitting and receiving in a lidar device which is installed to transmit or receive optical signals in the lidar device, the board structure for transmitting and receiving in a lidar device is provided, including a lens barrel having a lens mounted on a first inner circumferential surface so as to be movable, and having at least one first connection part provided on a first outer circumferential surface; a guide barrel having at least one second connection part connected to the first connection part on a second outer circumferential surface, and having a first fixing hole formed to penetrate from the second outer circumferential surface to a second inner circumferential surface; a transmission/reception board having a diode mounted on a part of an upper surface and at least partially inserted into an inner space of the guide barrel; and a first support member that penetrates through the first fixing hole and supports an upper surface or lower surface of the transmission/reception board.

In this case, the lens may be mounted on the lens barrel by a lens housing.

In this case, the first inner circumferential surface may be provided with a screw crest and a screw root in part, and the lens housing may be provided with a screw crest and a screw root corresponding to the screw crest and the screw root of the first inner circumferential surface in part.

In this case, a slit may be formed on a part of the first outer circumferential surface along the moving direction of the lens, and the lens housing may have a holder protruding through the slit from an outer circumferential surface of the lens housing.

In this case, the lens barrel and the guide barrel may be formed in a cylindrical shape.

In this case, the transmission/reception board may be formed in a flat planar shape, and the guide barrel may have a rectangular-shaped inner space formed therein to correspond to the shape of the transmission/reception board.

In this case, the first connection part and the second connection part may have a first through hole and a second through hole, respectively.

In this case, the first connection part and the second connection part may be connected to each other by a first bolt passing through the first through hole and the second through hole, and a first nut coupled with the first bolt.

In this case, any one of the first through hole and the second through hole may be formed as a long hole in which the first bolt is movable in a direction perpendicular to the moving direction of the lens.

In this case, a plurality of the first connection parts and a plurality of the second connection parts may be provided, respectively, and at least one of the plurality of the first connection parts or the plurality of the second connection parts may have a long hole formed in a direction in which the x-axis direction alignment of the lens barrel and the guide barrel is possible, and at least the other one may have a long hole formed in a direction in which the y-axis direction alignment of the lens barrel and the guide barrel is possible.

In this case, among the plurality of the second connection parts, the second connection part having a long hole for the x-axis direction alignment, and the second connection part having a long hole for the y-axis direction alignment may be respectively disposed in the upper direction and the lower direction of the diode, and may be disposed to face each other.

In this case, among the plurality of the second connection parts, the second connection part having a long hole for the x-axis direction alignment, and the second connection part having a long hole for the y-axis direction alignment may be respectively disposed in both side directions of the diode, and may be disposed to face each other.

In this case, the board structure may further include a second fixing hole facing the first fixing hole and a second supporting member for supporting one surface of the transmission/reception board through the second fixing hole, and the transmission/reception board may be inserted between the first fixing hole and the second fixing hole and supported by the first support member and the second support member.

In this case, the first support member or the second support member may be a second bolt.

In this case, the first support member or the second support member may be formed by curing an adhesive.

In this case, the board structure may further include a damper between one surface of the transmission/reception board and the first support member or between the other surface of the transmission/reception board and the second support member.

In this case, the damper may be formed of a material having elasticity.

In this case, the diode may be a surface-mount diode.

According to another aspect of the present invention, provided is a lidar scanning device, including a light output means for emitting a pulse laser; a light reflecting means for reflecting the pulse laser, and a light receiving means for receiving the pulse laser reflected through the light reflecting means, wherein at least one of the light output means and the light reflecting means includes the aforementioned board structure.

According to another aspect of the present invention, provided is a vehicle on which the aforementioned lidar scanning device is mounted.

Advantageous Effects

The board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure can be connected to a lens barrel on which a lens is mounted, and a surface-mount diode can be applied in the lidar device by introducing a guide barrel on which the transmission/reception board is mounted in the inner space.

In the board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure, alignment between the optical axis of the lens and the transmission/reception board is possible through the first connection part and the second connection part.

The board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure has a first fixing hole formed in a guide barrel and a first support member penetrating therethrough, thereby effectively supporting the transmission/reception board and securing a high level of alignment margin.

MODES OF THE INVENTION

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings such that those of ordinary skill in the art to which the present disclosure pertains may easily practice the present disclosure. The present disclosure may be implemented in various different forms and is not limited to the exemplary embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present disclosure, and the same reference numerals are assigned to the same or similar components throughout the specification.

In the present specification, terms such as “include” or “have” are intended to designate the presence of features, numbers, steps, actions, components, parts or combinations thereof described in the specification, and it is to be understood that it does not preclude the possibility of the presence or addition of one or more other features, numbers, steps, actions, components, parts or combinations thereof.

In the present specification, the “moving direction of a lens” referred to in relation to the direction should be understood to mean a direction in which the lens may move forward or backward along the extension direction of a lens barrel in a column shape.

FIG. 2is a diagram illustrating a lidar device provided with a light output means and a light receiving means.

The board structure1for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure may be a structure applied to a light output means or a light receiving means installed to transmit or receive an optical signal in a lidar device.

More specifically, referring toFIG. 2, in a light detection and ranging (LIDAR) scanning device that collects spatial information by sensing a pulsed laser reflected from an object300after emitting a pulsed laser, the board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure may be a structure applied to a light output means200for emitting a pulsed laser through a light reflecting means100or a light receiving means400for sensing the reflected pulsed laser.

In this case, the lidar scanning device is an illustrated example, and may be mounted on one side of a vehicle to collect spatial information about a space adjacent to the vehicle. The spatial information collected in this way may be used for autonomous driving of a vehicle and the like, and for example, it may be a separation distance from another vehicle located in the front, rear or side of the vehicle, the speed of the other vehicle and the like.

FIG. 3is a diagram illustrating the board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure.FIG. 4is a diagram illustrating an exploded view of the board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure.FIG. 5is a diagram illustrating the board structure for transmitting and receiving in a lidar device illustrated inFIG. 3by cutting in the A-A direction.FIGS. 6 and 7are diagrams illustrating and describing the movement of a lens in a lens barrel of the board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure.

The board structure1for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure includes a lens barrel10, a guide barrel30, a transmission/reception board50and a first support member40.

Referring toFIGS. 6 and 7, in an exemplary embodiment of the present disclosure, the lens barrel10may be formed in a column shape. For example, the lens barrel10may be formed in the shape of a cylinder or a square column with rounded corners as illustrated inFIG. 6, but the shape of the lens barrel10is not limited.

In this case, the lens barrel10may include one surface parallel to the lens17and another surface facing the same. In addition, the lens barrel10may include a first outer circumferential surface13surrounding the lens barrel10along the circumference of two surfaces facing as above.

Meanwhile, the lens barrel10may have a space formed in which the inside is penetrated from one surface parallel to the lens17to the other surface facing the same such that the lens17is movable inside the lens barrel10. In this regard, the lens barrel10may include a first inner circumferential surface11forming an inner space of the lens barrel10.

In this case, a part of the first inner circumferential surface11of the lens barrel10may have a screw crest and a screw root formed along the moving direction of the lens17. This is to cause the lens17to move along the screw root, when a circular lens17or a lens housing18to be described below is rotated as illustrated inFIG. 6.

In an exemplary embodiment of the present disclosure, the lens17may be mounted on the lens barrel10by the lens housing18. That is, the lens17is not mounted in direct contact with the lens barrel10, but the lens housing18is present between the lens17and the lens barrel10such that the lens17may move together as the lens housing18moves.

In this case, a part of the lens housing18corresponds to the screw crest and the screw root of the first inner circumferential surface11described above, and a screw crest and a screw root may be formed. This is to allow the lens housing18to move along the first inner circumferential surface11of the lens barrel10while rotating.

Meanwhile, referring toFIGS. 6 and 7, when the lens17moves, it may be moved through a holder19of the lens housing18in addition to the method of rotating the lens17or the lens housing18.

Specifically, a slit12is formed on a part of the first outer circumferential surface13of the lens barrel10along the moving direction of the lens17, and a holder19protruding in a direction of the first outer circumferential surface13of the lens barrel10may be formed on a part of the lens housing18.

In this case, the holder19may protrude by passing through the slit12, and an operator or an operational robot may move the lens17to a desired position by grasping the holder19and moving along the slit12.

In an exemplary embodiment of the present disclosure, at least one first connection part15may be provided on the first outer circumferential surface13of the lens barrel10.

The first connection part15of the lens barrel10is a configuration corresponding to the second connection part35of the guide barrel30to be described below, and it is a configuration for connecting the lens barrel10and the guide barrel30to each other. Accordingly, it is preferable that the first connection part15is formed in a region adjacent to the guide barrel30among the first outer circumferential surface13.

The first connection part15may be formed in a column shape extending in the same direction as the lens barrel10and may be connected to a second connection part35to be described below. Herein, being connected to each other may mean that the first connection part15and the second connection part35are coupled to each other, or are connected to each other or form a relationship using different members.

For example, in an exemplary embodiment of the present disclosure, the first connection part15may have a first through hole16formed to penetrate in the same direction as the inner space of the lens barrel10. This is to provide a space for fastening a first bolt21and a first nut22when the first connection part15and the second connection part35are connected.

In contrast, the first connection part15may have a groove (not illustrated) to be coupled with a protrusion (not illustrated) protruding from the second connection part35instead of a through hole, or conversely, it may have a protrusion (not illustrated) to be coupled to a groove (not illustrated) provided in the second connection part35. That is, the first connection part15or the second connection part35may be formed and connected in a structure that is coupled by adopting any one of a female fastening member or a male fastening member, respectively.

However, it should be noted that the type of the first connection part15is not limited to the above-described example, and may be formed in various shapes according to the connection structure with the second connection part35. The connection between the first connection part15and the second connection part35will be described in detail after the description of the second connection part35is finished.

FIG. 8is a diagram of a guide barrel of the board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure as viewed from a direction connected to the lens barrel.

The board structure1for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure may include a guide barrel30to which the transmission/reception board50is fixed therein and connected to the lens barrel10.

The guide barrel30may be formed in a column shape like the lens barrel10. For example, the guide barrel30may be formed in the shape of a cylinder or a square column with rounded corners, but is preferably formed in a column shape corresponding to the lens barrel10.

Specifically, the guide barrel30may include one surface and the other surface facing the same. In addition, the guide barrel30may include a second outer circumferential surface33surrounding the guide barrel30along the circumference of the two surfaces described above.

In an exemplary embodiment of the present disclosure, an inner space31in which a transmission/reception board50to be described below may be inserted and positioned inside the guide barrel30may be formed. Herein, the inner space31may be formed by penetrating through the guide barrel30along the insertion direction of the transmission/reception board50.

Through this, the optical signal passing through the lens17of the lens barrel10is transmitted to a diode55of the transmission/reception board50which is present in the inner space31of the guide barrel30, or the optical signal emitted through the diode55of the transmission/reception board50may proceed to the outside of the lens barrel10via the lens17.

In this case, the cross section of the guide barrel30cut in a direction perpendicular to the moving direction of the lens17may include a rectangular inner space31so as to correspond to the shape of the transmission/reception board50as illustrated inFIG. 8. However, the shape of the cut surface of the inner space31is not limited thereto, and any shape may be formed as long as it is a structure suitable for the insertion of the transmission/reception board50.

In an exemplary embodiment of the present disclosure, the guide barrel30may include a first fixing hole37for fixing the transmission/reception board50.

In this case, the first fixing hole37may mean a hole penetrating from the second outer circumferential surface33of the guide barrel30to the inner space31.

As an example, the first fixing hole37may be formed by penetrating through the guide barrel30from the second outer circumferential surface33of the guide barrel30to the inner space31in a direction perpendicular to the moving direction of the lens17as illustrated in the drawings.

In an exemplary embodiment of the present disclosure, the first support member40may be inserted into the first fixing hole37. This is to fix the transmission/reception board50to the guide barrel30by supporting the transmission/reception board50to be described below through the first support member40.

As an example, as illustrated inFIG. 5, the first support member40may be a second bolt42. In this case, a screw crest and a screw root may be formed in a part of the first fixing hole37to achieve a stable fastening with the second bolt42.

In this case, the second bolt42enters one end of the first fixing hole37connected to the second outer circumferential surface33, and finally, pressure may be applied to one surface of the transmitting/receiving board50present inside the inner space31in contact with the other end of the first fixing hole37.

As another example, the first support member40may be a cured adhesive. Specifically, after injecting an adhesive into the entrance of the first fixing hole37formed on the second outer circumferential surface, and after a certain period of time, the adhesive is cured such that the first fixing hole37may be filled. Herein, the cured adhesive (not illustrated) may stably support the transmission/reception board50because hardness and rigidity are secured unlike before curing.

In an exemplary embodiment of the present disclosure, referring toFIGS. 4 and 5, a damper70may be present between the first support member40and the transmission/reception board50. That is, the first support member40may not directly contact and support the transmission/reception board50, but may indirectly support the transmission/reception board50through the damper70in contact with the transmission/reception board50.

In this case, it is preferable that the damper70is formed of a material having an elastic force. Therefore, when pressure by the first support member40is applied to the damper70having an elastic force, the above-described damper70may be compressively deformed along the direction in which the pressure is applied.

Through this, it is possible to prevent damage or harm to the transmission/reception board50that may occur when the transmission/reception board50and the first support member40contact each other. In addition, by disposing the damper70having elasticity to minimize an air gap between the damper70and the transmission/reception board50, the support force through the first support member40may be more effectively transmitted.

Meanwhile, in an exemplary embodiment of the present disclosure, the guide barrel30may further include a second fixing hole38.

Referring again toFIGS. 4 and 5, based on the inner space31of the guide barrel30, a second fixing hole38may be formed opposite to the first through hole16. Herein, the second fixing hole38may be formed by penetrating through the guide barrel30from the second outer circumferential surface33to the inner space31like the first fixing hole37.

The shape and function of the second fixing hole38are the same as those of the first fixing hole37described above. However, a second support member41having the same shape and function as the first support member40penetrates through the second fixing hole38. In addition, as illustrated inFIG. 5, the second fixing hole38supports one surface opposite to one surface of the transmission/reception board50supported by the first fixing hole37.

In this case, the transmission/reception board50is finally inserted between the first fixing hole37and the second fixing hole38, and the upper surface51and the lower surface53are supported by the first support member40and the second support member41. Herein, the upper surface51is parallel to the ground among the two surfaces51and53of the transmission/reception board50, but it may mean the surface on which the diode55is mounted, and the lower surface53may mean the surface that is present in a direction opposite to the upper surface51.

Accordingly, the transmission/reception board50may be more rigidly fixed to the guide barrel30. In addition, since both surfaces51and53of the transmission/reception board50and the first support member40and the second support member41contact each other, a larger alignment margin may be secured when the transmission/reception board50and the guide barrel30are fixed, compared to when only the first fixing hole37is present.

Meanwhile, a plurality of first fixing holes37and a plurality of second fixing holes38may be formed in the guide barrel30to enhance a supporting force. Certainly, a plurality of first support members40and a plurality of second support members41corresponding thereto may also be present.

The board structure1for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure includes a transmission/reception board50supported by a guide barrel30.

The transmission/reception board50may be a conventional printed circuit board (PCB) in which electronic components such as resistors, capacitors, integrated circuits and the like are fixed and gaps between the components are connected by wires to form an electronic circuit.

In this case, surface-mount diodes (SMDs) may be mounted on a part of the transmission/reception board50. Through this, the lidar device, to which the board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure is applied, may improve a rising time and increase power of an emitted optical signal.

Referring toFIG. 4, as described above, part or all of the transmission/reception board50is inserted into the inner space31of the guide barrel30in the same direction as the extension direction of the inner space31such that it is fixed to the guide barrel30by the first support member40or the second support member41.

Afterwards, the board structure1for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure emits an optical signal toward the lens17through the side of the diode55or receives an optical signal from the lens17.

Hereinafter, the connection between the first connection part15and the second connection part35will be described in more detail.

FIGS. 9 and 10are enlarged diagrams illustrating the connections between the first connection part and the second connection part of the board structure for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure.

In an exemplary embodiment of the present disclosure, the first connection part15and the second connection part35may have a first through hole16and a second through hole36, respectively. Herein, the first through hole16and the second through hole36may be formed in a direction parallel to the moving direction of the lens17.

The first connection part15and the second connection part35may be connected to each other by a coupling between a first bolt21passing through the first through hole16and the second through hole36, and a first nut22coupled to the first bolt21.

In this case, referring toFIG. 9, any one of the first through hole16and the second through hole36may be formed as a long hole39. Herein, the long hole39may mean a hole formed by extending in any one direction similar to a slit so as to be movable in a direction perpendicular to the direction in which a member is inserted, such as the first bolt21.

In an exemplary embodiment of the present disclosure, it is preferable that the long hole39formed in any one of the first through hole16and the second through hole36is formed to be movable in any one direction perpendicular to the moving direction of the lens as illustrated.

Referring toFIG. 10, a long hole39is formed in any one of the first through hole16and the second through hole36as described above such that when a lens barrel10and a guide barrel30are combined, effective alignment is possible in the extension direction of the long hole39.

In an exemplary embodiment of the present disclosure, a plurality of first through holes16and a plurality of second through holes36may be provided, respectively. Accordingly, there may be a plurality of long holes39formed in any one of the first through hole16and the second through hole36.

In this case, at least one of the first through hole16or the second through hole formed as a long hole39in the first connection part15or the second connection part35may be formed in a shape that facilitates the x-axis direction alignment of the lens barrel10and the guide barrel30. In addition, at least one of the first through hole16or the second through hole may be formed in a shape that facilitates the y-axis direction alignment of the lens barrel10and the guide barrel30. That is, since the long hole39extends in the x-axis direction or the y-axis direction, a fastening member such as the first bolt21may be movable in the x-axis or y-axis direction.

Herein, both the x-axis direction and the y-axis direction may be directions perpendicular to the moving direction of the lens17, and the x-axis direction and the y-axis direction may also be perpendicular to each other. For example, if the x-axis direction is a direction perpendicular to the ground, the y-axis direction may be parallel to the ground, but may be a direction perpendicular to the moving direction of the lens17.

By having a long hole39extending in the x-axis and y-axis directions as described above, the board structure1for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure facilitates alignment on an xy plane perpendicular to the moving direction of the lens17, when the lens barrel10and the guide barrel30are combined.

Next, alignment between components during the process of forming the board structure1for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure will be described.

Herein, the alignment may mean correcting such that an optical axis error does not occur with respect to one reference optical axis by precisely arranging the lens barrel10, the guide barrel30and the transmission/reception board50. A well-known beam profiler may be used for this alignment operation.

Looking at the alignment process, first, part or all of the transmission/reception board50is inserted into the inner space31of the guide barrel30. In this case, the transmission/reception board50may be located between the first fixing hole37and the second fixing hole38.

Afterwards, light is emitted towards the transmitting/receiving board50using a beam profiler, and an error generated with respect to a reference optical axis preset in the beam profiler is checked. After confirming the same, the operation of moving the transmission/reception board50to align so as not to generate an error is repeated. When it is confirmed that no error occurs, in that state, the first support member40or the second support member41is passed through the first fixing hole37and the second fixing hole38, respectively, to support the transmission/reception board50. Through this, the transmission/reception board50may be fixed to the guide barrel30without generating an error with the reference optical axis.

Finally, the first connection part15and the second connection part35of the lens barrel10and the guide barrel30are connected to each other. Even during this process, an error generated in the x-axis or y-axis direction is confirmed by emitting light toward the lens17of the lens barrel10through a beam profiler. In order to eliminate the error, the operation of checking the error is repeated while moving any one of the lens barrel10and the guide barrel10in the x-axis or y-axis direction. In addition, finally, the alignment of the lens barrel10, the guide barrel and the transmission/reception board50is completed.

As described above, since the board structure1for transmitting and receiving in a lidar device according to an exemplary embodiment of the present disclosure has a unique guide barrel30, it is easy to apply the transmission/reception board50equipped with a surface-mount diode.

In addition, despite the application of the transmission/reception board50equipped with a surface-mount diode, through the first fixing hole37and the second fixing hole38or the first connection part15and the second connection part35, alignment between the lens barrel10, the guide barrel30and the transmission/reception board50may be precisely performed.

Although an exemplary embodiment of the present disclosure has been described above, the spirit of the present disclosure is not limited to the exemplary embodiment presented in the present specification, and those skilled in the art who understand the spirit of the present disclosure may easily propose other exemplary embodiments by modifying, changing, deleting and adding components within the scope of the same spirit, but it is to be understood that this is also within the scope of the present disclosure.

[Explanation of Reference Numerals]1: Board structure for transmitting12: Slitand receiving in a lidar device15: First connection part10: Lens barrel17: Lens11: First inner circumferential surface19: Holder13: First outer circumferential surface22: First nut16: First through hole31: Inner space18: Lens housing37: First fixing hole21: First bolt39: Long hole30: Guide barrel41: Second support member33: Second outer circumferential surface50: Transmission/reception board35: Second connection part70: Damper36: Second through hole38: Second fixing hole40: First support member42: Second bolt51: Upper surface oftransmission/reception board52 Lower surface oftransmission/reception board55: Diode