Micro-LIDAR sensor

A mobile object, comprising:

• a LIDAR sensor which transmits light, receives reflected light, is configured to analyze a waveform of the reflected light with one or more frequencies to measure a distance according to the time difference, and acquire a point cloud, and
• a moving device which is implemented to move the moving object based on the distance,
• wherein the LIDAR sensor includes:
• a transmission and reception module which transmits light and receives reflected light;
• a rotary module which is connected to the transmission and reception module and is rotatable;
• a connection module which transmits a torque to the rotary module and has the rotary module installed therein;
• and
• a fixing module which fixes the connection module thereto and transmits a power to the connection module,
• wherein the transmission and reception module is configured to analyze a waveform of the reflected light with one or more frequencies to measure a distance according to a time difference and acquire a point cloud,
• a rotary column having a plurality of inclined surfaces is located in a rotary shaft position of the rotary module,
• the fixing module is connected to a sensor cover having a protrusion structure which is inserted into a recessed space of an upper end of the rotary column,
• the transmission and reception module includes:
• a plurality of transmission and reception groups in which one or more transmitters and one or more receivers are disposed to be spaced apart from each other to be combined;
• and a first controller which is configured to control an operation of the plurality of transmission and reception groups,
• the plurality of transmission and reception groups is installed on the plurality of inclined surfaces, is directed to a predetermined vertical angle, is disposed in a predetermined horizontal direction, and is disposed in consideration of a center of gravity,
• the transmission and reception groups include:
• a first transmitter;
• a second transmitter which is horizontally disposed with the first transmitter;
• and a third transmitter which is vertically disposed between the first transmitter and the second transmitter,
• the transmitters including the first transmitter, the second transmitter, and the third transmitter include a separation film which is installed to be spaced apart from a body tube of the one or more receivers and blocks a light traveling path, and
• the first controller is configured to control an exposure time and an intensity of the light in accordance with a reference distance which distinguishes a near field from a far field, and adjusts the exposure time and the intensity of the light based on a remainder obtained by dividing a RPM of the rotary module by a predetermined integer.