WO2021096264A2 - Laser output array and lidar device using same - Google Patents

Abstract

The present invention relates to a lidar device in which the distance between the center of a first position and the center of a third position is less than the distance between the center of a first laser output unit and the center of a third laser output unit.

Description

Laser output array and lidar device using the same

The present invention relates to a laser output array and a lidar device using the same, and more particularly, to a design of an optic included in a laser output array and a laser output array, and a solid-state LiDAR device using the same. .

In recent years, LiDAR (Light Detection and Ranging) has been in the spotlight with interest in self-driving cars and driverless cars. Lida is a device that acquires surrounding distance information using a laser, and thanks to the advantage of being able to grasp objects in three dimensions with excellent precision and resolution, it is being applied not only to automobiles, but also to various fields such as drones and aircraft.

VICSEL (Vertical Cavity Surface Emitting Laser) is a semiconductor laser diode that emits a laser beam in a direction perpendicular to the upper surface. The big cell can be used in the field of short-distance optical communication, the field of lidar that detects a distance to an object using image sensing and a laser.

An object of the present invention is to provide a laser output device included in a solid-state LiDAR device.

Another object of the present invention is to provide a steering component used in a laser output device included in a solid-state LiDAR device.

Another object of the present invention is to provide a solid-state LiDAR device.

The problem to be solved of the present invention is not limited to the above-described problems, and the problems that are not mentioned can be clearly understood by those of ordinary skill in the art from the present specification and the accompanying drawings. will be.

According to an embodiment of the present invention, a laser output device comprising: a first laser output unit including at least one laser output element, a second laser output unit, and a third laser output unit; and the laser output array A prism array for steering a laser output from the prism array, wherein the prism array includes a first prism element for steering a laser output from the first laser output unit and the second laser output unit, and from the third laser output unit. Steering the second prism element for steering the output laser, the third prism element for steering the laser output from the first laser output unit and the third laser output unit, and the laser output from the second laser output unit It includes a fourth prism element for, wherein the first laser output from the first laser output unit is irradiated in a first direction by sequentially passing through the first prism element and the third prism element, and the second laser The second laser output from the output unit is irradiated in a second direction by sequentially passing through the first prism element and the fourth prism element, and the third laser output from the third laser output unit is the second prism element. And the first prism element and the second prism element are formed on the first surface of the prism array so as to be irradiated in a third direction by sequentially passing through the third prism element, and the third prism element and the fourth prism The elements are formed on the second surface of the prism array, the first and second prism elements have different inclinations so that the first direction, the second direction, and the third direction are different from each other, and the third and A laser output device having different inclinations of the fourth prism elements may be provided.

According to another embodiment of the present invention, there is provided a lidar device, comprising: a laser output unit for outputting a laser, and a sensor unit for obtaining a laser output from the laser output unit, wherein the laser output unit includes at least one laser output A laser output array including a first laser output unit including elements, a second laser output unit, and a third laser output unit, and a prism array for steering a laser output from the laser output array, the prism array , A first prism element for steering the laser output from the first laser output unit and the second laser output unit, a second prism element for steering the laser output from the third laser output unit, the first laser output A third prism element for steering the laser output from the unit and the third laser output unit, and a fourth prism element for steering the laser output from the second laser output unit, from the first laser output unit The output first laser is irradiated in a first direction by sequentially passing through the first prism element and the third prism element, and the second laser output from the second laser output unit is the first prism element and the first prism element. 4 It is irradiated in the second direction by passing through the prism element sequentially, and the third laser output from the third laser output unit sequentially passes through the second prism element and the third prism element to be irradiated in the third direction. The first prism element and the second prism element are formed on a first surface of the prism array, and the third prism element and the fourth prism element are formed on a second surface of the prism array, and the first direction , The inclinations of the first and second prism elements are different from each other so that the second direction and the third direction are different from each other, and the inclinations of the third and fourth prism elements are different from each other. The following lidar device may be provided.

The solution means of the problem of the present invention is not limited to the above-described solution means, and solutions that are not mentioned will be clearly understood by those of ordinary skill in the art from the present specification and the accompanying drawings. I will be able to.

According to an embodiment of the present invention, a laser output device used in a solid-state LiDAR device may be provided.

According to another embodiment of the present invention, a steering component included in a laser output device used in a solid-state LiDAR device may be provided.

According to another embodiment of the present invention, a solid-state LiDAR device may be provided.

The effects of the present invention are not limited to the above-described effects, and effects that are not mentioned will be clearly understood by those of ordinary skill in the art from the present specification and the accompanying drawings.

1 is a diagram for describing a lidar device according to an exemplary embodiment.

2 is a diagram illustrating a lidar device according to an embodiment.

3 is a diagram illustrating a lidar device according to another embodiment.

4 is a view showing a laser output unit according to an embodiment.

5 is a diagram showing a VCSEL unit according to an embodiment.

6 is a diagram illustrating a VCSEL array according to an embodiment.

7 is a side view showing a VCSEL array and a metal contact according to an embodiment.

8 is a diagram illustrating a VCSEL array according to an embodiment.

9 is a diagram for describing a lidar device according to an exemplary embodiment.

10 is a diagram for describing a collimation component according to an embodiment.

11 is a diagram for describing a collimation component according to an embodiment.

12 is a diagram for describing a collimation component according to an embodiment.

13 is a diagram for describing a collimation component according to an embodiment.

14 is a diagram for describing a steering component according to an exemplary embodiment.

15 and 16 are diagrams for describing a steering component according to an exemplary embodiment.

17 is a diagram for describing a steering component according to an exemplary embodiment.

18 is a diagram for describing a steering component according to an exemplary embodiment.

19 is a diagram for describing a meta surface according to an exemplary embodiment.

20 is a diagram for describing a metasurface according to an exemplary embodiment.

21 is a diagram for describing a meta surface according to an exemplary embodiment.

22 is a diagram for describing a rotating faceted mirror according to an exemplary embodiment.

23 is a top view for explaining a viewing angle of a rotating faceted mirror in which the number of reflective surfaces is three and the upper and lower portions of the body are equilateral triangles.

24 is a top view for explaining the viewing angle of a rotating multi-faceted mirror in which the number of reflective surfaces is four and the upper and lower portions of the body are square.

25 is a top view for explaining the viewing angle of a rotating multi-faceted mirror in which the number of reflective surfaces is 5 and the upper and lower portions of the body are regular pentagons.

26 is a view for explaining an irradiation portion and a light-receiving portion of a multi-faceted rotating mirror according to an exemplary embodiment.

27 is a diagram for describing an optical unit according to an exemplary embodiment.

28 is a diagram for describing an optical unit according to an exemplary embodiment.

29 is a diagram for describing a meta component according to an embodiment.

30 is a diagram for describing a meta component according to another embodiment.

31 is a diagram for describing an SPAD array according to an embodiment.

32 is a diagram for describing a histogram of SPAD according to an embodiment.

33 is a diagram for describing a SiPM according to an embodiment.

34 is a diagram for describing a histogram of SiPM according to an exemplary embodiment.

35 is a diagram for describing a semi-flash lidar according to an embodiment.

36 is a diagram for describing a configuration of a semi-flash lidar according to an embodiment.

37 is a diagram for describing a semi-flash lidar according to another embodiment.

38 is a diagram for describing a configuration of a semi-flash lidar according to another embodiment.

39 is a diagram for describing a laser output unit according to an exemplary embodiment.

40 is a diagram for describing a laser output unit according to an exemplary embodiment.

41 is a diagram for describing a laser output unit according to an exemplary embodiment.

42 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

43 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

44 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

45 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

46 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

47 is a diagram for describing a laser output unit according to an exemplary embodiment.

48 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

49 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

50 is a diagram for describing a steering component according to an exemplary embodiment.

51 is a diagram for describing a steering component according to an exemplary embodiment.

52 is a diagram for describing a steering component according to an exemplary embodiment.

53 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

54 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

55 is a diagram for describing a laser output unit according to an exemplary embodiment.

56 is a diagram for describing a laser output unit according to an exemplary embodiment.

57 is a diagram for describing a laser output unit according to an exemplary embodiment.

58 is a diagram for describing a laser output unit according to an exemplary embodiment.

59 is a diagram for describing a laser output unit according to an exemplary embodiment.

60 is a diagram for describing a laser output unit and an optical unit according to an exemplary embodiment.

The embodiments described in the present specification are intended to clearly explain the spirit of the present invention to those of ordinary skill in the technical field to which the present invention belongs, and thus the present invention is not limited to the embodiments described in the present specification. The scope should be construed as including modifications or variations that do not depart from the spirit of the present invention.

The terms used in this specification have been selected as general terms that are currently widely used in consideration of functions in the present invention, but this varies depending on the intention of a person of ordinary skill in the art, precedents, or the emergence of new technologies. I can. However, if a specific term is defined and used in an arbitrary meaning unlike this, the meaning of the term will be separately described. Therefore, the terms used in the present specification should be interpreted based on the actual meaning of the term and the entire contents of the present specification, not a simple name of the term.

The drawings attached to the present specification are for easy explanation of the present invention, and the shapes shown in the drawings may be exaggerated and displayed as necessary to aid understanding of the present invention, so the present invention is not limited by the drawings.

In the present specification, when it is determined that a detailed description of a well-known configuration or function related to the present invention may obscure the subject matter of the present invention, a detailed description thereof will be omitted as necessary.

The laser output device according to the present invention comprises a first laser output unit including at least one laser output element, a second laser output unit, and a laser output array including a third laser output unit, and a laser output from the laser output array. Including a prism array for steering, wherein the prism array is a first prism element for steering a laser output from the first laser output unit and the second laser output unit, and steering the laser output from the third laser output unit A second prism element for steering, a third prism element for steering the laser output from the first laser output unit and the third laser output unit, and a fourth prism for steering the laser output from the second laser output unit Element, wherein the first laser output from the first laser output unit is irradiated in a first direction by sequentially passing through the first prism element and the third prism element, and output from the second laser output unit The second laser is irradiated in a second direction by sequentially passing through the first prism element and the fourth prism element, and the third laser output from the third laser output unit is the second prism element and the third prism element. The first prism element and the second prism element are formed on the first surface of the prism array so that the elements are sequentially passed through and irradiated in a third direction, and the third prism element and the fourth prism element are the prism array. The first and second prism elements are formed on the second surface of the and the inclinations of the first and second prism elements are different from each other so that the first direction, the second direction, and the third direction are different from each other, and the third and fourth prism elements have different inclinations. The slopes can be different from each other.

Here, the first and second laser output units may be disposed along a first axis, and the first and third laser output units may be disposed along a second axis.

Here, the first and second prism elements are designed such that a length in the first axis direction is longer than a length in the second axis direction, and the third and fourth prism elements are The length may be designed to be longer than the length in the first axis direction.

Here, the first laser passes through the first portion of the third prism element and is irradiated in the first direction, and the third laser passes through the second portion of the third prism element and irradiates in the third direction. Can be.

Here, the inclination of the first portion of the third prism element may be the same as the inclination of the second portion of the third prism element.

Here, when viewed from the top of the laser output device, the position on the third prism element to which the first laser is irradiated from the third prism element is different from the position at which the first laser is output from the first laser output unit. And, the position on the fourth prism element to which the second laser is irradiated from the fourth prism element is different from the position at which the second laser is output from the second laser output unit, and the third laser is the third A position on the third prism element irradiated from the prism element may be different from a position at which the third laser is output from the third laser output unit.

Here, the laser output array includes at least one laser output element, further includes a fourth laser output unit for outputting a fourth laser, and the second prism unit comprises the third laser and the fourth laser. It is disposed to steer, and the fourth prism unit may be disposed to steer the second laser and the fourth laser.

Here, the first and second laser output units are disposed along a first axis, the first and third laser output units are disposed along a second axis, and the third and fourth laser output units are disposed along the first axis. The second and fourth laser output units may be disposed along the second axis.

Here, a distance between the first portion and the second portion of the third prism element may be smaller than a distance between the first laser output unit and the third laser output unit.

Here, when viewed from the top of the laser output device, the first position on the third prism element to which the first laser is irradiated from the third prism element is a position at which the first laser is output from the first laser output unit And the second position on the fourth prism element to which the second laser is irradiated from the fourth prism element is different from the position to which the second laser is output from the second laser output unit, and the third laser The third position on the third prism element irradiated from the third prism element is different from the position where the third laser is output from the third laser output unit, and the center of the first position and the third position The distance between the centers may be smaller than the distance between the center of the first laser output unit and the center of the third laser output unit.

A lidar device according to another embodiment of the present invention includes a laser output unit for outputting a laser, and a sensor unit for obtaining a laser output from the laser output unit, wherein the laser output unit includes at least one laser output element. A laser output array including a first laser output unit, a second laser output unit, and a third laser output unit including, and a prism array for steering a laser output from the laser output array, wherein the prism array includes: 1 laser output unit and a first prism element for steering the laser output from the second laser output unit, a second prism element for steering the laser output from the third laser output unit, the first laser output unit and A third prism element for steering the laser output from the third laser output unit and a fourth prism element for steering the laser output from the second laser output unit, the output from the first laser output unit The first laser is irradiated in a first direction by sequentially passing through the first prism element and the third prism element, and the second laser output from the second laser output unit is the first prism element and the fourth prism element. The third laser is irradiated in a second direction by sequentially passing through the elements, and the third laser output from the third laser output unit sequentially passes through the second prism element and the third prism element to be irradiated in a third direction. 1 prism element and the second prism element are formed on the first surface of the prism array, the third prism element and the fourth prism element are formed on the second surface of the prism array, the first direction, the The inclinations of the first and second prism elements are different from each other so that the second direction and the third direction are different from each other, and the inclinations of the third and fourth prism elements may be different from each other. have.

Here, the first and second laser output units may be disposed along a first axis, and the first and third laser output units may be disposed along a second axis.

Here, the first and second prism elements are designed such that a length in the first axis direction is longer than a length in the second axis direction, and the third and fourth prism elements are The length may be designed to be longer than the length in the first axis direction.

Here, the first laser passes through the first portion of the third prism element and is irradiated in the first direction, and the third laser passes through the second portion of the third prism element and irradiates in the third direction. Can be.

Here, the inclination of the first portion of the third prism element may be the same as the inclination of the second portion of the third prism element.

Here, when viewed from the top of the lidar device, the position on the third prism element to which the first laser is irradiated from the third prism element is different from the position at which the first laser is output from the first laser output unit. And, the position on the fourth prism element to which the second laser is irradiated from the fourth prism element is different from the position at which the second laser is output from the second laser output unit, and the third laser is the third A position on the third prism element irradiated from the prism element may be different from a position at which the third laser is output from the third laser output unit.

Here, the laser output array includes at least one laser output element, further includes a fourth laser output unit for outputting a fourth laser, and the second prism unit comprises the third laser and the fourth laser. It is disposed to steer, and the fourth prism unit may be disposed to steer the second laser and the fourth laser.

Here, the first and second laser output units are disposed along a first axis, the first and third laser output units are disposed along a second axis, and the third and fourth laser output units are disposed along the first axis. The second and fourth laser output units may be disposed along the second axis.

Here, a distance between the first portion and the second portion of the third prism element may be smaller than a distance between the first laser output unit and the third laser output unit.

Here, when viewed from the top of the lidar device, the first position on the third prism element to which the first laser is irradiated from the third prism element is a position at which the first laser is output from the first laser output unit And the second position on the fourth prism element to which the second laser is irradiated from the fourth prism element is different from the position to which the second laser is output from the second laser output unit, and the third laser The third position on the third prism element irradiated from the third prism element is different from the position where the third laser is output from the third laser output unit, and the center of the first position and the third position The distance between the centers may be smaller than the distance between the center of the first laser output unit and the center of the third laser output unit.

Hereinafter, the lidar device of the present invention will be described.

, φ)로 표현될 수 있다. 다만, 이에 한정되는 것은 아니며, 직교좌표계(X, Y, Z) 또는 원통 좌표계(r,

, z) 등으로 표현될 수 있다.The lidar device is a device for detecting a distance to an object and a position of the object using a laser. For example, the lidar device may output a laser, and when the output laser is reflected from the object, the reflected laser may be received to measure the distance between the object and the lidar device and the position of the object. In this case, the distance and position of the object may be expressed through a coordinate system. For example, the distance and position of the object are in the spherical coordinate system (r,

, φ). However, it is not limited thereto, and a Cartesian coordinate system (X, Y, Z) or a cylindrical coordinate system (r,

, z), etc.

In addition, the lidar device may use a laser that is output from the lidar device and reflected from the object in order to measure the distance of the object.

The lidar apparatus according to an exemplary embodiment may use a time of flight (TOF) of the laser until it is sensed after the laser is output in order to measure the distance of the object. For example, the lidar device may measure the distance of the object by using a difference between a time value based on an output time of an output laser and a time value based on a sensed time of a laser reflected and sensed by the object.

In addition, the LiDAR device may measure the distance of the object by using a difference between a time value immediately sensed by the output laser without passing through the object and a time value based on the sensed time of the laser reflected and sensed by the object.

There may be a difference between the timing at which the lidar device transmits the trigger signal for emitting the laser beam by the control unit and the actual timing at which the laser beam is output from the actual laser output device. Since the laser beam is not actually output between the timing of the trigger signal and the timing of the actual light emission, accuracy may decrease if included in the flight time of the laser.

In order to improve the accuracy in measuring the flight time of the laser beam, the actual outgoing timing of the laser beam can be used. However, it may be difficult to determine when the laser beam actually exits. Therefore, the laser beam output from the laser output element must be transmitted to the sensor unit as soon as it is output or without passing through the object.

For example, since an optic is disposed on the laser output element, a laser beam output from the laser output element by the optic may be immediately sensed by a light receiving unit without passing through an object. The optic may be a mirror, a lens, a prism, or a meta surface, but is not limited thereto. The number of optics may be one, but there may be a plurality of optics.

In addition, for example, a sensor unit is disposed above the laser output device, so that a laser beam output from the laser output device may be immediately sensed by the sensor unit without passing through an object. The sensor unit may be spaced apart from the laser output device by a distance of 1mm, 1um, 1nm, etc., but is not limited thereto. Alternatively, the sensor unit may be disposed adjacent to the laser output device without being spaced apart. An optic may exist between the sensor unit and the laser output device, but is not limited thereto.

In addition, in order to measure the distance of the object, the LiDAR device according to an embodiment may use a triangulation method, an interferometry method, a phase shift measurement, etc., in addition to the flight time. Not limited.

The lidar device according to an embodiment may be installed in a vehicle. For example, the lidar device may be installed on the roof, hood, headlamp, or bumper of a vehicle.

In addition, a plurality of lidar devices according to an embodiment may be installed in a vehicle. For example, when two lidar devices are installed on the roof of a vehicle, one lidar device may be for observing the front and the other may be for observing the rear, but is not limited thereto. In addition, for example, when two lidar devices are installed on the roof of a vehicle, one lidar device may be for observing the left side and the other one for observing the right side, but is not limited thereto.

In addition, the lidar device according to an embodiment may be installed in a vehicle. For example, when the lidar device is installed inside the vehicle, it may be for recognizing a driver's gesture while driving, but is not limited thereto. In addition, for example, when the lidar device is installed inside the vehicle or outside the vehicle, it may be for recognizing a driver's face, but is not limited thereto.

The lidar device according to an embodiment may be installed on an unmanned aerial vehicle. For example, the lidar device is an unmanned aerial vehicle system (UAV system), a drone, a remote piloted vehicle (RPV), an unmanned aerial vehicle system (UAVs), an unmanned aircraft system (UAS), a remote piloted air/aerial system (RPAV). Vehicle) or RPAS (Remote Piloted Aircraft System).

In addition, a plurality of lidar devices according to an embodiment may be installed on the unmanned aerial vehicle. For example, when two lidar devices are installed on an unmanned aerial vehicle, one lidar device may be for observing the front and the other may be for observing the rear, but is not limited thereto. In addition, for example, when two lidar devices are installed on the unmanned aerial vehicle, one lidar device may be for observing the left side and the other one for observing the right side, but is not limited thereto.

The lidar device according to an embodiment may be installed in a robot. For example, the lidar device may be installed in a personal robot, a professional robot, a public service robot, another industrial robot, or a manufacturing robot.

In addition, a plurality of lidar devices according to an embodiment may be installed on the robot. For example, when two lidar devices are installed in the robot, one lidar device may be for observing the front side and the other one for observing the rear side, but is not limited thereto. In addition, for example, when two lidar devices are installed in the robot, one lidar device may be for observing the left and the other may be for observing the right, but is not limited thereto.

In addition, the lidar device according to an embodiment may be installed in the robot. For example, when a lidar device is installed in a robot, it may be for recognizing a human face, but is not limited thereto.

In addition, the lidar device according to an embodiment may be installed for industrial security. For example, LiDAR devices can be installed in smart factories for industrial security.

In addition, a plurality of lidar devices according to an embodiment may be installed in a smart factory for industrial security. For example, when two lidar devices are installed in a smart factory, one lidar device may be for observing the front and the other may be for observing the rear, but is not limited thereto. In addition, for example, when two lidar devices are installed in a smart factory, one lidar device may be for observing the left and the other may be for observing the right, but is not limited thereto.

In addition, the lidar device according to an embodiment may be installed for industrial security. For example, when the lidar device is installed for industrial security, it may be for recognizing a person's face, but is not limited thereto.

Hereinafter, various embodiments of the components of the lidar device will be described in detail.

1 is a diagram for describing a lidar device according to an exemplary embodiment.

Referring to FIG. 1, a lidar device 1000 according to an embodiment may include a laser output unit 100.

In this case, the laser output unit 100 according to an embodiment may emit a laser.

In addition, the laser output unit 100 may include one or more laser output devices. For example, the laser output unit 100 may include a single laser output device, may include a plurality of laser output devices, and in the case of including a plurality of laser output devices, a plurality of laser output devices You can configure an array.

In addition, the laser output unit 100 is a laser diode (LD), a solid-state laser, a high power laser, a light entitling diode (LED), a vertical cavity surface emitting laser (VCSEL), an external cavity diode laser (ECDL). It may include, but is not limited thereto.

In addition, the laser output unit 100 may output a laser having a predetermined wavelength. For example, the laser output unit 100 may output a laser of a 905 nm band or a laser of a 1550 nm band. Also, for example, the laser output unit 100 may output a laser in a 940 nm band. Also, for example, the laser output unit 100 may output a laser including a plurality of wavelengths between 800 nm and 1000 nm. In addition, when the laser output unit 100 includes a plurality of laser output devices, some of the plurality of laser output devices may output a laser of a 905 nm band, and other parts may output a laser of a 1500 nm band.

Referring back to FIG. 1, the lidar apparatus 1000 according to an exemplary embodiment may include an optical unit 200.

In the description of the present invention, the optical unit may be variously expressed as a steering unit and a scan unit, but is not limited thereto.

In this case, the optical unit 200 according to an embodiment may change the flight path of the laser. For example, the optical unit 200 may change the flight path of the laser so that the laser emitted from the laser output unit 100 faces the scan area. Also, for example, the flight path of the laser may be changed so that the laser reflected from the object located in the scan area is directed to the sensor unit.

In addition, the optical unit 200 according to an embodiment may change the flight path of the laser by reflecting the laser. For example, the optical unit 200 may reflect a laser emitted from the laser output unit 100 and change the flight path of the laser so that the laser faces the scan area. Also, for example, the flight path of the laser may be changed so that the laser reflected from the object located in the scan area is directed to the sensor unit.

In addition, the optical unit 200 according to an exemplary embodiment may include various optical means to reflect a laser. For example, the optics 200 may include a mirror, a resonance scanner, a MEMS mirror, a Voice Coil Motor (VCM), a polygonal mirror, a rotating mirror, or It may include a galvano mirror or the like, but is not limited thereto.

In addition, the optical unit 200 according to an embodiment may change the flight path of the laser by refracting the laser. For example, the optical unit 200 may refract the laser emitted from the laser output unit 100 to change the flight path of the laser so that the laser is directed toward the scan area. Also, for example, the flight path of the laser may be changed so that the laser reflected from the object located in the scan area is directed to the sensor unit.

In addition, the optical unit 200 according to an exemplary embodiment may include various optical means to refract a laser. For example, the optical unit 200 may include, but is not limited to, a lens, a prism, a micro lens, or a liquid lens.

In addition, the optical unit 200 according to an embodiment may change the flight path of the laser by changing the phase of the laser. For example, the optical unit 200 may change the phase of the laser emitted from the laser output unit 100 to change the flight path of the laser so that the laser faces the scan area. Also, for example, the flight path of the laser may be changed so that the laser reflected from the object located in the scan area is directed to the sensor unit.

In addition, the optical unit 200 according to an embodiment may include various optical means to change the phase of the laser. For example, the optical unit 200 may include an optical phased array (OPA), a meta lens, or a meta surface, but is not limited thereto.

In addition, the optical unit 200 according to an exemplary embodiment may include one or more optical means. In addition, for example, the optical unit 200 may include a plurality of optical means.

Referring back to FIG. 1, the lidar device 100 according to an embodiment may include a sensor unit 300.

In the description of the present invention, the sensor unit may be variously expressed as a light receiving unit and a receiving unit, but is not limited thereto.

In this case, the sensor unit 300 according to an embodiment may detect a laser. For example, the sensor unit may detect a laser reflected from an object located in the scan area.

In addition, the sensor unit 300 according to an embodiment may receive a laser, and may generate an electric signal based on the received laser. For example, the sensor unit 300 may receive a laser reflected from an object positioned within the scan area, and generate an electric signal based on this. In addition, for example, the sensor unit 300 may receive a laser reflected from an object located in the scan area through one or more optical means, and may generate an electric signal based on this. In addition, for example, the sensor unit 300 may receive a laser reflected from an object located in the scan area through an optical filter, and may generate an electrical signal based on this.

In addition, the sensor unit 300 according to an embodiment may detect a laser based on the generated electrical signal. For example, the sensor unit 300 may detect a laser by comparing a predetermined threshold value with a magnitude of the generated electrical signal, but is not limited thereto. Also, for example, the sensor unit 300 may detect a laser by comparing a predetermined threshold value with a rising edge, a falling edge, or a median value of a rising edge and a falling edge of the generated electrical signal, but is not limited thereto. Also, for example, the sensor unit 300 may detect a laser by comparing a predetermined threshold value with a peak value of the generated electrical signal, but is not limited thereto.

In addition, the sensor unit 300 according to an embodiment may include various sensor elements. For example, the sensor unit 300 includes a PN photodiode, a phototransistor, a PIN photodiode, APD (Avalanche Photodiode), SPAD (Single-photon avalanche diode), SiPM (Silicon Photo Multipliers), TDC (Time to Digital Converter), It may include a comparator, a complementary metal-oxide-semiconductor (CMOS), or a charge coupled device (CCD), but is not limited thereto.

For example, the sensor unit 300 may be a 2D SPAD array, but is not limited thereto. Also, for example, the SPAD array may include a plurality of SPAD units, and the SPAD unit may include a plurality of SPADs (pixels).

In this case, the sensor unit 300 may stack N histograms using a 2D SPAD array. For example, the sensor unit 300 may detect a light-receiving point of a laser beam reflected from an object and received light using a histogram.

For example, the sensor unit 300 may use the histogram to detect a peak point of the histogram as a light-receiving point of a laser beam reflected from an object and received, but is not limited thereto. In addition, for example, the sensor unit 300 may use the histogram to detect a point where the histogram is equal to or greater than a predetermined value as a light-receiving point of the laser beam reflected from the object and received, but is not limited thereto.

In addition, the sensor unit 300 according to an embodiment may include one or more sensor elements. For example, the sensor unit 300 may include a single sensor element, or may include a plurality of sensor elements.

In addition, the sensor unit 300 according to an embodiment may include one or more optical elements. For example, the sensor unit 300 may include an aperture, a micro lens, a converging lens, or a diffuser, but is not limited thereto.

In addition, the sensor unit 300 according to an embodiment may include one or more optical filters. The sensor unit 300 may receive the laser reflected from the object through an optical filter. For example, the sensor unit 300 may include, but is not limited to, a band pass filter, a dichroic filter, a guided-mode resonance filter, a polarizer, and a wedge filter.

Referring back to FIG. 1, the lidar apparatus 1000 according to an embodiment may include a control unit 400.

The control unit may be variously expressed as a controller or the like in the description for the present invention, but is not limited thereto.

In this case, the control unit 400 according to an embodiment may control the operation of the laser output unit 100, the optics unit 200, or the sensor unit 300.

In addition, the control unit 400 according to an embodiment may control the operation of the laser output unit 100.

For example, the control unit 400 may control the timing of the laser output from the laser output unit 100. Also, the control unit 400 may control the power of the laser output from the laser output unit 100. In addition, the control unit 400 may control a pulse width of a laser output from the laser output unit 100. In addition, the control unit 400 may control the period of the laser output from the laser output unit 100. In addition, when the laser output unit 100 includes a plurality of laser output elements, the control unit 400 may control the laser output unit 100 so that some of the plurality of laser output elements are operated.

In addition, the control unit 400 according to an embodiment may control the operation of the optical unit 200.

For example, the controller 400 may control the operating speed of the optics 200. Specifically, when the optical unit 200 includes a rotating mirror, the rotational speed of the rotating mirror can be controlled, and when the optical unit 200 includes a MEMS mirror, the repetition period of the MEMS mirror can be controlled. However, it is not limited thereto.

In addition, for example, the control unit 400 may control the degree of operation of the optical unit 200. Specifically, when the optical unit 200 includes a MEMS mirror, the operation angle of the MEMS mirror may be controlled, but the present invention is not limited thereto.

In addition, the control unit 400 according to an embodiment may control the operation of the sensor unit 300.

For example, the control unit 400 may control the sensitivity of the sensor unit 300. Specifically, the controller 400 may control the sensitivity of the sensor unit 300 by adjusting a predetermined threshold value, but is not limited thereto.

Also, for example, the control unit 400 may control the operation of the sensor unit 300. Specifically, the control unit 400 may control On/Off of the sensor unit 300, and when the control unit 300 includes a plurality of sensor elements, the sensor unit may operate some of the plurality of sensor elements. The operation of 300 can be controlled.

In addition, the controller 400 according to an exemplary embodiment may determine a distance from the lidar device 1000 to an object located in the scan area based on the laser detected by the sensor unit 300.

For example, the controller 400 may determine a distance to an object located in the scan area based on a time when the laser is output from the laser output unit 100 and a time when the laser is detected by the sensor unit 300 . In addition, for example, the control unit 400 may output a laser from the laser output unit 100 so that the laser is immediately sensed by the sensor unit 300 without passing through the object and the laser reflected from the object is transmitted to the sensor unit 300. The distance to the object located in the scan area may be determined based on the viewpoint detected at.

There may be a difference between the timing at which the lidar apparatus 1000 transmits the trigger signal for emitting the laser beam by the control unit 400 and the actual timing at which the laser beam is output from the laser output device. Since the laser beam is not actually output between the timing of the trigger signal and the timing of the actual light emission, accuracy may decrease if included in the flight time of the laser.

In order to improve the accuracy in measuring the flight time of the laser beam, the actual outgoing timing of the laser beam can be used. However, it may be difficult to determine when the laser beam actually exits. Therefore, the laser beam output from the laser output device must be transmitted to the sensor unit 300 as soon as it is output or without passing through the object.

For example, since an optic is disposed on the laser output element, a laser beam output from the laser output element by the optic may be sensed by the sensor unit 300 directly without passing through an object. The optic may be a mirror, a lens, a prism, or a meta surface, but is not limited thereto. The number of optics may be one, but there may be a plurality of optics.

In addition, for example, since the sensor unit 300 is disposed above the laser output device, the laser beam output from the laser output device may be detected by the sensor unit 300 directly without passing through the object. The sensor unit 300 may be spaced apart from the laser output device by a distance such as 1mm, 1um, 1nm, etc., but is not limited thereto. Alternatively, the sensor unit 300 may be disposed adjacent to the laser output device without being spaced apart. An optic may exist between the sensor unit 300 and the laser output element, but is not limited thereto.

Specifically, the laser output unit 100 may output a laser, the control unit 400 may obtain a time point at which the laser is output from the laser output unit 100, and the laser output from the laser output unit 100 When is reflected from an object located in the scan area, the sensor unit 300 may detect a laser reflected from the object, and the control unit 400 may acquire a time point at which the laser is sensed by the sensor unit 300, The controller 400 may determine a distance to an object located in the scan area based on the laser output timing and detection timing.

In addition, specifically, a laser may be output from the laser output unit 100, and the laser output from the laser output unit 100 will be detected by the sensor unit 300 without passing through an object located in the scan area. In addition, the controller 400 may acquire a point in time when a laser that has not passed through the object is sensed. When the laser output from the laser output unit 100 is reflected from an object located in the scan area, the sensor unit 300 may detect the laser reflected from the object, and the controller 400 may detect the laser from the sensor unit 300. A time point at which is sensed may be obtained, and the controller 400 may determine a distance to an object located in the scan area based on a time point when a laser is detected without passing through the object and a time point when a laser reflected from the object is detected.

2 is a diagram illustrating a lidar device according to an embodiment.

Referring to FIG. 2, a lidar device 1050 according to an exemplary embodiment may include a laser output unit 100, an optical unit 200, and a sensor unit 300.

Since the laser output unit 100, the optical unit 200, and the sensor unit 300 have been described in FIG. 1, detailed descriptions will be omitted below.

The laser beam output from the laser output unit 100 may pass through the optical unit 200. In addition, the laser beam passing through the optical unit 200 may be irradiated toward the object 500. In addition, the laser beam reflected from the object 500 may be received by the sensor unit 300.

3 is a diagram illustrating a lidar device according to another embodiment.

Referring to FIG. 3, a lidar device 1150 according to another embodiment may include a laser output unit 100, an optical unit 200, and a sensor unit 300.

Since the laser output unit 100, the optical unit 200, and the sensor unit 300 have been described in FIG. 1, detailed descriptions will be omitted below.

The laser beam output from the laser output unit 100 may pass through the optical unit 200. In addition, the laser beam passing through the optical unit 200 may be irradiated toward the object 500. In addition, the laser beam reflected from the object 500 may pass through the optical unit 200 again.

In this case, the optical unit through which the laser beam is applied before being irradiated to the object and the optical unit through which the laser beam reflected from the object is applied may be physically the same optical unit, but may be physically different optical units.

The laser beam passing through the optical unit 200 may be received by the sensor unit 300.

Hereinafter, various embodiments of the laser output unit including the VCSEL will be described in detail.

4 is a view showing a laser output unit according to an embodiment.

Referring to FIG. 4, the laser output unit 100 according to an embodiment may include a VCSEL emitter 110.

The VCSEL emitter 110 according to an embodiment includes an upper metal contact 10, an upper DBR layer 20, an upper Distributed Bragg reflector, an active layer 40, a quantum well, and a lower DBR layer 30, a lower Distributed Bragg reflector. , A substrate 50 and a lower metal contact 60 may be included.

In addition, the VCSEL emitter 110 according to an embodiment may emit a laser beam vertically from the top surface. For example, the VCSEL emitter 110 may emit a laser beam in a direction perpendicular to the surface of the upper metal contact 10. Also, for example, the VCSEL emitter 110 may emit a laser beam perpendicular to the acvite layer 40.

The VCSEL emitter 110 according to an embodiment may include an upper DBR layer 20 and a lower DBR layer 30.

The upper DBR layer 20 and the lower DBR layer 30 according to an embodiment may be formed of a plurality of reflective layers. For example, in the plurality of reflective layers, a reflective layer having a high reflectivity and a reflective layer having a low reflectance may be alternately disposed. In this case, the thickness of the plurality of reflective layers may be a quarter of the laser wavelength emitted from the VCSEL emitter 110.

In addition, the upper DBR layer 20 and the lower DBR layer 30 according to an embodiment may be doped with p-type and n-type. For example, the upper DBR layer 20 may be doped with a p-type, and the lower DBR layer 30 may be doped with an n-type. Alternatively, for example, the upper DBR layer 20 may be doped with n-type and the lower DBR layer 30 may be doped with p-type.

In addition, according to an embodiment, a substrate 50 may be disposed between the lower DBR layer 30 and the lower metal contact 60. When the lower DBR layer 30 is doped with a p-type, the substrate 50 may also be a p-type substrate, and when the lower DBR layer 30 is doped with an n-type, the substrate 50 may also become an n-type substrate. have.

The VCSEL emitter 110 according to an embodiment may include an active layer 40.

The active layer 40 according to an embodiment may be disposed between the upper DBR layer 20 and the lower DBR layer 30.

The active layer 40 according to an embodiment may include a plurality of quantum wells generating a laser beam. The active layer 40 may emit a laser beam.

The VCSEL emitter 110 according to an embodiment may include a metal contact for electrical connection with a power source or the like. For example, the VCSEL emitter 110 may include an upper metal contact 10 and a lower metal contact 60.

In addition, the VCSEL emitter 110 according to an embodiment may be electrically connected to the upper DBR layer 20 and the lower DBR layer 30 through a metal contact.

For example, when the upper DBR layer 20 is doped with p-type and the lower DBR layer 30 is doped with n-type, p-type power is supplied to the upper metal contact 10 so that the upper DBR layer 20 and It is electrically connected, and n-type power is supplied to the lower metal contact 60 to be electrically connected to the lower DBR layer 30.

Further, for example, for example, when the upper DBR layer 20 is doped with n-type and the lower DBR layer 30 is doped with p-type, n-type power is supplied to the upper metal contact 10 to provide the upper DBR. It is electrically connected to the layer 20, and p-type power is supplied to the lower metal contact 60 to be electrically connected to the lower DBR layer 30.

The VCSEL emitter 110 according to an embodiment may include an oxidation area. Oxidation area may be disposed on top of the active layer.

The oxidation area according to an embodiment may be insulating. For example, electrical flow may be restricted in the oxidation area. For example, electrical connections may be limited in the oxidation area.

In addition, the oxidation area according to an embodiment may serve as an aperture. Specifically, since the oxidation area has insulating properties, the beam generated from the active layer 40 may be emitted only in a portion other than the oxidation area.

The laser output unit according to an embodiment may include a plurality of VCSEL emitters 110.

In addition, the laser output unit according to an embodiment may turn on a plurality of VCSEL emitters 110 at once or individually.

The laser output unit according to an embodiment may emit laser beams of various wavelengths. For example, the laser output unit may emit a laser beam having a wavelength of 905 nm. Also, for example, the laser output unit may emit a laser beam having a wavelength of 1550 nm.

In addition, the wavelength to be output to the laser output unit according to an embodiment may be changed according to the surrounding environment. For example, as the temperature of the surrounding environment increases, the output wavelength may also increase. Or, for example, as the temperature of the surrounding environment decreases, the output wavelength may also decrease. The ambient environment may include, but is not limited to, temperature, humidity, pressure, concentration of dust, ambient light amount, altitude, gravity, acceleration, and the like.

The laser output unit may emit a laser beam in a direction perpendicular to the support surface. Alternatively, the laser output unit may emit a laser beam in a direction perpendicular to the emission surface.

5 is a diagram showing a VCSEL unit according to an embodiment.

Referring to FIG. 5, the laser output unit 100 according to an embodiment may include a VCSEL unit 130.

The VCSEL unit 130 according to an embodiment may include a plurality of VCSEL emitters 110. For example, the plurality of VCSEL emitters 110 may be arranged in a honeycomb structure, but the present invention is not limited thereto. At this time, one honeycomb structure may include seven VCSEL emitters 110, but is not limited thereto.

In addition, all VCSEL emitters 110 included in the VCSEL unit 130 according to an embodiment may be irradiated in the same direction. For example, all 400 VCSEL emitters 110 included in the VCSEL unit 130 may be irradiated in the same direction.

In addition, the VCSEL unit 130 may be distinguished by the irradiation direction of the output laser beam. For example, when all of the N VCSEL emitters 110 output a laser beam in a first direction, and all of the M VCSEL emitters 110 output a laser beam in a second direction, the N VCSEL emitters 110 ) May be classified as a first VCSEL unit, and the M VCSEL emitters 110 may be classified as a second VCSEL unit.

In addition, the VCSEL unit 130 according to an embodiment may include a metal contact. For example, the VCSEL unit 130 may include a p-type metal and an n-type metal. In addition, for example, a plurality of VCSEL emitters 110 included in the VCSEL unit 130 may share a metal contact.

6 is a diagram illustrating a VCSEL array according to an embodiment.

Referring to FIG. 6, the laser output unit 100 according to an embodiment may include a VCSEL array 150. 6 illustrates an 8X8 VCSEL array, but is not limited thereto.

The VCSEL array 150 according to an embodiment may include a plurality of VCSEL units 130. For example, the plurality of VCSEL units 130 may be arranged in a matrix structure, but the present invention is not limited thereto.

For example, the plurality of VCSEL units 130 may be an N X N matrix, but are not limited thereto. Also, for example, the plurality of VCSEL units 130 may be an N X M matrix, but are not limited thereto.

In addition, the VCSEL array 150 according to an embodiment may include a metal contact. For example, the VCSEL array 150 may include p-type metal and n-type metal. In this case, the plurality of VCSEL units 130 may share a metal contact, but they may not share the metal contact and may each have an independent metal contact.

7 is a side view showing a VCSEL array and a metal contact according to an embodiment.

Referring to FIG. 7, the laser output unit 100 according to an embodiment may include a VCSEL array 151. 6 illustrates a 4X4 VCSEL array, but is not limited thereto. The VCSEL array 151 may include a first metal contact 11, a wire 12, a second metal contact 13, and a VCSEL unit 130.

The VCSEL array 151 according to an embodiment may include a plurality of VCSEL units 130 arranged in a matrix structure. In this case, each of the plurality of VCSEL units 130 may be independently connected to a metal contact. For example, the plurality of VCSEL units 130 share the first metal contact 11 and are connected together to the first metal contact, and the second metal contact 13 is not shared, so that they are independently connected to the second metal contact. I can. In addition, for example, the plurality of VCSEL units 130 may be directly connected to the first metal contact 11 and connected to the second metal contact through a wire 12. In this case, the number of required wires 12 may be the same as the number of a plurality of VCSEL units 130. For example, when the VCSEL array 151 includes a plurality of VCSEL units 130 arranged in an N X M matrix structure, the number of wires 12 may be N * M.

In addition, the first metal contact 11 and the second metal contact 13 according to an exemplary embodiment may be different from each other. For example, the first metal contact 11 may be an n-type metal, and the second metal contact 13 may be a p-type metal. Conversely, the first metal contact 11 may be a p-type metal, and the second metal contact 13 may be an n-type metal.

8 is a diagram illustrating a VCSEL array according to an embodiment.

Referring to FIG. 8, the laser output unit 100 according to an embodiment may include a VCSEL array 153. 7 illustrates a 4X4 VCSEL array, but is not limited thereto.

The VCSEL array 153 according to an embodiment may include a plurality of VCSEL units 130 arranged in a matrix structure. In this case, the plurality of VCSEL units 130 may share metal contacts, but may not share metal contacts and may have independent metal contacts. For example, the plurality of VCSEL units 130 may share the first metal contact 15 in a row unit. In addition, for example, the plurality of VCSEL units 130 may share the second metal contact 17 in a column unit.

In addition, the first metal contact 15 and the second metal contact 17 according to an exemplary embodiment may be different from each other. For example, the first metal contact 15 may be an n-type metal, and the second metal contact 17 may be a p-type metal. Conversely, the first metal contact 15 may be a p-type metal, and the second metal contact 17 may be an n-type metal.

In addition, the VCSEL unit 130 according to an embodiment may be electrically connected to the first metal contact 15 and the second metal contact 17 through the wire 12.

The VCSEL array 153 according to an embodiment may operate to be addressable. For example, a plurality of VCSEL units 130 included in the VCSEL array 153 may operate independently of other VCSEL units.

For example, when power is supplied to the first metal contacts 15 in the first row and the second metal contacts 17 in the first row, the VCSEL units in the first row and the first column may operate. In addition, for example, if power is supplied to the first metal contact 15 in the first row and the second metal contact 17 in the first and third columns, the VCSEL units in the first row and the third columns and the VCSEL units in the first row and the third columns will operate. I can.

According to an embodiment, the VCSEL units 130 included in the VCSEL array 153 may operate with a certain pattern.

For example, after the operation of the VCSEL unit in row 1, column 1, VCSEL unit in row 1, column 2, VCSEL unit in row 1, column 3, VCSEL unit in row 1, column 4, VCSEL unit in row 2, column 2, VCSEL unit in column 2, etc. It operates, and can have a certain pattern lasting the VCSEL unit of 4 rows and 4 columns.

In addition, for example, after the operation of the VCSEL unit in 1 row 1 column, the VCSEL unit in 2 rows 1 column, 3 rows 1 column VCSEL unit, 4 row 1 column VCSEL unit, 1 row 2 column VCSEL unit, 2 row 2 column VCSEL unit, etc. It operates as it is, and can have a certain pattern with the last VCSEL unit of 4 rows and 4 columns.

According to another embodiment, the VCSEL units 130 included in the VCSEL array 153 may operate with an irregular pattern. Alternatively, the VCSEL units 130 included in the VCSEL array 153 may operate without having a pattern.

For example, the VCSEL units 130 may operate at random. When the VCSEL units 130 operate at random, interference between the VCSEL units 130 may be prevented.

There may be various methods of directing a laser beam emitted from the laser output unit to an object. Among them, the flash method is a method in which a laser beam is spread to an object by divergence of the laser beam. In the flash method, a laser beam of high power is required to direct a laser beam to an object existing at a distance. The high power laser beam increases the power because a high voltage must be applied. In addition, since it can damage the human eye, there is a limit to the distance that can be measured by a lidar using the flash method.

The scanning method is a method of directing a laser beam emitted from the laser output unit in a specific direction. Laser power loss can be reduced by directing the scanning method laser beam in a specific direction. Since laser power loss can be reduced, compared to the flash method, even if the same laser power is used, the distance that the lidar can measure is longer in the scanning method. In addition, compared to the flash method, since the scanning method has a lower laser power for measuring the same distance, stability to the human eye may be improved.

Laser beam scanning can be accomplished by collimation and steering. For example, laser beam scanning may be performed by performing a steering method after collimating the laser beam. Further, for example, laser beam scanning may be performed in a manner of performing a collimation after steering.

Hereinafter, various embodiments of an optical unit including a beam collimation and steering component (BCSC) will be described in detail.

9 is a diagram for describing a lidar device according to an exemplary embodiment.

Referring to FIG. 9, a lidar device 1200 according to an exemplary embodiment may include a laser output unit 100 and an optical unit. In this case, the optical unit may include the BCSC 250. In addition, the BCSC 250 may include a collimation component 210 and a steering component 230.

BCSC 250 according to an embodiment may be configured as follows. The collimation component 210 first collimates the laser beam, and the collimated laser beam may be steered through the steering component 230. Alternatively, the steering component 230 may first steer the laser beam, and the steered laser beam may be collimated through the collimation component 210.

In addition, the optical path of the lidar device 1200 according to an embodiment is as follows. The laser beam emitted from the laser output unit 100 may be directed to the BCSC 250. The laser beam incident on the BCSC 250 may be collimated by the collimation component 210 and directed to the steering component 230. The laser beam incident on the steering component 230 may be steered and directed toward the object. The laser beam incident on the object 500 may be reflected by the object 500 and directed to the sensor unit.

Although the laser beam emitted from the laser output unit has directivity, there may be some degree of divergence as the laser beam travels straight. Due to such divergence, the laser beam emitted from the laser output unit may not be incident on the object, or the amount may be very small even if it is incident.

When the degree of divergence of the laser beam is large, the amount of the laser beam incident on the object is reduced, and the amount of the laser beam reflected from the object and directed to the sensor unit is also very small due to the divergence, so that a desired measurement result may not be obtained. Alternatively, when the degree of divergence of the laser beam is large, the distance that can be measured by the LiDAR device decreases, so that a distant object may not be able to measure.

Therefore, before the laser beam is incident on the object, the efficiency of the lidar device may be improved as the degree of divergence of the laser beam emitted from the laser output unit is reduced. The collimation component of the present invention can reduce the degree of divergence of the laser beam. The laser beam that has passed through the collimation component can be parallel light. Alternatively, the laser beam passing through the collimation component may have a divergence of 0.4 degrees to 1 degree.

When the degree of divergence of the laser beam is reduced, the amount of light incident on the object may be increased. When the amount of light incident on the object is increased, the amount of light reflected from the object is also increased, so that the laser beam can be efficiently received. In addition, when the amount of light incident on the object is increased, compared to before collimating the laser beam, it is possible to measure an object at a greater distance with the same laser beam power.

10 is a diagram for describing a collimation component according to an embodiment.

Referring to FIG. 10, the collimation component 210 according to an exemplary embodiment may be disposed in a direction in which a laser beam emitted from the laser output unit 100 is directed. The collimation component 210 may adjust the degree of divergence of the laser beam. The collimation component 210 may reduce the degree of divergence of the laser beam.

For example, the divergence angle of the laser beam emitted from the laser output unit 100 may be 16 degrees to 30 degrees. In this case, after the laser beam emitted from the laser output unit 100 passes through the collimation component 210, the divergence angle of the laser beam may be 0.4 degrees to 1 degree.

11 is a diagram for describing a collimation component according to an embodiment.

Referring to FIG. 11, the collimation component 210 according to an embodiment may include a plurality of micro lenses 211 and a substrate 213.

The microlens may have a diameter of millimeters (mm), micrometers (um), nanometers (nm), picometers (pm), etc., but is not limited thereto.

A plurality of micro lenses 211 according to an embodiment may be disposed on the substrate 213. The plurality of micro lenses 211 and the substrate 213 may be disposed on the plurality of VCSEL emitters 110. In this case, one of the plurality of micro lenses 211 may be disposed to correspond to one of the plurality of VCSEL emitters 110, but is not limited thereto.

In addition, the plurality of micro lenses 211 according to an embodiment may collimate laser beams emitted from the plurality of VCSEL emitters 110. In this case, the laser beam emitted from one of the plurality of VCSEL emitters 110 may be collimated by one of the plurality of micro lenses 211. For example, the divergence angle of the laser beam emitted from one of the plurality of VCSEL emitters 110 may be decreased after passing through one of the plurality of micro lenses 211.

In addition, the plurality of microlenses according to an embodiment may be a refractive index distribution lens, a micro-curved lens, an array lens, a Fresnel lens, or the like.

In addition, a plurality of microlenses according to an exemplary embodiment may be manufactured by molding, ion exchange, diffusion polymerization, sputtering, and etching.

In addition, the plurality of micro lenses according to an embodiment may have a diameter of 130um to 150um. For example, the diameter of the plurality of micro lenses may be 140 μm. In addition, the plurality of micro lenses may have a thickness of 400um to 600um. For example, the thickness of the plurality of micro lenses may be 500 μm.

12 is a diagram for describing a collimation component according to an embodiment.

Referring to FIG. 12, the collimation component 210 according to an embodiment may include a plurality of micro lenses 211 and a substrate 213.

A plurality of micro lenses 211 according to an embodiment may be disposed on the substrate 213. For example, the plurality of micro lenses 211 may be disposed on the front and rear surfaces of the substrate 213. In this case, an optical axis of the microlens 211 disposed on the surface of the substrate 213 and the microlens 211 disposed on the rear surface of the substrate 213 may be coincident.

13 is a diagram for describing a collimation component according to an embodiment.

Referring to FIG. 13, a collimation component according to an embodiment may include a metasurface 220.

The metasurface 220 according to an embodiment may include a plurality of nanopillars 221. For example, the plurality of nanopillars 221 may be disposed on one side of the meta surface 220. In addition, for example, the plurality of nanopillars 221 may be disposed on both sides of the meta surface 220.

The plurality of nanopillars 221 may have a sub-wavelength dimension. For example, the spacing between the plurality of nanopillars 221 may be smaller than the wavelength of the laser beam emitted from the laser output unit 100. Alternatively, the width, diameter, and height of the nanopillars 221 may be smaller than the length of the wavelength of the laser beam.

The meta surface 220 may refract the laser beam by adjusting the phase of the laser beam emitted from the laser output unit 100. The meta surface 220 may refract laser beams output from the laser output unit 100 in various directions.

The meta surface 220 may collimate a laser beam emitted from the laser output unit 100. In addition, the meta-surface 220 may reduce the divergence angle of the laser beam emitted from the laser output unit 100. For example, a divergence angle of a laser beam emitted from the laser output unit 100 may be 15 to 30 degrees, and a divergence angle of the laser beam after passing through the meta surface 220 may be 0.4 to 1.8 degrees.

The meta surface 220 may be disposed on the laser output unit 100. For example, the meta surface 220 may be disposed on the emission surface side of the laser output unit 100.

Alternatively, the meta surface 220 may be deposited on the laser output unit 100. The plurality of nanopillars 221 may be formed on the laser output unit 100. The plurality of nanopillars 221 may form various nanopatterns on the laser output unit 100.

The nanopillars 221 may have various shapes. For example, the nanopillar 221 may have a shape such as a cylinder, a polygonal column, a cone, and a polygonal pyramid. In addition, the nanopillars 221 may have an irregular shape.

14 is a diagram for describing a steering component according to an exemplary embodiment.

Referring to FIG. 14, the steering component 230 according to an exemplary embodiment may be disposed in a direction in which a laser beam emitted from the laser output unit 100 is directed. The steering component 230 may adjust the direction in which the laser beam is directed. The steering component 230 may adjust an angle between the optical axis of the laser light source and the laser beam.

For example, the steering component 230 may steer the laser beam such that an angle between the optical axis of the laser light source and the laser beam is 0 to 30 degrees. Alternatively, for example, the steering component 230 may steer the laser beam such that an angle between the optical axis of the laser light source and the laser beam is -30 degrees to 0 degrees.

15 and 16 are diagrams for describing a steering component according to an exemplary embodiment.

15 and 16, the steering component 231 according to an exemplary embodiment may include a plurality of micro lenses 231 and a substrate 233.

The plurality of micro lenses 232 according to an embodiment may be disposed on the substrate 233. The plurality of micro lenses 232 and the substrate 233 may be disposed on the plurality of VCSEL emitters 110. In this case, one of the plurality of micro lenses 232 may be disposed to correspond to one of the plurality of VCSEL emitters 110, but is not limited thereto.

In addition, the plurality of micro lenses 232 according to an embodiment may steer the laser beams emitted from the plurality of VCSEL emitters 110. In this case, the laser beam emitted from one of the plurality of VCSEL emitters 110 may be steered by one of the plurality of micro lenses 232.

In this case, the optical axis of the micro lens 232 and the optical axis of the VCSEL emitter 110 may not coincide. For example, referring to FIG. 14, when the optical axis of the VCSEL emitter 110 is to the right of the optical axis of the micro lens 232, the laser beam emitted from the VCSEL emitter 110 and passed through the micro lens 232 is left Can be headed to. In addition, for example, referring to FIG. 15, when the optical axis of the VCSEL emitter 110 is to the left of the optical axis of the micro lens 232, the laser beam emitted from the VCSEL emitter 110 and passed through the micro lens 232 Can face to the right.

Also, as the distance between the optical axis of the microlens 232 and the optical axis of the VCSEL emitter 110 increases, the degree of steering of the laser beam may increase. For example, when the distance between the optical axis of the microlens 232 and the optical axis of the VCSEL emitter 110 is 10 μm, the angle formed by the optical axis of the laser light source and the laser beam may be larger than when the distance between the optical axis of the VCSEL emitter 110 is 1 μm.

17 is a diagram for describing a steering component according to an exemplary embodiment.

Referring to FIG. 17, the steering component 234 according to an embodiment may include a plurality of micro prisms 235 and a substrate 236.

A plurality of micro prisms 235 according to an embodiment may be disposed on the substrate 236. The plurality of micro prisms 235 and the substrate 236 may be disposed on the plurality of VCSEL emitters 110. In this case, the plurality of micro prisms 235 may be disposed to correspond to one of the plurality of VCSEL emitters 110, but is not limited thereto.

In addition, the plurality of micro prisms 235 according to an embodiment may steer the laser beams emitted from the plurality of VCSEL emitters 110. For example, the plurality of micro prisms 235 may change an angle between the optical axis of the laser light source and the laser beam.

In this case, as the angle of the micro prism 235 decreases, the angle formed by the optical axis of the laser light source and the laser beam increases. For example, when the angle of the micro prism 235 is 0.05 degrees, the laser beam is steered by 35 degrees, and when the angle of the micro prism 235 is 0.25 degrees, the laser beam is steered by 15 degrees.

In addition, the plurality of micro prism 235 according to an embodiment may be a Porro prism, Amici roof prism, Pentaprism, Dove prism, Retroreflector prism, or the like. In addition, the plurality of micro prisms 235 may be made of glass, plastic, or fluorspar. In addition, the plurality of micro prisms 235 may be manufactured by molding, etching, or the like.

At this time, by smoothing the surface of the micro prism 235 through a polishing process, it is possible to prevent diffuse reflection due to surface roughness.

According to an embodiment, the micro prism 235 may be disposed on both sides of the substrate 236. For example, a micro prism disposed on the first side of the substrate 236 steers the laser beam to the first axis, and the micro prism disposed on the second side of the substrate 236 steers the laser beam to the second axis. I can make it.

18 is a diagram for describing a steering component according to an exemplary embodiment.

Referring to FIG. 18, the steering component according to an embodiment may include a meta surface 240.

The metasurface 240 may include a plurality of nanopillars 241. For example, the plurality of nanopillars 241 may be disposed on one side of the meta surface 240. In addition, for example, the plurality of nanopillars 241 may be disposed on both sides of the meta surface 240.

The meta surface 240 may refract the laser beam by adjusting the phase of the laser beam emitted from the laser output unit 100.

The meta surface 240 may be disposed on the laser output unit 100. For example, the meta surface 240 may be disposed on the emission surface side of the laser output unit 100.

Alternatively, the meta surface 240 may be deposited on the laser output unit 100. The plurality of nanopillars 241 may be formed on the laser output unit 100. The plurality of nanopillars 241 may form various nanopatterns on the laser output unit 100.

The nanopillars 241 may have various shapes. For example, the nanopillar 241 may have a shape such as a cylinder, a polygonal column, a cone, and a polygonal pyramid. In addition, the nanopillars 241 may have an irregular shape.

The plurality of nanopillars 241 may form various nanopatterns. The meta surface 240 may steer a laser beam emitted from the laser output unit 100 based on the nano pattern.

The nanopillars 241 may form nanopatterns based on various characteristics. The characteristics may include a width (Width, hereinafter W), a pitch (hereinafter P), a height (Height, hereinafter H), and the number per unit length of the nanopillars 241.

Hereinafter, nanopatterns formed based on various characteristics and steering of a laser beam according to the nanopatterns will be described.

19 is a diagram for describing a meta surface according to an exemplary embodiment.

Referring to FIG. 19, the metasurface 240 according to an exemplary embodiment may include a plurality of nanopillars 241 having different widths (W).

The plurality of nanopillars 241 may form a nanopattern based on the width W. For example, the plurality of nanopillars 241 may be arranged such that the widths W1, W2, and W3 increase in one direction. In this case, the laser beam emitted from the laser output unit 100 may be steered in a direction in which the width W of the nanopillars 241 increases.

For example, the meta surface 240 has a first nanopillar 243 having a first width W1, a second nanopillar 245 having a second width W2, and a third width W3. A third nanopillar 247 may be included. The first width W1 may be larger than the second width W2 and the third width W3. The second width W2 may be larger than the third width W3. That is, the width W of the nanopillars 241 may decrease from the first nanopillar 243 toward the third nanopillar 247. At this time, when the laser beam emitted from the laser output unit 100 passes through the meta-surface 240, the first nanopillars 243 from the first direction and the third nanopillars 247 emitted from the laser output unit 100 It may be steered in a direction between the second direction, which is a direction toward ).

)는 나노기둥(241)의 폭(W)의 증감률에 따라 달라질 수 있다. 여기서 나노기둥(241)의 폭(W)의 증감률이란 인접한 복수의 나노기둥(241)의 폭(W)의 증감 정도를 평균적으로 나타낸 수치를 의미할 수 있다.Meanwhile, the steering angle of the laser beam (

) May vary according to the increase/decrease rate of the width W of the nanopillars 241. Here, the increase/decrease rate of the width W of the nano-pillars 241 may mean a value representing an average increase/decrease of the width W of the plurality of adjacent nano-pillars 241.

Based on the difference between the first width W1 and the second width W2 and the difference between the second width W2 and the third width W3, the increase/decrease rate of the width W of the nanopillars 241 will be calculated. I can.

The difference between the first width W1 and the second width W2 may be different from the difference between the second width W2 and the third width W3.

)는 나노기둥(241)의 폭(W)에 따라 달리질 수 있다.The steering angle of the laser beam (

) May vary according to the width (W) of the nanopillars 241.

)는 나노기둥(241)의 폭(W)의 증감률이 증가할수록 커질 수 있다.Specifically, the steering angle (

) May increase as the increase/decrease rate of the width W of the nanopillars 241 increases.

For example, the nanopillars 241 may form a first pattern having a first increase/decrease rate based on the width W. In addition, the nanopillars 241 may form a second pattern having a second increase/decrease rate smaller than the first increase/decrease rate based on the width W.

In this case, the first steering angle according to the first pattern may be greater than the second steering angle according to the second pattern.

)의 범위는 -90도에서 90도일 수 있다.Meanwhile, the steering angle (

) Can range from -90 degrees to 90 degrees.

20 is a diagram for describing a metasurface according to an exemplary embodiment.

Referring to FIG. 20, the metasurface 240 according to an embodiment may include a plurality of nanopillars 241 having different spacings P between adjacent nanopillars 241.

The plurality of nanopillars 241 may form a nanopattern based on a change in the gap P between adjacent nanopillars 241. The meta surface 240 may steer a laser beam emitted from the laser output unit 100 based on a nano pattern formed based on a change in the gap P between the nano pillars 241.

According to an embodiment, the distance P between the nanopillars 241 may decrease in one direction. Here, the interval P may mean a distance between the centers of two adjacent nanopillars 241. For example, the first interval P1 may be defined as a distance between the center of the first nanopillar 243 and the center of the second nanopillar 245. Alternatively, the first interval P1 may be defined as the shortest distance between the first nanopillars 243 and the second nanopillars 245.

The laser beam emitted from the laser output unit 100 may be steered in a direction in which the spacing P between the nanopillars 241 decreases.

The metasurface 240 may include a first nanopillar 243, a second nanopillar 245, and a third nanopillar 247. In this case, the first interval P1 may be obtained based on the distance between the first nanopillars 243 and the second nanopillars 245. Likewise, the second interval P2 may be obtained based on the distance between the second nanopillars 245 and the third nanopillars 247. In this case, the first interval P1 may be smaller than the second interval P2. That is, the distance P may increase from the first nanopillar 243 toward the third nanopillar 247.

At this time, when the laser beam emitted from the laser output unit 100 passes through the meta surface 240, the laser beam is emitted from the first direction and the third nanopillar 247 from the laser output unit 100. It may be steered in a direction between the first direction, which is a direction toward the 1 nanopillar 243.

)는 나노기둥(241) 사이의 간격(P)에 따라 달라질 수 있다.The steering angle of the laser beam (

) May vary according to the spacing P between the nanopillars 241.

)는 나노기둥(241) 사이의 간격(P)의 증감률에 따라 달라질 수 있다. 여기서, 나노기둥(241) 사이의 간격(P)의 증감률이란 인접한 나노기둥(241) 사이의 간격(P)의 변화 정도를 평균적으로 나타낸 수치를 의미할 수 있다.Specifically, the steering angle of the laser beam (

) May vary according to the increase/decrease rate of the gap P between the nanopillars 241. Here, the increase/decrease rate of the interval P between the nanopillars 241 may mean a value representing the degree of change of the interval P between adjacent nanopillars 241 on average.

)는 나노기둥(241) 사이의 간격(P)의 증감률이 증가할수록 커질 수 있다.The steering angle of the laser beam (

) May increase as the increase/decrease rate of the gap P between the nanopillars 241 increases.

For example, the nanopillars 241 may form a first pattern having a first increase/decrease rate based on the gap P. In addition, the nanopillars 241 may form a second pattern having a second increase/decrease rate based on the interval P.

In this case, the first steering angle according to the first pattern may be larger than the second steering angle according to the second pattern.

Meanwhile, the principle of steering a laser beam according to a change in the spacing P of the nanopillars 241 described above can be similarly applied even when the number of nanopillars 241 per unit length changes.

For example, when the number of nanopillars 241 per unit length varies, the laser beam emitted from the laser output unit 100 is a first direction emitted from the laser output unit 100 and nanopillars per unit length ( It may be steered in a direction between the second direction in which the number of 241) increases.

21 is a diagram for describing a meta surface according to an exemplary embodiment.

Referring to FIG. 21, the metasurface 240 according to an embodiment may include a plurality of nanopillars 241 having different heights H of the nanopillars 241.

The plurality of nanopillars 241 may form a nanopattern based on a change in the height H of the nanopillars 241.

According to an embodiment, the heights H1, H2, and H3 of the plurality of nanopillars 241 may increase in one direction. The laser beam emitted from the laser output unit 100 may be steered in a direction in which the height H of the nanopillars 241 increases.

For example, the meta surface 240 has a first nanopillar 243 having a first height H1, a second nanopillar 245 having a second height H2, and a third height H3. A third nanopillar 247 may be included. The third height H3 may be greater than the first height H1 and the second height H2. The second height H2 may be greater than the first height H1. That is, the height H of the nanopillars 241 may increase from the first nanopillar 243 toward the third nanopillar 247. At this time, when the laser beam emitted from the laser output unit 100 passes through the meta-surface 240, the laser beam is a first direction emitted from the laser output unit 100 and a third from the first nanopillar 243 It may be steered in a direction between the nanopillars 247 in the second direction.

)는 나노기둥(241)의 높이(H)에 따라 달라질 수 있다.The steering angle of the laser beam (

) May vary depending on the height H of the nanopillars 241.

)는 나노기둥(241)의 높이(H)의 증감률에 따라 달라질 수 있다. 여기서, 나노기둥(241)의 높이(H)의 증감률이란 인접한 나노기둥(241)의 높이(H) 변화 정도를 평균적으로 나타낸 수치를 의미할 수 있다.Specifically, the steering angle of the laser beam (

) May vary according to the increase/decrease rate of the height H of the nanopillars 241. Here, the increase/decrease rate of the height (H) of the nano-pillars 241 may mean a numerical value representing an average degree of change in the height (H) of the adjacent nano-pillars 241.

Based on the difference between the first height (H1) and the second height (H2) and the difference between the second height (H2) and the third height (H3), the increase/decrease rate of the height (H) of the nanopillar 241 will be calculated. I can. The difference between the first height H1 and the second height H2 may be different from the difference between the second height H3 and the third height H3.

)는 나노기둥(241)의 높이(H)의 증감률이 증가할수록 커질 수 있다.The steering angle of the laser beam (

) May increase as the increase/decrease rate of the height H of the nanopillars 241 increases.

For example, the nanopillars 241 may form a first pattern having a first increase/decrease rate based on the height H. In addition, the nanopillars 241 may form a second pattern having a second increase/decrease rate based on the height H.

In this case, the first steering angle according to the first pattern may be larger than the second steering angle according to the second pattern.

According to one embodiment, the steering component 230 may include a mirror that reflects the laser beam. For example, the steering component 230 may include a planar mirror, a multifaceted mirror, a resonant mirror, a MEMS mirror, and a galvano mirror.

Alternatively, the steering component 230 may include a polygonal mirror that rotates 360 degrees along one axis and a nodding mirror that is repeatedly driven in a preset range along one axis.

22 is a diagram for describing a multi-faceted mirror that is a steering component according to an exemplary embodiment.

Referring to FIG. 22, a rotating multi-faceted mirror 600 according to an embodiment may include a reflective surface 620 and a body, and vertically penetrates the center of the upper 615 and the lower 610 of the body. It can be rotated around the rotating shaft 630. However, the rotating multi-faceted mirror 600 may be configured with only some of the above-described configurations, and may include more components. For example, the rotating multi-faceted mirror 600 may include a reflective surface 620 and a body, and the body may be composed of only the lower portion 610. In this case, the reflective surface 620 may be supported on the lower portion 610 of the body.

The reflective surface 620 is a surface for reflecting the received laser, and may include a reflective mirror, reflective plastic, etc., but is not limited thereto.

In addition, the reflective surface 620 may be installed on a side surface other than the upper portion 610 and the lower portion 615 of the body, and may be installed so that the rotation shaft 630 and the normal line of each reflective surface 620 are orthogonal. have. This may be for repetitively scanning the same scan area by making the same scan area of the laser irradiated from each of the reflective surfaces 620.

In addition, the reflective surface 620 may be installed on a side surface other than the upper portion 610 and the lower portion 615 of the body, and the normal line of each reflective surface 620 has a different angle from the rotation axis 630, respectively. Can be installed This may be for expanding the scan area of the lidar device by making the scan area of the laser irradiated from each reflective surface 620 different.

In addition, the reflective surface 620 may have a rectangular shape, but is not limited thereto, and may have various shapes such as a triangle and a trapezoid.

In addition, the body is for supporting the reflective surface 620 and may include an upper portion 615, a lower portion 610, and a pillar 612 connecting the upper portion 615 and the lower portion 610. At this time, the pillar 612 may be installed to connect the center of the upper portion 615 and the lower portion 610 of the body, and installed to connect each vertex of the upper portion 615 and the lower portion 610 of the body It may be, or it may be installed to connect each corner of the upper portion 615 and lower portion 610 of the body, but there is no limitation on the structure for connecting and supporting the upper portion 615 and the lower portion 610 of the body. .

In addition, the body may be fastened to the driving unit 640 to receive the driving force for rotation, and may be fastened to the driving unit 640 through the lower portion 610 of the body, or through the upper portion 615 of the body. It may be fastened to the driving unit 640.

In addition, the upper portion 615 and the lower portion 610 of the body may have a polygonal shape. In this case, the shape of the upper portion 615 of the body and the lower portion 610 of the body may be the same, but are not limited thereto, and the shapes of the upper portion 615 of the body and the lower portion 610 of the body are different from each other. You may.

In addition, the upper portion 615 and the lower portion 610 of the body may have the same size. However, the present invention is not limited thereto, and sizes of the upper portion 615 of the body and the lower portion 610 of the body may be different from each other.

In addition, the upper portion 615 and/or the lower portion 610 of the body may include an empty space through which air can pass.

In FIG. 22, the rotating multi-faceted mirror 600 is described as a hexahedron in the form of a quadrilateral column including four reflective surfaces 620, but the reflective surfaces 620 of the rotating multi-faceted mirror 600 are necessarily four. It is not, and it is not necessarily a six-sided structure in the form of a quadrilateral column.

In addition, in order to detect the rotation angle of the multi-faceted mirror 600, the lidar device may further include an encoder. In addition, the lidar device may control the operation of the multi-faceted rotating mirror 600 by using the detected rotation angle. In this case, the encoder unit may be included in the multi-faceted rotating mirror 600 or disposed to be spaced apart from the multi-faceted rotating mirror 600.

The required field of view (FOV) of the lidar device may be different depending on the application. For example, in the case of a fixed lidar device for 3D mapping, the widest possible viewing angle in the vertical and horizontal directions may be required, and in the case of a lidar device disposed in a vehicle, a relatively wide viewing angle in the horizontal direction. Compared to that, it may require a relatively narrow viewing angle in the vertical direction. In addition, in the case of a lidar disposed on a drone, the widest viewing angle in the vertical and horizontal directions may be required.

Also, the scan area of the lidar device may be determined based on the number of reflective surfaces of the rotating multi-faceted mirror, and accordingly, the viewing angle of the lidar device may be determined. Therefore, it is possible to determine the number of reflective surfaces of the rotating multi-faceted mirror based on the required viewing angle of the lidar device.

23 to 25 are views for explaining the relationship between the number of reflective surfaces and the viewing angle.

In FIGS. 23 to 25, three, four, and five reflective surfaces are described, but the number of reflective surfaces is not determined, and when the number of reflective surfaces is different, the following description may be inferred and calculated easily. In addition, in FIGS. 22 to 24, a case in which the upper and lower portions of the body are regular polygons will be described, but even when the upper and lower portions of the body are not regular polygons, the following description can be inferred and calculated easily.

23 is a top view for explaining the viewing angle of the rotating faceted mirror 650 in which the number of reflective surfaces is three and the upper and lower portions of the body are equilateral triangles.

Referring to FIG. 23, the laser 653 may be incident in a direction coincident with the rotation axis 651 of the multi-faceted rotating mirror 650. Here, since the upper portion of the rotating faceted mirror 650 has an equilateral triangle shape, an angle formed by the three reflective surfaces may be 60 degrees. And referring to FIG. 23, when the rotating facet mirror 650 rotates slightly in a clockwise direction, the laser is reflected upwards in the drawing, and the rotating facet mirror is positioned slightly rotated counterclockwise. The laser may be reflected downward on the drawing. Therefore, when the path of the reflected laser is calculated with reference to FIG. 23, the maximum viewing angle of the rotating facet mirror can be known.

For example, when reflected through the No. 1 reflective surface of the rotating multi-faceted mirror 650, the reflected laser may be reflected upwards with the incident laser 653 at an angle of 120 degrees. In addition, when reflected through the third reflective surface of the rotating multi-faceted mirror, the reflected laser may be reflected at an angle of 120 degrees downward to the incident laser.

Therefore, when the number of reflective surfaces of the rotating multi-faceted mirror 650 is three, and the upper and lower portions of the body have an equilateral triangle shape, the maximum viewing angle of the rotating multi-faceted mirror may be 240 degrees.

24 is a top view for explaining a viewing angle of a rotating multi-faceted mirror in which the number of reflective surfaces is four and the upper and lower portions of the body are square.

Referring to FIG. 24, the laser 663 may be incident in a direction coincident with the rotation axis 661 of the multi-faceted rotating mirror 660. Here, since the upper portion of the rotating faceted mirror 660 has a square shape, an angle formed by the four reflective surfaces may be 90 degrees. And referring to FIG. 24, when the rotating facet mirror 660 rotates slightly in the clockwise direction, the laser is reflected upwards in the drawing, and the rotating facet mirror 660 rotates slightly counterclockwise to the position. In this case, the laser may be reflected downward on the drawing. Therefore, when the path of the reflected laser is calculated with reference to FIG. 24, the maximum viewing angle of the rotating faceted mirror 660 can be known.

For example, when reflected through the No. 1 reflective surface of the rotating multi-faceted mirror 660, the reflected laser may be reflected upwards with the incident laser 663 at an angle of 90 degrees. In addition, when reflected through the fourth reflective surface of the rotating multi-faceted mirror 660, the reflected laser may be reflected downward to the incident laser 663 at an angle of 90 degrees.

Therefore, when the number of reflective surfaces of the rotating multi-faceted mirror 660 is four, and the upper and lower portions of the body have a square shape, the maximum viewing angle of the rotating multi-faceted mirror 660 may be 180 degrees.

24 is a top view for explaining a viewing angle of a rotating multi-faceted mirror in which the number of reflective surfaces is 5 and the upper and lower portions of the body are regular pentagons.

Referring to FIG. 24, the laser 673 may be incident in a direction coincident with the rotation axis 671 of the multi-faceted rotating mirror 670. Here, since the upper portion of the rotating faceted mirror 670 has a regular pentagon shape, an angle formed by the five reflective surfaces may be 108 degrees each. And, referring to FIG. 24, when the rotating mirror 670 rotates slightly in the clockwise direction, the laser is reflected upwards in the drawing, and the rotating mirror 670 rotates slightly counterclockwise. When positioned, the laser can be reflected downwards in the drawing. Therefore, if the path of the reflected laser is calculated with reference to FIG. 24, the maximum viewing angle of the rotating multi-faceted mirror can be known.

For example, when reflected through the No. 1 reflective surface of the rotating multi-faceted mirror 670, the reflected laser may be reflected upwardly to the incident laser 673 at an angle of 72 degrees. In addition, when reflected through the 5th reflective surface of the rotating multi-faceted mirror 670, the reflected laser may be reflected downwards from the incident laser 673 at an angle of 72 degrees.

Accordingly, when the number of reflective surfaces of the rotating multi-faceted mirror 670 is 5, and the upper and lower portions of the body have a regular pentagonal shape, the maximum viewing angle of the rotating multi-faceted mirror may be 144 degrees.

As a result, referring to FIGS. 23 to 25 described above, when the number of reflective surfaces of the rotating multi-faceted mirror is N, and the upper and lower portions of the body are N-shaped, if the inner angle of the N-shaped is theta, the rotating surface The maximum viewing angle of the mirror can be 360 degrees -2 theta.

However, since the above-described viewing angle of the rotating multi-faceted mirror is only calculated as a maximum value, the viewing angle determined by the rotating multi-faceted mirror in the lidar device may be smaller than the calculated maximum value. In this case, the lidar device may use only a portion of each reflective surface of the rotating multi-faceted mirror for scanning.

When the scanning unit of the lidar device includes a rotating multi-faceted mirror, the rotating multi-faceted mirror can be used to irradiate the laser emitted from the laser output unit toward the scan area of the lidar device, and is reflected from an object existing in the scan area. It can be used to receive the laser light to the sensor unit.

Here, a part of each reflective surface of the rotating multi-faceted mirror used to irradiate the emitted laser into the scan area of the lidar device will be referred to as an irradiation part. In addition, a portion of each reflective surface of the rotating multi-faceted mirror for receiving the laser reflected from the object present on the scan area to the sensor unit will be referred to as a light receiving portion.

26 is a view for explaining an irradiation portion and a light-receiving portion of a multi-faceted rotating mirror according to an exemplary embodiment.

Referring to FIG. 26, a laser emitted from the laser output unit 100 may have a dot-shaped irradiation area and may be incident on a reflective surface of the mirror 700 if it is rotated. However, although not shown in FIG. 26, the laser emitted from the laser output unit 100 may have an irradiation area in the form of a line or a surface.

When the laser emitted from the laser output unit 100 has an irradiation area in the form of a dot, the irradiation portion 720 in the rotating multi-faceted mirror 700 rotates the point where the emitted laser meets the rotating multi-faceted mirror. If it is, it can be in the form of a line connected in the direction of rotation of the mirror. Accordingly, in this case, the irradiated portion 720 of the multi-faceted rotating mirror 700 may be positioned on each reflective surface in a line shape in a direction perpendicular to the rotating shaft 710 of the multi-faceted rotating mirror 700.

In addition, the laser irradiated from the irradiated portion 720 of the rotating multi-faceted mirror 700 and irradiated to the scan area 510 of the lidar device 1000 is transferred to the object 500 on the scan area 510. The laser 735 reflected from the object 500 may be reflected in a larger range than the irradiated laser 725. Accordingly, the laser 735 reflected from the object 500 is parallel to the irradiated laser, and may be received by the lidar device 1000 in a wider range.

In this case, the laser 735 reflected from the object 500 may be transmitted larger than the size of the reflective surface of the rotating mirror 700. However, the light-receiving part 730 of the rotating multi-faceted mirror 700 is a part for receiving the laser 735 reflected from the object 500 by the sensor unit 300, and is a part of the reflective surface of the rotating multi-faceted mirror 700. It may be a portion of the reflective surface that is smaller than the size.

For example, as shown in FIG. 26, when the laser 735 reflected from the object 500 is transmitted toward the sensor unit 300 through the rotating multi-faceted mirror 700, the rotating multi-faceted mirror 700 A portion of the reflective surface of which is reflected so as to be transmitted toward the sensor unit 300 may be the light receiving portion 730. Therefore, the light-receiving part 730 of the multi-faceted rotating mirror 700 may be a part of the reflective surface extending in the direction of rotation of the multi-faceted mirror 700 to be reflected so as to be transmitted toward the sensor unit 300. have.

In addition, when a condensing lens is further included between the rotating multi-faceted mirror 700 and the sensor unit 300, the light-receiving portion 730 of the rotating multi-faceted mirror 700 is transmitted toward the condensing lens among the reflective surfaces. If the part to be reflected is rotated, it may be a part extending in the rotation direction of the mirror 700.

However, in FIG. 26, the irradiation portion 720 and the light-receiving portion 730 of the rotating facet mirror 700 are described as being spaced apart, but the irradiation portion 720 and the light-receiving portion 730 of the rotating facet mirror 1550 Some of the silver may overlap, and the irradiation part 720 may be included in the light receiving part 730.

In addition, according to an embodiment, the steering component 230 may include an optical phased array (OPA) or the like to change the phase of the emitted laser and change the irradiation direction through it, but is not limited thereto.

The lidar device according to an exemplary embodiment may include an optical unit that directs a laser beam emitted from a laser output unit to an object.

The optical unit may include a beam collimation and steering component (BCSC) for collimating and steering a laser beam emitted from the laser output unit. The BCSC may be composed of one component or may be composed of a plurality of components.

27 is a diagram for describing an optical unit according to an exemplary embodiment.

Referring to FIG. 27, the optical unit according to an embodiment may include a plurality of components. For example, it may include a collimation component 210 and a steering component 230.

According to an embodiment, the collimation component 210 may perform a role of collimating the beam emitted from the laser output unit 100, and the steering component 230 may perform a collimation of the collimation component 210. It can play a role of steering the formed beam. As a result, the laser beam emitted from the optic may be directed in a predetermined direction.

The collimation component 210 may be a micro lens or a meta surface.

When the collimation component 210 is a micro lens, a micro lens array may be disposed on one side of the substrate, or a micro lens array may be disposed on both sides of the substrate.

When the collimation component 210 is a meta surface, the laser beam may be collimated by a nano pattern formed by a plurality of nano pillars included in the meta surface.

The steering component 230 may be a micro lens, a micro prism, or a meta surface.

When the steering component 230 is a micro lens, a micro lens array may be disposed on one side of the substrate, or a micro lens array may be disposed on both sides of the substrate.

When the steering component 230 is a micro prism, it can be steered by the angle of the micro prism.

When the steering component 230 is a meta surface, the laser beam may be steered by a nano pattern formed by a plurality of nano pillars included in the meta surface.

According to an embodiment, when the optical unit includes a plurality of components, correct placement may be required between the plurality of components. At this time, the collimation component and the steering component can be correctly arranged through an alignment mark. In addition, a printed circuit board (PCB), a VCSEL array, a collimation component, and a steering component can be correctly arranged through an alignment mark.

For example, by inserting an alignment mark between the VCSEL units included in the VCSEL array or at the edge of the VCSEL array, the VCSEL array and the collimation component can be correctly arranged.

In addition, for example, by inserting an alignment mark between the collimation components or at the edge portion, the collimation component and the steering component can be correctly positioned.

28 is a diagram for describing an optical unit according to an exemplary embodiment.

Referring to FIG. 28, the optical unit according to an embodiment may include one single component. For example, it may include a meta component 270.

According to an embodiment, the meta component 270 may collimate or steer a laser beam emitted from the laser output unit 100.

For example, the meta component 270 includes a plurality of meta-surfaces, collimating a laser beam emitted from the laser output unit 100 in one meta-surface, and collimating a laser beam in the other meta-surface. Can be steered. It will be described in detail in FIG. 29 below.

Alternatively, for example, the meta component 270 may collimate and steer a laser beam emitted from the laser output unit 100 including one meta surface. It will be described in detail in FIG. 24 below.

29 is a diagram for describing a meta component according to an embodiment.

Referring to FIG. 29, the meta component 270 according to an embodiment may include a plurality of meta surfaces 271 and 273. For example, it may include a first meta surface 271 and a second meta surface 273.

The first meta surface 271 may be disposed in a direction in which the laser beam is emitted from the laser output unit 100. The first metasurface 271 may include a plurality of nanopillars. The first metasurface may form a nanopattern by a plurality of nanopillars. The first meta-surface 271 may collimate the laser beam emitted from the laser output unit 100 by the formed nanopatterns.

The second meta-surface 273 may be disposed in a direction in which the laser beam is output from the first meta-surface 271. The second metasurface 273 may include a plurality of nanopillars. The second meta-surface 273 may form a nano pattern by a plurality of nano-pillars. The second meta-surface 273 may steer the laser beam emitted from the laser output unit 100 by the formed nanopatterns. For example, as shown in FIG. 24, the laser beam can be steered in a specific direction by the increase/decrease rate of the width W of the plurality of nanopillars. In addition, the laser beam may be steered in a specific direction by the distance P, the height H, and the number per unit length of the plurality of nanopillars.

30 is a diagram for describing a meta component according to another embodiment.

Referring to FIG. 30, the meta component 270 according to an embodiment may include one meta surface 274.

The meta surface 275 may include a plurality of nanopillars on both sides. For example, the meta-surface 275 may include a first nano-pillar set 276 on a first surface and a second nano-pillar set 278 on a second surface.

The meta-surface 275 may be steered after collimating the laser beam emitted from the laser output unit 100 by a plurality of nano-pillars forming respective nano patterns on both sides.

For example, the first set of nanopillars 276 disposed on one side of the metasurface 275 may form a nanopattern. The laser beam emitted from the laser output unit 100 may be collimated by the nano pattern formed by the first nano-pillar set 276. The second nano-pillar set 278 disposed on the other side of the meta-surface 275 may form a nano pattern. The laser beam passing through the first nanopillar 276 may be steered in a specific direction by the nanopattern formed by the second nanopillar set 278.

31 is a diagram for describing an SPAD array according to an embodiment.

Referring to FIG. 31, the sensor unit 300 according to an embodiment may include a SPAD array 750. 31 illustrates an 8X8 SPAD array, but is not limited thereto, and may be 10X10, 12X12, 24X24, 64X64, or the like.

The SPAD array 750 according to an embodiment may include a plurality of SPADs 751. For example, the plurality of SPADs 751 may be disposed in a matrix structure, but are not limited thereto, and may be disposed in a circular, elliptical, honeycomb structure, or the like.

When a laser beam is incident on the SPAD array 750, photons may be detected by an avalanche phenomenon. According to an embodiment, a result of the SPAD array 750 may be accumulated in the form of a histogram.

32 is a diagram for describing a histogram of SPAD according to an embodiment.

Referring to FIG. 32, the SPAD 751 according to an embodiment may detect photons. When the SPAD 751 detects a photon, signals 766 and 767 may be generated.

After the SPAD 751 detects a photon, it may take a recovery time to return to a state capable of detecting the photon again. If the recovery time has not elapsed after the SPAD 751 detects the photon, even if the photon enters the SPAD 751 at this time, the SPAD 751 cannot detect the photon. Thus, the resolution of the SPAD 751 may be determined by the recovery time.

According to an embodiment, the SPAD 751 may detect photons for a predetermined time after the laser beam is output from the laser output unit. At this time, the SPAD 751 may detect photons during a cycle of a predetermined period. For example, SPAD 751 may detect photons multiple times during a cycle according to the time resolution of SPAD 751. At this time, the time resolution of the SPAD 751 may be determined by the recovery time of the SPAD 751.

According to an embodiment, the SPAD 751 may detect photons reflected from the object and other photons. For example, the SPAD 751 may generate a signal 767 when detecting a photon reflected from an object.

Also, for example, when the SPAD 751 detects photons other than the photons reflected from the object, the signal 766 may be generated. In this case, photons other than photons reflected from the object may include sunlight or a laser beam reflected from a window.

According to an embodiment, the SPAD 751 may detect photons for a predetermined period of time after outputting a laser beam from the laser output unit.

For example, the SPAD 751 may detect photons during a first cycle after outputting a first laser beam from the laser output unit. In this case, the SPAD 751 may generate a first detecting signal 761 after detecting a photon.

Also, for example, the SPAD 751 may detect photons during a second cycle after outputting a second laser beam from the laser output unit. In this case, the SPAD 751 may generate a second detecting signal 762 after detecting a photon.

Also, for example, the SPAD 751 may detect photons during a third cycle after outputting a third laser beam from the laser output unit. In this case, the SPAD 751 may generate a third detecting signal 763 after detecting a photon.

Also, for example, the SPAD 751 may detect photons during the Nth cycle after outputting the Nth laser beam from the laser output unit. In this case, the SPAD 751 may generate an Nth detecting signal 764 after detecting a photon.

At this time, the first detecting signal 761, the second detecting signal 762, the third detecting signal 763, the N-th detecting signal 764, a signal 767 by photons reflected from the object or A signal 766 generated by photons other than the photons reflected from the object may be included.

In this case, the Nth detecting signal 764 may be a photon detecting signal during the Nth cycle after outputting the Nth laser beam. For example, N may be 5, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 200, 300, etc.

Signals by the SPAD 751 may be accumulated in the form of a histogram. The histogram may have a plurality of histogram bins. The signals generated by the SPAD 751 correspond to each histogram bin and may be accumulated in the form of a histogram.

For example, the histogram may be formed by accumulating signals by one SPAD 751 or by accumulating signals by a plurality of SPADs 751.

For example, a histogram 765 may be created by accumulating the first detecting signal 761, the second detecting signal 762, and the third detecting signal 763 and the N-th detecting signals 764. . In this case, the histogram 765 may include a signal due to photons reflected from the object or a signal due to other photons.

In order to obtain distance information of an object, it is necessary to extract a signal by a photon reflected from the object from the histogram 765. The signal by photons reflected from the object may be more positive and more regular than signals by other photons.

In this case, a signal due to photons reflected from the object within a cycle may be regularly present at a specific time. On the other hand, the amount of signal caused by sunlight is small and may exist irregularly.

There is a high possibility that a signal with a large amount of histogram accumulated at a specific time is a signal caused by a photon reflected from the object. Accordingly, a signal having a large amount of accumulation among the accumulated histogram 765 may be extracted as a signal by photons reflected from the object.

For example, a signal having the highest value among the histogram 765 may be extracted as a signal by photons reflected from the object. Also, for example, a signal of a certain amount 768 or more of the histogram 765 may be extracted as a signal by photons reflected from the object.

In addition to the method described above, among the histogram 765, there may be various algorithms capable of extracting a signal by a photon reflected from an object.

After extracting a signal by photons reflected from the object from the histogram 765, distance information of the object may be calculated based on the generation time of the corresponding signal or the reception time of the photon.

For example, the signal extracted from the histogram 765 may be a signal at one scan point. In this case, one scan point may correspond to one SPAD.

For another example, signals extracted from a plurality of histograms may be signals at one scan point. In this case, one scan point may correspond to a plurality of SPADs.

According to another embodiment, a weight is applied to signals extracted from a plurality of histograms to calculate a signal at one scan point. In this case, the weight may be determined by the distance between SPADs.

For example, the signal at the first scan point has a weight of 0.8 for the signal by the first SPAD, a weight of 0.6 for the signal by the second SPAD, a weight of 0.4 for the signal by the third SPAD, and a weight of 0.4 for the signal by the third SPAD. It can be calculated by putting a weight of 0.2 on the signal.

When the signals extracted from a plurality of histograms are weighted and calculated as a signal at one scan point, the effect of accumulating the histogram several times with one histogram accumulation can be obtained. Accordingly, the effect of reducing the scan time and reducing the time to obtain the entire image can be derived.

According to another embodiment, the laser output unit may output a laser beam in an addressable manner. Alternatively, the laser output unit may output a laser beam addressably for each big cell unit.

For example, the laser output unit outputs the laser beam of the BIXEL unit in 1 row and 1 column once, then outputs the laser beam of the BIXEL unit in 1 row and 3 columns once, and then outputs the laser beam of the BIXEL unit in 2 rows and 4 columns once. Can be printed. In this way, the laser output unit may output the laser beam of the big cell unit in row A and column B N times, and then output the laser beam of the big cell unit in column C and column D M times.

In this case, the SPAD array may receive a laser beam reflected from the object and returned from among the laser beams output from the corresponding big cell unit.

For example, in the case where the BIXEL unit in the first row and one column of the laser beam output sequence of the laser output unit outputs the Nth laser beam, the SPAD unit in the first row and one column corresponding to the first row and one column is reflected on the object. Can be received up to N times.

In addition, for example, if the laser beam reflected in the histogram of the SPAD must be accumulated N times, and there are M big cell units in the laser output unit, the M big cell units can be operated N times at once. Alternatively, one M big cell unit may be operated M*N times, or M big cell units may be operated 5 times M*N/5 times.

33 is a diagram for describing a SiPM according to an embodiment.

Referring to FIG. 33, the sensor unit 300 according to an embodiment may include a SiPM 780. The SiPM 780 according to an embodiment may include a plurality of microcells 781 and a plurality of microcell units 782. For example, the microcell may be SPAD. Also, for example, the microcell unit 782 may be an SPAD array that is a set of a plurality of SPADs.

The SiPM 780 according to an embodiment may include a plurality of microcell units 782. FIG. 33 shows the SiPM 780 in which the microcell units 782 are arranged in a 4X6 matrix, but is not limited thereto, and may be a 10X10, 12X12, 24X24, 64X64 matrix, or the like. Further, the microcell unit 782 may be disposed in a matrix structure, but is not limited thereto, and may be disposed in a circular, elliptical, honeycomb structure, or the like.

When a laser beam is incident on the SiPM 780, photons may be detected by the avalanche phenomenon. According to an embodiment, a result of the SiPM 780 may be accumulated in the form of a histogram.

There are several differences between the histogram of the SiPM 780 and the histogram of the SPAD 751.

As described above, the histogram by the SPAD 751 may be accumulated as N detecting signals formed by receiving the N-th laser beam of one SPAD 751. In addition, the histogram of the SPAD 751 may be accumulated as X*Y detecting signals formed by receiving the Y-numbered laser beam of the X SPADs 751.

On the other hand, the histogram by the SiPM 780 may be formed by accumulating signals by one microcell unit 782 or by accumulating signals by a plurality of microcell units 782.

According to an embodiment, one microcell unit 782 may output the first laser beam from the laser output unit and then detect photons reflected from the object to form a histogram.

For example, the histogram of the SiPM 780 may be formed by accumulating a signal generated by detecting photons reflected from an object by a plurality of microcells included in one microcell unit 782.

According to another embodiment, the plurality of microcell units 782 may generate a histogram by detecting photons reflected from the object after outputting the first laser beam from the laser output unit.

For example, the histogram of the SiPM 780 may be formed by accumulating a signal generated by detecting photons reflected from an object by a plurality of microcells included in the plurality of microcell units 782.

As for the histogram by the SPAD 751, one SPAD 751 or a plurality of SPADs 751 may require the N-th laser beam output of the laser output unit. However, the histogram by the SiPM 780 may require only one laser beam output from one microcell unit 782 or a plurality of microcell units 782.

Accordingly, the histogram of the SPAD 751 may take a longer time to accumulate the histogram than the histogram of the SiPM 780. The histogram by the SiPM 780 has the advantage that it is possible to quickly form a histogram with only one laser beam output.

34 is a diagram for describing a histogram of SiPM according to an exemplary embodiment.

Referring to FIG. 34, the SiPM 780 according to an embodiment may detect photons. For example, the microcell unit 782 may detect photons. When the microcell unit 782 detects a photon, signals 787 and 788 may be generated.

After the microcell unit 782 detects the photons, a recovery time may be required before returning to a state capable of detecting the photons again. When the recovery time has not elapsed after the microcell unit 782 detects the photons, even if the photons are incident on the microcell unit 782 at this time, the microcell unit 782 cannot detect the photons. Accordingly, the resolution of the microcell unit 782 may be determined by the recovery time.

According to an embodiment, the microcell unit 782 may detect photons for a predetermined time after the laser beam is output from the laser output unit. At this time, the microcell unit 782 may detect photons during a cycle of a predetermined period. For example, the microcell unit 782 may detect a photon multiple times during a cycle according to the time resolution of the microcell unit 782. In this case, the time resolution of the microcell unit 782 may be determined by the recovery time of the microcell unit 782.

According to an embodiment, the microcell unit 782 may detect photons reflected from an object and other photons. For example, when the microcell unit 782 detects a photon reflected from an object, it may generate a signal 787.

Also, for example, when the microcell unit 782 detects photons other than the photons reflected from the object, the microcell unit 782 may generate a signal 788. In this case, photons other than photons reflected from the object may include sunlight or a laser beam reflected from a window.

According to an embodiment, the microcell unit 782 may detect photons for a predetermined period of time after outputting a laser beam from the laser output unit.

For example, the first microcell 783 included in the microcell unit 782 may detect photons during a first cycle after outputting a laser beam from the laser output unit. In this case, the first microcell 783 may generate a first detecting signal 791 after detecting a photon.

Also, for example, the second microcell 784 included in the microcell unit 782 may detect photons during a first cycle after outputting a laser beam from the laser output unit. In this case, the second microcell 784 may generate a first detecting signal 792 after detecting a photon.

Also, for example, the third microcell 785 included in the microcell unit 782 may detect photons during a first cycle after outputting a laser beam from the laser output unit. In this case, the third microcell 785 may detect a photon and then generate a third detecting signal 793.

Also, for example, the Nth microcell 786 included in the microcell unit 782 may detect photons during a first cycle after outputting a laser beam from the laser output unit. In this case, the Nth microcell 786 may generate an Nth detecting signal 794 after detecting a photon.

At this time, the first detecting signal 791, the second detecting signal 792, the third detecting signal 793, the N-th detecting signal 794, a signal 787 by photons reflected from the object or A signal 788 generated by photons other than the photons reflected from the object may be included.

In this case, the Nth detecting signal 764 may be a photon detecting signal of the Nth microcell included in the microcell unit 782. For example, N may be 5, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 200, 300, etc.

Signals from microcells can be accumulated in the form of a histogram. The histogram can have multiple histogram bins. Signals from the microcells correspond to histogram bins, respectively, and may be accumulated in the form of a histogram.

For example, the histogram may be formed by accumulating signals by one microcell unit 782 or by accumulating signals by a plurality of microcell units 782.

For example, the histogram 795 may be created by accumulating the first detecting signal 791, the second detecting signal 792, and the third detecting signal 793, the N-th detecting signals 794. . In this case, the histogram 795 may include a signal due to photons reflected from the object or a signal due to other photons.

In order to obtain distance information of an object, it is necessary to extract a signal by photons reflected from the object from the histogram 795. The signal by photons reflected from the object may be more positive and more regular than signals by other photons.

In this case, a signal due to photons reflected from the object within a cycle may be regularly present at a specific time. On the other hand, the amount of signal caused by sunlight is small and may exist irregularly.

There is a high possibility that a signal with a large amount of histogram accumulated at a specific time is a signal caused by a photon reflected from the object. Accordingly, a signal having a large amount of accumulation among the accumulated histogram 795 may be extracted as a signal by photons reflected from the object.

For example, a signal having the highest value among the histogram 795 may be extracted as a signal caused by photons reflected from the object. In addition, for example, a signal of a certain amount 797 or more of the histogram 795 may be extracted as a signal by photons reflected from the object.

In addition to the method described above, among the histogram 795, there may be various algorithms capable of extracting a signal by photons reflected from an object.

After extracting a signal by photons reflected from the object from the histogram 795, distance information of the object may be calculated based on the generation time of the corresponding signal or the reception time of the photon.

According to another embodiment, the laser output unit may output a laser beam in an addressable manner. Alternatively, the laser output unit may output a laser beam addressably for each big cell unit.

For example, the laser output unit outputs the laser beam of the BIXEL unit in 1 row and 1 column once, then outputs the laser beam of the BIXEL unit in 1 row and 3 columns once, and then outputs the laser beam of the BIXEL unit in 2 rows and 4 columns once. Can be printed. In this way, the laser output unit may output the laser beam of the big cell unit in row A and column B N times, and then output the laser beam of the big cell unit in column C and column D M times.

In this case, the SiPM may receive a laser beam reflected from the object and returned from among the laser beams output from the corresponding big cell unit.

For example, in the case that the BICCELL unit in the 1st row and 1st column of the laser beam output sequence of the laser output unit outputs the Nth laser beam, the microcell unit in the 1st row and 1st column corresponding to the 1st row and 1st column is reflected on the object. The beam can be received up to N times.

In addition, for example, if the laser beam reflected in the histogram of the SiPM should be accumulated N times, and there are M big cell units in the laser output unit, the M big cell units can be operated N times at once. Alternatively, one M big cell unit may be operated M*N times, or M big cell units may be operated 5 times M*N/5 times.

Lida can be implemented in several ways. For example, there may be a flash method and a scanning method for lidar.

As described above, the flash method is a method in which a laser beam is spread to an object by the divergence of the laser beam. Since the flash method collects distance information of an object by illuminating a single laser pulse to the FOV, the resolution of the flash type lidar may be determined by a sensor unit or a receiver.

In addition, as described above, the scanning method is a method of directing a laser beam emitted from the laser output unit in a specific direction. Since the scanning method illuminates the laser beam to the FOV using a scanner or a steering unit, the resolution of the scanning type lidar may be determined by the scanner or the steering unit.

According to an embodiment, the lidar may be implemented in a mixed method of a flash method and a scanning method. In this case, the combination of the flash method and the scanning method may be a semi-flash method or a semi-scanning method. Alternatively, a mixed method of a flash method and a scanning method may be a quasi-flash method or a quasi-scanning method.

The semi-flash type lidar or the quasi-flash type lidar may mean a semi-flash type lidar rather than a complete flash type. For example, one unit of the laser output unit and one unit of the receiving unit may be a flash type lidar, but a plurality of units of the laser output unit and a plurality of units of the reception unit are gathered, so that the semi-flash type is not a complete flash type lidar. It can be is.

In addition, for example, since the laser beam output from the laser output unit of the semi-flash type lidar or the quasi flash type lidar may pass through the steering unit, it may be a semi-flash type lidar instead of a complete flash type lidar.

The semi-flash type lidar or the quasi-flash type lidar may overcome the disadvantages of the flash type lidar. For example, a flash type radar may be vulnerable to interference between laser beams, a strong flash is required to detect an object, and there is a problem that the detection range cannot be limited.

However, the semi-flash type lidar or the quasi-flash type lidar allows laser beams to pass through a steering unit to overcome interference between laser beams, and control each laser output unit, thereby controlling the detection range. You can, and you may not need a strong flash.

35 is a diagram for describing a semi-flash lidar according to an embodiment.

Referring to FIG. 35, a semi-flash lidar 800 according to an embodiment includes a laser output unit 810, a beam collimation & steering component (BCSC) 820, a scanning unit 830, and a receiving unit 840. I can.

The semi-flash lidar 800 according to an embodiment may include a laser output unit 810. For example, the laser output unit 810 may include a big cell array. In this case, the laser output unit 810 may include a big cell array in which units including a plurality of big cell emitters are gathered.

The semi-flash lidar 800 according to an embodiment may include a BCSC 820. For example, BCSC 820 may include a collimation component 210 and a steering component 230.

According to an embodiment, the laser beam output from the laser output unit 810 is collimated by the collimation component 210 of the BCSC 820, and the collimated laser beam is the steering component 230 of the BCSC 820. ) Can be steered.

For example, a laser beam output from a first bixel unit included in the laser output unit 810 may be collimated by a first collimation component and steered in a first direction by a first steering component.

Also, for example, the laser beam output from the second big cell unit included in the laser output unit 810 may be collimated by the second collimation component and steered in the second direction by the second steering component.

In this case, the big cell units included in the laser output unit 810 may be steered in different directions. Therefore, unlike the flash method by diffusion of a single pulse, the laser beam of the laser output unit of the semi-flash method LiDAR can be steered in a specific direction by the BCSC. Therefore, the laser beam output from the laser output unit of the semi-flash type lidar can be directional by BCSC.

The semi-flash lidar 800 according to an embodiment may include a scanning unit 830. For example, the scanning unit 830 may include an optical unit 200. For example, the scanning unit 830 may include a mirror that reflects the laser beam.

For example, the scanning unit 830 may include a planar mirror, a multifaceted mirror, a resonant mirror, a MEMS mirror, and a galvano mirror. In addition, for example, the scanning unit 830 may include a multifaceted mirror rotating 360 degrees along one axis and a noding mirror repeatedly driven in a preset range along one axis.

The semi-flash type radar may include a scanning unit. Therefore, unlike a flash method in which an entire image is acquired at once by spreading a single pulse, a semi-flash radar can scan an image of an object by a scanning unit.

In addition, the object may be randomly scanned by laser output from the laser output unit of the semi-flash type lidar. Therefore, the semi-flash type radar can intensively scan only a desired region of interest among the entire FOV.

The semi-flash lidar 800 according to an embodiment may include a receiver 840. For example, the receiving unit 840 may include a sensor unit 300. Also, for example, the receiving unit 840 may be a SPAD array 750. Also, for example, the receiving unit 840 may be a SiPM 780.

The receiving unit 850 may include various sensor elements. For example, the receiving unit 840 may include a PN photodiode, a phototransistor, a PIN photodiode, an APD, SPAD, SiPM, TDC, CMOS, or CCD, but is not limited thereto.

In this case, the receiving unit 840 may stack a histogram. For example, the receiving unit 840 may detect a light-receiving point of a laser beam reflected from the object 850 and received by using a histogram.

The receiving unit 840 according to an embodiment may include one or more optical elements. For example, the receiving unit 840 may include an aperture, a micro lens, a converging lens, or a diffuser, but is not limited thereto.

In addition, the receiving unit 840 according to an embodiment may include one or more optical filters. The receiver 840 may receive the laser reflected from the object through an optical filter. For example, the receiving unit 840 may include a band pass filter, a dichroic filter, a guided-mode resonance filter, a polarizer, and a wedge filter, but is not limited thereto.

According to an embodiment, the semi-flash type lidar 800 may have a constant optical path between components.

For example, light output from the laser output unit 810 may be incident on the scanning unit 830 through the BCSC 820. In addition, light incident on the scanning unit 830 may be reflected and incident on the object 850. In addition, light incident on the object 850 may be reflected and again incident on the scanning unit 830. In addition, light incident on the scanning unit 830 may be reflected and received by the receiving unit 840. A lens for increasing transmission and reception efficiency may be additionally inserted into the above optical path.

36 is a diagram for describing a configuration of a semi-flash lidar according to an embodiment.

Referring to FIG. 36, a semi-flash lidar 800 according to an embodiment may include a laser output unit 810, a scanning unit 830, and a receiving unit 840.

According to an embodiment, the laser output unit 810 may include a big cell array 811. Although only the big cell array 811 in one column is shown in FIG. 36, the big cell array 811 is not limited thereto, and the big cell array 811 may have an N X M matrix structure.

According to an embodiment, the big cell array 811 may include a plurality of big cell units 812. In this case, the big cell unit 812 may include a plurality of big cell emitters. For example, the big cell array 811 may include 25 big cell units 812. In this case, the 25 big cell units 812 may be arranged in one row, but the present invention is not limited thereto.

According to an embodiment, the big cell unit 812 may have a diverging angle. For example, the big cell unit 812 may have a horizontal diffusion angle 813 and a vertical diffusion angle 814. For example, the big cell unit 812 may have a horizontal diffusion angle 813 of 1.2 degrees and a vertical diffusion angle 814 of 1.2 degrees, but the present invention is not limited thereto.

According to an embodiment, the scanning unit 830 may receive a laser beam output from the laser output unit 810. In this case, the scanning unit 830 may reflect the laser beam toward the object. Also, the scanning unit 830 may receive a laser beam reflected from an object. In this case, the scanning unit 830 may transmit the laser beam reflected from the object to the receiving unit 840.

In this case, the area reflecting the laser beam toward the object and the area receiving the laser beam reflected from the object may be the same or different. For example, an area reflecting a laser beam toward the object and an area receiving the laser beam reflected from the object may be in the same reflective surface. In this case, the areas may be divided up and down or left and right within the same reflective surface.

Also, for example, an area reflecting a laser beam toward the object and an area receiving the laser beam reflected from the object may be different reflective surfaces. For example, an area reflecting a laser beam toward an object may be a first reflective surface of the scanning unit 830, and an area receiving a laser beam reflected from the object may be a second reflective surface of the scanning unit 830 .

According to an embodiment, the scanning unit 830 may reflect the 2D laser beam output from the laser output unit 810 toward the object. In this case, the lidar device may scan the object in 3D due to rotation or scanning of the scanning unit 830.

According to an embodiment, the receiving unit 840 may include a SPAD array 841. Although only one column of SPAD array 841 is shown in FIG. 36, the present invention is not limited thereto, and the SPAD array 841 may have an N X M matrix structure.

According to an embodiment, the SPAD array 841 may include a plurality of SPAD units 842. In this case, the SPAD unit 842 may include a plurality of SPAD pixels 847. For example, the SPAD unit 842 may include a 12 X 12 SPAD pixel 847. In this case, the SPAD pixel 847 may mean one SPAD element, but is not limited thereto.

Also, for example, the SPAD array 841 may include 25 SPAD units 842. In this case, the 25 SPAD units 842 may be arranged in one row, but the present invention is not limited thereto. In this case, the arrangement of the SPAD unit 842 may correspond to the arrangement of the big cell unit 812.

According to an embodiment, the SPAD unit 842 may have a FOV capable of receiving light. For example, the SPAD unit 842 may have a horizontal FOV 843 and a vertical FOV 844. For example, the SPAD unit 842 may have a horizontal FOV 843 of 1.2 degrees and a vertical FOV 844 of 1.2 degrees.

In this case, the FOV of the SPAD unit 842 may be proportional to the number of SPAD pixels 847 included in the SPAD unit 842. Alternatively, the FOV of each SPAD pixel 847 included in the SPAD unit 842 may be determined by the FOV of the SPAD unit 842.

For example, when the horizontal FOV 845 and the vertical FOV 846 of the individual SPAD pixel 847 is 0.1 degrees, if the SPAD unit 842 includes the SPAD pixel 847 of NXM, the SPAD unit 842 The horizontal FOV 843 may be 0.1*N, and the vertical FOV 844 may be 0.1*M.

Also, for example, when the horizontal FOV 843 and the vertical FOV 844 of the SPAD unit 842 are 1.2 degrees, and the SPAD unit 842 includes a 12 X 12 SPAD pixel 847, individual SPAD pixels The horizontal FOV 845 and the vertical FOV 846 of 847 may be 0.1 degrees (1.2/12).

According to another embodiment, the receiving unit 840 may include a SiPM array 841. Although only one column of SiPM array 841 is shown in FIG. 36, the present invention is not limited thereto, and the SiPM array 841 may have an N X M matrix structure.

According to an embodiment, the SiPM array 841 may include a plurality of microcell units 842. In this case, the microcell unit 842 may include a plurality of microcells 847. For example, the microcell unit 842 may include a 12 X 12 microcell 847.

Also, for example, the SiPM array 841 may include 25 microcell units 842. In this case, the 25 microcell units 842 may be arranged in one row, but the present invention is not limited thereto. Also, at this time, the arrangement of the microcell units 842 may correspond to the arrangement of the big cell units 812.

According to an embodiment, the microcell unit 842 may have a FOV capable of receiving light. For example, the microcell unit 842 may have a horizontal FOV 843 and a vertical FOV 844. For example, the microcell unit 842 may have a horizontal FOV 843 of 1.2 degrees and a vertical FOV 844 of 1.2 degrees.

In this case, the FOV of the microcell unit 842 may be proportional to the number of microcells included in the microcell unit 842. Alternatively, the FOV of the individual microcells 847 included in the microcell unit 842 may be determined by the FOV of the microcell unit 842.

For example, when the horizontal FOV 845 and the vertical FOV 846 of the individual microcells 847 are 0.1 degrees, if the microcell unit 842 includes the microcells 847 of the NXM, the microcell unit 842 ), the horizontal FOV 843 may be 0.1*N, and the vertical FOV 844 may be 0.1*M.

Also, for example, when the horizontal FOV 843 and the vertical FOV 844 of the microcell unit 842 are 1.2 degrees, and the microcell unit 842 includes a 12×12 microcell 847, the individual The horizontal FOV 845 and the vertical FOV 846 of the microcell 847 may be 0.1 degrees (1.2/12).

According to another embodiment, one big cell unit 812 and a plurality of SPAD units or microcell units 842 may correspond. For example, the laser beam output from the BIXEL unit 812 in one row and one column is reflected by the scanning unit 830 and the object 850, so that the SPAD unit or microcell unit 842 in the first row and the first row and the second row is reflected. ) Can be received.

According to another embodiment, a plurality of big cell units 812 and one SPAD unit or microcell unit 842 may correspond. For example, the laser beam output from the BIXEL unit 812 in one row and one column may be reflected by the scanning unit 830 and the object 850 and received by the SPAD unit or the microcell unit 842 in one row and one column. have.

According to an embodiment, the big cell unit 812 of the laser output unit 810 and the SPAD unit or the microcell unit 842 of the receiving unit 840 may correspond to each other.

For example, the horizontal diffusion angle and the vertical diffusion angle of the big cell unit 812 may be the same as the horizontal FOV 845 and the vertical FOV 846 of the SPAD unit or microcell unit 842.

For example, the laser beam output from the BIXEL unit 812 in one row and one column may be reflected by the scanning unit 830 and the object 850 and received by the SPAD unit or the microcell unit 842 in one row and one column. have.

In addition, for example, the laser beam output from the BIXEL unit 812 in N rows and M columns is reflected by the scanning unit 830 and the object 850 to be received by the SPAD unit or microcell unit 842 in the N rows and M columns. I can.

At this time, the laser beam output from the big cell unit 812 in N rows and M columns and reflected by the scanning unit 830 and the object 850 is received by the SPAD unit or microcell unit 842 in the N rows and M columns, and is a lidar. Device 800 may have resolution by means of a SPAD unit or microcell unit 842.

For example, if the SPAD unit or microcell unit 842 includes SPAD pixels or microcells 847 in N rows and M columns, the FOV to which the big cell unit 812 is irradiated is divided into the NXM area to determine the distance information of the object. I can.

According to another embodiment, one big cell unit 812 and a plurality of SPAD units or microcell units 842 may correspond. For example, the laser beam output from the BIXEL unit 812 in one row and one column is reflected by the scanning unit 830 and the object 850, so that the SPAD unit or microcell unit 842 in the first row and the first row and the second row is reflected. ) Can be received.

According to another embodiment, a plurality of big cell units 812 and one SPAD unit or microcell unit 842 may correspond. For example, the laser beam output from the BIXEL unit 812 in one row and one column may be reflected by the scanning unit 830 and the object 850 and received by the SPAD unit or the microcell unit 842 in one row and one column. have.

According to an embodiment, the plurality of big cell units 812 included in the laser output unit 810 may operate according to a certain sequence or may operate randomly. In this case, the SPAD unit or the microcell unit 842 of the receiving unit 840 may also operate in response to the operation of the big cell unit 812.

For example, after a first row big cell unit of the big cell array 811 operates, a third row big cell unit may operate. Then, the fifth big cell unit may operate, and then the seventh big cell unit may operate.

In this case, after the first row SPAD unit or microcell unit 842 of the receiving unit 840 operates, the third row SPAD unit or microcell unit 842 may operate. Then, the fifth SPAD unit or microcell unit 842 may operate, and then the seventh SPAD unit or microcell unit 842 may operate.

Also, for example, the big cell unit of the big cell array 811 may operate randomly. In this case, the SPAD unit or the microcell unit 842 of the receiver existing at a position corresponding to the position of the randomly operated big cell unit 812 may operate.

37 is a diagram for describing a semi-flash lidar according to another embodiment.

Referring to FIG. 37, a semi-flash lidar 900 according to another embodiment may include a laser output unit 910, a BCSC 920, and a reception unit 940.

The semi-flash lidar 900 according to an embodiment may include a laser output unit 910. Since the description of the laser output unit 910 may be duplicated with the laser output unit 810 of FIG. 35, a detailed description will be omitted.

The semi-flash lidar 900 according to an embodiment may include a BCSC 920. The description of the BCSC 920 may be duplicated with the BCSC 820 of FIG. 35, and a detailed description thereof will be omitted.

The semi-flash lidar 900 according to an embodiment may include a receiver 940. Since the description of the receiving unit 940 may be duplicated with the receiving unit 840 of FIG. 35, a detailed description will be omitted.

According to an embodiment, the semi-flash type lidar 900 may have a constant optical path between components.

For example, light output from the laser output unit 910 may be incident on the object 950 through the BCSC 920. In addition, light incident on the object 950 may be reflected and received by the receiving unit 940. A lens for increasing transmission and reception efficiency may be additionally inserted into the above optical path.

Compared with the semi-flash lidar 800 of FIG. 35, the semi-flash lidar 900 of FIG. 37 may not include a scanning unit. The scanning role of the scanning unit may be performed by the laser output unit 910 and the BCSC 920.

For example, the laser output unit 910 may include an addressable big cell array and may partially output a laser beam to an ROI by an addressable operation.

Also, for example, the BCSC 920 may include a collimation component and a steering component to provide a specific direction to the laser beam to irradiate the laser beam to a desired region of interest.

In addition, compared to the semi-flash lidar 800 of FIG. 35, the optical path of the semi-flash lidar 900 of FIG. 37 may be simplified. By simplifying the optical path, light loss during light reception can be minimized, and the possibility of occurrence of crosstalk can be reduced.

38 is a diagram for describing a configuration of a semi-flash lidar according to another embodiment.

Referring to FIG. 38, a semi-flash lidar 900 according to an embodiment may include a laser output unit 910 and a reception unit 940.

According to an embodiment, the laser output unit 910 may include a big cell array 911. For example, the big cell array 99110 may have an N X M matrix structure.

According to an embodiment, the big cell array 911 may include a plurality of big cell units 914. In this case, the big cell unit 914 may include a plurality of big cell emitters. For example, the big cell array 811 may include 1250 big cell units 914 having a 50 X 25 matrix structure, but is not limited thereto.

According to an embodiment, the big cell unit 914 may have a diverging angle. For example, the big cell unit 914 may have a horizontal diffusion angle 915 and a vertical diffusion angle 916. For example, the big cell unit 914 may have a horizontal diffusion angle 813 of 1.2 degrees and a vertical diffusion angle 814 of 1.2 degrees, but are not limited thereto.

According to an embodiment, the receiving unit 940 may include a SPAD array 941. For example, the SPAD array 841 may have an N X M matrix structure.

According to an embodiment, the SPAD array 941 may include a plurality of SPAD units 944. In this case, the SPAD unit 944 may include a plurality of SPAD pixels 947. For example, the SPAD unit 944 may include a 12 X 12 SPAD pixel 947.

Also, for example, the SPAD array 941 may include 1250 SPAD units 944 in a 50 X 25 matrix structure. In this case, the arrangement of the SPAD unit 944 may correspond to the arrangement of the big cell unit 914.

According to an embodiment, the SPAD unit 944 may have a FOV capable of receiving light. For example, the SPAD unit 944 may have a horizontal FOV 945 and a vertical FOV 946. For example, the SPAD unit 944 may have a horizontal FOV 945 of 1.2 degrees and a vertical FOV 946 of 1.2 degrees.

In this case, the FOV of the SPAD unit 944 may be proportional to the number of SPAD pixels 947 included in the SPAD unit 944. Alternatively, the FOV of the individual SPAD pixel 947 included in the SPAD unit 944 may be determined by the FOV of the SPAD unit 944.

For example, when the horizontal FOV 948 and the vertical FOV 949 of the individual SPAD pixel 947 are 0.1 degrees, if the SPAD unit 944 includes the SPAD pixel 947 of NXM, the SPAD unit 944 The horizontal FOV 945 can be 0.1*N, and the vertical FOV 946 can be 0.1*M.

Also, for example, when the horizontal FOV 945 and the vertical FOV 946 of the SPAD unit 944 is 1.2 degrees, and the SPAD unit 944 includes a 12 X 12 SPAD pixel 947, the individual SPAD pixel The horizontal FOV 948 and the vertical FOV 949 of 947 may be 0.1 degrees (1.2/12).

According to another embodiment, the receiving unit 840 may include a SiPM array 941. For example, the SiPM array 841 may have an N X M matrix structure.

According to an embodiment, the SiPM array 941 may include a plurality of microcell units 944. In this case, the microcell unit 944 may include a plurality of microcells 947. For example, the microcell unit 944 may include a 12 X 12 microcell 947.

Also, for example, the SiPM array 941 may include 1250 microcell units 944 of a 50 X 25 matrix structure. In this case, the arrangement of the microcell units 944 may correspond to the arrangement of the big cell units 914.

According to an embodiment, the microcell unit 944 may have a FOV capable of receiving light. For example, the microcell unit 944 may have a horizontal FOV 945 and a vertical FOV 946. For example, the microcell unit 944 may have a horizontal FOV 945 of 1.2 degrees and a vertical FOV 946 of 1.2 degrees.

In this case, the FOV of the microcell unit 944 may be proportional to the number of microcells 947 included in the microcell unit 944. Alternatively, the FOV of the individual microcells 947 included in the microcell unit 944 may be determined by the FOV of the microcell unit 944.

For example, when the horizontal FOV 948 and the vertical FOV 949 of the individual microcells 947 are 0.1 degrees, if the microcell unit 944 includes the microcells 947 of NXM, the microcell unit 944 ), the horizontal FOV 945 may be 0.1*N, and the vertical FOV 946 may be 0.1*M.

Also, for example, when the horizontal FOV 945 and the vertical FOV 946 of the microcell unit 944 is 1.2 degrees, and the microcell unit 944 includes a 12 X 12 microcell 947, the individual The horizontal FOV 948 and the vertical FOV 949 of the microcell 947 may be 0.1 degrees (1.2/12).

According to an embodiment, the big cell unit 914 of the laser output unit 910 and the SPAD unit or the microcell unit 944 of the receiving unit 940 may correspond to each other.

For example, the horizontal diffusion angle and the vertical diffusion angle of the big cell unit 914 may be the same as the horizontal FOV 945 and the vertical FOV 946 of the SPAD unit or microcell unit 944.

For example, a laser beam output from the big cell unit 914 in one row and one column may be reflected by the object 850 and received by the SPAD unit or the microcell unit 944 in one row and one column.

Also, for example, a laser beam output from the big cell unit 914 in N rows and M columns may be reflected by the object 850 and received by the SPAD unit or microcell unit 944 in the N rows and M columns.

At this time, the laser beam output from the big cell unit 914 in N rows and M columns and reflected by the object 850 is received by the SPAD unit or microcell unit 944 in the N rows and M columns, and the lidar device 900 is SPAD. It may have resolution by unit or microcell unit 944.

For example, if the SPAD unit or microcell unit 944 includes SPAD pixels or microcells 947 in N rows and M columns, the FOV to which the big cell unit 914 is irradiated is divided into the NXM area to determine the distance information of the object. I can.

According to another embodiment, one big cell unit 914 and a plurality of SPAD units or microcell units 944 may correspond. For example, a laser beam output from the bixel unit 914 in one row and one column may be reflected by the object 850 and received by the SPAD unit or microcell unit 944 in the first row and the first row and the second row. .

According to another embodiment, a plurality of big cell units 914 and one SPAD unit or microcell unit 944 may correspond. For example, a laser beam output from the big cell unit 914 in one row and one column may be reflected by the object 850 and received by the SPAD unit or the microcell unit 944 in one row and one column.

According to an embodiment, the plurality of big cell units 914 included in the laser output unit 910 may operate according to a certain sequence or may operate randomly. In this case, the SPAD unit or the microcell unit 944 of the receiving unit 940 may also operate in response to the operation of the big cell unit 914.

For example, after the big cell units of the 1st row and 1st column of the bigcell array 911 operate, the bigcell units of the 1st row and 3rd columns may operate. Then, the big cell units in the 1st row and 5th columns may operate, and then the bigcell units in the 1st row and 7th columns may operate.

At this time, after the SPAD unit or microcell unit 944 in the first row and the first column of the receiving unit 940 operates, the SPAD unit or the microcell unit 944 in the first row and the third column may operate. Then, the SPAD unit or microcell unit 944 in the first row and five columns may operate, and then the SPAD unit or the microcell unit 944 in the first row and seven columns may operate.

Also, for example, the big cell unit of the big cell array 911 may operate randomly. In this case, the SPAD unit or the microcell unit 944 of the receiver existing at a position corresponding to the position of the randomly operated big cell unit 914 may operate.

39 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 39, the laser output unit 6000 according to an embodiment may include at least some of a VCSEL array 6010, a collimation component 6020, and a steering component 6030, but is not limited thereto.

In this case, the VCSEL array 6010 may include at least one or more VCSEL emitters, and may include at least one or more VCSEL units composed of at least one or more VCSEL emitters.

In addition, the VCSEL array 6010 may output a laser. For example, a laser may be output from a VCSEL emitter included in the VCSEL array 6010, and a laser may be output from a VCSEL unit including at least one VCSEL emitter, but is not limited thereto.

In addition, the collimation component 6020 may collimate the laser output from the VCSEL array 6010.

More specifically, the collimation component 6020 may collimate a laser output from a VCSEL emitter included in the VCSEL array 6010, but is not limited thereto, and a VCSEL unit included in the VCSEL array 6010 It is also possible to collimate the laser output from.

In this case, the divergence angle of the laser output from the VCSEL array 6010 may be reduced.

For example, the laser output from the VCSEL emitter included in the VCSEL array 6010 is collimated from the collimation component 6020, and accordingly, the laser output from the VCSEL emitter included in the VCSEL array 6010 The divergence angle may be reduced to 1.2 degrees or less, but is not limited thereto.

In addition, for example, the laser output from the VCSEL unit included in the VCSEL array 6010 is collimated from the collimation component 6020, and accordingly, output from the VCSEL unit included in the VCSEL array 6010 The divergence angle of the laser may be reduced to 1.2 degrees or less, but is not limited thereto.

In addition, the reduced divergence angles are 0 degrees, 0.1 degrees, 0.2 degrees, 0.3 degrees, 0.4 degrees, 0.5 degrees, 0.6 degrees, 0.7 degrees, 0.8 degrees, 0.9 degrees, 1.0 degrees, 1.2 degrees, 1.3 degrees, 1.4 degrees, and 1.5 degrees. Various angles such as degrees, 1.6 degrees, 1.7 degrees, 1.8 degrees, 1.9 degrees, and 2.0 degrees may be used, but are not limited thereto.

Also, the collimation component 6020 may be implemented as an array.

For example, the collimation component 6020 may include at least one or more collimation elements, and may be implemented in a form in which the at least one or more collimation elements are arranged in an array, but is not limited thereto.

In addition, for example, the collimation component 6020 may include at least one or more collimation units including at least one or more collimation elements, and the at least one or more collimation units are arranged in an array. It may be, but is not limited thereto.

In addition, the collimation component 6020 may be formed to correspond to the VCSEL array 6010.

For example, the collimation component 6020 may be arranged in an array to correspond to the VCSEL array 6010, but is not limited thereto.

Also, for example, the collimation component 6020 may include a collimation element corresponding to a VCSEL emitter included in the VCSEL array 6010, but is not limited thereto.

Also, for example, the collimation component 6020 may include a collimation unit corresponding to a VCSEL unit included in the VCSEL array 6010, but is not limited thereto.

Also, for example, the collimation component 6020 may include a collimation element corresponding to a VCSEL unit included in the VCSEL array 6010, but is not limited thereto.

In addition, the steering component 6030 may steer the laser collimated from the collimation component 6020.

For example, when the laser output from the VCSEL emitter included in the VCSEL array 6010 is collimated from the collimation component 6020, the steering component 6030 is output from the VCSEL emitter and the collimation component The laser collimated from 6020 may be steered at a predetermined angle, but is not limited thereto.

In addition, for example, when the laser output from the VCSEL emitter included in the VCSEL array 6010 is collimated from the collimation component 6020, the steering component 6030 is a VCSEL unit including the VCSEL emitter. The lasers output from and collimated from the collimation component 6020 may be steered at a predetermined angle, but the present invention is not limited thereto.

In addition, for example, when the laser output from the VCSEL unit included in the VCSEL array 6010 is collimated from the collimation component 6020, the steering component 6030 is output from the VCSEL unit and The laser collimated from the alignment component 6020 may be steered at a predetermined angle, but is not limited thereto.

In addition, the predetermined angle to be steered is 0 degrees, 1 degree, 2 degrees, 3 degrees, 4 degrees, 5 degrees, 6 degrees, 7 degrees, 8 degrees, 9 degrees, 10 degrees, 20 degrees, 30 degrees, 40 degrees, Various angles such as 50 degrees, 60 degrees, 70 degrees, 80 degrees, 90 degrees, 100 degrees, 110 degrees, 120 degrees, 130 degrees, 140 degrees, 150 degrees, 160 degrees, 170 degrees, 180 degrees, etc. Not limited.

Also, the steering component 6030 may be implemented as an array.

For example, the steering component 6030 may include at least one or more steering elements, and the at least one or more steering elements may be arranged in an array, but is not limited thereto.

In addition, for example, the steering component 6030 may include at least one or more steering units including at least one or more steering elements, and may be implemented in a form in which the at least one or more steering units are arranged in an array. It is not limited to this.

In addition, the steering component 6030 may be formed to correspond to the VCSEL array 6010.

For example, the steering component 6030 may be arranged in an array to correspond to the VCSEL array 6010, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering element corresponding to a VCSEL emitter included in the VCSEL array 6010, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering unit corresponding to a VCSEL unit included in the VCSEL array 6010, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering element corresponding to a VCSEL unit included in the VCSEL array 6010, but is not limited thereto.

Also, the steering component 6030 may be formed corresponding to the collimation component 6020.

For example, the steering component 6030 may be arranged in an array to correspond to the collimation component 6020, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering element corresponding to the collimation element, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering element corresponding to the collimation unit, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering unit corresponding to the collimation unit, but is not limited thereto.

In addition, the steering component 6030 may steer the laser output from the VCSEL array 6010 in various directions.

For example, the steering component 6030 may steer the first laser 6001 in the first direction, the second laser 6002 may be steered in the second direction, and the third laser 6003 may be You can steer in the third direction.

In this case, as shown in FIG. 39, the first laser 6001 may be a laser output from the upper right portion of the VCSEL array 6010, and the second laser 6002 is the VCSEL array 6010 ), and the third laser 6003 may be a laser output from a lower right portion of the VCSEL array 6010, but is not limited thereto.

In addition, as shown in FIG. 39, the first direction in which the first laser 6001 is steered may mean a direction in the upper right of the field of view (FOV), and the second laser 6002 is steered in the first direction. The second direction may mean a right direction of the field of view (FOV), and the third direction in which the third laser 6003 is steered may mean a direction to the lower right of the field of view (FOV), but is not limited thereto. .

In addition, as illustrated in FIG. 39, the laser output unit 6000 may be formed so that the position at which the laser is output and the direction in which the laser is steered correspond.

In addition, as shown in FIG. 39, when the laser output unit 6000 is formed to correspond to the position of the laser to be output and the direction in which the laser is steered, the laser output unit 6000 is formed with an extension line of the laser to be steered. It can have a focus area.

In addition, the focus area may be used as an origin for distance measurement.

40 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 40, the laser output unit 6050 according to an embodiment may include at least some of a VCSEL array 6060, a collimation component 6070, and a steering component 6080, but is not limited thereto.

In this case, since the above-described contents may be applied to the VCSEL array 6050, the collimation component 6070, and the steering component 6080, a redundant description will be omitted.

Meanwhile, the steering component 6080 may steer the laser output from the VCSEL array 6060 in various directions.

For example, the steering component 6080 may steer the first laser 6051 in the first direction, the second laser 6052 may be steered in the second direction, and the third laser 6053 may be You can steer in the third direction.

In this case, as shown in FIG. 40, the first laser 6051 may be a laser output from an upper portion of the VCSEL array 6060, and the second laser 6052 is the VCSEL array 6060. The laser may be output from the central portion of the, and the third laser 6053 may be a laser output from the lower portion of the VCSEL array 6060, but is not limited thereto.

In addition, as shown in FIG. 40, the first direction in which the first laser 6051 is steered may mean a downward direction of the field of view (FOV), and the second direction in which the second laser 6052 is steered. The second direction may refer to a center direction of the viewing angle (FOV), and the third direction in which the third laser (6053) is steered may refer to an upward direction of the viewing angle (FOV), but is not limited thereto.

In addition, as illustrated in FIG. 40, the laser output unit 6050 may be formed such that a position at which the laser is output and a direction in which the laser is steered are opposite.

In addition, as shown in FIG. 40, when the laser output unit 6050 is formed so that the position of the laser to be output and the direction in which the laser is steered are opposite to each other, the laser output unit 6050 is a focus area where the steering laser is collected. Can have.

In addition, the focus area may be used as an origin for distance measurement.

41 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 41, the laser output unit 6100 according to an embodiment may include at least some of a VCSEL array 6110, a collimation component 6120, and a steering component 6130, but is not limited thereto.

In this case, since the above-described contents may be applied to the VCSEL array 6110, the collimation component 6120, and the steering component 6130, redundant descriptions will be omitted.

Meanwhile, the VCSEL array 6110 may operate only a part of at least one or more VCSEL emitters included in the VCSEL array 6110.

For example, the VCSEL array 6110 may operate according to a predetermined group, and more specifically, the VCSEL emitters included in the VCSEL array 6110 may operate individually, including at least one VCSEL emitter. The VCSEl unit may operate as one group, but is not limited thereto.

In addition, the VCSEL array 6110 may operate at different times for each predetermined group, and more specifically, the second VCSEL emitter after the first VCSEL emitter among the VCSEL emitters included in the VCSEL array 6110 operates. The second VCSEL unit may be operated, or after the first VCSEL unit among the VCSEL units included in the VCSEL array 6110 operates, but is not limited thereto.

For example, as shown in FIG. 41, a first laser 6101 may be output at a first time point, and a second laser 6102 may be output at a second time point, and at this time, the first laser Reference numeral 6101 may be a laser output from a first VCSEL emitter or a first VCSEL unit, and the second laser 6102 may be a laser output from a second VCSEL emitter or a second VCSEL unit, but is not limited thereto. .

In addition, the steering component 6130 may steer the laser output from the VCSEL array 6110 in various directions.

For example, the steering component 6130 may steer the first laser 6101 in the first direction and the second laser 6102 in the second direction.

In addition, as shown in FIG. 41, the first laser 6101 may be a laser output from a first group positioned at the upper right portion of the VCSEL array 6110, and the second laser 6102 is The VCSEL array 6110 may be a laser output from the second group positioned at the lower right portion of the VCSEL array 6110, but is not limited thereto.

In addition, the first and second groups may mean one VCSEL emitter, and may mean a VCSEL unit including at least one VCSEL emitter, but are not limited thereto.

In addition, as shown in FIG. 41, the timing at which the first laser 6101 and the second laser 6102 are output may be different. For example, the first laser 6101 may be output from the first group at a first time point, and the second laser 6102 may be output from the second group at a second time point. It doesn't work.

In addition, the irradiation direction of the laser output from the laser output unit 6100 may change over time. For example, the first laser 6101 output at the first viewpoint may be irradiated in the upper right direction of the viewing angle, and the second laser 6102 output at the second viewpoint may be irradiated in the lower right direction of the viewing angle. have.

Therefore, designing the laser output unit 6100 so that the irradiation direction changes over time can extend the scannable range without mechanical driving, which is a lidar device in which the laser output unit 6100 is disposed. Can be implemented as a solid-state-LiDAR device.

Hereinafter, the configuration of the laser output unit according to an embodiment of the present application will be described in detail. However, for convenience of explanation, the laser output array may be described as a VCSEL array, and the collimation component may be described as a micro lens, but the present invention is not limited thereto, and various laser output arrays and collimation components may be used.

42 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 42, the laser output unit 6200 according to an embodiment may include a VCSEL array 6210 and a collimation component 6220, but is not limited thereto.

In this case, the VCSEL array 6210 may include at least one or more VCSEL emitters. For example, the VCSEL array 6210 may include a first VCSEL emitter 6211.

In addition, the collimation component 6220 may include a micro lens array, and the micro lens array may include at least one micro lens element, and at least one micro lens element. It may include a micro lens unit.

Further, referring to FIG. 42A, the collimation component 6220 may collimate the laser output from the VCSEL array 6210. However, since the above-described contents may be applied, the overlapping description will be omitted.

Further, referring to FIG. 42A, the collimation component 6220 may be formed to correspond to the VCSEL array 6210. For example, the micro lens element included in the collimation component 6220 may be formed to correspond to the VCSEL emitter included in the VCSEL array 6210, but is not limited thereto.

In addition, in order to increase the collimation efficiency of the collimation component 6220, the VCSEL array 6210 and the collimation component 6220 may be arranged in a predetermined relationship.

Therefore, hereinafter, the arrangement relationship between the VCSEL array 6210 and the collimation component 6220 will be described in more detail.

Referring to (b) of FIG. 42, the first VCSEL emitter 6211 included in the VCSEL array 6210 may be formed to have a first diameter 6230, and in this case, the first diameter ( 6230 denotes the size of the first VCSEL emitter 6211, and may be for expressing the size of the first VCSEL emitter 6211, such as the length and diameter of one side, in one dimension.

In addition, referring to (b) of FIG. 42, the first VCSEL emitter 6211 and the second VCSEL emitter 6212 included in the VCSEL array 6210 may be arranged to have a first interval 6250. In this case, the first interval 6250 may be for expressing a distance between the first VCSEL emitter 6211 and the second VCSEL emitter 6212 in one dimension.

In addition, referring to (b) of FIG. 42, the first microlens element 6221 included in the collimation component 6220 may be formed to have a second diameter 6240, and in this case, 2 The diameter 6240 refers to the size of the first microlens element 6221, and may be for expressing the size of the first microlens element 6221, such as the length and diameter of one side, in one dimension.

In addition, referring to (b) of FIG. 42, the first micro-lens element 6221 corresponds to the first VCSEL emitter 6211 in order to collimate the laser output from the first VCSEL emitter 6211. Can be placed.

Further, referring to (b) of FIG. 42, in order to increase collimation efficiency, the second diameter 6240 of the first microlens element 6221 is the first of the first VCSEL emitter 6211 It may be larger than the diameter 6230. For example, the first diameter 6230 of the first VCSEL emitter 6211 may be 14 μm, and the second diameter 6240 of the first micro lens element 6221 may be 140 μm, but is not limited thereto. Does not.

Further, referring to FIG. 42B, in order to increase collimation efficiency, the second diameter 6240 of the first microlens element 6221 may correspond to the first gap 6250. . For example, the first gap 6250 may be 140 μm, and the second diameter 6240 may be 140 μm, but is not limited thereto.

Further, referring to FIG. 42B, in order to increase collimation efficiency, the first interval 6250 may be larger than the first diameter 6230 of the first VCSEL emitter 6211. For example, the first diameter 6230 of the first VCSEL emitter 6211 may be 14 μm, and the first gap 6250 may be 140 μm, but is not limited thereto.

Further, referring to FIG. 42B, in order to increase collimation efficiency and reduce thermal density, the first interval 6250 is the first diameter 6230 of the first VCSEL emitter 6211 It can be larger than a certain amount. For example, the first gap 6250 may be 5 times or more larger than the first diameter 6230 of the first VCSEL emitter 6211, but is not limited thereto.

43 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 43, the laser output unit 6300 according to an embodiment may include a VCSEL array 6310 and a collimation component 6320, but is not limited thereto.

In this case, the VCSEL array 6310 may include at least one or more VCSEL emitters. For example, the VCSEL array 6310 includes a first VCSEL emitter 6311, a second VCSEL emitter 6312, and a third It may include a VCSEL emitter 6313.

In addition, the collimation component 6320 may include a micro lens array, and the micro lens array may include at least one micro lens element, and at least one micro lens element. It may include a micro lens unit.

Also, referring to FIG. 43A, the collimation component 6320 may collimate a laser output from the VCSEL array 6310. However, since the above-described contents may be applied, the overlapping description will be omitted.

Also, referring to FIG. 43A, the collimation component 6320 may be formed to correspond to the VCSEL array 6210. For example, the micro lens element included in the collimation component 6320 may be formed to correspond to the VCSEL unit included in the VCSEL array 6310, but is not limited thereto.

In addition, in order to increase the collimation efficiency of the collimation component 6320, the VCSEL array 6310 and the collimation component 6320 may be arranged in a predetermined relationship.

Therefore, hereinafter, the arrangement relationship between the VCSEL array 6310 and the collimation component 6320 will be described in more detail.

Referring to (b) of FIG. 43, the first VCSEL emitter 6311 included in the VCSEL array 6310 may be formed to have a first diameter 6330, and in this case, the first diameter ( 6330 denotes the size of the first VCSEL emitter 6311, and may be for expressing the size of the first VCSEL emitter 6311 in one dimension, such as the length and diameter of one side.

In addition, referring to (b) of Figure 43, including the first VCSEL emitter (6311), the second VCSEL emitter (6312) and the third VCSEL emitter (6313) included in the VCSEL array 6310 The first VCSEL unit may be formed to have a second diameter 6350, in which case, the second diameter 6350 means the size of the first VCSEL unit, and the first VCSEL unit It may be for expressing the size of 1 VCSEL unit in one dimension.

Also, referring to (b) of FIG. 43, the first microlens element 6321 included in the collimation component 6320 may be formed to have a third diameter 6240. In this case, the 3 The diameter 6340 means the size of the first microlens element 6321, and may be for expressing the size of the first microlens element 6321 in one dimension, such as the length and diameter of one side.

In addition, referring to FIG. 43B, the first microlens element 6321 may be disposed to correspond to the first VCSEL unit in order to collimate the laser output from the first VCSEL unit.

Further, referring to FIG. 43B, in order to increase collimation efficiency, the third diameter 6340 of the first microlens element 6321 is the second diameter 6350 of the first VCSEL unit. Can be greater than For example, the second diameter 6350 of the first VCSEL unit may be 1.3 mm, and the third diameter 6340 of the first micro lens element 6321 may be 1.4 mm, but is not limited thereto. .

44 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 44, the laser output unit 6400 according to an embodiment may include a VCSEL array 6410 and a collimation component 6420, but is not limited thereto.

In this case, the VCSEL array 6410 may include at least one or more VCSEL emitters. For example, the VCSEL array 6410 includes a first VCSEL emitter 6411, a second VCSEL emitter 6412, and a third It may include a VCSEL emitter (6413).

In addition, the VCSEL array 6410 may include a VCSEL unit including at least one VCSEL emitter, for example, the first VCSEL emitter 6411, the second VCSEL emitter 6412, and the third It may include a first VCSEL unit including a VCSEL emitter 6413.

In addition, the collimation component 6420 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component ( The 6420 may include a first micro lens element 6421, a second micro lens element 6422, and a third micro lens element 6423.

In addition, the collimation component 6420 may include a micro lens unit including at least one micro lens element, for example, the first micro lens element 6421 and the second micro lens element 6422 And a first micro lens unit including a third micro lens element 6423.

Also, referring to FIG. 44, the collimation component 6420 may collimate a laser output from the VCSEL array 6410. However, since the above-described contents may be applied, duplicate descriptions will be omitted.

In addition, referring to FIG. 44, a laser output from the VCSEL array 6410 and collimated through the collimation component 6420 may have a divergence angle greater than or equal to a predetermined angle. For example, a laser output from the VCSEL array 6410 and collimated through the collimation component 6420 may have a divergence angle of 1.2 degrees, but is not limited thereto.

Also, referring to FIG. 44, at least one laser output from at least one or more VCSEL emitters included in the VCSEL unit may form one beam profile. For example, the first, second, and third lasers output from the first, second, and third VCSEL emitters 6411, 6412, 6413 are the first, second, and third microlens elements 6421, 6422 and 6423) may be collimated, respectively, and one beam profile may be formed, but is not limited thereto.

Also, referring to FIG. 44, at least two or more lasers output from at least two or more VCSEL emitters included in the VCSEL unit may at least partially overlap, and one beam profile may be formed based on the overlapped regions. For example, the first, second, and third lasers may be collimated to have a predetermined divergence angle through the first, second, and third microlens elements 6421, 6422 and 6423, and the divergence At least part of the overlap may be made due to the angle, and one beam profile may be formed based on the overlapped area, but the present invention is not limited thereto.

45 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 45, the laser output unit 6500 according to an embodiment may include a VCSEL array 6510, a collimation component 6520, and a steering component 6530, but is not limited thereto.

In this case, the VCSEL array 6510 may include at least one or more VCSEL emitters. For example, the VCSEL array 6510 includes a first VCSEL emitter 6511, a second VCSEL emitter 6512, and a third It may include a VCSEL emitter (6513).

In addition, the VCSEL array 6510 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 6510 includes a first VCSEL unit including a first VCSEL emitter 6511, a second VCSEL unit including a second VCSEL emitter 6512, and a third VCSEL emitter 6513. It may include a third VCSEL unit.

In addition, the collimation component 6520 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 6520 may include a first micro lens element 6251, a second micro lens element 6252, and a third micro lens element 6523.

In addition, the collimation component 6520 may include a micro lens unit including at least one micro lens element. For example, the collimation component 6520 includes a first micro lens unit including the first micro lens element 6251, a second micro lens unit including the second micro lens element 6252, and the second micro lens unit 6520. A third micro lens unit including 3 micro lens elements 6523 may be included.

In addition, the steering component 6530 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 6530 may include a first prism element 6531, a second prism element 6532, and a third prism element 6533.

Also, referring to FIG. 45A, the collimation component 6520 may collimate the laser output from the VCSEL array 6510. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, referring to FIG. 45A, the steering component 6530 may be output from the VCSEL array 6510 to steer the collimated laser through the collimation component 6520. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, referring to FIG. 45A, the steering component 6530 may steer a laser output from a VCSEL emitter included in the VCSEL array 6510. For example, the first prism element 6531 included in the steering component 6530 may steer the laser output from the first VCSEL emitter, but is not limited thereto.

Also, referring to FIG. 45A, the steering component 6530 may steer the laser output from the VCSEL unit included in the VCSEL array 6510. For example, the first prism element 6531 included in the steering component 6530 may steer the laser output from the first VCSEL unit including the first VCSEL emitter 6511, but is not limited thereto. Does not.

In addition, referring to FIG. 45A, the steering component 6530 may steer a laser group including at least one laser output from the VCSEL unit included in the VCSEL array 6510 at the same angle. . For example, the first prism element 6531 included in the steering component 6530 includes a first laser group 6541 output from a first VCSEL unit including the first VCSEL emitter 6511. Steering can be performed at an angle, but is not limited thereto.

In addition, referring to FIG. 45A, the steering component 6530 may steer at least two or more laser groups output from at least two or more VCSEL units included in the VCSEL array 6510 at different angles. . For example, the first prism element 6531 steers the first laser group 641 output from the first VCSEL unit including the first VCSEL emitter 6511 at a first angle, and the second prism The element 6532 steers the second laser group 6542 output from the second VCSEL unit including the second VCSEL emitter 6512 at a second angle, and the third prism element 6533 is the third The third laser group 6543 output from the third VCSEL unit including the VCSEL emitter 6513 may be steered at a third angle, but is not limited thereto.

In addition, since the above-described information may be applied to the arrangement relationship between the VCSEL array 6510 and the collimation component 6520, a redundant description will be omitted.

Meanwhile, in order to increase the steering efficiency of the steering component 6530, the VCSEL array 6510, the collimation component 6520, and the steering component 6530 may be arranged to have a predetermined relationship.

Therefore, hereinafter, the arrangement of the VCSEL array 6510, the collimation component 6520, and the steering component 6530 will be described in more detail.

Referring to (b) of FIG. 45, the first VCSEL unit including the first VCSEL emitter 6511 included in the VCSEL array 6510 may be formed to have a first diameter 6550, In this case, the first diameter 6550 refers to the size of the first VCSEL unit, and may be for expressing the size of the first VCSEL unit, such as the length and diameter of one side, in one dimension.

In addition, referring to (b) of FIG. 45, the first micro lens unit including the first micro lens element 6251 included in the collimation component 6520 is formed to have a second diameter 6560 In this case, the second diameter 6560 means the size of the first microlens unit, and is for expressing the size of the first microlens unit, such as the length and diameter of one side, in one dimension. I can.

In addition, referring to (b) of FIG. 45, the first prism element 6531 included in the steering component 6530 may be formed to have a third diameter 6570, and in this case, the third The diameter 6570 refers to the size of the first prism element 6531, and may be for expressing the size of the first prism element 6531, such as the length and diameter of one side, in one dimension.

In addition, referring to FIG. 45B, the first prism element 6531 may be disposed to correspond to the first VCSEL unit in order to steer the first laser group output from the first VCSEL unit.

In addition, referring to FIG. 45B, in order to increase steering efficiency, the third diameter 6570 of the first prism element 6531 is larger than the first diameter 6550 of the first VCSEL unit. I can. For example, the first diameter 6550 of the first VCSEL unit may be 1.3 mm, and the third diameter 6570 of the first prism element 6531 may be 1.4 mm, but is not limited thereto.

In addition, referring to (b) of FIG. 45, the first prism element 6531 is output from the first VCSEL unit to steer the first laser group collimated through the first microlens unit. It may be disposed to correspond to the first micro lens unit.

Further, referring to FIG. 45B, in order to increase steering efficiency, the third diameter 6570 of the first prism element 6531 is greater than the second diameter 6560 of the first microlens unit. Can be greater than or equal to For example, the second diameter 6560 of the first micro lens unit may be 1.4 mm, and the third diameter 6570 of the first prism element 6531 may be 1.41 mm, but is not limited thereto. .

46 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 46, the laser output unit 6600 according to an embodiment may include a VCSEL array 6610, a collimation component 6620, and a steering component 6630, but is not limited thereto.

In this case, the VCSEL array 6610 may include at least one or more VCSEL emitters. For example, the VCSEL array 6610 includes a first VCSEL emitter 6611, a second VCSEL emitter 6612, and a third VCSEL emitter. It may include a VCSEL emitter (6613).

In addition, the VCSEL array 6610 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 6610 includes a first VCSEL unit including a first VCSEL emitter 6611, a second VCSEL unit including a second VCSEL emitter 6612, and a third VCSEL emitter 6613. It may include a third VCSEL unit.

Further, the collimation component 6620 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 6620 may include a first micro lens element 6621, a second micro lens element 6622, and a third micro lens element 6623.

In addition, the collimation component 6620 may include a micro lens unit including at least one micro lens element. For example, the collimation component 6620 includes a first micro lens unit including the first micro lens element 6621, a second micro lens unit including the second micro lens element 6622, and the second A third micro lens unit including 3 micro lens elements 6623 may be included.

In addition, the steering component 6630 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 6630 may include a first prism element 6633, a second prism element 6632, and a third prism element 6633.

In addition, the steering component 6630 may include a prism unit including at least one prism element. For example, the steering component 6630 may include a first prism unit including the first prism element 6631, a second prism unit including the second prism element 6632, and the third prism element 6633. It may include a third prism unit including ).

Further, referring to FIG. 46A, the collimation component 6620 may collimate the laser output from the VCSEL array 6610. However, since the above-described contents may be applied, the overlapping description will be omitted.

Further, referring to FIG. 46A, the steering component 6630 may be output from the VCSEL array 6610 to steer the collimated laser through the collimation component 6620. However, since the above-described contents may be applied, the overlapping description will be omitted.

Further, referring to FIG. 46A, the steering component 6530 may steer a laser output from a VCSEL emitter included in the VCSEL array 6610. For example, the first prism element 663 included in the steering component 6630 may steer the laser output from the first VCSEL emitter, but is not limited thereto.

Further, referring to FIG. 46A, the steering component 6630 may steer the laser output from the VCSEL unit included in the VCSEL array 6610. For example, the first prism unit including the first prism element (6631) included in the steering component (6630) is a laser output from the first VCSEL unit including the first VCSEL emitter (6611) It can be steered, but is not limited thereto.

Also, referring to (a) of FIG. 46, the steering component 6630 may steer a laser group including at least one laser output from the VCSEL unit included in the VCSEL array 6610 at the same angle. . For example, the first prism unit including the first prism element (6631) included in the steering component (6630) is the first VCSEL unit that includes the first VCSEL emitter (6611). 1 The laser group 6641 may be steered at the first angle, but is not limited thereto.

Further, referring to (a) of FIG. 46, the steering component 6630 may steer at least two or more laser groups output from at least two or more VCSEL units included in the VCSEL array 6610 at different angles. . For example, the first prism unit including the first prism element (6631) includes the first laser group (6641) output from the first VCSEL unit including the first VCSEL emitter (6611). Steering at a first angle, the second prism unit including the second prism element (6632) is a second laser group (6642) output from the second VCSEL unit including the second VCSEL emitter (6612) Steering at a second angle, the third prism unit including the third prism element (6633) is a third laser group (6643) output from the third VCSEL unit including the third VCSEL emitter (6613) ) Can be steered at a third angle, but is not limited thereto.

In addition, since the above-described information may be applied to the arrangement relationship between the VCSEL array 6610 and the collimation component 6620, a redundant description will be omitted.

Meanwhile, in order to increase the steering efficiency of the steering component 6630, the VCSEL array 6610, the collimation component 6620, and the steering component 6630 may be arranged to have a predetermined relationship.

Therefore, hereinafter, the arrangement of the VCSEL array 6610, the collimation component 6620, and the steering component 6630 will be described in more detail.

Referring to (b) of FIG. 46, the first VCSEL emitter 6611 included in the VCSEL array 6610 may be formed to have a first diameter 6650, and in this case, the first diameter ( 6650 denotes the size of the first VCSEL emitter 6611, and may be for expressing the size of the first VCSEL unit, such as the length and diameter of one side, in one dimension.

In addition, referring to (b) of FIG. 46, the first microlens element 6621 included in the collimation component 6620 may be formed to have a second diameter 6660, in which case, The second diameter 6660 means the size of the first microlens element 6621, and may be for expressing the size of the first microlens element 6621 in one dimension, such as a length and a diameter of one side. have.

Further, referring to (b) of FIG. 46, the first prism element 663 included in the steering component 6630 may be formed to have a third diameter 6670, and in this case, the third The diameter 6670 refers to the size of the first prism element 6631, and may be for expressing the size of the first prism element 663, such as the length and diameter of one side, in one dimension.

In addition, referring to (b) of Figure 46, the first prism element (6631) is arranged to correspond to the first VCSEL emitter (6611) to steer the laser output from the first VCSEL emitter (6611). I can.

Further, referring to FIG. 46B, in order to increase steering efficiency, the third diameter 6670 of the first prism element 6631 is the first diameter 6670 of the first VCSEL emitter 6611. Can be greater than ). For example, the first diameter 6650 of the first VCSEL emitter 6611 may be 14 μm, and the third diameter 6670 of the first prism element 6670 may be 140 μm, but is not limited thereto. .

Also, referring to (b) of FIG. 46, the first prism element 663 is output from the first VCSEL emitter 6611 to steer the collimated laser through the first microlens element 6261. For this purpose, it may be disposed to correspond to the first micro lens element 6261.

Further, referring to FIG. 46B, in order to increase steering efficiency, the third diameter 6670 of the first prism element 663 is the second diameter 6670 of the first microlens element 6261 ( 6660). For example, the second diameter 6660 of the first microlens element 6621 may be 140 μm, and the third diameter 6670 of the first prism element 663 may be 141 μm, but is not limited thereto. Does not.

47 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 47, the laser output unit 6700 according to an embodiment may include a VCSEL array 6730.

In this case, the VCSEL array 6730 may include at least one or more VCSEL emitters, for example, the VCSEL array 6730 may include a first VCSEL emitter 6711 and a second VCSEL emitter 6712. However, it is not limited thereto.

In addition, the VCSEL array 6730 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 6730 includes a first VCSEL unit 6721 including the first VCSEL emitter 6711 and a second VCSEL unit 6722 including the second VCSEL emitter 6712 It can be, but is not limited thereto.

In addition, at least one or more VCSEL emitters included in the VCSEL array 6730 may operate independently and output lasers independently. For example, the first VCSEL emitter 6711 and the second VCSEL emitter 6712 included in the VCSEL array 6730 may operate independently of each other to independently output a laser, but are not limited thereto.

In addition, at least one or more VCSEL units included in the VCSEL array 6730 may operate independently and output lasers independently. For example, the first VCSEL unit 6721 and the second VCSEL unit 6722 included in the VCSEL array 6730 may operate independently of each other to independently output a laser, but are not limited thereto.

In addition, individual VCSEL emitters included in the VCSEL unit are connected to each other to operate, so that lasers can be output at the same time. For example, at least one VCSEL emitter excluding the first VCSEL emitter 6711 and the first VCSEL emitter 6711 included in the first VCSEL unit 6721 are connected to each other to operate, and simultaneously output a laser. It can be, but is not limited thereto.

In addition, lasers output from individual VCSEL emitters included in the VCSEL unit may form a laser group. For example, lasers output from at least one VCSEL emitter excluding the first VCSEL emitter 6711 and the first VCSEL emitter 6711 included in the first VCSEL unit 6721 form a first laser group The laser output from at least one VCSEL emitter excluding the second VCSEL emitter 6712 and the second VCSEL emitter 6712 included in the second VCSEL unit 6721 forms a second laser group. It can be, but is not limited thereto.

In addition, in order to increase the output efficiency, collimation efficiency, and steering efficiency of the laser output unit 6700, the spacing between the VCSEL units included in the VCSEL array 6730 is the spacing between the VCSEL emitters included in the VCSEL unit. Can be greater than For example, the distance between the first VCSEL unit 6721 and the second VCSEL unit 6722 may be larger than the distance between adjacent VCSEL emitters included in the first VCSEL unit 6721, but limited thereto. It doesn't work.

In addition, as described above, when the interval between VCSEL units is larger than the interval between adjacent VCSEL emitters, the VCSEL array 6730, the collimation component, and the steering component may have a predetermined arrangement relationship, and this will be described in detail below. I will do it.

48 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 48, the laser output unit 6800 according to an embodiment may include a VCSEL array 6810 and a collimation component 6820, but is not limited thereto.

In this case, the VCSEL array 6810 may include at least one VCSEL emitter. For example, the VCSEL array 6810 may include a first VCSEL emitter 6811, a second VCSEL emitter 6812, and a third VCSEL emitter 6813.

In addition, the VCSEL array 6810 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 6810 includes a first VCSEL unit including the first VCSEL emitter 6811 and the second VCSEL emitter 6812 and a second VCSEL including the third VCSEL emitter 6813 May contain units.

In addition, the collimation component 6820 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 6820 may include a first micro lens element 6821, a second micro lens element 6822 and a third micro lens element 6822.

In addition, the collimation component 6820 may include a micro lens unit including at least one micro lens element. For example, the collimation component 6820 includes a first micro lens unit and a third micro lens element 6822 including the first micro lens element 6821 and the second micro lens element 6822 It may include a second micro lens unit.

Further, referring to FIG. 48, the first VCSEL emitter 6811 and the second VCSEL emitter 6812 may be disposed to have a first gap 6830, in which case, the first gap 6830 May be for expressing a distance between the first VCSEL emitter 6811 and the second VCSEL emitter 6812 in one dimension.

In addition, referring to FIG. 48, the first VCSEL unit may be formed to have a first diameter 6840, in which case, the first diameter 6840 means the size of the first VCSEL unit. , May be for expressing the size of the first VCSEL unit, such as the length and diameter of one side, in one dimension.

In addition, referring to FIG. 48, the first VCSEL unit and the second VCSEL unit may be arranged to have a second interval 6850, in which case, the second interval 6850 is the first VCSEL unit. It may be for expressing the distance between the and the second VCSEL unit in one dimension.

Further, referring to FIG. 48, the first micro lens unit may be formed to have a second diameter 6860, in which case, the second diameter 6860 means the size of the first micro lens unit. As a result, the size of the first microlens unit, such as the length and diameter of one side, may be expressed in one dimension.

Also, referring to FIG. 48, the first microlens unit and the second microlens unit may be disposed to have a third spacing 6870, wherein the third spacing 6870 is the first The distance between the micro lens unit and the second micro lens unit may be expressed in one dimension.

Further, referring to FIG. 48, in order to reduce interference between lasers output from different VCSEL units, the second interval 6850 may be greater than or equal to the first interval 6830.

Further, referring to FIG. 48, in order to increase collimation efficiency, the second interval 6850 may be greater than or equal to the third interval 6870.

Also, referring to FIG. 48, in order to increase the collimation efficiency of lasers output from different VCSEL units, the third interval 6870 may be greater than or equal to the first interval 6830.

Further, referring to FIG. 48, in order to reduce the size of the laser output unit 6800, the second interval 6850 may be smaller than or equal to the first diameter 6840.

Further, referring to FIG. 48, in order to reduce the size of the laser output unit 6800, the third interval 6870 may be smaller than or equal to the second diameter 6860.

49 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 49, the laser output unit 6900 according to an embodiment may include a VCSEL array 6910, a collimation component 6920, and a steering component 6930, but is not limited thereto.

In this case, the VCSEL array 6910 may include a first VCSEL emitter 6911, a second VCSEL emitter 6912 and a third VCSEL emitter 6913, and the first and second VCSEL emitters 6911, The first VCSEL unit including 6912) and the second VCSEL unit including the third VCSEL emitter 6913 may be included, and the above-described information may be applied, so a redundant description will be omitted.

In addition, the collimation component 6920 may include a first micro lens element 6921, a second micro lens element 6922, and a third micro lens element 6923, and the first and second micro lenses A first micro lens unit including elements 6921 and 6922, and a second micro lens unit including the third micro lens element 6923 may be included. The description will be omitted.

In addition, the steering component 6930 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 6930 may include a first prism element 6931 and a second prism element 6932.

In addition, a first gap 6930 that is a gap between the first VCSEL emitter 6911 and the second VCSEL emitter 6912, a first diameter 6940 that is a diameter of the first VCSEL unit, and the first VCSEL unit And a second gap 6950 that is a gap between the second VCSEL unit, a second diameter 6960 that is a diameter of the first micro lens unit, and a third gap that is a gap between the first and second micro lens units ( 6970) may be applied to the above description, and therefore, a redundant description will be omitted.

Meanwhile, the first prism element 6931 may be formed to have a third diameter 6980, in which case, the third diameter 6980 means the size of the first prism element 6931. , It may be for expressing the size of the first prism element 6931 in one dimension, such as the length and diameter of one side.

In addition, the first prism element 6931 and the second prism element 6932 may be disposed to have a fourth gap 6990, in which case, the fourth gap 6990 is the first prism element It may be for expressing the distance between the second prism element 6931 and the second prism element 6932 in one dimension.

Also, referring to FIG. 49, in order to increase steering efficiency, the second interval 6950 may be greater than or equal to the fourth interval 6990.

Also, referring to FIG. 49, in order to increase the steering efficiency of the collimated laser, the third interval 6970 may be greater than or equal to the fourth interval 6990.

Also, referring to FIG. 49, in order to reduce the size of the laser output unit 6900, the fourth interval 6990 may be smaller than or equal to the first diameter 6940.

Also, referring to FIG. 49, in order to reduce the size of the laser output unit 6900, the fourth interval 6990 may be smaller than or equal to the second diameter 6960.

Further, referring to FIG. 49, in order to reduce the size of the laser output unit 6900, the fourth interval 6990 may be smaller than or equal to the third diameter 6980.

Also, referring to FIG. 49, in order to increase collimation and steering efficiency, the first diameter 6940 may be smaller than or equal to the second diameter 6960, and the second diameter 6960 is the third It may be less than or equal to diameter 6980.

In addition, referring to FIG. 49, distances between the prism elements may be different from each other, but are not limited thereto.

50 is a diagram for describing a steering component according to an exemplary embodiment.

Referring to FIG. 50, the steering component 7000 according to an embodiment may include a prism.

)를 가지고 형성될 수 있으나, 이에 한정되지 않는다.In addition, the prism has a first angle (

) May be formed, but is not limited thereto.

In addition, the prism may acquire the laser 7001 and steer the acquired laser 7001 at a predetermined angle.

)로 입사될 수 있다.In addition, the laser 7001 obtained from the prism has a second angle (

).

)는 상기 제1 각도(

)와 동일 할 수 있다.At this time, the second angle (

) Is the first angle (

) Can be the same.

)로 스티어링 될 수 있다.In addition, the laser 7001 is at a third angle (

) Can be steered.

)는 굴절의 법칙에 의해 결정될 수 있다.At this time, the third angle (

) Can be determined by the law of refraction.

)는 아래의 수학식 1에 의해 결정될 수 있다.More specifically, when the refractive index of the prism is n2 and the refractive index of air is n3, the third angle (

) May be determined by Equation 1 below.

Equation 1

)는 아래의 수학식 2를 만족할 수 있다.In addition, the first angle (

) May satisfy Equation 2 below.

Equation 2

51 is a diagram for describing a steering component according to an exemplary embodiment.

Referring to FIG. 51, the steering component 7010 according to an embodiment may include a prism.

)를 가지고 형성될 수 있으나, 이에 한정되지 않는다.In addition, the prism has a first angle (

) May be formed, but is not limited thereto.

In addition, the prism may acquire the laser 70101 and steer the acquired laser 70101 at a predetermined angle.

)를 가질 수 있으나, 이에 한정되지 않는다.In addition, the laser 7011 has a constant divergence angle (

), but is not limited thereto.

)에 의해 상기 레이저(7011)의 적어도 일부는 제3 각도(

)로 상기 프리즘의 일면에 입사될 수 있으며, 상기 레이저(7011)의 적어도 다른 일부는 제4 각도(

)로 상기 프리즘의 일면에 입사될 수 있으나, 이에 한정되지 않는다.In addition, the laser 7011 obtained from the prism may be incident on one surface of the prism at a second angle, and the divergence angle (

) By at least a part of the laser 7011 is at a third angle (

) May be incident on one surface of the prism, and at least another part of the laser 7011 may have a fourth angle (

) May be incident on one surface of the prism, but is not limited thereto.

)는

가 될 수 있다.At this time, the third angle (

) Is

Can be.

)는

가 될 수 있다.In addition, the fourth angle (

) Is

Can be.

)로 스티어링 될 수 있다.In addition, at least a portion of the laser 7011 is at a fifth angle from the normal to one surface of the prism (

) Can be steered.

)는 굴절의 법칙에 의해 결정될 수 있다.At this time, the fifth angle (

) Can be determined by the law of refraction.

)는 아래의 수학식 3에 의해 결정될 수 있다.More specifically, when the refractive index of the prism is n2 and the refractive index of air is n3, the fifth angle (

) May be determined by Equation 3 below.

Equation 3

)는 아래의 수학식 4를 만족할 수 있다.In addition, the steering laser is irradiated to the outside, and the first angle (

) May satisfy Equation 4 below.

Equation 4

52 is a diagram for describing a steering component according to an exemplary embodiment.

Referring to FIG. 52, the steering component 7020 according to an embodiment may include a prism.

In this case, the prism may acquire the laser 7021 and steer the acquired laser 7021 at a predetermined angle.

In addition, when the laser 7021 passes through the interface, at least a portion of the laser 7021 may be reflected.

For example, the degree of reflection of the S-polarized portion of the laser 7021 may be determined according to Equation 5, and the degree of reflection of the P-polarized portion of the laser 7021 may be determined according to Equation 6.

Equation 5

Equation 6

는 입사각을 의미할 수 있으며, 레이저가 굴절률이 n1인 매질로부터 굴절률이 n2인 매질로 진행하는 경우, n은 n2/n1을 의미할 수 있다.At this time,

May mean an incidence angle, and when the laser proceeds from a medium having a refractive index of n1 to a medium having a refractive index of n2, n may mean n2/n1.

In addition, as shown in FIG. 52, the laser 7021 steered through the prism may pass through at least two interfaces.

)이고 프리즘의 굴절률이 n1인 경우 상기 제1 계면에서의 반사 정도는 수학식 7 및 수학식 8에 의해 결정될 수 있다.The first interface may mean an interface incident on the prism from air, and the angle incident on the prism is a first angle (

) And the refractive index of the prism is n1, the degree of reflection at the first interface may be determined by Equations 7 and 8.

Equation 7

Equation 8

)이고, 프리즘의 굴절률이 n1인 경우, 상기 제2 계면에서의 반사 정도는 수학식 9 및 수학식 10에 의해 결정될 수 있다.In addition, the second interface may mean an interface incident on the air from the prism, and the angle incident on the air is a second angle (

), and when the refractive index of the prism is n1, the degree of reflection at the second interface may be determined by Equations 9 and 10.

Equation 9

Equation 10

)는 상기 프리즘의 굴절률을 n1이라 하는 경우 수학식 11에 의해 결정될 수 있다.In addition, a third angle (

) May be determined by Equation 11 when the refractive index of the prism is n1.

Equation 11

)와 반사율 사이의 관계를 도출해 낼 수 있다.Therefore, when the above contents are combined, the third angle (

) And reflectance.

)와 반사율 사이의 관계를 그래프로 나타낸 도면이다.52(b) shows the third angle (

It is a graph showing the relationship between) and reflectance.

)가 15도 이하인 경우 반사율이 5% 미만일 수 있으나, 이에 한정되지 않는다.52B, the prism according to an embodiment includes the third angle (

When) is 15 degrees or less, the reflectance may be less than 5%, but is not limited thereto.

)는 반사율이 5% 미만이 되는 15도 이하가 될 수 있으며, 반사율이 10% 미만이 되는 25도 이하가 될 수 있으나, 이에 한정되지 않는다.Therefore, in order to increase the steering efficiency and irradiate the laser under the condition that the reflectance is minimized, the third angle (

) May be 15 degrees or less when the reflectance is less than 5%, and may be 25 degrees or less when the reflectance is less than 10%, but is not limited thereto.

53 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 53, the laser output unit 7100 according to an embodiment may include a VCSEL array 7110, a collimation component 7120, and a steering component 7130, but is not limited thereto.

In this case, the VCSEL array 7110 may include at least one or more VCSEL emitters. For example, the VCSEL array 7110 includes a first VCSEL emitter 7111, a second VCSEL emitter 7112, and a third It may include a VCSEL emitter (7113).

In addition, the VCSEL array 7110 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 7110 includes a first VCSEL unit including a first VCSEL emitter 7111, a second VCSEL unit including a second VCSEL emitter 7112, and a third VCSEL emitter 7113 It may include a third VCSEL unit.

In addition, the collimation component 7120 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 7120 may include a first micro lens element 7121, a second micro lens element 7122, and a third micro lens element 7123.

In addition, the collimation component 7120 may include a micro lens unit including at least one micro lens element. For example, the collimation component 7120 includes a first micro lens unit including the first micro lens element 7121, a second micro lens unit including the second micro lens element 7122, and the second micro lens unit 7120. A third micro lens unit including 3 micro lens elements 7123 may be included.

In addition, the steering component 7130 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 7130 may include a first prism element 7131, a second prism element 7132, and a third prism element 7133.

In addition, the collimation component 7120 may collimate the laser output from the VCSEL array 7110. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, the steering component 7130 may be output from the VCSEL array 7110 and steer the collimated laser through the collimation component 7120. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, each VCSEL emitter included in the VCSEL array 7110 may be connected to an independent electrical contact in order to be independently controlled. For example, the first VCSEL emitter 7111 may be connected to a first contact 7141 and a second contact 7151, and the second VCSEL emitter 7112 may be a third contact 7142 and a fourth contact. The third VCSEL emitter 7113 may be connected to the fifth contact 7143 and the sixth contact 7153, but is not limited thereto.

In addition, the first, third, and fifth contacts 7141,7142,7143 may mean a P-contact, and the second, fourth, and sixth contacts 7151,7152,7153 are N-contacts. It may mean, but is not limited thereto.

In addition, each VCSEL emitter included in the VCSEL array 7110 may operate at different times. For example, the first VCSEL emitter 7111 may be operated through the first contact 7141 and the second contact 7151 at a first time point to output a first laser, and at a second time point, the The second VCSEL emitter 7112 may be operated through the third contact 7142 and the fourth contact 7152 to output a second laser. 6 The third VCSEL emitter 7113 may be operated through the contact 7153 to output a third laser, but is not limited thereto.

54 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 54, the laser output unit 7200 according to an embodiment may include a VCSEL array 7210, a collimation component 7220, and a steering component 7230, but is not limited thereto.

In this case, the VCSEL array 7210 may include at least one or more VCSEL emitters. For example, the VCSEL array 7210 includes a first VCSEL emitter 7211, a second VCSEL emitter 7212, and a third It may include a VCSEL emitter (7213).

In addition, the VCSEL array 7210 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 7210 includes a first VCSEL unit including a first VCSEL emitter 7211, a second VCSEL unit including a second VCSEL emitter 7212, and a third VCSEL emitter 7213. It may include a third VCSEL unit.

In addition, the collimation component 7220 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 7220 may include a first micro lens element 7201, a second micro lens element 7222 and a third micro lens element 7223.

In addition, the collimation component 7220 may include a micro lens unit including at least one micro lens element. For example, the collimation component 7220 includes a first microlens unit including the first microlens element 7221, a second microlens unit including the second microlens element 7222, and the second microlens unit 7220. A third micro lens unit including 3 micro lens elements 7223 may be included.

In addition, the steering component 7230 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 7230 may include a first prism element 7231, a second prism element 7232, and a third prism element 7233.

In addition, the collimation component 7220 may collimate the laser output from the VCSEL array 7210. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, the steering component 7230 may be output from the VCSEL array 7210 and steer the collimated laser through the collimation component 7220. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, each VCSEL unit included in the VCSEL array 7210 may be connected to an independent electrical contact in order to be independently controlled. For example, the first VCSEL emitter 7211 may be connected to a first contact 7241 and a second contact 7251, and the second VCSEL emitter 7212 may be a third contact 7242 and a fourth contact. The third VCSEL emitter 7213 may be connected to the fifth contact 723 and the sixth contact 7253, but is not limited thereto.

In addition, each VCSEL unit included in the VCSEL array 7210 may share electrical contact between VCSEL emitters included in the VCSEL unit in order to be controlled for each VCSEL unit. For example, each VCSEL emitter included in the first VCSEL unit may share the first contact 7241 and the second contact 7251, and each VCSEL emitter included in the second VCSEL unit They may share the third contact 7242 and the fourth contact 7252, and each VCSEL emitter included in the third VCSEL unit includes the fifth contact 723 and the sixth contact 7253 Can be shared, but is not limited thereto.

In addition, each VCSEL emitter included in the VCSEL array 7210 may operate at different times. For example, the first VCSEL emitter 7211 may be operated through the first contact 7241 and the second contact 7231 at a first time point to output a first laser. The second VCSEL emitter 7212 may be operated through the third contact 7242 and the fourth contact 7252 to output a second laser. 6 The third VCSEL emitter 7213 may be operated through the contact 7253 to output a third laser, but is not limited thereto.

In addition, each VCSEL unit included in the VCSEL array 7210 may operate at different times. For example, the first VCSEL unit may be operated through the first contact 7241 and the second contact 7251 at a first time point to output a first laser group, and at a second time point, the third The second VCSEL unit may be operated through the contact 7242 and the fourth contact 7252 to output a second laser group, and at a third time point, the fifth contact 723 and the sixth contact 7253 ), the third VCSEL unit may be operated to output a third laser group, but is not limited thereto.

Hereinafter, different laser output units according to various embodiments will be described.

In this case, since the above descriptions may be applied, redundant descriptions will be omitted.

55 is a diagram for describing a laser output unit according to an exemplary embodiment.

More specifically, referring to FIG. 55, the laser output unit 8000 according to an embodiment may include a laser output element array 8010, a first prism array 8020, and a third prism array 8030. , Is not limited thereto.

In this case, FIG. 55 may be a view of the laser output unit 8000 according to an exemplary embodiment viewed along at least one axial direction, but is not limited thereto.

The laser output element array 8010 includes a first laser output element 8011, a second laser output element 8012, a third laser output element 8013, a fourth laser output element 8014, and a fifth laser output element. (8015) and a sixth laser output device (8016) may be included.

In this case, the first to sixth laser output devices 8011 to 8016 may include at least one VCSEL and a VCSEL unit including at least one VCSEL, but for convenience of description, it will be described as a laser output device. do.

In addition, the first to sixth laser output devices 8011 to 8016 may respectively output a first laser, a second laser, a third laser, a fourth laser, a fifth laser, and a sixth laser.

In addition, the first to sixth laser output devices 8011 to 8016 may each include optics for collimation, but may be omitted and described for convenience of description.

In addition, the first prism array 8020 includes a first prism element 8021, a second prism element 8022, a third prism element 8023, a fourth prism element 8024, and a fifth prism element 8025. And a sixth prism element 8026.

In this case, the first to sixth prism elements 8021 to 8026 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the first to sixth prism elements 8021 to 8026 may steer lasers output from the first to sixth laser output elements 8011 to 8016.

More specifically, the first prism element 8021 may steer the first laser output from the first laser output element 8011 in a first direction, and the second prism element 8022 may be 2 The second laser output from the laser output element 8012 can be steered in a second direction, and the third prism element 8023 is configured to control the third laser output from the third laser output element 8013. Steering may be performed in a third direction, and the fourth prism element 8024 may steer the fourth laser output from the fourth laser output element 8014 in a fourth direction, and the fifth prism element ( The 8025 can steer the fifth laser output from the fifth laser output element 8015 in a fifth direction, and the sixth prism element 8026 is output from the sixth laser output element 8016. The sixth laser may be steered in the sixth direction, but is not limited thereto.

In this case, the first to sixth directions may be different directions along at least one axial direction. For example, the first to sixth directions may be different directions in a range of -10 degrees to +10 degrees along the y-axis direction, but are not limited thereto.

In addition, the second prism array 8030 may include a seventh prism element 8031.

In this case, the seventh prism element 8031 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the seventh prism element 8031 may steer the laser output from the first to sixth laser output elements 8011 to 8016.

More specifically, the seventh prism element 8031 is output from the first laser output element 8011 and the first laser steered in the first direction through the first prism element 8021 is transmitted to the seventh. It can be steered in a direction, and the second laser output from the second laser output element 8012 and steered in the second direction through the second prism element 8022 can be steered in an eighth direction, The third laser output from the third laser output element 8013 and steered in the third direction through the third prism element 8023 may be steered in a ninth direction, and the fourth laser output element ( The fourth laser output from 8014 and steered in the fourth direction through the fourth prism element 8024 may be steered in a tenth direction, and output from the fifth laser output element 8015 The fifth laser steered in the fifth direction can be steered in the eleventh direction through the 5 prism element 8025, and the sixth prism element 8026 is output from the sixth laser output element 8016. The sixth laser steered in the sixth direction may be steered in the twelfth direction, but is not limited thereto.

In this case, the seventh to twelfth directions may be the same direction according to the shape of the seventh prism element 8031, but are not limited thereto.

In addition, the first to sixth lasers may be steered through different portions of the seventh prism element 8031.

For example, after the first laser is output from the first laser output element 8011, it is steered in the first direction through the first prism element 8021 to be the first of the seventh prism element 8031. It may be steered in the seventh direction through the portion.

In addition, for example, after the second laser is output from the second laser output element 8012, it is steered in the second direction through the second prism element 8022 so that the seventh prism element 8031 is It may be steered in the eighth direction through the second part.

In addition, for example, after the third laser is output from the third laser output element 8013, it is steered in the third direction through the third prism element 8023, and the seventh prism element 8031 is It may be steered in the ninth direction through the third part.

In addition, for example, after the fourth laser is output from the fourth laser output element 8014, it is steered in the fourth direction through the fourth prism element 8024, and the seventh prism element 8031 is It may be steered in the tenth direction through the fourth part.

In addition, for example, after the fifth laser is output from the fifth laser output element 8015, it is steered in the fifth direction through the fifth prism element 8025, and the seventh prism element 8031 is It may be steered in the eleventh direction through the fifth part.

In addition, for example, after the sixth laser is output from the sixth laser output element 8016, it is steered in the sixth direction through the sixth prism element 8026, and the seventh prism element 8031 is It may be steered in the twelfth direction through the sixth part.

Further, inclinations of the first to sixth portions of the seventh prism element 8031 may be the same, but are not limited thereto.

In addition, the first to sixth prism elements 8021 to 8026 are configured to reduce the distance between the first to sixth portions of the seventh prism element 8031 for steering the first to sixth lasers. Can be designed.

For example, the first to sixth prism elements 8021 to 8026 have a tilt of the first prism element 8023 so that the first to sixth lasers are steered in a focused shape. ), and the inclination of the first to sixth prism elements 8021 to 8026 may be designed to steer each of the first to sixth lasers in the center direction, but is not limited thereto. .

In addition, the first to sixth lasers may be irradiated in different directions by selectively passing through the first to seventh prism elements 8021,8022,8023,8024,8025,8026,8031, respectively.

For example, after the first laser is output from the first laser output device 8011, it is steered in the first direction through the first prism element 8021, and through the seventh prism element 8031. Steering in the seventh direction may be irradiated in the thirteenth direction.

In addition, for example, after the second laser is output from the second laser output element 8012, it is steered in the second direction through the second prism element 8022, and the seventh prism element 8031 Through the steering in the eighth direction may be irradiated in the 14th direction.

In addition, for example, after the third laser is output from the third laser output element 8013, it is steered in the third direction through the third prism element 8023, and the seventh prism element 8031 Through the steering in the ninth direction may be irradiated in the fifteenth direction.

In addition, for example, after the fourth laser is output from the fourth laser output element 8014, it is steered in the fourth direction through the fourth prism element 8024, and the seventh prism element 8031 Through the steering in the tenth direction may be irradiated in the sixteenth direction.

In addition, for example, after the fifth laser is output from the fifth laser output element 8015, it is steered in the fifth direction through the fifth prism element 8025, and the seventh prism element 8031 Through the steering in the eleventh direction may be irradiated in the seventeenth direction.

In addition, for example, after the sixth laser is output from the sixth laser output element 8016, it is steered in the sixth direction through the sixth prism element 8026, and the seventh prism element 8031 Through the steering in the 12th direction may be irradiated in the 18th direction.

In this case, the thirteenth to eighteenth directions may be different directions, but are not limited thereto.

56 is a diagram for describing a laser output unit according to an exemplary embodiment.

More specifically, referring to FIG. 56, the laser output unit 8100 according to an embodiment may include a laser output element array 8110, a first prism array 8120, and a second prism array 8130. , Is not limited thereto.

In this case, FIG. 56 may be a view of the laser output unit 8100 according to an exemplary embodiment as viewed along at least one axial direction, and the laser output unit 8000 according to FIG. 55 is a different axis from that of FIG. 55. The drawing may be viewed along the direction, but is not limited thereto.

The laser output element array 8110 includes a first laser output element 8111, a second laser output element 8112, a third laser output element 8113, a fourth laser output element 8114, and a fifth laser output element. (8115), a sixth laser output element (8116) may be included.

In this case, the first to sixth laser output elements 8111 to 8116 may include at least one VCSEL or a VCSEL unit including at least one VCSEL, but for convenience of explanation, it will be described as a laser output element. do.

In addition, the first to sixth laser output devices 8111 to 8116 may respectively output a first laser, a second laser, a third laser, a fourth laser, a fifth laser, and a sixth laser.

In addition, the first to sixth laser output devices 8111 to 8116 may each include optics for collimation, but may be omitted and described for convenience of description.

In addition, the first prism array 8120 may include a first prism element 8121.

In this case, the first prism element 8121 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the first prism element 8121 may steer the laser output from the first to sixth laser output elements 8111 to 8116.

More specifically, the first prism element 8121 may steer the first laser output from the first laser output element 8111 in a first direction, and output from the second laser output element 8112 The second laser can be steered in a second direction, the third laser output from the third laser output element 8113 can be steered in a third direction, and the fourth laser output element 8214 The fourth laser output from may be steered in a fourth direction, the fifth laser output from the fifth laser output element 8215 may be steered in a fifth direction, and the sixth laser output element ( The sixth laser output from 8116 may be steered in a sixth direction.

In this case, the first to sixth directions may be the same direction according to the shape of the first prism element 8121, but are not limited thereto.

In addition, the second prism array 8130 includes a second prism element 8131, a third prism element 8132, a fourth prism element 8133, a fifth prism element 8134, and a sixth prism element 8135. And a seventh prism element 8136.

In this case, the second to seventh prism elements 8131 to 8136 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the second to seventh prism elements 8131 to 8136 may steer the lasers output from the first to sixth laser output elements 8111 to 8116.

More specifically, the second prism element 8131 is output from the first laser output element 8111 and steers the first laser in the first direction through the first prism element 8121 in a seventh direction. The second laser, which is output from the second laser output element 8112 and steered in the second direction through the first prism element 8121, can be steered in an eighth direction. The third laser output from the third laser output element 8113 and steered in the third direction through the first prism element 8121 can be steered in a ninth direction, and the fourth laser output element 8214 ) And the fourth laser steered in the fourth direction through the first prism element 8121 may be steered in a tenth direction, and the fourth laser is output from the fifth laser output element 8215 and the first The fifth laser steered in the fifth direction through the prism element 8121 can be steered in the eleventh direction, and is output from the sixth laser output element 8161 through the first prism element 8121. The sixth laser steered in the sixth direction may be steered in the twelfth direction, but is not limited thereto.

In this case, the seventh to twelfth directions may be different directions along at least one axial direction. For example, the seventh to twelfth directions may be different directions in a range of -10 degrees to +10 degrees along the x-axis direction, but are not limited thereto.

In addition, the first to sixth lasers may be steered through different portions of the first prism element 8121 and may be steered through different prism elements, respectively.

For example, after the first laser is output from the first laser output element 8111, it is steered in a first direction through a first portion of the first prism element 8121, and the second prism element 8131 ) Can be steered in the seventh direction.

In addition, for example, after the second laser is output from the second laser output element 8112, it is steered in a second direction through the second portion of the first prism element 8121, and the third prism element It may be steered in the eighth direction through the 8132.

In addition, for example, after the third laser is output from the third laser output element 8113, it is steered in a third direction through a third portion of the first prism element 8121, and the fourth prism element It may be steered in the ninth direction through the 8133.

In addition, for example, after the fourth laser is output from the fourth laser output element 8214, it is steered in a fourth direction through a fourth portion of the first prism element 8121, and the fifth prism element It may be steered in the tenth direction through the 8134.

In addition, for example, after the fifth laser is output from the fifth laser output element 8215, it is steered in a fifth direction through a fifth portion of the first prism element 8121, and the sixth prism element It may be steered in the eleventh direction through the 8135.

In addition, for example, after the sixth laser is output from the sixth laser output element 8116, it is steered in a sixth direction through a sixth portion of the first prism atrium 8121, and the seventh prism It may be steered in the twelfth direction through the element 8136.

Further, inclinations of the first to sixth portions of the first prism element 8121 may be the same, but are not limited thereto.

In addition, the second to seventh prism elements 8131 to 8136 are steered in a shape in which the first to sixth lasers are focused, so that the inclination of the second prism element 8131 is It may be designed to be greater than the inclination, and the inclination of the second to seventh prism elements 8131 to 8136 may be designed to steer each of the first to sixth lasers in the center direction, but is not limited thereto.

In addition, the first to sixth lasers may be irradiated in different directions by selectively passing through the first to seventh prism elements 8121,8131,8132,8133,8134,8135,8136, respectively.

For example, after the first laser is output from the first laser output device 8111, it is steered in the first direction through the first prism element 8121, and through the second prism element 8131. Steering in the seventh direction may be irradiated in the thirteenth direction.

In addition, for example, after the second laser is output from the second laser output element 8112, it is steered in the second direction through the first prism element 8121, and the third prism element 8132 Through the steering in the eighth direction may be irradiated in the 14th direction.

In addition, for example, after the third laser is output from the third laser output element 8113, it is steered in the third direction through the first prism element 8121, and the fourth prism element 8133 Through the steering in the ninth direction may be irradiated in the fifteenth direction.

In addition, for example, after the fourth laser is output from the fourth laser output element 8214, it is steered in the fourth direction through the first prism element 8121, and the fifth prism element 8134 Through the steering in the tenth direction may be irradiated in the sixteenth direction.

In addition, for example, after the fifth laser is output from the fifth laser output element 8215, it is steered in the fifth direction through the first prism element 8121, and the sixth prism element 8135 Through the steering in the eleventh direction may be irradiated in the seventeenth direction.

In addition, for example, after the sixth laser is output from the sixth laser output element 8216, it is steered in the sixth direction through the first prism element 8121, and the seventh prism element 8136 Through the steering in the 12th direction may be irradiated in the 18th direction.

In this case, the thirteenth to eighteenth directions may be different directions, but are not limited thereto.

Further, the laser output unit described above with reference to FIGS. 55 and 56 may be the same laser output unit viewed along different axes, but is not limited thereto.

57 is a diagram for describing a laser output unit according to an exemplary embodiment.

More specifically, referring to FIG. 57, the laser output unit 8200 according to an embodiment may include a laser output element array 8210, a first prism array 8220, and a third prism array 8230. , Is not limited thereto.

In this case, FIG. 55 may be a view of the laser output unit 8200 according to an exemplary embodiment viewed along at least one axial direction, but is not limited thereto.

The laser output element array 8210 includes a first laser output element 8211, a second laser output element 8212, a third laser output element 8213, a fourth laser output element 8214, and a fifth laser output element. 8215 and a sixth laser output device 8216 may be included.

In this case, the first to sixth laser output elements 8211 to 8216 may include at least one VCSEL or a VCSEL unit including at least one VCSEL, but for convenience of description, it will be described as a laser output element. do.

In addition, the first to sixth laser output devices 8211 to 8216 may respectively output a first laser, a second laser, a third laser, a fourth laser, a fifth laser, and a sixth laser.

In addition, the first to sixth laser output devices 8211 to 8216 may each include optics for collimation, but may be omitted and described for convenience of description.

In addition, the first prism array 8220 includes a first prism element 821, a second prism element 8222, a third prism element 8223, a fourth prism element 8224, and a fifth prism element 8225. And a sixth prism element 8226.

In this case, the first to sixth prism elements 821 to 8226 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the first to sixth prism elements 821 to 8226 may steer the lasers output from the first to sixth laser output elements 8211 to 8216.

More specifically, the first prism element 821 may steer the first laser output from the first laser output element 8211 in a first direction, and the second prism element 8222 may be 2 The second laser output from the laser output element 8212 can be steered in a second direction, and the third prism element 8223 may control the third laser output from the third laser output element 8213. Steering may be performed in a third direction, and the fourth prism element 8224 may steer the fourth laser output from the fourth laser output element 8214 in a fourth direction, and the fifth prism element ( 8225 may steer the fifth laser output from the fifth laser output element 8215 in a fifth direction, and the sixth prism element 8226 is output from the sixth laser output element 8216 The sixth laser may be steered in the sixth direction, but is not limited thereto.

In this case, the first to sixth directions may be different directions along at least one axial direction. For example, the first to sixth directions may be different directions in a range of -10 degrees to +10 degrees along the y-axis direction, but are not limited thereto.

In addition, the second prism array 8230 may include a seventh prism element 8231.

In this case, the seventh prism element 8231 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the seventh prism element 8231 may steer the laser output from the first to sixth laser output elements 8211 to 8216.

More specifically, the seventh prism element 8231 is output from the first laser output element 8211 and the first laser steered in the first direction through the first prism element 821 is a seventh. It can be steered in a direction, and the second laser output from the second laser output element 8212 and steered in the second direction through the second prism element 8222 can be steered in an eighth direction, The third laser output from the third laser output element 8213 and steered in the third direction through the third prism element 8223 may be steered in a ninth direction, and the fourth laser output element ( The fourth laser output from 8214 and steered in the fourth direction through the fourth prism element 8224 may be steered in a tenth direction, and output from the fifth laser output element 8215 The fifth laser steered in the fifth direction can be steered in the eleventh direction through the 5 prism element 8225, and the sixth prism element 8226 is output from the sixth laser output element 8216. The sixth laser steered in the sixth direction may be steered in the twelfth direction, but is not limited thereto.

In addition, the first to sixth lasers may be steered through different portions of the seventh prism element 8231.

For example, after the first laser is output from the first laser output element 8211, the first laser is steered in the first direction through the first prism element 821 to be the first of the seventh prism element 8231. It may be steered in the seventh direction through the portion.

In addition, for example, after the second laser is output from the second laser output element 8212, it is steered in the second direction through the second prism element 8222 to the seventh prism element 8231. It may be steered in the eighth direction through the second part.

In addition, for example, after the third laser is output from the third laser output element 8213, it is steered in the third direction through the third prism element 8223 to the seventh prism element 8231. It may be steered in the ninth direction through the third part.

In addition, for example, after the fourth laser is output from the fourth laser output element 8214, it is steered in the fourth direction through the fourth prism element 8224 and the seventh prism element 8231 is It may be steered in the tenth direction through the fourth part.

In addition, for example, after the fifth laser is output from the fifth laser output element 8215, it is steered in the fifth direction through the fifth prism element 8225 to the seventh prism element 8231. It may be steered in the eleventh direction through the fifth part.

In addition, for example, after the sixth laser is output from the sixth laser output element 8216, it is steered in the sixth direction through the sixth prism element 8226 and the seventh prism element 8231 is It may be steered in the twelfth direction through the sixth part.

Further, inclinations of the first to sixth portions of the seventh prism element 8231 may be the same, but are not limited thereto.

In addition, the first to sixth prism elements 821 to 8226 are configured to increase the distance between the first to sixth portions of the seventh prism element 8231 for steering the first to sixth lasers. Can be designed.

For example, the first to sixth prism elements 8221 to 8226 are steered in a shape in which the first to sixth lasers are emitted, so that the inclination of the first prism element 821 is the third prism element 8223 ), and the inclination of the first to sixth prism elements 821 to 8226 may be designed to steer each of the first to sixth lasers in a direction radiating from the center. Not limited.

Further, the length of at least one side of the second prism array 8230 may be longer than the length of at least one side of the first prism array 8220, but is not limited thereto.

In addition, the first to sixth lasers may be irradiated in different directions by selectively passing through the first to seventh prism elements 8221,8222,8223,8224,8225,8226, and 8231, respectively.

For example, after the first laser is output from the first laser output device 8211, it is steered in the first direction through the first prism element 821, and through the seventh prism element 8231. Steering in the seventh direction may be irradiated in the thirteenth direction.

In addition, for example, after the second laser is output from the second laser output element 8212, it is steered in the second direction through the second prism element 8222, and the seventh prism element 8231 Through the steering in the eighth direction may be irradiated in the 14th direction.

In addition, for example, after the third laser is output from the third laser output element 8213, it is steered in the third direction through the third prism element 8223, and the seventh prism element 8231 Through the steering in the ninth direction may be irradiated in the fifteenth direction.

In addition, for example, after the fourth laser is output from the fourth laser output element 8214, it is steered in the fourth direction through the fourth prism element 8224, and the seventh prism element 8231 Through the steering in the tenth direction may be irradiated in the sixteenth direction.

In addition, for example, after the fifth laser is output from the fifth laser output element 8215, it is steered in the fifth direction through the fifth prism element 8225, and the seventh prism element 8231 Through the steering in the eleventh direction may be irradiated in the seventeenth direction.

In addition, for example, after the sixth laser is output from the sixth laser output element 8216, it is steered in the sixth direction through the sixth prism element 8226, and the seventh prism element 8231 Through the steering in the 12th direction may be irradiated in the 18th direction.

In this case, the thirteenth to eighteenth directions may be different directions, but are not limited thereto.

58 is a diagram for describing a laser output unit according to an exemplary embodiment.

More specifically, referring to FIG. 58, the laser output unit 8300 according to an embodiment may include a laser output element array 8310, a first prism array 8320, and a second prism array 8330. , Is not limited thereto.

In this case, FIG. 58 may be a view of the laser output unit 8300 according to an exemplary embodiment as viewed along at least one axial direction, and the laser output unit 8200 according to FIG. 57 is a different axis from that of FIG. 57. The drawing may be viewed along the direction, but is not limited thereto.

The laser output element array 8310 includes a first laser output element 8311, a second laser output element 8312, a third laser output element 8313, a fourth laser output element 8314, and a fifth laser output element. 8315 and a sixth laser output element 8316 may be included.

In this case, the first to sixth laser output elements 8311 to 8316 may include at least one VCSEL or a VCSEL unit including at least one VCSEL, but for convenience of description, it will be described as a laser output element. do.

In addition, the first to sixth laser output devices 8311 to 8316 may respectively output a first laser, a second laser, a third laser, a fourth laser, a fifth laser, and a sixth laser.

In addition, the first to sixth laser output devices 8311 to 8316 may each include optics for collimation, but may be omitted and described for convenience of description.

In addition, the first prism array 8320 may include a first prism element 8321.

In this case, the first prism element 8321 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the first prism element 8321 may steer the laser output from the first to sixth laser output elements 8311 to 8316.

More specifically, the first prism element 8321 may steer the first laser output from the first laser output element 8311 in a first direction, and output from the second laser output element 8312 The second laser can be steered in a second direction, and the third laser output from the third laser output element 8313 can be steered in a third direction, and the fourth laser output element 8314 The fourth laser output from may be steered in a fourth direction, the fifth laser output from the fifth laser output element 8315 may be steered in a fifth direction, and the sixth laser output element ( The sixth laser output from 8316) may be steered in a sixth direction.

In this case, the first to sixth directions may be the same direction according to the shape of the first prism element 8321, but are not limited thereto.

In addition, the second prism array 8330 includes a second prism element 8331, a third prism element 8332, a fourth prism element 833, a fifth prism element 8334, and a sixth prism element 8335. And a seventh prism element 8336.

In this case, the second to seventh prism elements 8331 to 8336 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the second to seventh prism elements 8331 to 8336 may steer lasers output from the first to sixth laser output devices 8311 to 8316.

More specifically, the second prism element 8331 is output from the first laser output device 8311 and steers the first laser in the first direction through the first prism element 8321 in a seventh direction. The second laser, which is output from the second laser output element 8312 and steered in the second direction through the first prism element 8321, can be steered in an eighth direction. The third laser output from the third laser output element 8313 and steered in the third direction through the first prism element 8321 may be steered in a ninth direction, and the fourth laser output element 8314 ) And the fourth laser steered in the fourth direction through the first prism element 8321 may be steered in a tenth direction, and output from the fifth laser output element 8315 to the first The fifth laser steered in the fifth direction through the prism element 8321 can be steered in the eleventh direction, and is output from the sixth laser output element 8316 through the first prism element 8321. The sixth laser steered in the sixth direction may be steered in the twelfth direction, but is not limited thereto.

In this case, the seventh to twelfth directions may be different directions along at least one axial direction. For example, the seventh to twelfth directions may be different directions in a range of -10 degrees to +10 degrees along the x-axis direction, but are not limited thereto.

In addition, the first to sixth lasers may be steered through different portions of the first prism element 8321 and may be steered through different prism elements.

For example, after the first laser is output from the first laser output element 8311, it is steered in a first direction through a first portion of the first prism element 8321, and the second prism element 8331 ) Can be steered in the seventh direction.

In addition, for example, after the second laser is output from the second laser output element 8312, it is steered in a second direction through a second portion of the first prism element 8321, and the third prism element It may be steered in the eighth direction through the 8332.

In addition, for example, after the third laser is output from the third laser output element 8313, it is steered in a third direction through a third portion of the first prism element 8321, and the fourth prism element It may be steered in the ninth direction through the 833.

In addition, for example, after the fourth laser is output from the fourth laser output element 8314, it is steered in a fourth direction through a fourth portion of the first prism element 8321, and the fifth prism element It may be steered in the tenth direction through the 8334.

In addition, for example, after the fifth laser is output from the fifth laser output element 8315, it is steered in a fifth direction through a fifth portion of the first prism element 8321, and the sixth prism element It may be steered in the eleventh direction through the 8335.

In addition, for example, after the sixth laser is output from the sixth laser output element 8316, it is steered in a sixth direction through a sixth portion of the first prism alement 8321, and the seventh prism It may be steered in the twelfth direction through the element 8336.

Further, inclinations of the first to sixth portions of the first prism element 8321 may be the same, but are not limited thereto.

In addition, the second to seventh prism elements (8331 to 8336) are steered in a shape in which the first to sixth lasers are emitted, so that the inclination of the second prism element (8331) is It may be designed to be smaller than the inclination, and the inclination of the second to seventh prism elements 8331 to 8336 may be designed to steer in a direction radiating from the center of each of the first to sixth lasers, but is not limited thereto. Does not.

In addition, the first to sixth lasers may be irradiated in different directions by selectively passing through the first to seventh prism elements 8321,8331,8332,8333,8334,8335,8336, respectively.

For example, after the first laser is output from the first laser output device 8311, it is steered in the first direction through the first prism element 8321, and through the second prism element 8331. Steering in the seventh direction may be irradiated in the thirteenth direction.

In addition, for example, after the second laser is output from the second laser output element 8312, it is steered in the second direction through the first prism element 8321, and the third prism element 8332 Through the steering in the eighth direction may be irradiated in the 14th direction.

In addition, for example, after the third laser is output from the third laser output element 8313, it is steered in the third direction through the first prism element 8321, and the fourth prism element 833 Through the steering in the ninth direction may be irradiated in the fifteenth direction.

In addition, for example, after the fourth laser is output from the fourth laser output element 8314, it is steered in the fourth direction through the first prism element 8321, and the fifth prism element 8334 Through the steering in the tenth direction may be irradiated in the sixteenth direction.

In addition, for example, after the fifth laser is output from the fifth laser output element 8315, it is steered in the fifth direction through the first prism element 8321, and the sixth prism element 8335 Through the steering in the eleventh direction may be irradiated in the 17th direction.

In addition, for example, after the sixth laser is output from the sixth laser output element 8316, it is steered in the sixth direction through the first prism element 8321, and the seventh prism element 8336 Through the steering in the 12th direction may be irradiated in the 18th direction.

In this case, the thirteenth to eighteenth directions may be different directions, but are not limited thereto.

In addition, the laser output unit described above with reference to FIGS. 57 and 58 may be the same laser output unit viewed along different axes, but is not limited thereto.

59 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 59, a laser output unit 8400 according to an embodiment may include a laser output element array 8410, a first prism array 8420, and a second prism array 8430, and FIG. 59 Although each component is shown separately for convenience of description, each component may be manufactured separately, and at least two or more components may be manufactured integrally, but the present invention is not limited thereto.

In addition, for convenience of explanation, the description will be made using a first axis and a second axis as shown in FIG. 59, and the first axis and the second axis mean an arbitrary axis for describing the arrangement between each component. can do. For example, the first axis may refer to an x-axis and the second axis may refer to a y-axis, but the present invention is not limited thereto, and may refer to at least one axis constituting a coordinate system such as a Cartesian coordinate system, a cylindrical coordinate system, and a spherical coordinate system.

The laser output device array 8410 may include a first laser output device 8411, a second laser output device 8412, a third laser output device 8413, and a fourth laser output device 8414.

In this case, the first to fourth laser output devices 8411 to 8414 may include at least one VCSEL or a VCSEL unit including at least one VCSEL, but for convenience of description, it is described as a laser output device. It should be.

In addition, the first to fourth laser output devices 8411 to 8414 may respectively output a first laser, a second laser, a third laser, and a fourth laser.

In addition, the first laser output device and the second laser output device may be disposed along the second axis, but are not limited thereto.

In addition, the first laser output device and the third laser output device may be disposed along the first axis, but are not limited thereto.

In addition, the second laser output device and the fourth laser output device may be disposed along the first axis, but are not limited thereto.

In addition, the third laser output device and the fourth laser output device may be disposed along the second axis, but are not limited thereto.

In addition, the first to fourth laser output devices 8411 to 8414 may each include optics for collimation, but may be omitted and described for convenience of description.

In addition, the first prism array 8420 may include a first prism element 8421 and a second prism element 8422.

In this case, the first and second prism elements 8421 and 8422 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the first and second prism elements 8421 and 8422 may steer lasers output from the first to fourth laser output elements 8411 to 8414.

More specifically, the first prism element 8421 may steer the first laser output from the first laser output element 8411 in a first direction, and output from the second laser output element 8412 The second laser may be steered in a second direction, but is not limited thereto.

In this case, the first direction and the second direction may be the same direction according to the shape of the first prism element 8421, but are not limited thereto.

In addition, the second prism element 8422 may steer the third laser output from the third laser output element 8413 in a third direction, and the The fourth laser may be steered in the fourth direction, but is not limited thereto.

In this case, the third direction and the fourth direction may be the same direction according to the shape of the second prism element 8422, but are not limited thereto.

Further, inclinations of the first prism element 8421 and the second prism element 8422 may be different from each other, but are not limited thereto.

In addition, when the inclinations of the first prism element 8421 and the second prism element 8422 are different from each other, the first direction and the third direction may be different directions along the first axis. The second and fourth directions may be different directions along the first axis, the first and fourth directions may be different directions along the first axis, and the second and third directions Directions may be different directions along the first axis, but are not limited thereto.

In addition, the first prism element (8421) is to steer the first and second lasers output from the first laser output element (8411) and the second laser output element (8412) arranged along the second axis. For this purpose, the length in the second axial direction may be arranged to be longer than the length in the first axial direction, but the present invention is not limited thereto.

In addition, the second prism element (8422) is to steer the third and fourth lasers output from the third laser output element (8413) and the fourth laser output element (8414) arranged along the second axis. For this purpose, the length in the second axial direction may be disposed to be longer than the length in the first axial direction, but the present invention is not limited thereto.

In addition, the first and second lasers may be steered through different portions of the first prism element 8421.

For example, the first laser may be steered in the first direction through a first portion of the first prism element 8421 after being output from the first laser output element 8411, and the second laser May be steered in the second direction through the second portion of the first prism element 8421 after being output from the second laser output element 8412.

In this case, when the shape of the first portion and the shape of the second portion of the first prism element 8421 are the same, the first direction and the second direction may be the same, but the present invention is not limited thereto. When the shape of the first portion and the shape of the second portion of the first prism element 8421 are different, the first direction and the second direction may be different.

In addition, the third and fourth lasers may be steered through different portions of the second prism element 8422.

For example, after the third laser is output from the third laser output element 8413, it may be steered in the third direction through the first portion of the second prism element 8422, and the fourth laser May be steered in the fourth direction through the second portion of the second prism element 8422 after being output from the fourth laser output element 8414.

In this case, if the shape of the first portion and the shape of the second portion of the second prism element 8422 are the same, the third direction and the fourth direction may be the same, but the present invention is not limited thereto. 2 When the shape of the first portion and the shape of the second portion of the prism element 8422 are different, the third direction and the fourth direction may be different.

In addition, the second prism array 8430 may include a third prism element 841 and a fourth prism element 8432.

In this case, the third and fourth prism elements 8231 and 8432 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, the third and fourth prism elements 8231 and 8432 may steer the lasers output from the first to fourth laser output elements 8411 to 8414.

More specifically, the third prism element 841 is output from the first laser output device 8411 and steers the first laser in the first direction through the first prism element 8421 in a fifth direction. Steering may be performed, and the third laser output from the third laser output element 8413 and steered in a third direction through the second prism element 8422 may be steered in a seventh direction, but is not limited thereto. Does not.

In this case, the fifth direction and the seventh direction may be the same direction according to the shape of the third prism element 841, but are not limited thereto.

In addition, the fourth prism element (8432) is output from the second laser output element (8412) to steer the second laser steered in the second direction through the first prism element (8421) in the sixth direction. The fourth laser output from the fourth laser output element 8414 and steered in the fourth direction through the second prism element 8422 may be steered in the eighth direction, but is not limited thereto.

In this case, the sixth direction and the eighth direction may be the same direction according to the shape of the fourth prism element 8432, but are not limited thereto.

Further, inclinations of the third prism element 8231 and the fourth prism element 8432 may be different from each other, but are not limited thereto.

In addition, when the inclinations of the third prism element 841 and the fourth prism element 8432 are different from each other, the fifth direction and the sixth direction may be different directions along the second axis. The seventh and eighth directions may be different directions along the second axis, the fifth and eighth directions may be different directions along the second axis, and the seventh and sixth directions Directions may be different directions along the second axis, but are not limited thereto.

In addition, the third prism element 841 steers the first and third lasers output from the first laser output element 8411 and the third laser output element 8413 arranged along the first axis. For this purpose, the length in the first axis direction may be disposed to be longer than the length in the second axis direction, but the present invention is not limited thereto.

In addition, the fourth prism element (8432) is to steer the second and fourth lasers output from the second laser output element (8412) and the fourth laser output element (8414) arranged along the first axis. For this purpose, the length in the first axis direction may be disposed to be longer than the length in the second axis direction, but the present invention is not limited thereto.

In addition, the first and third lasers may be steered through different portions of the third prism element 841.

For example, after the first laser is output from the first laser output element 8411, it is steered in the first direction through the first prism element 8421, and the third prism element 8431 is The third laser may be steered in the fifth direction through one part, and the third laser is steered in the third direction through the second prism element 8421 after being output from the third laser output element 8413, It may be steered in the seventh direction through the second portion of the third prism element 841.

In this case, when the shape of the first portion and the shape of the second portion of the third prism element 8231 are the same, the fifth direction and the seventh direction may be the same, but the present invention is not limited thereto. 3 When the shape of the first portion and the shape of the second portion of the prism element 8231 are different, the fifth direction and the seventh direction may be different.

In addition, the second and fourth lasers may be steered through different portions of the fourth prism element 8432.

For example, after the second laser is output from the second laser output element 8412, it is steered in the second direction through the first prism element 8421, and the fourth prism element 8432 is The fourth laser may be steered in the sixth direction through one part, and the fourth laser is steered in the fourth direction through the second prism element 8421 after being output from the fourth laser output element 8414, It may be steered in the eighth direction through the second portion of the fourth prism element 8432.

In this case, when the shape of the first portion of the fourth prism element 8432 and the shape of the second couple are the same, the sixth direction and the eighth direction may be the same, but the present invention is not limited thereto. When the shape of the first portion and the shape of the second portion of the 4 prism element 8432 are different, the sixth direction and the eighth direction may be different.

In addition, the first to fourth lasers may be irradiated in different directions by selectively passing through the first to fourth prism elements 8421, 8422, 841, and 8432, respectively.

For example, after the first laser is output from the first laser output element 8411, it is steered in the first direction through the first prism element 8421, and through the third prism element 841. Steering in the fifth direction may be irradiated in the ninth direction.

In addition, for example, the second laser is steered in the second direction through the first prism element 8421 after being output from the second laser output element 8412, and the fourth prism element 8432 Through the steering in the sixth direction may be irradiated in the tenth direction.

In addition, for example, after the third laser is output from the third laser output element 8413, it is steered in the third direction through the second prism element 8422, and the third prism element 841 Through the steering in the seventh direction may be irradiated in the eleventh direction.

In addition, for example, after the fourth laser is output from the fourth laser output element 8414, it is steered in the fourth direction through the second prism element 8422, and the fourth prism element 8432 Through the steering in the eighth direction may be irradiated in the twelfth direction.

In this case, the ninth to twelfth directions may be different directions, but are not limited thereto.

60 is a diagram for describing a laser output unit and an optical unit according to an exemplary embodiment.

More specifically, (a) of FIG. 60 is a view showing a laser output unit according to an embodiment from the top, and (b) of FIG. 60 is a perspective view of the optical unit according to an embodiment.

Referring to FIG. 60, the laser output unit according to an embodiment may include a laser output element array and an optical unit, but is not limited thereto.

In this case, the laser output device array may include a first laser output device 8501, a second laser output device 8502, a third laser output device 8503, and a fourth laser output device 8504.

In addition, the first to fourth laser output devices 8501 to 8504 may include at least one VCSEL or a VCSEL unit including at least one VCSEL, but will be described as laser output devices for convenience of description. .

In addition, the first to fourth laser output devices 8501 to 8504 may respectively output a first laser, a second laser, a third laser, and a fourth laser.

In addition, the optical unit may include a first prism array 8520 and a second prism array 8530, but is not limited thereto.

In addition, the first prism array 8520 may include a first prism element 8521 and a second prism element 8522, and the second prism array 8530 may include a third prism element 8531 and a third prism element 8520. Four prism elements 8532 may be included, but the present invention is not limited thereto.

Further, the first to fourth prism elements 8521, 8522, 8531, and 8532 may mean a prism unit including at least one prism element, but will be described as a prism element for convenience of description.

In addition, since the above-described contents may be applied to the first to fourth laser output devices 8501 to 8504 and the first to fourth prism elements 8521, 8522, 8531, and 8532, duplicate descriptions will be omitted. It should be.

Referring to FIG. 60A, the laser output device array according to an embodiment may be arranged such that lasers output from each laser output device are steered through the optics.

For example, referring to (a) of FIG. 60, the first laser output from the first laser output element 8501 sequentially passes the first prism element 8521 and the third prism element 8531 In order to be steered through, the first laser output element 8501 may be disposed to be at least partially included in an area where the first prism element 8521 and the third prism element 8531 intersect when viewed from the top. .

In addition, for example, referring to (a) of FIG. 60, the laser output from the second laser output element 8502 sequentially moves the first prism element 8521 and the fourth prism element 8532 In order to be steered through, the second laser output element 8502 may be disposed to be at least partially included in a region where the first prism element 8521 and the fourth prism element 8532 intersect when viewed from the top. .

In addition, for example, referring to (a) of FIG. 60, the laser output from the third laser output element 8503 sequentially applies the second prism element 8522 and the third prism element 8531 In order to be steered through, the third laser output element 8503 may be disposed to be at least partially included in an area where the second prism element 8522 and the third prism element 8531 intersect when viewed from the top. .

In addition, for example, referring to (a) of FIG. 60, the laser output from the fourth laser output element 8504 sequentially passes the second prism element 8522 and the fourth prism element 8532 In order to be steered through, the fourth laser output element 8504 may be disposed to be at least partially included in an area where the second prism element 8522 and the fourth prism element 8532 intersect when viewed from the top. .

In addition, the first to fourth lasers output from the first to fourth laser output devices 8501 to 8504 are positioned at the first to fourth laser output devices 8501 to 8504 when viewed from the top. It can be irradiated at a position moved from

For example, referring to (a) of FIG. 60, the first laser is output from a first position where the first laser output element 8501 is disposed when viewed from the top, and the first prism element 8521 ), the light may be irradiated through the third prism element 8531 at a fifth position that is steered through and moved in the direction of the third laser output element 8503.

Further, for example, referring to (a) of FIG. 60, the second laser is output at a second position in which the second laser output element 8502 is disposed when viewed from the top, and the first prism element It may be irradiated through the fourth prism element 8532 at a sixth position that is steered through 8521 and moved in the direction of the fourth laser output element 8504.

In addition, for example, referring to (a) of FIG. 60, when viewed from the top, the third laser is output at a third position in which the third laser output element 8503 is disposed, and the second prism element It may be irradiated through the third prism element 8531 at a seventh position that is steered through 8522 and moved in a more central direction.

Further, for example, referring to (a) of FIG. 60, the fourth laser is output at a fourth position in which the fourth laser output element 8504 is disposed when viewed from the top, and the second prism element It may be irradiated through the fourth prism element 8532 at an eighth position that is steered through 8522 and moved in a more central direction.

In addition, the first prism array 8520 and the second prism array 8530 are configured so that the first to fourth lasers sequentially pass through the first prism array 8520 and the second prism array 8530. Can be placed.

For example, referring to (b) of FIG. 60, the first prism array 8520 is formed integrally with the second prism array 8530, and is disposed under the second prism array 8530. I can.

Also, for example, the first prism array 8520 may be integrally formed with the second prism array 8530 and may be disposed closer to the laser output device array.

In addition, as shown in (b) of FIG. 60, the first prism array 8520 and the second prism array 8530 may have the same shape, but may be formed to have different arrangements. However, the present invention is not limited thereto, and may be designed in various shapes.

In addition, the optical unit including the first prism array 8520 and the second prism array 8530 may include N slopes and M prism elements.

For example, as shown in (b) of FIG. 60, the optical unit may include five inclinations and 20 prism elements, but is not limited thereto.

In addition, the optical unit including the first prism array 8520 and the second prism array 8530 may include N slopes and 4N prism elements.

For example, as shown in (b) of FIG. 60, the optical unit may include five inclinations and 20 prism elements, but is not limited thereto.

In addition, the optical unit including the first prism array 8520 and the second prism array 8530 uses N tilts and M prism elements to steer the laser in N*M different directions. can do.

For example, as shown in (b) of FIG. 60, the optical unit may steer the laser in 100 different directions using 5 different inclinations and 20 prism elements.

In addition, the optical unit including the first prism array 8520 and the second prism array 8530 steers the laser in 4N^2 different directions using N types of inclinations and 4N prism elements. can do.

For example, as shown in (b) of FIG. 60, the optical unit may steer the laser in 100 different directions using 5 different inclinations and 20 prism elements.

Accordingly, the optical unit according to an exemplary embodiment may reduce the number of prism elements required to steer a large number of lasers in different directions and the number of tilt types of the prism elements.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

As described above, although the embodiments have been described by the limited embodiments and drawings, various modifications and variations are possible from the above description to those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as systems, structures, devices, circuits, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and those equivalent to the claims also fall within the scope of the claims to be described later.

As described above, in the best mode for carrying out the invention, related matters have been described.

Claims (20)

As a laser output device, A laser output array including a first laser output unit, a second laser output unit, and a third laser output unit including at least one laser output element; And Including; a prism array for steering the laser output from the laser output array, The prism array A first prism element for steering the laser output from the first laser output unit and the second laser output unit; A second prism element for steering the laser output from the third laser output unit; A third prism element for steering the laser output from the first laser output unit and the third laser output unit; And Including; a fourth prism element for steering the laser output from the second laser output unit, The first laser output from the first laser output unit is irradiated in a first direction by sequentially passing through the first prism element and the third prism element, and the second laser output from the second laser output unit is the The first prism element and the fourth prism element are sequentially passed through and irradiated in a second direction, and a third laser output from the third laser output unit sequentially passes through the second prism element and the third prism element. The first prism element and the second prism element are formed on the first surface of the prism array so as to be irradiated in the third direction, and the third prism element and the fourth prism element are formed on the second surface of the prism array. Is formed, Inclinations of the first and second prism elements are different from each other so that the first direction, the second direction, and the third direction are different from each other, and the inclinations of the third and fourth prism elements are different from each other. Laser output device. The method of claim 1, The first and second laser output units are disposed along a first axis, and the first and third laser output units are disposed along a second axis. Laser output device. The method of claim 2, The first and second prism elements are designed such that a length in the first axis direction is longer than a length in the second axis direction, and the third and fourth prism elements have a length in the second axis direction. Designed to be longer than the length in the first axis direction Laser output device. The method of claim 1, The first laser passes through the first portion of the third prism element and is irradiated in the first direction, and the third laser passes through the second portion of the third prism element and irradiates in the third direction. Laser output device. The method of claim 4, The inclination of the first portion of the third prism element is the same as the inclination of the second portion of the third prism element. Laser output device. The method of claim 1, When viewed from the top of the laser output device, The position on the third prism element where the first laser is irradiated from the third prism element is different from the position where the first laser is output from the first laser output unit, The position on the fourth prism element to which the second laser is irradiated from the fourth prism element is different from the position at which the second laser is output from the second laser output unit, The position on the third prism element in which the third laser is irradiated from the third prism element is different from the position in which the third laser is output from the third laser output unit. Laser output device. The method of claim 1, The laser output array includes at least one laser output element, and further includes a fourth laser output unit for outputting a fourth laser, The second prism unit is disposed to steer the third laser and the fourth laser, The fourth prism unit is arranged to steer the second laser and the fourth laser Laser output device. The method of claim 7, The first and second laser output units are disposed along a first axis, the first and third laser output units are disposed along a second axis, and the third and fourth laser output units are disposed along the first axis. And the second and fourth laser output units are disposed along the second axis. Laser output device. The method of claim 4, The distance between the first portion and the second portion of the third prism element is smaller than the distance between the first laser output unit and the third laser output unit. Laser output device. The method of claim 4, When viewed from the top of the laser output device, The first position on the third prism element where the first laser is irradiated from the third prism element is different from the position where the first laser is output from the first laser output unit, The second position on the fourth prism element to which the second laser is irradiated from the fourth prism element is different from the position at which the second laser is output from the second laser output unit, The third position on the third prism element to which the third laser is irradiated from the third prism element is different from the position at which the third laser is output from the third laser output unit, The distance between the center of the first position and the center of the third position is less than the distance between the center of the first laser output unit and the center of the third laser output unit Laser output device. As a lidar device for measuring distance, A laser output unit for outputting a laser; Including; a sensor unit for acquiring the laser output from the laser output unit, The laser output unit, A laser output array including a first laser output unit, a second laser output unit, and a third laser output unit including at least one laser output element; And Includes; a prism array for steering the laser output from the laser output array, The prism array, A first prism element for steering the laser output from the first laser output unit and the second laser output unit; A second prism element for steering the laser output from the third laser output unit; A third prism element for steering the laser output from the first laser output unit and the third laser output unit; And Including; a fourth prism element for steering the laser output from the second laser output unit, The first laser output from the first laser output unit is irradiated in a first direction by sequentially passing through the first prism element and the third prism element, and the second laser output from the second laser output unit is the The first prism element and the fourth prism element are sequentially passed through and irradiated in a second direction, and a third laser output from the third laser output unit sequentially passes through the second prism element and the third prism element. The first prism element and the second prism element are formed on the first surface of the prism array so as to be irradiated in the third direction, and the third prism element and the fourth prism element are formed on the second surface of the prism array. Is formed, Inclinations of the first and second prism elements are different from each other so that the first direction, the second direction, and the third direction are different from each other, and the inclinations of the third and fourth prism elements are different from each other. Lida device. The method of claim 11, The first and second laser output units are disposed along a first axis, and the first and third laser output units are disposed along a second axis. Lida device. The method of claim 12, The first and second prism elements are designed such that a length in the first axis direction is longer than a length in the second axis direction, and the third and fourth prism elements have a length in the second axis direction. Designed to be longer than the length in the first axis direction Lida device. The method of claim 11, The first laser passes through the first portion of the third prism element and is irradiated in the first direction, and the third laser passes through the second portion of the third prism element and irradiates in the third direction. Lida device. The method of claim 14, The inclination of the first portion of the third prism element is the same as the inclination of the second portion of the third prism element. Lida device. The method of claim 11, When viewed from the top of the laser output unit, The position on the third prism element where the first laser is irradiated from the third prism element is different from the position where the first laser is output from the first laser output unit, The position on the fourth prism element to which the second laser is irradiated from the fourth prism element is different from the position at which the second laser is output from the second laser output unit, The position on the third prism element in which the third laser is irradiated from the third prism element is different from the position in which the third laser is output from the third laser output unit. Lida device. The method of claim 11, The laser output array includes at least one laser output element, and further includes a fourth laser output unit for outputting a fourth laser, The second prism unit is disposed to steer the third laser and the fourth laser, The fourth prism unit is arranged to steer the second laser and the fourth laser Lida device. The method of claim 17, The first and second laser output units are disposed along a first axis, the first and third laser output units are disposed along a second axis, and the third and fourth laser output units are disposed along the first axis. And the second and fourth laser output units are disposed along the second axis. Lida device. The method of claim 14, The distance between the first portion and the second portion of the third prism element is smaller than the distance between the first laser output unit and the third laser output unit. Lida device. The method of claim 14, When viewed from the top of the laser output unit, The first position on the third prism element where the first laser is irradiated from the third prism element is different from the position where the first laser is output from the first laser output unit, The second position on the fourth prism element to which the second laser is irradiated from the fourth prism element is different from the position at which the second laser is output from the second laser output unit, The third position on the third prism element to which the third laser is irradiated from the third prism element is different from the position at which the third laser is output from the third laser output unit, The distance between the center of the first position and the center of the third position is less than the distance between the center of the first laser output unit and the center of the third laser output unit Lida device.

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