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WO2023101038A1 - Dispositif lidar - Google Patents

Dispositif lidar Download PDF

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Publication number
WO2023101038A1
WO2023101038A1 PCT/KR2021/017836 KR2021017836W WO2023101038A1 WO 2023101038 A1 WO2023101038 A1 WO 2023101038A1 KR 2021017836 W KR2021017836 W KR 2021017836W WO 2023101038 A1 WO2023101038 A1 WO 2023101038A1
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WO
WIPO (PCT)
Prior art keywords
detecting
laser
unit
optic
emitting
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2021/017836
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English (en)
Korean (ko)
Inventor
원범식
노수우
신경환
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SOS Lab Co Ltd
Original Assignee
SOS Lab Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SOS Lab Co Ltd filed Critical SOS Lab Co Ltd
Priority to PCT/KR2021/017836 priority Critical patent/WO2023101038A1/fr
Publication of WO2023101038A1 publication Critical patent/WO2023101038A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J1/44—Electric circuits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/10—Construction or shape of the optical resonator, e.g. extended or external cavity, coupled cavities, bent-guide, varying width, thickness or composition of the active region
    • H01S5/18—Surface-emitting [SE] lasers, e.g. having both horizontal and vertical cavities
    • H01S5/183—Surface-emitting [SE] lasers, e.g. having both horizontal and vertical cavities having only vertical cavities, e.g. vertical cavity surface-emitting lasers [VCSEL]

Definitions

  • the LIDAR device is a device for measuring a distance using a linear laser
  • the laser must be output within a range that does not affect the human eye.
  • the first detecting value is determined as a first type detecting value
  • the first detecting value is determined as a second type detecting value
  • the second detecting value corresponding to the second detecting unit is selected, and the second depth value included in the second detecting value satisfies the third condition.
  • the second detecting value is determined as a first type detecting value
  • the second detecting value is determined as a fourth condition
  • the second detecting value is determined as a second type detecting value
  • the first condition and the third condition may be different from each other, and the second condition and the fourth condition may be different from each other.
  • a data processing method of a lidar device includes a laser detecting array including a first detecting unit group including a first detecting unit and a second detecting unit group including a second detecting unit. obtaining a plurality of detecting values, determining the first detecting value as a first type detecting value when a first detecting value corresponding to the first detecting unit satisfies a first condition; Determining the first detecting value as a second type detecting value when the first detecting value satisfies the second condition, and the second detecting value corresponding to the second detecting unit satisfies the third condition.
  • a lidar device includes a laser emitter chip for generating a laser, a laser detecting chip for detecting a laser, and a laser generated from the laser emitter chip for guiding the laser to the outside of the lidar device.
  • An emitting optic module wherein the emitting optic module includes a first lens assembly and a first lens assembly mounting tube, and a device for guiding a laser received from the outside of the lidar device to the laser detecting chip.
  • a method of processing data of a lidar device including a laser emitting array and a laser detecting array that are differently disposed may be provided.
  • FIG. 2 is a diagram showing a lidar device according to an embodiment.
  • FIG. 3 is a diagram showing a lidar device according to another embodiment.
  • FIG. 6 is a diagram showing a VCSEL array according to an embodiment.
  • FIG. 7 is a side view illustrating a VCSEL array and metal contacts according to an exemplary embodiment.
  • FIG. 8 is a diagram showing a VCSEL array according to an embodiment.
  • FIG. 9 is a diagram for explaining a lidar device according to an embodiment.
  • FIG. 10 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • FIG. 11 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • FIG. 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.
  • FIG. 18 is a diagram for describing a steering component according to an exemplary embodiment.
  • 19 is a diagram for explaining a metasurface according to an exemplary embodiment.
  • 20 is a diagram for explaining a metasurface according to an embodiment.
  • 21 is a diagram for explaining a metasurface according to an embodiment.
  • FIG. 22 is a diagram for explaining a rotating multi-faceted mirror according to an exemplary embodiment.
  • 23 is a top view for explaining the viewing angle of a rotating multi-faceted mirror in which the number of reflective surfaces is three and upper and lower portions of a body are in the form of an equilateral triangle.
  • 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 upper and lower portions of a body are square.
  • 25 is a top view for explaining the viewing angle of a rotating multi-faceted mirror in which the number of reflection surfaces is five and the upper and lower portions of the body are in the shape of a regular pentagon.
  • 26 is a diagram for explaining an irradiating part and a light receiving part of a rotating multi-faceted mirror according to an exemplary embodiment.
  • 27 is a diagram for describing an optical unit according to an exemplary embodiment.
  • FIG. 28 is a diagram for describing an optical unit according to an exemplary embodiment.
  • 29 is a diagram for explaining a meta component according to an embodiment.
  • FIG. 30 is a diagram for explaining a meta component according to another embodiment.
  • FIG. 31 is a diagram for explaining a SPAD array according to an embodiment.
  • 32 is a diagram for explaining a histogram of SPAD according to an embodiment.
  • SiPM 34 is a diagram for explaining a histogram of SiPM according to an embodiment.
  • 35 is a diagram for explaining a semi-flash lidar according to an embodiment.
  • 36 is a diagram for explaining the configuration of a semi-flash lidar according to an embodiment.
  • FIG. 37 is a diagram for explaining a semi-flash lidar according to another embodiment.
  • 38 is a diagram for explaining the configuration of a semi-flash lidar according to another embodiment.
  • 39 is a diagram for explaining a lidar device according to an embodiment.
  • FIG. 40 is a diagram for explaining a laser output array and a laser detecting array included in a lidar device according to an embodiment.
  • 41 is a diagram for explaining a laser output array and a laser detecting array included in a lidar device according to an embodiment.
  • FIG. 42 is a diagram for explaining a laser output array and a laser detecting array included in a lidar device according to an embodiment.
  • 43 and 44 are diagrams for describing lasers output from a laser output array and detected by a laser detecting array, according to an exemplary embodiment.
  • 45 is a diagram for describing lidar data according to an embodiment.
  • 46 is a diagram illustrating lidar data obtained according to an embodiment.
  • 47 is a diagram for explaining a method of acquiring at least one lidar data according to an embodiment.
  • FIG. 48 is a diagram for explaining a lidar device according to an embodiment.
  • 49 is a diagram for explaining a method of determining types of a plurality of detecting values according to an embodiment.
  • 50 is a diagram illustrating lidar data according to an embodiment.
  • 51 and 52 are diagrams for explaining an operation of processing a detecting value according to an exemplary embodiment.
  • 53 is a diagram for explaining various kernels for correcting a detecting value according to an embodiment.
  • FIG. 54 is a diagram for describing a kernel designed based on a distance between detecting units according to an embodiment.
  • 55 is a diagram for describing a kernel designed based on an ambient value according to an embodiment.
  • 56 is a diagram for describing a kernel designed based on a detecting value according to an embodiment.
  • 57 is a diagram illustrating a depth map obtained from a lidar device according to an embodiment.
  • 58 is a diagram for explaining a lidar device according to an embodiment.
  • 59 and 60 are views for explaining a laser emitting module and a laser detecting module according to an exemplary embodiment.
  • 61 and 62 are diagrams for describing an emitting lens module and a detecting lens module according to an exemplary embodiment.
  • 63 and 64 are diagrams for describing an emitting optic holder and a detecting optic holder according to an exemplary embodiment.
  • 65 and 66 are views for explaining a lidar device according to an embodiment.
  • 67 is a diagram for describing a fixer according to an embodiment.
  • 68 is a diagram for describing an emission optic module and a detecting optic module according to an exemplary embodiment.
  • 69 is a diagram for explaining a lidar device according to an embodiment.
  • a laser detecting array including a first detecting unit column and a second detecting unit column, and a first image A laser emitting array including a first emitting unit column and a second emitting unit column
  • the first detecting unit column includes a first detecting unit, the first A second detecting unit adjacent to the detecting unit in a column direction, and a third detecting unit adjacent to the second detecting unit in a column direction
  • the second detecting unit column includes the second detecting unit and the third detecting unit.
  • the emission unit row includes a first emission unit and a second emission unit adjacent to the first emission unit in a column direction, and the second emission unit row includes a third emission unit and the third image unit. and a fourth lighting unit adjacent to the lighting unit in a column direction, wherein the first lighting unit is disposed to correspond to the first detecting unit, and the second lighting unit corresponds to the third detecting unit.
  • the third emission unit is disposed to correspond to the fourth detecting unit
  • the fourth emission unit is disposed to correspond to the sixth detecting unit
  • the first detecting unit and the A lidar device may be provided in which a distance between the second detecting units is smaller than a distance between the first and second emission units.
  • the laser emitting array includes a first region defined between the first and second emission units, and the second detecting unit is located in the first region of the laser emitting array. It may be disposed in a corresponding second area of the laser detecting array.
  • the laser emitting array includes a third region defined between the third and fourth emission units, and the fifth detecting unit is in the third region of the laser emitting array. It may be disposed in a corresponding fourth area of the laser detecting array.
  • first emission unit column and the second emission unit column may be arranged to be adjacent to each other in a row direction.
  • a distance between the first and third emission units in a column direction may be equal to a distance between the first and second detection units in a column direction.
  • a distance between the second and third emission units in a row direction may be equal to a distance between the second and fourth detection units in a row direction.
  • each of the first to sixth detecting units may include at least one or more detecting elements.
  • the detecting element may be a SPAD (Single Photon Avalanche Diode).
  • each of the first to fourth emission units may include at least one or more emission elements.
  • the emitting device may be a vertical cavity surface emitting laser (VCSEL).
  • VCSEL vertical cavity surface emitting laser
  • a lidar device includes a laser detecting array including a plurality of detecting units and a laser emitting array including a plurality of emission units, wherein the plurality of detecting units Each is arranged to correspond to each intersection of a row and a column in a two-dimensional matrix having M rows and N columns, and the plurality of emission units have K rows and L columns.
  • each of the emission units arranged in the X row is arranged to correspond to each intersection of the X row and odd-numbered columns, and the emission units arranged in the X+1 row
  • Each of the units may be provided with a lidar device disposed to correspond to each of the intersections of the X+1th row and the even-numbered columns.
  • the M and the K may be the same, and the N and the L may be the same.
  • the N and the L are the same, but the M and the K may be different from each other.
  • the M may be greater than the K.
  • the first laser included in the laser emitting array and output from the first emitting unit disposed at the intersection of the X row and the Y column is included in the laser detecting array, and is included in the W row and Z column. It can be detected by the first detecting unit disposed at the intersection.
  • the first laser included in the laser emitting array and output from the first emitting unit disposed at the intersection of the X row and the Y column is included in the laser detecting array, and is included in the W row and Z column. It can be detected by the first detecting unit disposed at the intersection or the second detecting unit disposed at the intersection of the W+1th row and the Zth column.
  • the first laser when the first laser emitted from the first emission unit included in the laser emitting array and disposed at the intersection of the X-th row and the Y-th column is reflected from an object located in a first distance range, the first laser is included in the laser detecting array and detected by the first detecting unit disposed at the intersection of the W-th row and the Z-th column, and when the first laser is reflected from an object located in a second distance range, the first Laser 1 is included in the laser detecting array and may be detected by the second detecting unit disposed at an intersection of a W+1 th row and a Z th column.
  • the W may be the same as the X
  • the Z may be the same as the Y.
  • the first distance range may include a first specific distance or more
  • the second distance range may include a distance range between the first specific distance and the second specific distance
  • the first specific distance may be 15 m
  • the second specific distance may be 7 m.
  • a lidar device includes a laser emitting array including a plurality of emitting units, a first detecting unit group including a first detecting unit, and a second detecting unit.
  • a laser detecting array including a second detecting unit group that includes a second detecting unit group, and a processor for obtaining a detecting value corresponding to each of a plurality of detecting units included in the laser detecting array - in this case, the detecting value is a depth including at least one of a depth value and an intensity value, wherein the processor selects a first detecting value corresponding to the first detecting unit, and When the first depth value included in the tacting value satisfies the first condition, the first detecting value is determined as a first type detecting value, and when the first depth value satisfies the second condition, the first detecting value 1 detection value is determined as a 2nd type detection value, a 2nd detection value corresponding to the 2nd detection unit is selected, and a 2nd depth value included in
  • first condition and the fourth condition may be equal to each other, and the second condition and the third condition may be equal to each other.
  • a first correction value is generated by referring to a detection value corresponding to another detection unit adjacent to the first detection unit; A first corrected detecting value may be obtained based on the first correction value.
  • At least one kernel may be used to generate the first correction value.
  • At least one of a first kernel designed based on a distance between detecting units, a second kernel designed based on an ambient value, and a third kernel designed based on a detecting value Kernel can be used.
  • a second correction value is generated by referring to a detecting value corresponding to another detecting unit adjacent to the second detecting unit; A second corrected detecting value may be obtained based on the second correction value.
  • the first detecting value is determined to be the first type detecting value
  • the first detecting value is maintained
  • the second detecting value is determined to be the first type detecting value
  • the second detecting value may be maintained.
  • each of the plurality of detecting units included in the first detecting unit group is arranged to correspond to each of the plurality of emission units included in the laser emitting array, and included in the second detecting unit group.
  • the plurality of detecting units may be disposed differently from the plurality of emission units included in the laser emitting array.
  • the second condition may be satisfied when the first detecting value does not satisfy the first condition
  • the fourth condition may be satisfied when the second detecting value does not satisfy the third condition.
  • each of the plurality of detecting units may include at least one or more detecting elements.
  • the detecting element may be a SPAD (Single Photon Avalanche Diode).
  • each of the plurality of emission units may include at least one or more emission elements.
  • the emitting device may be a vertical cavity surface emitting laser (VCSEL).
  • VCSEL vertical cavity surface emitting laser
  • the first condition includes a first distance range
  • the first distance range includes a first specific distance or more
  • the second condition includes a second distance range
  • the second distance range includes a second distance range.
  • the third condition includes a distance range between the first specific distance and the second specific distance
  • the third condition includes a third distance range
  • the third distance range includes a distance range between the third specific distance and the fourth specific distance.
  • the fourth condition includes a fourth distance range
  • the fourth distance range may include a third specific distance or more.
  • the first specific distance and the third specific distance may be 15 m
  • the second specific distance and the fourth specific distance may be 7 m.
  • a data processing method of a lidar device includes a first detecting unit group including a first detecting unit and a second detecting unit group including a second detecting unit. obtaining a plurality of detecting values from a laser detecting array that performs a first type detection on the first detecting value when the first detecting value corresponding to the first detecting unit satisfies a first condition; value, and determining the first detecting value as a second type detecting value when the first detecting value satisfies a second condition, and performing second detecting corresponding to the second detecting unit.
  • the second detecting value When the value satisfies the third condition, the second detecting value is determined as the first type detecting value, and when the second detecting value satisfies the fourth condition, the second detecting value is determined as the second type detecting value. Including determining a detecting value, wherein the first condition and the third condition are different from each other, and the second condition and the fourth condition are different from each other.
  • a data processing method of a lidar device may be provided.
  • first condition and the fourth condition may be equal to each other, and the second condition and the third condition may be equal to each other.
  • the method may further include obtaining a first corrected detecting value based on the first corrected value generated by doing the above.
  • the second detecting value when the second detecting value is determined to be the second type detecting value, reference is made to a detecting value corresponding to another detecting unit adjacent to the second detecting unit.
  • the method may further include obtaining a second corrected detecting value based on the second corrected value generated by the above process.
  • the method may further include maintaining the second detection value.
  • a laser emitter chip for generating a laser As a lidar device, a laser emitter chip for generating a laser, a laser detecting chip for detecting a laser, and the laser generated from the laser emitter chip are transmitted to the outside of the lidar device.
  • the lidar device may be provided, wherein the emitting optic holder includes at least one sliding groove, and the at least one emitting optic fixer is positioned in the at least one sliding groove of the emitting optic holder. there is.
  • the at least one emitting optical fixer may be at least partially impregnated into the first curing material.
  • the at least one emitting optical fixer includes a first surface and a second surface opposite to the first surface, and a size of the first surface may be smaller than a size of the second surface.
  • the first surface included in the at least one emitting optic fixer may be located closer to the emission optic module than the second surface.
  • the at least one emitting optical fixer may include a third surface positioned between the first surface and the second surface, and the third surface may be provided as an inclined plane.
  • the first curing material may include epoxy.
  • the lidar device may further include a detecting optic holder positioned between the laser detecting chip and the detecting optic module.
  • the emitting optic holder and the detecting optic holder may be integrally formed.
  • the lidar device is located between the detecting optic holder and the detecting optic module and includes a second curing material and at least one for fixing the relative positional relationship between the laser detecting chip and the detecting optic module.
  • the apparatus may further include a detecting optic fixer, wherein the detecting optic holder includes at least one sliding groove, and the at least one detecting optic fixer may be positioned in the at least one sliding groove of the detecting optic holder. .
  • the number of the at least one emitting optical fixer may be equal to the number of the at least one detecting optic fixer.
  • the at least one emitting optic fixer may include at least 3 emitting optic fixers.
  • the at least one lighting optic fixer includes a first lighting optic fixer, a second lighting optic fixer, a third lighting optic fixer, and a fourth lighting optic fixer, and the first and second lighting
  • the distance between the optical fixers may be smaller than the distance between the second and third emission optic fixers, and the distance between the third and fourth emission optic fixers may be smaller than the distance between the first and fourth emission optic fixers.
  • the laser emitting chip includes a laser emitting array
  • the laser detecting chip includes a laser detecting array
  • the emitting optical module includes a first lens assembly and a first lens assembly mounting tube
  • the detecting optical module may include a second lens assembly and a second lens assembly mounting tube.
  • the laser emitting array may be provided as a vertical cavity surface emitting laser (VCSEL) array
  • the laser detecting array may be provided as a single photon avalanche diode (SPAD) array.
  • VCSEL vertical cavity surface emitting laser
  • SPAD single photon avalanche diode
  • a laser emitting chip for generating a laser
  • a laser detecting chip for detecting a laser
  • the laser generated from the laser emitting chip of the lidar device An emitting optic module for guiding to the outside, wherein the emitting optic module includes a first lens assembly and a first lens assembly mounting tube-, a laser received from the outside of the lidar device is directed to the laser detecting chip
  • the lidar device may use time of flight (TOF) of the laser from output to detection to measure the distance of the target object.
  • TOF time of flight
  • the lidar device may measure the distance of the object using a difference between a time value based on the output time of the laser and a time value based on the detected time of the laser reflected from the object and detected.
  • the actual light emission point of the laser beam may be used.
  • the laser beam output from the laser output device may be directly sensed by the detector unit without passing through the target object.
  • the detector unit may be spaced apart from the laser output device at a distance of 1 mm, 1 um, 1 nm, etc., but is not limited thereto.
  • the detector unit may be disposed adjacent to the laser output device without being spaced apart from it.
  • An optic may be present between the detector unit and the laser output element, but is not limited thereto.
  • the lidar device may use a triangulation method, an interferometry method, a phase shift measurement method, and the like in addition to flight time to measure the distance of an object. Not limited.
  • LiDAR device may be installed in a vehicle.
  • the lidar device may be installed on the roof, hood, headlamp or bumper of a vehicle.
  • the optic unit 200 may change the flight path of the laser by refracting the laser.
  • the optic unit 200 may refract the laser emitted from the laser output unit 100 to change the flight path of the laser to direct the laser to the scan area.
  • a laser flight path may be changed so that a laser reflected from an object located in the scan area is directed toward the detector unit.
  • the detector unit 300 may detect the laser.
  • the detector unit may detect laser reflected from an object located within the scan area.
  • the detector unit 300 may be a 2D SPAD array, but is not limited thereto.
  • a SPAD array may include a plurality of SPAD units, and a SPAD unit may include a plurality of SPADs (pixels).
  • the detector unit 300 may accumulate N number of histograms using a 2D SPAD array. For example, the detector unit 300 may use a histogram to detect a light reception time of a laser beam reflected from an object and received light.
  • the detector unit 300 may include one or more optical filters.
  • the detector unit 300 may receive the laser reflected from the target object through an optical filter.
  • the detector unit 300 may include a band pass filter, a dichroic filter, a guided-mode resonance filter, a polarizer, a wedge filter, and the like, but is not limited thereto.
  • the control unit may be variously expressed as a controller or the like in the description of the present invention, but is not limited thereto.
  • control unit 400 may control the output 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 . Also, the control unit 400 may control the pulse width of the laser output from the laser output unit 100 . Also, the control unit 400 may control the cycle of the laser output from the laser output unit 100 . Also, when the laser output unit 100 includes a plurality of laser output devices, the controller 400 may control the laser output unit 100 to operate some of the plurality of laser output devices.
  • the lidar device 1000 sends a trigger signal for emitting a laser beam by the control unit 400 and the actual time when the laser beam is output from the laser output device. Since the laser beam is not actually output between the time point of the trigger signal and the time point of actual light emission, accuracy may decrease when included in the laser flight time.
  • the actual light emission point of the laser beam may be used. However, it may be difficult to determine the actual emission time point of the laser beam. Therefore, the laser beam output from the laser output device must be directly transmitted to the detector unit 300 without passing through the target object immediately or after being output.
  • the laser beam output from the laser output device by the optic can be directly sensed by the detector unit 300 without passing through the target object.
  • the optic may be a mirror, lens, prism, metasurface, etc., but is not limited thereto.
  • the optic may be one, but may be plural.
  • the laser beam output from the laser output device may be directly sensed by the detector unit 300 without passing through the target object.
  • the detector unit 300 may be separated from the laser output device at a distance of 1 mm, 1 um, 1 nm, etc., but is not limited thereto.
  • the detector unit 300 may be disposed adjacent to the laser output device without being spaced apart from it.
  • An optic may be present between the detector unit 300 and the laser output device, but is not limited thereto.
  • 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
  • the laser output unit 100 may output the laser.
  • the detector unit 300 can detect the laser reflected from the object
  • the controller 400 can obtain a time point at which the laser was detected by the detector unit 300
  • the controller 400 may determine the distance to the object located in the scan area based on the output time and detection time of the laser.
  • the laser output unit 100 can output a laser, and the laser output from the laser output unit 100 can be directly detected by the detector unit 300 without passing through an object located in the scan area. and the controller 400 may obtain a point in time at which the laser that did not pass through the object was detected.
  • the detector unit 300 can detect the laser reflected from the object, and the controller 400 can detect the laser reflected from the detector unit 300.
  • the point of time at which L is detected may be obtained, and the controller 400 may determine the distance to the object located within the scan area based on the point of time of detecting the laser that has not passed through the object and the point of time of detecting the laser reflected from the object.
  • FIG. 2 is a diagram showing a lidar device according to an embodiment.
  • a lidar apparatus 1100 may include a laser output unit 100, an optic unit 200, and a detector unit 300.
  • a lidar device 1150 may include a laser output unit 100 , an optic unit 200 and a detector unit 300 .
  • a laser beam output from the laser output unit 100 may pass through the optic unit 200 . Also, the laser beam passing through the optic unit 200 may be irradiated toward the target object 500 . Also, the laser beam reflected from the target object 500 may pass through the optic unit 200 again.
  • the optic unit through which the laser beam is rough before being irradiated onto the target object and the optic unit through which the laser beam reflected on the target object passes may be physically the same optical unit, or may be physically different optical units.
  • FIG. 4 is a view showing a laser output unit according to an embodiment.
  • the VCSEL emitter 110 may emit a laser beam vertically from the top surface.
  • the VCSEL emitter 110 may emit a laser beam in a direction perpendicular to the surface of the upper metal contact 10 .
  • the VCSEL emitter 110 may emit a laser beam perpendicular to the acvite layer 40 .
  • the VCSEL emitter 110 may include an upper DBR layer 20 and a lower DBR layer 30.
  • the upper DBR layer 20 and the lower DBR layer 30 may be doped with p-type or n-type.
  • the upper DBR layer 20 may be doped with p-type and the lower DBR layer 30 may be doped with n-type.
  • the upper DBR layer 20 may be doped with an n-type, and the lower DBR layer 30 may be doped with a p-type.
  • a substrate 50 may be disposed between the lower DBR layer 30 and the lower metal contact 60 .
  • the substrate 50 may also become a p-type substrate, and when the lower DBR layer 30 is doped with n-type, the substrate 50 may also become an n-type substrate. there is.
  • the VCSEL emitter 110 may include an active layer 40.
  • the active layer 40 may be disposed between the upper DBR layer 20 and the lower DBR layer 30.
  • the active layer 40 may include a plurality of quantum wells generating laser beams.
  • the active layer 40 may emit a laser beam.
  • the VCSEL emitter 110 may include a metal contact for electrical connection with a power source or the like.
  • the VCSEL emitter 110 may include an upper metal contact 10 and a lower metal contact 60 .
  • the VCSEL emitter 110 may be electrically connected to the upper DBR layer 20 and the lower DBR layer 30 through metal contacts.
  • p-type power is supplied to the upper metal contact 10 to and electrically connected to the lower DBR layer 30 by supplying n-type power to the lower metal contact 60 .
  • n-type power is supplied to the upper metal contact 10 so that the upper DBR layer 30 is doped with n-type. It is electrically connected to the layer 20, and p-type power is supplied to the lower metal contact 60 so that it can be electrically connected to the lower DBR layer 30.
  • the VCSEL emitter 110 may include an oxidation area. Oxidation area may be disposed above the active layer.
  • An oxidation area according to an embodiment may have insulating properties. For example, electrical flow may be restricted in the oxidation area. For example, electrical connections may be limited in the oxidation area.
  • the oxidation area may serve as an aperture. Specifically, since the oxidation area has insulating properties, the beam generated from the active layer 40 can be emitted only in a portion other than the oxidation area.
  • the laser output unit may include a plurality of VCSEL emitters 110.
  • the laser output unit may turn on a plurality of VCSEL emitters 110 at once or individually.
  • the wavelength output from the laser output unit may be changed by the surrounding environment.
  • the surrounding environment may include, but is not limited to, temperature, humidity, pressure, concentration of dust, amount of ambient light, altitude, gravity, and acceleration.
  • the laser output unit may emit a laser beam in a direction perpendicular to the support surface.
  • the laser output unit may emit a laser beam in a direction perpendicular to the emission surface.
  • FIG. 5 is a diagram showing a VCSEL unit according to an embodiment.
  • the laser output unit 100 may include a VCSEL unit 130.
  • VCSEL unit 130 may include a plurality of VCSEL emitters 110.
  • a plurality of VCSEL emitters 110 may be arranged in a honeycomb structure, but is not limited thereto.
  • one honeycomb structure may include seven VCSEL emitters 110, but is not limited thereto.
  • all of the VCSEL emitters 110 included in the VCSEL unit 130 may be radiated in the same direction.
  • all 400 VCSEL emitters 110 included in the VCSEL unit 130 may be radiated in the same direction.
  • the VCSEL unit 130 can be distinguished by the irradiation direction of the output laser beam. For example, when all N VCSEL emitters 110 output laser beams in a first direction and all M VCSEL emitters 110 output laser beams in a second direction, the N VCSEL emitters 110 ) may be distinguished as a first VCSEL unit, and the M number of VCSEL emitters 110 may be distinguished as a second VCSEL unit.
  • the VCSEL unit 130 may include a metal contact.
  • the VCSEL unit 130 may include a p-type metal and an n-type metal.
  • a plurality of VCSEL emitters 110 included in the VCSEL unit 130 may share a metal contact.
  • FIG. 6 is a diagram showing a VCSEL array according to an embodiment.
  • the laser output unit 100 may include a VCSEL array 150. 6 shows an 8X8 VCSEL array, but is not limited thereto.
  • a VCSEL array 150 may include a plurality of VCSEL units 130.
  • a plurality of VCSEL units 130 may be arranged in a matrix structure, but is not limited thereto.
  • the plurality of VCSEL units 130 may be an N X N matrix, but is not limited thereto. Also, for example, the plurality of VCSEL units 130 may be an N X M matrix, but is not limited thereto.
  • the VCSEL array 150 may include a metal contact.
  • the VCSEL array 150 may include a p-type metal and an n-type metal.
  • the plurality of VCSEL units 130 may share a metal contact, but may have independent metal contacts without sharing a metal contact.
  • FIG. 7 is a side view illustrating a VCSEL array and metal contacts according to an exemplary embodiment.
  • the laser output unit 100 may include a VCSEL array 151.
  • 6 shows 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 .
  • a VCSEL array 151 may include a plurality of VCSEL units 130 arranged in a matrix structure. At this time, each of the plurality of VCSEL units 130 may be independently connected to the 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, but do not share the second metal contact 13 and are independently connected to the second metal contact. can Also, 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 . At this time, the number of required wires 12 may be equal to the number of the plurality of VCSEL units 130. For example, when the VCSEL array 151 includes a plurality of VCSEL units 130 arranged in an N ⁇ M matrix structure, the number of wires 12 may be N ⁇ M.
  • first metal contact 11 and the second metal contact 13 may be different from each other.
  • first metal contact 11 may be an n-type metal
  • second metal contact 13 may be a p-type metal
  • first metal contact 11 may be a p-type metal
  • second metal contact 13 may be an n-type metal.
  • FIG. 8 is a diagram showing a VCSEL array according to an embodiment.
  • the laser output unit 100 may include a VCSEL array 153. 7 shows a 4X4 VCSEL array, but is not limited thereto.
  • a VCSEL array 153 may include a plurality of VCSEL units 130 arranged in a matrix structure.
  • the plurality of VCSEL units 130 may share metal contacts, but may have independent metal contacts without sharing metal contacts.
  • the plurality of VCSEL units 130 may share the first metal contact 15 in units of rows.
  • the plurality of VCSEL units 130 may share the second metal contact 17 in a column unit.
  • first metal contact 15 and the second metal contact 17 may be different from each other.
  • first metal contact 15 may be an n-type metal
  • second metal contact 17 may be a p-type metal
  • first metal contact 15 may be a p-type metal
  • second metal contact 17 may be an n-type metal.
  • the VCSEL unit 130 may be electrically connected to the first metal contact 15 and the second metal contact 17 through the wire 12 .
  • the VCSEL array 153 may operate in an addressable manner.
  • a plurality of VCSEL units 130 included in the VCSEL array 153 may operate independently regardless of other VCSEL units.
  • the VCSEL units in one row and one column can operate. Also, for example, if power is supplied to the first metal contact 15 in row 1 and the second metal contact 17 in columns 1 and 3, the VCSEL unit in row 1 and column 1 and the VCSEL unit in row 1 and column 3 may operate.
  • the VCSEL units 130 included in the VCSEL array 153 may operate with a certain pattern.
  • the VCSEL unit of 1 row and 1 column operates, the VCSEL unit of 1 row and 2 columns, the VCSEL unit of 1 row and 3 columns, the VCSEL unit of 1 row and 4 columns, the VCSEL unit of 2 rows and 1 column, and the VCSEL unit of 2 rows and 2 columns, etc. It operates, and can have a certain pattern with the VCSEL unit of 4 rows and 4 columns as the last.
  • the VCSEL units 130 included in the VCSEL array 153 may operate with an irregular pattern.
  • the VCSEL units 130 included in the VCSEL array 153 may operate without a pattern.
  • VCSEL units 130 may operate randomly. When the VCSEL units 130 operate randomly, interference between the VCSEL units 130 can be prevented.
  • the flash method is a method using the spread of a laser beam to an object by divergence of the laser beam.
  • a high-power laser beam is required to direct a laser beam to a target that exists at a distance. Since a high-power laser beam needs to apply a high voltage, the power increases. In addition, since it can damage a person's eyes, there is a limit to the distance that lidar using the flash method can measure.
  • the scanning method is a method of directing a laser beam emitted from a laser output unit in a specific direction.
  • Laser power loss can be reduced by directing a scanning laser beam in a specific direction. Since the loss of laser power can be reduced, compared to the flash method, the distance that can be measured by lidar is longer in the scanning method even when using the same laser power. In addition, compared to the flash method, since the laser power for measuring the same distance is lower in the scanning method, stability to the human eye can be improved.
  • Laser beam scanning may consist of collimation and steering.
  • laser beam scanning may be performed by collimating the laser beam and then steering the laser beam.
  • laser beam scanning may be performed in a manner of performing collimation after steering.
  • FIG. 9 is a diagram for explaining a lidar device according to an embodiment.
  • a lidar apparatus 1200 may include a laser output unit 100 and an optic unit.
  • the optic unit may include the BCSC 250.
  • the BCSC 250 may include a collimation component 210 and a steering component 230.
  • the BCSC 250 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 .
  • the steering component 230 may first steer the laser beam, and the steered laser beam may be collimated through the collimation component 210 .
  • the light path of the lidar device 1200 is as follows.
  • a laser beam emitted from the laser output unit 100 may be directed to the BCSC 250 .
  • a laser beam incident to the BCSC 250 may be collimated by the collimation component 210 and directed to the steering component 230 .
  • a laser beam incident to the steering component 230 may be steered and directed toward an object.
  • a laser beam incident to the object 500 may be reflected by the object 500 and directed to the detector unit.
  • the laser beam emitted from the laser output unit has directivity, a certain degree of divergence may occur as the laser beam travels straight. Due to this divergence, the laser beam emitted from the laser output unit may not be incident on the object, or even if it is incident, the amount may be very small.
  • the degree of divergence of the laser beam 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 toward the detector is also very small due to the divergence, so that desired measurement results may not be obtained.
  • the degree of divergence of the laser beam is large, the distance that can be measured by the lidar device is reduced, and thus a distant object may not be measured.
  • 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 before the laser beam is incident to the target object.
  • the collimation component of the present invention can reduce the degree of divergence of the laser beam.
  • a laser beam passing through the collimation component may become collimated light.
  • the laser beam passing through the collimation component may have a degree of divergence of 0.4 degrees to 1 degree.
  • the amount of light incident to the object may be increased.
  • the amount of light reflected from the object also increases, so that the laser beam can be received efficiently.
  • the amount of light incident on the target object is increased, it is possible to measure an object at a greater distance with the same laser beam power compared to before the collimation of the laser beam.
  • FIG. 10 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • a collimation component 210 may include a plurality of micro lenses 211 and a substrate 213 .
  • the micro lens 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 may be disposed on the substrate 213 .
  • a plurality of micro lenses 211 and a substrate 213 may be disposed on the plurality of VCSEL emitters 110 .
  • one of the plurality of micro lenses 211 may be arranged to correspond to one of the plurality of VCSEL emitters 110, but is not limited thereto.
  • the plurality of micro lenses 211 may collimate laser beams emitted from the plurality of VCSEL emitters 110 .
  • 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 .
  • a divergence angle of a laser beam emitted from one of the plurality of VCSEL emitters 110 may decrease after passing through one of the plurality of micro lenses 211 .
  • the plurality of micro lenses according to an embodiment may be a refractive index distribution type lens, a microcurved surface lens, an array lens, a Fresnel lens, and the like.
  • the plurality of micro lenses according to an embodiment may be manufactured by methods such as molding, ion exchange, diffusion polymerization, sputtering, and etching.
  • the plurality of micro lenses according to an embodiment may have a diameter of 130 um to 150 um.
  • the diameter of the plurality of micro lenses may be 140um.
  • the plurality of micro lenses may have a thickness of 400 um to 600 um.
  • the thickness of the plurality of micro lenses may be 500um.
  • FIG. 12 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • a collimation component 210 may include a plurality of micro lenses 211 and a substrate 213 .
  • a plurality of micro lenses 211 may be disposed on the substrate 213 .
  • a plurality of micro lenses 211 may be disposed on the front and rear surfaces of the substrate 213 .
  • the optical axes of the micro lenses 211 disposed on the surface of the substrate 213 and the micro lenses 211 disposed on the rear surface of the substrate 213 may coincide.
  • FIG. 13 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • a collimation component may include a metasurface 220.
  • the metasurface 220 may include a plurality of nanocolumns 221 .
  • the plurality of nanocolumns 221 may be disposed on one side of the metasurface 220 .
  • the plurality of nanocolumns 221 may be disposed on both sides of the metasurface 220 .
  • the plurality of nanocolumns 221 may have sub-wavelength dimensions. For example, an interval between the plurality of nanocolumns 221 may be smaller than a wavelength of a laser beam emitted from the laser output unit 100 . Alternatively, the width, diameter, and height of the nanocolumns 221 may be smaller than the wavelength of the laser beam.
  • the metasurface 220 may refract the laser beam by adjusting the phase of the laser beam emitted from the laser output unit 100 .
  • the metasurface 220 may refract laser beams output from the laser output unit 100 in various directions.
  • the metasurface 220 may collimate the laser beam emitted from the laser output unit 100 .
  • the metasurface 220 may reduce a divergence angle of a laser beam emitted from the laser output unit 100 .
  • the divergence angle of the laser beam emitted from the laser output unit 100 may be 15 degrees to 30 degrees, and the divergence angle of the laser beam after passing through the metasurface 220 may be 0.4 degrees to 1.8 degrees.
  • the metasurface 220 may be disposed on the laser output unit 100 .
  • the metasurface 220 may be disposed on the emission surface side of the laser output unit 100 .
  • the metasurface 220 may be deposited on the laser output unit 100 .
  • a plurality of nanocolumns 221 may be formed on top of the laser output unit 100 .
  • the plurality of nanocolumns 221 may form various nanopatterns on the laser output unit 100 .
  • the nanocolumns 221 may have various shapes.
  • the nanocolumn 221 may have a shape such as a cylinder, a polygonal column, a cone, or a polygonal pyramid.
  • the nanocolumns 221 may have an irregular shape.
  • FIG. 14 is a diagram for describing a steering component according to an exemplary embodiment.
  • the steering component 230 may be disposed in a direction in which a laser beam emitted from the laser output unit 100 is directed.
  • the steering component 230 can adjust the direction the laser beam is directed.
  • the steering component 230 may adjust an angle between an optical axis of a laser light source and a laser beam.
  • 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 between 0 degrees and 30 degrees.
  • 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.
  • a steering component 231 may include a plurality of micro lenses 231 and a substrate 233 .
  • a plurality of micro lenses 232 may be disposed on the substrate 233 .
  • a plurality of micro lenses 232 and a substrate 233 may be disposed on the plurality of VCSEL emitters 110 .
  • one of the plurality of micro lenses 232 may be arranged to correspond to one of the plurality of VCSEL emitters 110, but is not limited thereto.
  • the plurality of micro lenses 232 may steer laser beams emitted from the plurality of VCSEL emitters 110 . At this time, a laser beam emitted from one of the plurality of VCSEL emitters 110 may be steered by one of the plurality of micro lenses 232 .
  • the optical axis of the micro lens 232 and the optical axis of the VCSEL emitter 110 may not coincide.
  • the laser beam emitted from the VCSEL emitter 110 and passing through the micro lens 232 is on the left side.
  • the laser beam emitted from the VCSEL emitter 110 and passing through the micro lens 232 is on the left side.
  • the laser beam emitted from the VCSEL emitter 110 passes through the micro lens 232. can be directed to the right.
  • the steering degree of the laser beam may increase.
  • the angle between the optical axis of the laser light source and the laser beam may be greater than when the distance is 1um.
  • 17 is a diagram for describing a steering component according to an exemplary embodiment.
  • a steering component 234 may include a plurality of micro prisms 235 and a substrate 236 .
  • a plurality of micro prisms 235 may be disposed on the substrate 236 .
  • a plurality of micro prisms 235 and a substrate 236 may be disposed on the plurality of VCSEL emitters 110 .
  • the plurality of micro prisms 235 may be arranged to correspond to one of the plurality of VCSEL emitters 110, but is not limited thereto.
  • the plurality of micro prisms 235 may steer laser beams emitted from the plurality of VCSEL emitters 110 .
  • the plurality of micro prisms 235 may change an angle between an optical axis of a laser light source and a laser beam.
  • the angle between the optical axis of the laser light source and the laser beam increases.
  • the angle of the micro prism 235 is 0.05 degrees
  • the laser beam is steered by 35 degrees
  • the angle of the micro prism 235 is 0.25 degrees
  • the laser beam is steered by 15 degrees.
  • the plurality of micro prisms 235 may be Porro prism, Amici roof prism, Pentaprism, Dove prism, Retroreflector prism, and the like. Also, the plurality of micro prisms 235 may be made of glass, plastic, or fluorite. In addition, the plurality of micro prisms 235 may be manufactured by molding, etching, or the like.
  • irregular reflection due to surface roughness may be prevented by smoothing the surface of the microprism 235 through a polishing process.
  • the micro prisms 235 may be disposed on both sides of the substrate 236 .
  • microprisms disposed on the first surface of the substrate 236 steer the laser beam along a first axis
  • microprisms disposed on the second surface of the substrate 236 steer the laser beam along a second axis. can make it
  • FIG. 18 is a diagram for describing a steering component according to an exemplary embodiment.
  • a steering component may include a metasurface 240 .
  • the metasurface 240 may include a plurality of nanocolumns 241 .
  • the plurality of nanocolumns 241 may be disposed on one side of the metasurface 240 .
  • the plurality of nanocolumns 241 may be disposed on both sides of the metasurface 240 .
  • the metasurface 240 may refract the laser beam by adjusting the phase of the laser beam emitted from the laser output unit 100 .
  • the metasurface 240 may be disposed on the laser output unit 100 .
  • the metasurface 240 may be disposed on the emission surface side of the laser output unit 100 .
  • the metasurface 240 may be deposited on the laser output unit 100 .
  • a plurality of nanocolumns 241 may be formed on top of the laser output unit 100 .
  • the plurality of nanocolumns 241 may form various nanopatterns on the laser output unit 100 .
  • the nanocolumns 241 may have various shapes.
  • the nanocolumn 241 may have a shape such as a cylinder, a polygonal column, a cone, or a polygonal pyramid.
  • the nanocolumns 241 may have an irregular shape.
  • the plurality of nanopillars 241 may form various nanopatterns.
  • the metasurface 240 may steer a laser beam emitted from the laser output unit 100 based on the nanopattern.
  • the nanocolumns 241 may form nanopatterns based on various characteristics.
  • the characteristics may include a width (W), a pitch (P), a height (H), and the number per unit length of the nanocolumns 241 .
  • nanopatterns formed based on various characteristics and steering of a laser beam according to the nanopatterns will be described.
  • a metasurface 240 may include a plurality of nanocolumns 241 having different widths W.
  • a nanopattern may be formed based on the width W of the plurality of nanocolumns 241 .
  • the plurality of nanocolumns 241 may be arranged such that the widths W1 , W2 , and W3 increase in one direction.
  • the laser beam emitted from the laser output unit 100 may be steered in a direction in which the width W of the nanocolumns 241 increases.
  • the metasurface 240 includes first nanocolumns 243 having a first width W1, second nanocolumns 245 having a second width W2, and a third width W3.
  • a third nanocolumn 247 may be included.
  • the first width W1 may be greater than the second and third widths W2 and W3.
  • the second width W2 may be greater than the third width W3. That is, the width W of the nanocolumn 241 may decrease from the first nanocolumn 243 to the third nanocolumn 247 side.
  • the first direction emitted from the laser output unit 100 and the first nanocolumn 243 from the third nanocolumn 247 ) may be steered in a direction between the second direction, which is the direction toward.
  • the steering angle ⁇ of the laser beam may vary according to the rate of change of the width W of the nanocolumn 241 .
  • the increase/decrease rate of the width W of the nanocolumns 241 may mean a numerical value representing the average degree of increase/decrease of the width W of a plurality of adjacent nanocolumns 241 .
  • the rate of increase in the width W of the nanocolumns 241 is calculated 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 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.
  • the steering angle ⁇ of the laser beam may vary according to the width W of the nanocolumns 241 .
  • the steering angle ⁇ may increase as the rate of change of the width W of the nanocolumn 241 increases.
  • the nanocolumn 241 may form a first pattern having a first increase/decrease rate based on the width W of the nanocolumn 241 .
  • the nanocolumn 241 may form a second pattern having a second increase/decrease rate smaller than the first increase/decrease rate based on the width W of the nanocolumn 241 .
  • the first steering angle according to the first pattern may be greater than the second steering angle according to the second pattern.
  • the range of the steering angle ⁇ may be -90 degrees to 90 degrees.
  • 20 is a diagram for explaining a metasurface according to an embodiment.
  • a metasurface 240 may include a plurality of nanocolumns 241 having different intervals P between adjacent nanocolumns 241 .
  • the plurality of nanocolumns 241 may form a nanopattern based on a change in the spacing P between adjacent nanocolumns 241 .
  • the metasurface 240 may steer the laser beam emitted from the laser output unit 100 based on the nanopattern formed based on the change in the spacing P between the nanocolumns 241 .
  • the spacing P between the nanocolumns 241 may decrease in one direction.
  • the distance P may mean a distance between centers of two adjacent nanocolumns 241 .
  • the first interval P1 may be defined as a distance between the center of the first nanocolumn 243 and the center of the second nanocolumn 245 .
  • the first interval P1 may be defined as the shortest distance between the first nanocolumns 243 and the second nanocolumns 245 .
  • a laser beam emitted from the laser output unit 100 may be steered in a direction in which the distance P between the nanocolumns 241 decreases.
  • the metasurface 240 may include first nanopillars 243 , second nanopillars 245 , and third nanopillars 247 .
  • the first interval P1 may be obtained based on the distance between the first nanocolumn 243 and the second nanocolumn 245 .
  • the second interval P2 may be obtained based on the distance between the second nanocolumn 245 and the third nanocolumn 247 .
  • the first interval P1 may be smaller than the second interval P2. That is, the distance P may increase from the first nanocolumn 243 toward the third nanocolumn 247.
  • the laser beam emitted from the laser output unit 100 passes through the metasurface 240, the laser beam is emitted from the first direction from the laser output unit 100 and the third nanocolumn 247. It can be steered in a direction between the first direction, which is the direction toward the 1 nanocolumn 243 .
  • the steering angle ⁇ of the laser beam may vary according to the distance P between the nanocolumns 241 .
  • the steering angle ⁇ of the laser beam may vary according to the rate of change of the distance P between the nanocolumns 241 .
  • the increase/decrease rate of the spacing P between the nanocolumns 241 may mean a numerical value representing an average degree of change in the spacing P between adjacent nanocolumns 241 .
  • the steering angle ⁇ of the laser beam may increase as the rate of change of the spacing P between the nanocolumns 241 increases.
  • the nanocolumns 241 may form a first pattern having a first increase/decrease rate based on the spacing P.
  • the nanocolumns 241 may form a second pattern having a second increase/decrease rate based on the spacing P.
  • the first steering angle according to the first pattern may be greater than the second steering angle according to the second pattern.
  • the steering principle of the laser beam according to the change in the spacing P of the nanocolumns 241 described above can be similarly applied even when the number of nanocolumns 241 per unit length is changed.
  • the laser beam emitted from the laser output unit 100 is divided into the first direction and the nanocolumns per unit length ( 241) may be steered in a direction between the second direction in which the number increases.
  • 21 is a diagram for explaining a metasurface according to an embodiment.
  • the metasurface 240 may include a plurality of nanocolumns 241 having different heights H of the nanocolumns 241 .
  • the plurality of nanocolumns 241 may form nanopatterns based on changes in the height H of the nanocolumns 241 .
  • the heights H1 , H2 , and H3 of the plurality of nanocolumns 241 may increase in one direction.
  • a laser beam emitted from the laser output unit 100 may be steered in a direction in which the height H of the nanocolumns 241 increases.
  • the steering angle ⁇ of the laser beam may vary according to the height H of the nanocolumns 241 .
  • the steering angle ⁇ of the laser beam may vary according to the rate of change of the height H of the nanocolumns 241 .
  • the increase/decrease rate of the height H of the nanocolumns 241 may mean a numerical value representing an average degree of change in the height H of adjacent nanocolumns 241 .
  • the rate of increase in the height H of the nanocolumns 241 is calculated 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 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.
  • the steering angle ⁇ of the laser beam may increase as the rate of change of the height H of the nanocolumn 241 increases.
  • the nanocolumn 241 may form a first pattern having a first increase/decrease rate based on its height H.
  • the nanocolumn 241 may form a second pattern having a second increase/decrease rate based on the height H of the nanocolumn 241 .
  • the first steering angle according to the first pattern may be greater than the second steering angle according to the second pattern.
  • the steering component 230 may include a mirror that reflects the laser beam.
  • steering component 230 may include planar mirrors, multi-sided mirrors, resonant mirrors, MEMS mirrors, and galvano mirrors.
  • 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.
  • FIG. 22 is a diagram for describing a multi-sided mirror that is a steering component according to an exemplary embodiment.
  • a rotating multi-faceted mirror 600 may include a reflective surface 620 and a body, and vertically penetrates the upper part 615 and the lower part 610 of the body through the center. It can rotate about the rotation axis 630 that does.
  • the rotating multi-faceted mirror 600 may be composed of only some of the above-described components, and may include more components.
  • the rotating multi-faceted mirror 600 may include a reflective surface 620 and a body, and the body may include only the lower portion 610. At this time, the reflective surface 620 may be supported on the lower part 610 of the body.
  • the reflective surface 620 is a surface for reflecting the received laser beam and may include a reflective mirror or reflective plastic, but is not limited thereto.
  • the reflective surface 620 may be installed on a side surface of the body except for the upper part 610 and the lower part 615, and may be installed so that the rotation axis 630 and the normal line of each reflective surface 620 are orthogonal. there is. This may be to repeatedly scan the same scan area by making the scan area of the laser irradiated from each of the reflective surfaces 620 the same.
  • the reflective surface 620 may be installed on a side surface of the body except for the upper part 610 and the lower part 615, and the normal line of each reflective surface 620 has a different angle from the rotation axis 630, respectively. may be installed. This may be to expand the scan area of the lidar device by making the scan area of the laser irradiated from each of the reflective surfaces 620 different.
  • 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.
  • the body is for supporting the reflection surface 620 and may include an upper part 615, a lower part 610, and a pillar 612 connecting the upper part 615 and the lower part 610.
  • the pillar 612 may be installed to connect the centers of the upper part 615 and the lower part 610 of the body, and installed to connect each vertex of the upper part 615 and the lower part 610 of the body. It may be installed to connect each corner of the upper part 615 and the lower part 610 of the body, but the structure for connecting and supporting the upper part 615 and lower part 610 of the body is not limited. .
  • the body may be coupled to the driving unit 640 in order to receive driving force for rotation, and may be coupled to the driving unit 640 through the lower part 610 of the body, or through the upper part 615 of the body. It may also be fastened to the driving unit 640 .
  • the upper part 615 and the lower part 610 of the body may have a polygonal shape.
  • the upper part 615 of the body and the lower part 610 of the body may have the same shape, but are not limited thereto, and the upper part 615 of the body and the lower part 610 of the body may have different shapes. You may.
  • the upper part 615 and the lower part 610 of the body may have the same size.
  • the size of the upper portion 615 of the body and the lower portion 610 of the body may be different from each other without being limited thereto.
  • the upper part 615 and/or lower part 610 of the body may include an empty space through which air may pass.
  • the rotating multi-sided mirror 600 is described as a hexahedron in the form of a quadrangular column including four reflective surfaces 620, but the reflective surfaces 620 of the rotating multi-sided mirror 600 are necessarily four. It is not necessarily a hexahedron in the form of a quadrangular prism.
  • the lidar device may further include an encoder unit.
  • the LIDAR device may control the operation of the rotating multi-faceted mirror 600 using the detected rotation angle.
  • the encoder unit may be included in the rotating multi-sided mirror 600 or may be disposed spaced apart from the rotating multi-sided mirror 600 .
  • LiDAR devices may have different FOVs required depending on their use. For example, in the case of a fixed lidar device for 3D mapping, a wide viewing angle in the vertical and horizontal directions may be required, and in the case of a lidar device placed in a vehicle, a relatively wide viewing angle in the horizontal direction is required. In comparison, a relatively narrow viewing angle in the vertical direction may be required. In addition, lidar deployed on drones may require the widest possible angle of view in vertical and horizontal directions.
  • 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, the number of reflective surfaces of the rotating multi-faceted mirror can be determined based on the viewing angle of the lidar device required.
  • 23 to 25 are views explaining the relationship between the number of reflective surfaces and the viewing angle.
  • 23 to 25 describe the case of three, four, or five reflective surfaces, but the number of reflective surfaces is not determined, and if the number of reflective surfaces is different, it can be easily calculated by inferring the description below.
  • 22 to 24 describe the case where the upper and lower portions of the body are regular polygons, but even when the upper and lower portions of the body are not regular polygons, the following description can be inferred and easily calculated.
  • FIG. 23 is a top view for explaining the viewing angle of the rotating multi-faceted mirror 650 in which the number of reflection surfaces is three and the upper and lower portions of the body are in the form of an equilateral triangle.
  • a laser 653 may be incident in a direction coincident with a rotation axis 651 of the rotation multi-faceted mirror 650 .
  • the angle formed by the three reflection surfaces may be 60 degrees.
  • the rotating multi-sided mirror 650 is slightly rotated clockwise and positioned, the laser is reflected upward on the drawing, and the rotating multi-sided mirror is slightly rotated counterclockwise. The laser may be reflected to a lower part on the drawing. Therefore, by calculating the path of the reflected laser with reference to FIG. 23, the maximum viewing angle of the rotating multi-faceted mirror can be found.
  • the reflected laser when reflected through the first reflective surface of the rotating multi-faceted mirror 650, the reflected laser may be reflected upward at an angle of 120 degrees with the incident laser 653.
  • the reflected laser beam when reflected through the third reflective surface of the rotating multi-faceted mirror, the reflected laser beam may be reflected downward at an angle of 120 degrees with respect to the incident laser beam.
  • the maximum viewing angle of the rotational multi-faceted mirror may be 240 degrees.
  • 24 is a top view for explaining the viewing angle of the rotating multi-faceted mirror in which the number of reflective surfaces is four and upper and lower portions of the body are square.
  • a laser 663 may be incident in a direction coincident with a rotational axis 661 of the rotating multi-faceted mirror 660 .
  • the angle formed by the four reflective surfaces may be 90 degrees.
  • the rotating multi-sided mirror 660 rotates slightly clockwise and is positioned, the laser is reflected upward on the drawing, and the rotating multi-sided mirror 660 rotates slightly counterclockwise to position In this case, the laser may be reflected to the lower part on the drawing. Therefore, by calculating the path of the reflected laser with reference to FIG. 24 , the maximum viewing angle of the rotating multi-faceted mirror 660 can be found.
  • the reflected laser when reflected through the first reflective surface of the rotating multi-faceted mirror 660, the reflected laser may be reflected upward at an angle of 90 degrees to the incident laser 663.
  • the reflected laser beam when reflected through the fourth reflective surface of the rotating multi-faceted mirror 660, the reflected laser beam may be reflected downward at an angle of 90 degrees with the incident laser beam 663.
  • the maximum viewing angle of the rotating multi-sided 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 reflection surfaces is five and upper and lower portions of the body are in the shape of a regular pentagon.
  • a laser 673 may be incident in a direction coincident with a rotational axis 671 of the rotating multi-faceted mirror 670 .
  • the angle formed by the five reflection surfaces may be 108 degrees.
  • the rotating multi-sided mirror 670 rotates clockwise slightly and is positioned, the laser is reflected upward on the drawing, and the rotating multi-sided mirror 670 rotates slightly counterclockwise to When positioned, the laser can be reflected to the lower part on the drawing. Therefore, by calculating the path of the reflected laser with reference to FIG. 24, the maximum viewing angle of the rotating multi-faceted mirror can be found.
  • the reflected laser when reflected through the first reflection surface of the rotating multi-faceted mirror 670, the reflected laser may be reflected upward at an angle of 72 degrees with the incident laser 673. In addition, when reflected through the 5th reflective surface of the rotating multi-faceted mirror 670, the reflected laser may be reflected downwardly with the incident laser 673 at an angle of 72 degrees.
  • the maximum viewing angle of the rotating multi-faceted mirror may be 144 degrees.
  • the viewing angle determined by the rotating multi-faceted mirror in the lidar device may be smaller than the calculated maximum value. Also, at this time, the lidar device may use only a portion of each reflective surface of the rotating multi-faceted mirror for scanning.
  • the rotating multi-sided mirror can be used to irradiate the laser emitted from the laser output unit toward the scan area of the LIDAR device, and reflect the object on the scan area. It can be used to receive the laser beam to the detector unit.
  • each reflective surface of the rotating multi-faceted mirror used to irradiate the emitted laser into the scanning area of the LIDAR device will be referred to as an irradiation portion.
  • a portion of each reflective surface of the rotating multi-faceted mirror for receiving laser reflected from an object existing on the scan area into the detector unit will be referred to as a light receiving portion.
  • 26 is a diagram for explaining an irradiating part and a light receiving part of a rotating multi-faceted mirror according to an exemplary embodiment.
  • the laser emitted from the laser output unit 100 may have a dot-shaped irradiation area and may be incident on the reflective surface of the rotating multi-faceted mirror 700 .
  • the laser emitted from the laser output unit 100 may have a line or planar irradiation area.
  • the irradiation part 720 of the rotating multi-sided mirror 700 determines the point where the emitted laser meets the rotating multi-sided mirror. It may be in the form of lines connected in the direction of rotation of the multi-sided mirror. Therefore, in this case, the irradiation part 720 of the rotational multi-faceted mirror 700 may be positioned in a line form in a direction perpendicular to the rotational axis 710 of the rotational multi-faceted mirror 700 on each reflection surface.
  • the laser irradiated from the irradiation part 720 of the rotating multi-sided mirror 700 and irradiated to the scan area 510 of the lidar device 1000 is directed to the target object existing on the scan area 510 (500) , and the laser 735 reflected from the object 500 may be reflected in a greater range than the irradiated laser 725. Therefore, the laser 735 reflected from the object 500 is parallel to the irradiated laser beam and can be received by the LIDAR device 1000 in a wider range.
  • the laser 735 reflected from the target object 500 may be transmitted larger than the size of the reflective surface of the rotating multi-faceted mirror 700 .
  • the light-receiving part 730 of the rotating multi-sided mirror 700 is a part for receiving the laser 735 reflected from the object 500 to the detector unit 300, and the reflective surface of the rotating multi-sided mirror 700 It may be a part of the reflective surface smaller than the size.
  • the rotating multi-sided mirror 700 Among the reflective surfaces of the light-receiving portion 730, a portion that reflects light so as to be transmitted toward the detector unit 300 may be a light-receiving portion 730. Therefore, the light-receiving portion 730 of the rotating multi-sided mirror 700 may be a portion obtained by extending a portion of the reflective surface that is reflected so as to be transmitted toward the detector unit 300 in the direction of rotation of the rotating multi-sided mirror 700. there is.
  • the light receiving portion 730 of the rotating multi-faceted mirror 700 is transmitted toward the condensing lens among the reflective surfaces.
  • the reflective portion may be a portion extending in the direction of rotation of the rotating multi-faceted mirror 700 .
  • the irradiation part 720 and the light receiving part 730 of the rotating multi-sided mirror 700 are described as being spaced apart, but the irradiating part 720 and the light receiving part 730 of the rotating multi-faceted mirror 1550 A part of silver may overlap, and the irradiation part 720 may be included in the light receiving part 730.
  • the steering component 230 may include, but is not limited to, an optical phased array (OPA) in order to change the phase of the emitted laser and thereby change the irradiation direction.
  • OPA optical phased array
  • a lidar device may include an optic unit for directing a laser beam emitted from a laser output unit to an object.
  • the optic unit may include a Beam Collimation and Steering Component (BCSC) for collimating and steering a laser beam emitted from the laser output unit.
  • BCSC Beam Collimation and Steering Component
  • 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.
  • an optical unit may include a plurality of components.
  • it may include a collimation component 210 and a steering component 230 .
  • the collimation component 210 may serve to collimate the beam emitted from the laser output unit 100, and the steering component 230 collimates the beam emitted from the collimation component 210. It can play a role of steering the mapped beam. As a result, a laser beam emitted from the optic unit may be directed in a predetermined direction.
  • the collimation component 210 may be a micro lens or a metasurface.
  • an optical array may be disposed on one side of the substrate or an optical array may be disposed on both sides of the substrate.
  • the laser beam may be collimated by a nanopattern formed by a plurality of nanocolumns included in the metasurface.
  • the steering component 230 may be a micro lens, a micro prism, or a metasurface.
  • an optical array may be disposed on one side of the substrate or an optical array may be disposed on both sides of the substrate.
  • steering may be performed by an angle of the microprism.
  • a laser beam may be steered by a nanopattern formed by a plurality of nanocolumns included in the metasurface.
  • the optic unit when the optic unit includes a plurality of components, correct arrangement between the plurality of components may be required. At this time, the collimation component and the steering component may be correctly arranged through an alignment mark.
  • a printed circuit board (PCB), a VCSEL array, a collimation component, and a steering component may be correctly arranged through an alignment mark.
  • the VCSEL array and collimation component can be correctly placed.
  • the collimation component and the steering component may be correctly arranged by inserting an alignment mark between the collimation components or at an edge portion of the collimation components.
  • FIG. 28 is a diagram for describing an optical unit according to an exemplary embodiment.
  • an optical unit may include one single component.
  • a meta component 270 may be included.
  • the meta component 270 may collimate or steer a laser beam emitted from the laser output unit 100 .
  • the meta component 270 includes a plurality of meta surfaces, one meta surface collimates the laser beam emitted from the laser output unit 100, and the other meta surface collimates the collimated laser beam. can be steered. It will be specifically described in FIG. 29 below.
  • the meta component 270 may collimate and steer a laser beam emitted from the laser output unit 100 by including one metasurface. It will be specifically described in FIG. 24 below.
  • 29 is a diagram for explaining a meta component according to an embodiment.
  • a meta component 270 may include a plurality of meta surfaces 271 and 273.
  • a first metasurface 271 and a second metasurface 273 may be included.
  • the first metasurface 271 may be disposed in a direction in which a laser beam is emitted from the laser output unit 100 .
  • the first metasurface 271 may include a plurality of nanocolumns.
  • the first metasurface may form a nanopattern by a plurality of nanopillars.
  • the first metasurface 271 may collimate the laser beam emitted from the laser output unit 100 by the formed nanopattern.
  • the second metasurface 273 may be disposed in a direction in which a laser beam is output from the first metasurface 271 .
  • the second metasurface 273 may include a plurality of nanocolumns.
  • the second metasurface 273 may form a nanopattern by a plurality of nanocolumns.
  • the second metasurface 273 may steer a laser beam emitted from the laser output unit 100 by the formed nanopattern. For example, as shown in FIG. 24 , a laser beam may be steered in a specific direction according to an increase/decrease rate of the width W of a plurality of nanocolumns.
  • the laser beam may be steered in a specific direction according to the spacing P, the height H, and the number per unit length of the plurality of nanocolumns.
  • FIG. 30 is a diagram for explaining a meta component according to another embodiment.
  • a meta component 270 may include one meta surface 274.
  • the metasurface 275 may include a plurality of nanocolumns on both sides.
  • the metasurface 275 may include a first set of nanopillars 276 on a first surface and a second set of nanopillars 278 on a second surface.
  • the metasurface 275 may be steered after collimating a laser beam emitted from the laser output unit 100 by means of a plurality of nano-columns forming respective nano-patterns on both sides.
  • the first nanopillar set 276 disposed on one side of the metasurface 275 may form a nanopattern.
  • a laser beam emitted from the laser output unit 100 may be collimated by the nanopattern formed by the first nanopillar set 276 .
  • the second nanopillar set 278 disposed on the other side of the metasurface 275 may form a nanopattern.
  • a laser beam passing through the first nanopillar 276 may be steered in a specific direction by the nanopattern formed by the second set of nanopillars 278 .
  • FIG. 31 is a diagram for explaining a SPAD array according to an embodiment.
  • the detector unit 300 may include a SPAD array 750.
  • 31 shows an 8X8 SPAD array, but is not limited thereto, and may be 10X10, 12X12, 24X24, 64X64, or the like.
  • the SPAD array 750 may include a plurality of SPADs 751 .
  • the plurality of SPADs 751 may be arranged in a matrix structure, but are not limited thereto and may be arranged in a circular, elliptical, or honeycomb structure.
  • the SPAD array 750 When a laser beam is incident on the SPAD array 750, photons can be detected by an avalanche phenomenon. According to one embodiment, the result by the SPAD array 750 may be accumulated in the form of a histogram.
  • 32 is a diagram for explaining a histogram of SPAD according to an embodiment.
  • the SPAD 751 may detect photons.
  • signals 766 and 767 may be generated.
  • recovery time may be required until it returns to a state in which photons can be detected again. If the recovery time does not pass after the SPAD 751 detects the photon, even if the photon is incident on the SPAD 751 at this time, the SPAD 751 cannot detect the photon. Therefore, the resolution of SPAD 751 can be determined by the recovery time.
  • 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 certain period of cycle. For example, the SPAD 751 may detect photons several times during a cycle according to the time resolution of the SPAD 751 . At this time, the time resolution of the SPAD 751 may be determined by the recovery time of the SPAD 751.
  • the SPAD 751 may detect photons reflected from an object and other photons. For example, the SPAD 751 may generate a signal 767 when detecting a photon reflected from an object.
  • the SPAD 751 may generate a signal 766 when detecting a photon other than a photon reflected from an object.
  • photons other than the photon reflected from the object may include sunlight, a laser beam reflected from a window, and the like.
  • the SPAD 751 may detect photons during a predetermined time cycle after outputting a laser beam from a laser output unit.
  • the SPAD 751 may detect photons during a first cycle after outputting a first laser beam from a laser output unit. In this case, the SPAD 751 may generate a first detecting signal 761 after detecting photons.
  • the SPAD 751 may output a second laser beam from the laser output unit and then detect photons during the second cycle. In this case, the SPAD 751 may generate a second detecting signal 762 after detecting photons.
  • the SPAD 751 may output a third laser beam from the laser output unit and then detect photons during the third cycle. In this case, the SPAD 751 may generate a third detecting signal 763 after detecting photons.
  • the SPAD 751 may output the Nth laser beam from the laser output unit and then detect photons during the Nth cycle. At this time, the SPAD 751 may generate an Nth detecting signal 764 after detecting photons.
  • the first detecting signal 761, the second detecting signal 762, the third detecting signal 763, and the Nth detecting signal 764 include a signal 767 by photons reflected from the object or A signal 766 by photons other than photons reflected from the object may be included.
  • the Nth detecting signal 764 may be a photon detecting signal during the Nth cycle after outputting the Nth laser beam.
  • N can 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.
  • a histogram may have a plurality of histogram bins.
  • Signals by the SPAD 751 may be accumulated in the form of a histogram corresponding to each histogram bin.
  • the histogram may be formed by accumulating signals by one SPAD 751 or by accumulating signals by a plurality of SPADs 751 .
  • the histogram 765 may be created by accumulating the first detecting signal 761, the second detecting signal 762, the third detecting signal 763, and the Nth detecting signal 764.
  • the histogram 765 may include a signal by photons reflected from the object or a signal by other photons.
  • a signal generated by photons reflected from the object may be more quantitative and more regular than a signal generated by other photons.
  • a signal by a photon reflected from an object within a cycle may regularly exist at a specific time.
  • signals caused by sunlight are small and may exist irregularly.
  • a signal with a large histogram accumulation at a specific time is likely to be a signal caused by photons reflected from an object. Accordingly, a signal having a large amount of accumulation in the accumulated histogram 765 may be extracted as a signal by photons reflected from the object.
  • a signal having the highest value in the histogram 765 may be simply extracted as a signal generated by a photon reflected from an object.
  • signals of a predetermined amount 768 or more in the histogram 765 may be extracted as signals by photons reflected from the object.
  • distance information of the object may be calculated based on a generation time of the corresponding signal or a reception time of the photon.
  • a signal extracted from the histogram 765 may be a signal at one scan point.
  • one scan point may correspond to one SPAD.
  • signals extracted from a plurality of histograms may be signals at one scan point.
  • one scan point may correspond to a plurality of SPADs.
  • signals extracted from a plurality of histograms may be weighted and calculated as a signal at one scan point. At this time, the weight may be determined by the distance between the SPADs.
  • the signal at the first scan point has a weight of 0.8 for the signal of the first SPAD, a weight of 0.6 for the signal of the second SPAD, a weight of 0.4 for the signal of the third SPAD, and a weight of 0.4 for the signal of the fourth SPAD. It can be calculated by giving the signal a weight of 0.2.
  • the laser output unit may output a laser beam addressably.
  • the laser output unit may output a laser beam addressably for each big cell unit.
  • the laser output unit outputs the laser beam of the big cell unit in the first row and column 1 once, then outputs the laser beam of the big cell unit in the 1st row and column 3 once, and then outputs the laser beam of the big cell unit in the 2nd row and 4th column once.
  • 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 row C and column D M times.
  • the SPAD array may receive light of a laser beam reflected from a target object and returned from among laser beams output from a corresponding vixel unit.
  • the laser beam reflected from the object by the SPAD unit in one row and column 1 corresponding to the first row and column 1 can be received up to N times.
  • the M number of big cell units can be operated N times at once.
  • M big cell units may be operated M*N times one by one, or M big cell units may be operated M*N/5 times, 5 times each.
  • the detector unit 300 may include a SiPM 780.
  • the SiPM 780 may include a plurality of microcells 781 and a plurality of microcell units 782 .
  • a microcell can be a SPAD.
  • the microcell unit 782 may be a SPAD array that is a set of a plurality of SPADs.
  • the SiPM 780 may include a plurality of microcell units 782 .
  • 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, or 64X64 matrix.
  • the microcell units 782 may be arranged in a matrix structure, but are not limited thereto and may be arranged in a circular, elliptical, or honeycomb structure.
  • results obtained by the SiPM 780 may be accumulated in the form of a histogram.
  • the histogram by the SPAD 751 may be accumulated with N detecting signals formed by one SPAD 751 receiving N laser beams.
  • the histogram by the SPAD 751 may be an accumulation of X*Y detection signals formed by X number of SPADs 751 receiving laser beam Y.
  • the histogram by the SiPM 780 may be formed by accumulating signals from one microcell unit 782 or by accumulating signals from a plurality of microcell units 782.
  • one microcell unit 782 may form a histogram by outputting laser beam 1 from the laser output unit and then detecting photons reflected from the object.
  • a histogram by the SiPM 780 may be formed by accumulating signals generated by detecting photons reflected from an object by a plurality of microcells included in one microcell unit 782 .
  • the plurality of microcell units 782 may form a histogram by detecting photons reflected from the object after outputting a laser beam once from the laser output unit.
  • a histogram by the SiPM 780 may be formed by accumulating signals generated by detecting photons reflected from an object by a plurality of microcells included in the plurality of microcell units 782 .
  • one SPAD 751 or a plurality of SPADs 751 may require N laser beam output from the laser output unit.
  • 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 .
  • the histogram by the SPAD 751 may take longer to accumulate than the histogram by the SiPM 780.
  • the histogram by the SiPM 780 has the advantage of being able to quickly form a histogram with only one laser beam output.
  • SiPM 34 is a diagram for explaining a histogram of SiPM according to an embodiment.
  • the SiPM 780 may detect photons.
  • the microcell unit 782 may detect photons.
  • signals 787 and 788 may be generated.
  • a recovery time may be required until it returns to a state in which photons can be detected again. If the recovery time does not pass after the microcell unit 782 detects the photon, even if the photon is incident on the microcell unit 782 at this time, the microcell unit 782 cannot detect the photon. Accordingly, the resolution of the microcell unit 782 may be determined by the recovery time.
  • 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 certain period of cycle. For example, the microcell unit 782 may detect photons multiple times during a cycle depending on the time resolution of the microcell unit 782 . At this time, the time resolution of the microcell unit 782 may be determined by the recovery time of the microcell unit 782 .
  • the microcell unit 782 may detect photons reflected from an object and other photons. For example, the microcell unit 782 may generate a signal 787 when detecting a photon reflected from an object.
  • the microcell unit 782 may generate a signal 788 when detecting a photon other than a photon reflected from an object.
  • photons other than the photon reflected from the object may include sunlight, a laser beam reflected from a window, and the like.
  • the microcell unit 782 may detect photons during a predetermined time cycle after outputting a laser beam from the laser output unit.
  • the first microcell 783 included in the microcell unit 782 may output a laser beam from the laser output unit and then detect photons during the first cycle.
  • the first microcell 783 may generate a first detecting signal 791 after detecting photons.
  • the second microcell 784 included in the microcell unit 782 may output a laser beam from the laser output unit and then detect photons during the first cycle.
  • the second microcell 784 may generate a first detecting signal 792 after detecting photons.
  • the third microcell 785 included in the microcell unit 782 may output a laser beam from the laser output unit and then detect photons during the first cycle.
  • the third microcell 785 may generate a third detecting signal 793 after detecting photons.
  • the Nth microcell 786 included in the microcell unit 782 may output a laser beam from the laser output unit and then detect photons during the first cycle. At this time, the Nth microcell 786 may generate an Nth detecting signal 794 after detecting photons.
  • the first detecting signal 791, the second detecting signal 792, the third detecting signal 793, and the Nth detecting signal 794 include a signal 787 by photons reflected from the object or A signal 788 by photons other than photons reflected from the object may be included.
  • the Nth detecting signal 764 may be a photon detecting signal of the Nth microcell included in the microcell unit 782 .
  • N can be 5, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 200, 300, etc.
  • Signals by microcells can be accumulated in the form of a histogram.
  • a histogram can have multiple histogram bins.
  • Signals by the microcells may be accumulated in the form of a histogram corresponding to each histogram bin.
  • the histogram may be formed by accumulating signals from one microcell unit 782 or by accumulating signals from a plurality of microcell units 782 .
  • the histogram 795 may be created by accumulating the first detecting signal 791, the second detecting signal 792, the third detecting signal 793, and the Nth detecting signal 794.
  • the histogram 795 may include a signal by photons reflected from the object or a signal by other photons.
  • a signal generated by photons reflected from the object may be more quantitative and more regular than a signal generated by other photons.
  • a signal by a photon reflected from an object within a cycle may regularly exist at a specific time.
  • signals caused by sunlight are small and may exist irregularly.
  • a signal with a large histogram accumulation at a specific time is likely to be a signal caused by photons reflected from an object. Accordingly, a signal having a large amount of accumulation in the accumulated histogram 795 may be extracted as a signal by photons reflected from the object.
  • a signal having the highest value in the histogram 795 may be simply extracted as a signal by a photon reflected from an object.
  • signals of a predetermined amount 797 or more in the histogram 795 may be extracted as signals by photons reflected from the object.
  • distance information of the object may be calculated based on a generation time of the corresponding signal or a reception time of the photon.
  • the laser output unit may output a laser beam addressably.
  • the laser output unit may output a laser beam addressably for each big cell unit.
  • the laser output unit outputs the laser beam of the big cell unit in the first row and column 1 once, then outputs the laser beam of the big cell unit in the 1st row and column 3 once, and then outputs the laser beam of the big cell unit in the 2nd row and 4th column once.
  • 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 row C and column D M times.
  • the SiPM may receive light of a laser beam reflected from a target object and returned from among laser beams output from a corresponding vixel unit.
  • the microcell unit in one row and column 1 corresponding to the first row and column 1 outputs the reflected laser beam to the target object.
  • the beam can be received up to N times.
  • the M vixel units may be operated N times at once.
  • M big cell units may be operated M*N times one by one, or M big cell units may be operated M*N/5 times, 5 times each.
  • Lidar can be implemented in several ways.
  • LiDAR may have a flash method and a scanning method.
  • the flash method is a method using the spread of a laser beam to an object by 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 method lidar may be determined by the detector unit or the receiver unit.
  • the scanning method is a method of directing a laser beam emitted from a laser output unit in a specific direction. Since the scanning method uses a scanner or steering unit to illuminate the FOV with a laser beam, the resolution of the scanning lidar can be determined by the scanner or steering unit.
  • lidar may be implemented in a mixed method of a flash method and a scanning method.
  • a combination of the flash method and the scanning method may be a semi-flash method or a semi-scanning method.
  • the mixed method of the flash method and the 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 quasi-flash type lidar that is not a complete flash type lidar.
  • one unit of the laser output unit and one unit of the receiver may be a flash type LiDAR, but a plurality of units of the laser output unit and a plurality of units of the receiver are gathered, and a semi-flash type lidar is not a complete flash type lidar. it can be
  • a laser beam output from a laser output unit of the semi-flash type lidar or the quasi-flash type lidar may pass through a steering unit, it may be a quasi-flash type lidar rather than a complete flash type lidar.
  • the semi-flash type lidar or the quasi-flash type lidar allows laser beams to pass through a steering unit to overcome an interference phenomenon between laser beams, and to control each laser output unit, so that the detection range can be controlled. and may not require a strong flash.
  • 35 is a diagram for explaining a semi-flash lidar according to an embodiment.
  • a semi-flash lidar 800 may include a laser output unit 810, a Beam Collimation & Steering Component (BCSC) 820, a scanning unit 830, and a receiving unit 840.
  • BCSC Beam Collimation & Steering Component
  • the semi-flash lidar 800 may include a laser output unit 810 .
  • the laser output unit 810 may include a big cell array.
  • 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 may include a BCSC 820.
  • BCSC 820 may include a collimation component 210 and a steering component 230 .
  • 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 collimated by the steering component 230 of the BCSC 820. ) can be steered through.
  • a laser beam output from a first big cell 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.
  • a laser beam output from a second big cell unit included in the laser output unit 810 may be collimated by a second collimation component and steered in a second direction by a second steering component.
  • 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 type 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 may have directionality by means of the BCSC.
  • the semi-flash lidar 800 may include a scanning unit 830 .
  • the scanning unit 830 may include the optical unit 200 .
  • the scanning unit 830 may include a mirror that reflects a laser beam.
  • the scanning unit 830 may include a flat mirror, a multi-sided mirror, a resonant mirror, a MEMS mirror, and a galvano mirror. Also, for example, the scanning unit 830 may include a multi-sided mirror that rotates 360 degrees along one axis and a nodding mirror that repeatedly drives within a preset range along one axis.
  • a semi-flash type lidar may include a scanning unit. Therefore, unlike a flash method that acquires an entire image at once by spreading a single pulse, a semi-flash type lidar may scan an image of an object by a scanning unit.
  • a target object may be randomly scanned by laser output from a laser output unit of a semi-flash type lidar. Therefore, the semi-flash lidar can intensively scan only a desired region of interest among the entire FOV.
  • the semi-flash lidar 800 may include a receiver 840.
  • the receiver 840 may include the detector unit 300 .
  • the receiver 840 may be the SPAD array 750 .
  • the receiver 840 may be the SiPM 780.
  • the receiver 850 may include various sensor elements.
  • the receiver 840 may include a PN photodiode, phototransistor, PIN photodiode, APD, SPAD, SiPM, TDC, CMOS, or CCD, but is not limited thereto.
  • the receiver 840 may build a histogram. For example, the receiver 840 may detect a light receiving time point of a laser beam reflected from the target object 850 and received light using the histogram.
  • the receiver 840 may include one or more optical elements.
  • the receiver 840 may include an aperture, a micro lens, a converging lens, or a diffuser, but is not limited thereto.
  • the receiver 840 may include one or more optical filters.
  • the receiver 840 may receive the laser reflected from the object through an optical filter.
  • the receiver 840 may include a band pass filter, a dichroic filter, a guided-mode resonance filter, a polarizer, a wedge filter, and the like, but is not limited thereto.
  • the semi-flash type lidar 800 may have a constant light path between components.
  • light output from the laser output unit 810 may be incident to the scanning unit 830 via the BCSC 820 .
  • light incident to the scanning unit 830 may be reflected and incident to the target object 850 .
  • light incident on the object 850 may be reflected and then incident on the scanning unit 830 again.
  • light incident on the scanning unit 830 may be reflected and received by the receiving unit 840 .
  • a lens for increasing light transmission/reception efficiency may be additionally inserted into the above optical path.
  • 36 is a diagram for explaining the configuration of a semi-flash lidar according to an embodiment.
  • a semi-flash lidar 800 may include a laser output unit 810, a scanning unit 830, and a receiver 840.
  • the laser output unit 810 may include a big cell array 811 . Although only one column of big cell array 811 is shown in FIG. 36, it is not limited thereto, and the big cell array 811 may have an N X M matrix structure.
  • the big cell array 811 may include a plurality of big cell units 812 .
  • the big cell unit 812 may include a plurality of big cell emitters.
  • the big cell array 811 may include 25 big cell units 812 . At this time, 25 big cell units 812 may be arranged in one row, but is not limited thereto.
  • the big cell unit 812 may have a diverging angle.
  • the big cell unit 812 may have a horizontal diffusion angle 813 and a vertical diffusion angle 814 .
  • 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 are not limited thereto.
  • the scanning unit 830 may receive a laser beam output from the laser output unit 810 . At this time, the scanning unit 830 may reflect the laser beam toward the target object. Also, the scanning unit 830 may receive a laser beam reflected from an object. In this case, the scanning unit 830 may transfer the laser beam reflected from the object to the receiving unit 840 .
  • an area that reflects the laser beam toward the object and an area that receives the laser beam reflected from the object may be the same or different.
  • an area for reflecting a laser beam toward an object and an area for receiving a laser beam reflected from the object may be on the same reflection surface.
  • the areas may be divided vertically or left and right within the same reflective surface.
  • 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.
  • an area that reflects a laser beam toward an object may be a first reflective surface of the scanning unit 830, and an area that receives a laser beam reflected from an object may be a second reflective surface of the scanning unit 830. .
  • the scanning unit 830 may reflect the 2D laser beam output from the laser output unit 810 toward the target object.
  • the lidar device may scan the object in 3D due to rotation or scanning of the scanning unit 830 .
  • the receiver 840 may include a SPAD array 841 .
  • 36 shows only one row of SPAD arrays 841, but is not limited thereto, and the SPAD array 841 may have an N X M matrix structure.
  • the SPAD array 841 may include a plurality of SPAD units 842 .
  • the SPAD unit 842 may include a plurality of SPAD pixels 847.
  • the SPAD unit 842 may include 12 X 12 SPAD pixels 847.
  • the SPAD pixel 847 may mean one SPAD element, but is not limited thereto.
  • the SPAD array 841 may include 25 SPAD units 842 .
  • 25 SPAD units 842 may be arranged in one row, but is not limited thereto.
  • the arrangement of the SPAD units 842 may correspond to the arrangement of the big cell units 812 .
  • the SPAD unit 842 may have an FOV capable of receiving light.
  • the SPAD unit 842 may have a horizontal FOV 843 and a vertical FOV 844 .
  • the SPAD unit 842 may have a horizontal FOV 843 of 1.2 degrees and a vertical FOV 844 of 1.2 degrees.
  • the FOV of the SPAD unit 842 may be proportional to the number of SPAD pixels 847 included in the SPAD unit 842.
  • the FOV of individual SPAD pixels 847 included in the SPAD unit 842 may be determined by the FOV of the SPAD unit 842 .
  • the SPAD unit 842 when the horizontal FOV 845 and the vertical FOV 846 of each SPAD pixel 847 are 0.1 degree, if the SPAD unit 842 includes N X M SPAD pixels 847, the SPAD unit 842 The horizontal FOV 843 may be 0.1*N, and the vertical FOV 844 may be 0.1*M.
  • the horizontal FOV 843 and the vertical FOV 844 of the SPAD unit 842 are 1.2 degrees and the SPAD unit 842 includes 12 X 12 SPAD pixels 847, individual SPAD pixels
  • the horizontal FOV 845 and vertical FOV 846 of (847) may be 0.1 degrees (1.2/12).
  • the receiver 840 may include the SiPM array 841. Although only one row of SiPM arrays 841 are shown in FIG. 36, the present invention is not limited thereto, and the SiPM array 841 may have an N X M matrix structure.
  • the SiPM array 841 may include a plurality of microcell units 842 .
  • the microcell unit 842 may include a plurality of microcells 847 .
  • the microcell unit 842 may include 12 X 12 microcells 847 .
  • the SiPM array 841 may include 25 microcell units 842 .
  • 25 microcell units 842 may be arranged in one row, but is not limited thereto.
  • the arrangement of the micro cell units 842 may correspond to the arrangement of the big cell units 812 .
  • the microcell unit 842 may have an FOV capable of receiving light.
  • microcell unit 842 may have a horizontal FOV 843 and a vertical FOV 844 .
  • the microcell unit 842 may have a horizontal FOV 843 of 1.2 degrees and a vertical FOV 844 of 1.2 degrees.
  • the FOV of the microcell unit 842 may be proportional to the number of microcells included in the microcell unit 842 .
  • the FOV of an individual microcell 847 included in the microcell unit 842 may be determined by the FOV of the microcell unit 842 .
  • the microcell unit 842 when the horizontal FOV 845 and the vertical FOV 846 of each microcell 847 are 0.1 degrees, if the microcell unit 842 includes N X M microcells 847, the microcell unit 842 The horizontal FOV 843 of ) may be 0.1 * N, and the vertical FOV 844 may be 0.1 * M.
  • the horizontal FOV 843 and the vertical FOV 844 of the microcell unit 842 are 1.2 degrees and the microcell unit 842 includes 12 X 12 microcells 847, individual The horizontal FOV 845 and vertical FOV 846 of the microcell 847 may be 0.1 degrees (1.2/12).
  • one big cell unit 812 may correspond to a plurality of SPAD units or micro cell units 842 .
  • the laser beam output from the big cell unit 812 in one row and one column is reflected by the scanning unit 830 and the target object 850 and is reflected by the SPAD unit or micro cell unit 842 in one row and one column and one row and two columns. ) can be received.
  • a plurality of vixel units 812 and one SPAD unit or microcell unit 842 may correspond.
  • the laser beam output from the big cell unit 812 in one row and one column may be reflected by the scanning unit 830 and the target object 850 and be received by the SPAD unit or micro cell unit 842 in one row and one column. there is.
  • the big cell unit 812 of the laser output unit 810 and the SPAD unit or micro cell unit 842 of the receiver 840 may correspond.
  • the horizontal spread angle and the vertical spread angle of the big cell unit 812 may be the same as the horizontal FOV 845 and vertical FOV 846 of the SPAD unit or micro cell unit 842 .
  • the laser beam output from the big cell unit 812 in one row and one column may be reflected by the scanning unit 830 and the target object 850 and be received by the SPAD unit or micro cell unit 842 in one row and one column. there is.
  • the laser beam output from the big cell unit 812 in row N and column M is reflected by the scanning unit 830 and the target object 850 and received by the SPAD unit or micro cell unit 842 in row N and column M.
  • the laser beam output from the vixel unit 812 in row N and column M and reflected by the scanning unit 830 and the object 850 is received by the SPAD unit or microcell unit 842 in row N and column M, and
  • the device 800 may have resolution by means of a SPAD unit or microcell unit 842 .
  • the FOV to be irradiated by the big cell unit 812 is divided into N X M areas to determine the distance information of the object.
  • one big cell unit 812 may correspond to a plurality of SPAD units or micro cell units 842 .
  • the laser beam output from the big cell unit 812 in one row and one column is reflected by the scanning unit 830 and the target object 850 and is reflected by the SPAD unit or micro cell unit 842 in one row and one column and one row and two columns. ) can be received.
  • a plurality of vixel units 812 and one SPAD unit or microcell unit 842 may correspond.
  • the laser beam output from the big cell unit 812 in one row and one column may be reflected by the scanning unit 830 and the target object 850 and be received by the SPAD unit or micro cell unit 842 in one row and one column. there is.
  • the plurality of big cell units 812 included in the laser output unit 810 may operate according to a predetermined sequence or may operate randomly.
  • the SPAD unit or the micro cell unit 842 of the receiver 840 may also operate corresponding to the operation of the big cell unit 812 .
  • the third row big cell unit can operate. Then, the fifth big cell unit may operate, and then the seventh big cell unit may operate.
  • the third row SPAD unit or microcell unit 842 may operate.
  • the fifth SPAD unit or microcell unit 842 may operate, and then the seventh SPAD unit or microcell unit 842 may operate.
  • the big cell units of the big cell array 811 may operate randomly.
  • the SPAD unit or microcell unit 842 of the receiver existing at a position corresponding to the position of the randomly operating big cell unit 812 may operate.
  • FIG. 37 is a diagram for explaining a semi-flash lidar according to another embodiment.
  • a semi-flash lidar 900 may include a laser output unit 910, a BCSC 920, and a receiver 940.
  • the semi-flash lidar 900 may include a laser output unit 910 .
  • a description of the laser output unit 910 may be duplicated with that of the laser output unit 810 of FIG. 35 , and thus a detailed description thereof will be omitted.
  • the semi-flash lidar 900 may include a BCSC 920.
  • a description of the BCSC 920 may be duplicated with that of the BCSC 820 of FIG. 35, so a detailed description thereof will be omitted.
  • the semi-flash lidar 900 may include a receiver 940.
  • a description of the receiving unit 940 may be duplicated with that of the receiving unit 840 of FIG. 35, so a detailed description thereof will be omitted.
  • the semi-flash type lidar 900 may have a constant light path between components.
  • light output from the laser output unit 910 may be incident to the target object 950 via the BCSC 920 .
  • light incident on the object 950 may be reflected and received by the receiver 940 .
  • a lens for increasing light transmission/reception efficiency may be additionally inserted into the above optical path.
  • 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.
  • the laser output unit 910 may include an addressable big cell array and partially output a laser beam to a region of interest by an addressable operation.
  • the BCSC 920 may include a collimation component and a steering component to provide a specific directionality to the laser beam to irradiate the laser beam to a desired region of interest.
  • the light path of the semi-flash lidar 900 of FIG. 37 can be simplified.
  • simplifying the light path light loss during light reception can be minimized, and the possibility of crosstalk can be reduced.
  • 38 is a diagram for explaining the configuration of a semi-flesh lidar according to another embodiment.
  • a semi-flash lidar 900 may include a laser output unit 910 and a receiver 940.
  • the laser output unit 910 may include a big cell array 911 .
  • the big cell array 99110 may have an N X M matrix structure.
  • the big cell array 911 may include a plurality of big cell units 914 .
  • the big cell unit 914 may include a plurality of big cell emitters.
  • the big cell array 811 may include 1250 big cell units 914 in a 50 X 25 matrix structure, but is not limited thereto.
  • the big cell unit 914 may have a diverging angle.
  • the big cell unit 914 may have a horizontal spread angle 915 and a vertical spread angle 916 .
  • 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.
  • the receiver 940 may include a SPAD array 941 .
  • the SPAD array 841 may have an N X M matrix structure.
  • the SPAD array 941 may include a plurality of SPAD units 944 .
  • the SPAD unit 944 may include a plurality of SPAD pixels 947.
  • the SPAD unit 944 may include 12 X 12 SPAD pixels 947.
  • the SPAD array 941 may include 1250 SPAD units 944 in a 50 X 25 matrix structure.
  • the arrangement of the SPAD units 944 may correspond to the arrangement of the big cell units 914 .
  • the SPAD unit 944 may have a light-receiving FOV.
  • SPAD unit 944 may have horizontal FOV 945 and vertical FOV 946 .
  • the SPAD unit 944 may have a horizontal FOV 945 of 1.2 degrees and a vertical FOV 946 of 1.2 degrees.
  • the FOV of the SPAD unit 944 may be proportional to the number of SPAD pixels 947 included in the SPAD unit 944.
  • the FOV of individual SPAD pixels 947 included in the SPAD unit 944 may be determined by the FOV of the SPAD unit 944 .
  • the horizontal FOV (948) and vertical FOV (949) of individual SPAD pixels (947) are 0.1 degree
  • the SPAD unit 944 includes N X M SPAD pixels (947)
  • the horizontal FOV 945 may be 0.1*N
  • the vertical FOV 946 may be 0.1*M.
  • the horizontal FOV 945 and the vertical FOV 946 of the SPAD unit 944 are 1.2 degrees and the SPAD unit 944 includes 12 X 12 SPAD pixels 947, individual SPAD pixels
  • the horizontal FOV 948 and vertical FOV 949 of (947) may be 0.1 degrees (1.2/12).
  • the receiver 840 may include the SiPM array 941 .
  • the SiPM array 841 may have an N X M matrix structure.
  • the SiPM array 941 may include a plurality of microcell units 944 .
  • the microcell unit 944 may include a plurality of microcells 947 .
  • the microcell unit 944 may include 12 X 12 microcells 947 .
  • the SiPM array 941 may include 1250 microcell units 944 in a 50 X 25 matrix structure.
  • the arrangement of the micro cell units 944 may correspond to the arrangement of the big cell units 914 .
  • the microcell unit 944 may have an FOV capable of receiving light.
  • microcell unit 944 may have horizontal FOV 945 and vertical FOV 946 .
  • the microcell unit 944 may have a horizontal FOV 945 of 1.2 degrees and a vertical FOV 946 of 1.2 degrees.
  • the FOV of the microcell unit 944 may be proportional to the number of microcells 947 included in the microcell unit 944 .
  • the FOV of individual microcells 947 included in the microcell unit 944 may be determined by the FOV of the microcell unit 944 .
  • the horizontal FOV 948 and the vertical FOV 949 of each microcell 947 are 0.1 degrees
  • the microcell unit 944 includes N X M microcells 947, the microcell unit 944 )
  • the horizontal FOV 945 may be 0.1*N
  • the vertical FOV 946 may be 0.1*M.
  • the horizontal FOV 945 and the vertical FOV 946 of the microcell unit 944 are 1.2 degrees and the microcell unit 944 includes 12 X 12 microcells 947, individual The horizontal FOV 948 and vertical FOV 949 of the microcell 947 may be 0.1 degrees (1.2/12).
  • the big cell unit 914 of the laser output unit 910 and the SPAD unit or micro cell unit 944 of the receiver 940 may correspond.
  • the horizontal spread angle and the vertical spread angle of the big cell unit 914 may be the same as the horizontal FOV 945 and vertical FOV 946 of the SPAD unit or micro cell unit 944 .
  • 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 micro cell unit 944 in one row and one column.
  • the laser beam output from the big cell unit 914 in the N row and M column may be reflected by the object 850 and received by the SPAD unit or the micro cell unit 944 in the N row and M column.
  • the laser beam output from the vixel unit 914 in row N and column M and reflected by the target object 850 is received by the SPAD unit or microcell unit 944 in row N and column M, and the lidar device 900 is SPAD It may have resolution by unit or microcell unit 944.
  • the big cell unit 914 divides the irradiated FOV into N X M areas to determine the distance information of the object.
  • one big cell unit 914 may correspond to a plurality of SPAD units or micro cell units 944 .
  • the 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 units or microcell units 944 in one row and one column and one row and two columns. .
  • a plurality of vixel units 914 and one SPAD unit or microcell unit 944 may correspond.
  • 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 micro cell unit 944 in one row and one column.
  • the plurality of big cell units 914 included in the laser output unit 910 may operate according to a predetermined sequence or may operate randomly.
  • the SPAD unit or the micro cell unit 944 of the receiver 940 may also operate corresponding to the operation of the big cell unit 914 .
  • the big cell units in one row and one column of the big cell array 911 may operate.
  • the big cell unit in 1 row and 5 columns may operate, and then the big cell unit in 1 row and 7 columns may operate.
  • the SPAD unit or microcell unit 944 in one row and one column of the receiver 940 operates, the SPAD unit or microcell unit 944 in one row and three columns may operate. Next, the SPAD unit or microcell unit 944 in 1 row and 5 columns may operate, and then the SPAD unit or microcell unit 944 in 1 row and 7 columns may operate.
  • the big cell units of the big cell array 911 may operate randomly.
  • the SPAD unit or microcell unit 944 of the receiver existing at a position corresponding to the position of the randomly operating big cell unit 914 may operate.
  • 39 is a diagram for explaining a lidar device according to an embodiment.
  • a lidar apparatus 3000 may include a transmission module 3010 and a reception module 3020.
  • the transmission module 3010 may include a laser output array 3011 and a first lens assembly 3012, but is not limited thereto.
  • the laser output array 3011 may be applied with the above-described laser output unit, a redundant description thereof will be omitted.
  • the laser output array 3011 may output at least one laser.
  • the laser output array 3011 may output a plurality of lasers, but is not limited thereto.
  • the laser output array 3011 may output at least one laser with a first wavelength.
  • the laser output array 3011 may output at least one laser with a wavelength of 940 nm, or may output a plurality of lasers with a wavelength of 940 nm, but is not limited thereto.
  • the first wavelength may be a wavelength range including an error range.
  • the first wavelength may mean a wavelength range of 935 nm to 945 nm as a wavelength of 940 nm with an error range of 5 nm, but is not limited thereto.
  • the laser output array 3011 may output at least one laser at the same time.
  • the laser output array 3011 outputs at least one laser at the same time, such as outputting a first laser at a first time or outputting first and second lasers at a second time. can do.
  • the first lens assembly 3012 may include at least two or more lens layers.
  • the first lens assembly 3012 may include at least four lens layers, but is not limited thereto.
  • the first lens assembly 3012 may steer the laser output from the laser output array 3011 .
  • the first lens assembly 3012 may steer the first laser output from the laser output array 3011 in a first direction, and may steer the second laser output from the laser output array 3011 in a first direction. Steering may be performed in the second direction, but is not limited thereto.
  • the first lens assembly 3012 may steer the plurality of lasers to irradiate the plurality of lasers output from the laser output array 3011 at different angles within the range of (x) degrees to (y) degrees.
  • the first lens assembly 3012 may steer the first laser in a first direction to irradiate the first laser output from the laser output array 3011 at (x) degree, and the laser output The second laser may be steered in the second direction to irradiate the second laser output from the array 3011 at (y) degree, but is not limited thereto.
  • the receiving module 3020 may include a laser detecting array 3021 and a second lens assembly 3022, but is not limited thereto.
  • the laser detecting array 3021 may be applied to the above-described detector unit and the like, so redundant description will be omitted.
  • the laser detecting array 3021 may detect at least one laser.
  • the laser detecting array 3021 may detect a plurality of lasers.
  • the laser detecting array 3021 may include a plurality of detectors.
  • the laser detecting array 3021 may include a first detector and a second detector, but is not limited thereto.
  • each of the plurality of detectors included in the laser detecting array 3021 may receive a different laser.
  • a first detector included in the laser detecting array 3021 may receive a first laser beam received in a first direction
  • a second detector may receive a second laser beam received in a second direction. may, but is not limited thereto.
  • the laser detecting array 3021 may detect at least a portion of the laser emitted from the transmission module 3010 .
  • the laser detecting array 3021 may detect at least a portion of the first laser emitted from the transmission module 3010 and may detect at least a portion of the second laser, but is not limited thereto. .
  • the second lens assembly 3022 may transmit the laser irradiated from the transmission module 3010 to the laser detecting array 3021 .
  • the second lens assembly 3022 detects the first laser when the first laser irradiated in a first direction from the transmission module 3010 is reflected from an object located in the first direction. It can be transmitted to the array 3021, and when the second laser irradiated in the second direction is reflected from an object located in the second direction, the second laser can be transmitted to the laser detecting array 3021, but is limited thereto. It doesn't work.
  • the second lens assembly 3022 may distribute the laser irradiated from the transmission module 3010 to at least two or more different detectors.
  • the second lens assembly 3022 detects the first laser when the first laser irradiated in a first direction from the transmission module 3010 is reflected from an object located in the first direction. It can be distributed to the first detector included in the array 3021, and when the second laser irradiated in the second direction is reflected from the object located in the second direction, the second laser is transmitted to the laser detecting array 3021. It may be distributed to the second detector included in, but is not limited thereto.
  • the laser output array 3011 and the laser detecting array 3021 may be matched.
  • a first laser output from a first laser output device included in the laser output array 3011 may be detected by a first detector included in the laser detecting array 3021
  • the laser output array A second laser output from a second laser output device included in 3011 may be detected by a second detector included in the laser detecting array 3021, but is not limited thereto.
  • FIG. 40 is a diagram for explaining a laser output array and a laser detecting array included in a lidar device according to an embodiment.
  • a lidar device 3100 may include a laser output array 3110 and a laser detecting array 3120.
  • the laser output array 3110 may include a plurality of laser output units.
  • the laser output array 3110 may include a first laser output unit 3111 and a second laser output unit 3112 .
  • the laser output array 3110 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.
  • the laser output array 3110 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having M rows and N columns, but is not limited thereto.
  • each of the plurality of laser output units may include at least one laser output device.
  • the first laser output unit 3111 included in the plurality of laser output units may include a single laser output device
  • the second laser output unit 3112 may include a single laser output device. It may be configured, but is not limited thereto.
  • the first laser output unit 3111 included in the plurality of laser output units may include two or more laser output devices, and the second laser output unit 3112 may output two or more laser output devices. It may be composed of elements, but is not limited thereto.
  • the laser output from each of the plurality of laser output units may be irradiated in different directions.
  • the first laser output from the first laser output unit 3111 included in the plurality of laser output units is irradiated in a first direction
  • the second laser output unit 3112 outputs a second laser output unit.
  • the laser may be irradiated in the second direction, but is not limited thereto.
  • lasers output from each of the plurality of laser output units may not overlap each other at the target location.
  • the first laser output from the first laser output unit 3111 included in the plurality of laser output units is at a distance of 100 m from the second laser output from the second laser output unit 3112. They may not overlap with each other, but are not limited thereto.
  • the laser detecting array 3120 may include a plurality of detecting units.
  • the laser detecting array 3120 may include a first detecting unit 3121 and a second detecting unit 3122 .
  • the laser detecting array 3120 may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix.
  • the laser detecting array 3120 may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix having M rows and N columns, but is not limited thereto.
  • each of the plurality of detecting units may include at least one laser detecting element.
  • the first detecting unit 3121 included in the plurality of detecting units may include a single laser detecting element
  • the second detecting unit 3122 may include a single laser detecting unit. It may be composed of elements, but is not limited thereto.
  • the first detecting unit 3121 included in the plurality of detecting units may include two or more laser detecting elements
  • the second detecting unit 3122 may include two or more laser detecting elements. It may be configured as a detecting element, but is not limited thereto.
  • each of the plurality of detecting units may detect lasers emitted in different directions.
  • the first detecting unit 3121 included in the plurality of laser output units may detect a first laser irradiated in a first direction
  • the second detecting unit 3122 may detect a second laser beam emitted in a first direction.
  • a second laser irradiated in a direction may be detected, but is not limited thereto.
  • each of the plurality of detecting units may detect a laser output from a laser output unit arranged to correspond to each other.
  • the first detecting unit 3121 included in the plurality of detecting units outputs from the first laser output unit 3111 disposed to correspond to the first detecting unit 3121. 1 laser
  • the second detecting unit 3122 can detect the second laser output from the second laser output unit 3112 arranged to correspond to the second laser detection unit 3122. may, but is not limited thereto.
  • the second detecting unit 3122 included in the plurality of detecting units outputs the second laser output from the second laser output unit 3112 when an object is located in a first distance range. may be detected, and when the object is located in the second distance range, the first laser output from the first laser output unit 3111 may be detected, but is not limited thereto.
  • At least one detecting value may be generated based on a signal obtained from each of the plurality of detecting units.
  • the detection value may include a depth value (distance value), an intensity value, and the like, but is not limited thereto.
  • coordinates of the detecting value may be determined based on the arrangement of each of the plurality of detecting units.
  • the first detecting unit 3121 included in the plurality of detecting units may be disposed at a position of (1, 1) in the laser detecting array, and the first detecting unit 3121 )
  • the coordinates of the first detecting value generated based on the obtained signal may be determined as (1,1), but are not limited thereto.
  • the second detecting unit 3122 included in the plurality of detecting units may be disposed at a position of (2, 1) in the laser detecting array, and the second detecting unit
  • the coordinates of the second detecting value generated based on the signal obtained from (3122) may be determined as (2,1), but are not limited thereto.
  • the laser output array 3110 and the laser detecting array 3120 may be arranged in an array having the same dimension.
  • the laser output array 3110 and the laser detecting array 3120 may each have a plurality of laser output units and a plurality of detecting units arranged in an array having M rows and N columns. Not limited to this.
  • the laser output array 3110 and the laser detecting array 3120 may be arranged in arrays having different dimensions.
  • a plurality of laser output units are arranged in an array having M rows and N columns, but in the laser detecting array 3120, the plurality of detecting units are M+3. It may be arranged in an array having N rows and N columns, but is not limited thereto.
  • the number of the plurality of laser output units included in the laser output array 3110 may be the same as the number of the plurality of detecting units included in the laser detecting array 3120 .
  • the laser output array 3110 may include M*N laser output units
  • the laser detecting array 3120 may include M*N detecting units, but is not limited thereto. don't
  • the number of the plurality of laser output units included in the laser output array 3110 may be different from the number of the plurality of detecting units included in the laser detecting array 3120 .
  • the laser output array 3110 may include M*N laser output units, and the laser detecting array 3120 may include (M+3)*N detecting units. , but not limited thereto.
  • the laser output array 3110 may include (M*N)/2 laser output units
  • the laser detecting array 3120 may include M*N detection units. may, but is not limited thereto.
  • the laser output array 3110 may include (M*N)/2 laser output units
  • the laser detecting array 3120 may include (M+3)*N detecting units. It may include a unit, but is not limited thereto.
  • 41 is a diagram for explaining a laser output array and a laser detecting array included in a lidar device according to an embodiment.
  • a lidar device 3200 may include a laser output array 3210 and a laser detecting array 3220.
  • the laser output array 3210 may include a plurality of laser output units.
  • the laser output array 3210 may include a first laser output unit 3231, a second laser output unit 3232, a third laser output unit 3241, and a fourth laser output unit 3242.
  • the laser output array 3210 may include a plurality of laser output unit columns.
  • the laser output array 3210 may include a first laser output unit column 3230 and a second laser output unit column 3240 .
  • the first laser output unit column 3230 may include the first laser output unit 3231 and the second laser output unit 3232 .
  • the second laser output unit column 3240 may include the third laser output unit 3241 and the fourth laser output unit 3242 .
  • the second laser output unit 3232 may be disposed adjacent to the first laser output unit 3231 in a column direction.
  • the fourth laser output unit 3242 may be disposed adjacent to the third laser output unit 3241 in the column direction.
  • the meaning that the above-described laser output units are arranged adjacently may mean that other laser output units are arranged so that no other laser output units are located between two adjacently arranged laser output units, but is not limited thereto.
  • the laser detecting array 3220 may include a plurality of detecting units.
  • the laser detecting array 3220 includes a first detecting unit 3251, a second detecting unit 3252, a third detecting unit 3253, a fourth detecting unit 3261, and a second detecting unit 3252.
  • a fifth detecting unit 3262 and a sixth detecting unit 3263 may be included.
  • the laser detecting array 3220 may include a plurality of detecting unit columns.
  • the laser detecting array 3220 may include a first detecting unit column 3250 and a second detecting unit column 3260 .
  • the first detecting unit column 3250 may include the first detecting unit 3251 , the second detecting unit 3252 , and the third detecting unit 3253 .
  • the second detecting unit column 3260 may include the fourth detecting unit 3261 , the fifth detecting unit 3262 , and the sixth detecting unit 3263 .
  • the second detecting unit 3252 may be disposed to be adjacent to the first detecting unit 3251 in a column direction.
  • the third detecting unit 3253 may be disposed adjacent to the second detecting unit 3252 in the column direction.
  • the second detecting unit 3252 may be disposed between the first detecting unit 3251 and the third detecting unit 3253 .
  • the fourth detecting unit 3261 may be disposed adjacent to the second detecting unit 3252 in a row direction.
  • the fifth detecting unit 3262 may be disposed to be adjacent to the fourth detecting unit 3261 in the column direction.
  • the sixth detecting unit 3263 may be disposed to be adjacent to the fifth detecting unit 3262 in the column direction.
  • the fifth detecting unit 3262 may be disposed between the fourth detecting unit 3261 and the sixth detecting unit 3263 .
  • the meaning that the above-described detecting units are disposed adjacent to each other may mean that another detecting unit is not positioned between the two adjacently disposed detecting units, but is not limited thereto.
  • a plurality of laser output units included in the laser output array 3210 may be arranged to correspond to at least a portion of the plurality of detecting units included in the laser detecting array 3220 .
  • the first laser output unit 3231 may be disposed to correspond to the first detecting unit 3251.
  • the second laser output unit 3232 may be disposed to correspond to the third detecting unit 3253.
  • the third laser output unit 3241 may be disposed to correspond to the fourth detecting unit 3261.
  • the fourth laser output unit 3242 may be disposed to correspond to the sixth detecting unit 3263.
  • At least some of the plurality of detecting units included in the laser detecting array 3220 may be arranged to correspond to the plurality of laser output units included in the laser output array 3210 .
  • the first detecting unit 3251 may be disposed to correspond to the first laser output unit 3231.
  • the third detecting unit 3253 may be disposed to correspond to the second laser output unit 3232 .
  • the second detecting unit 3252 is a first area on the laser output array 3210 defined between the first laser output unit 3231 and the second laser output unit 3232. It can be arranged to correspond to .
  • the fourth detecting unit 3261 may be disposed to correspond to the third laser output unit 3241.
  • the sixth detecting unit 3263 may be disposed to correspond to the fourth laser output unit 3242 .
  • the fifth detecting unit 3262 is a second area on the laser output array 3210 defined between the third laser output unit 3241 and the fourth laser output unit 3242. It can be arranged to correspond to .
  • the meaning that the above-described laser output unit and the detecting unit are disposed to correspond may include a physical correspondence in which the laser output unit and the detecting unit are disposed at positions corresponding to each other on the laser output array and the laser detecting array. may, but is not limited thereto.
  • the meaning that the above-described laser output unit and the detecting units are disposed to correspond includes an optical correspondence relationship in which the laser output from the laser output unit is disposed to be detected by the corresponding detecting unit when reflected in a target distance range. It can, but is not limited to this.
  • the target distance range may be a distance range derived through physical and optical alignment of the LIDAR device, may be a distance range set for physical and optical alignment, and may include a specific distance.
  • the target distance range may be a distance range including 200 m.
  • first laser output unit column 3230 and the second laser output unit column 3240 may be disposed adjacent to each other in a row direction.
  • first detecting unit column 3250 and the second detecting unit column 3250 may be disposed adjacent to each other in a row direction.
  • the distance between the first laser output unit 3231 and the second laser output unit 3232 in the column direction is the distance between the first detecting unit 3251 and the third detecting unit 3253 in the column direction. It may be equal to the distance spaced by .
  • the distance between the third laser output unit 3241 and the fourth laser output unit 3242 in the column direction is the distance between the fourth detecting unit 3261 and the sixth detecting unit 3263 in the column direction. It may be equal to the distance spaced by .
  • the distance between the second laser output unit 3232 and the third laser output unit 3241 in the row direction is the distance between the second detecting unit 3252 and the fourth detecting unit 3261 in the row direction. It may be equal to the distance spaced by .
  • FIG. 42 is a diagram for explaining a laser output array and a laser detecting array included in a lidar device according to an embodiment.
  • a lidar device 3300 may include a laser output array 3310 and a laser detecting array 3320.
  • the laser output array 3310 may include a plurality of laser output units.
  • the laser output array 3310 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.
  • the laser output array 3310 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix to have K rows and L columns, but is not limited thereto.
  • the laser output array 3310 may include a plurality of laser output unit columns and a plurality of laser output unit rows, but is not limited thereto.
  • the laser output array 3310 may include L laser output unit columns and K laser output unit rows, but is not limited thereto.
  • an order may be described in a plurality of laser output unit columns and a plurality of laser output unit rows.
  • the uppermost laser output unit row of the laser output array 3310 may be described as the first row, the laser output unit row located below it may be described as the second row, and the last row may be described as the K-th row. row, but is not limited thereto.
  • the leftmost laser output unit column of the laser output array 3310 may be described as the first column
  • the laser output unit column located on the right side may be described as the second column
  • the last column may be described as the Lth column. It may be described as a column, but is not limited thereto.
  • the laser output units disposed in the X+1-th row 3312 are It may be different from the included laser output unit column.
  • each of the laser output units disposed in the X-th row 3311 included in the laser output array 3310 may be disposed at an intersection of the X-th row 3311 and odd-numbered columns 3313. .
  • each of the laser output units disposed in the X+1 row 3312 included in the laser output array 3310 is the X+1 row 3312 and the even-numbered columns 3314. Can be placed at intersections.
  • the laser detecting array 3320 may include a plurality of detecting units.
  • the laser detecting array 3320 may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix.
  • the laser detecting array 3320 may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix to have M rows and N columns, but is not limited thereto.
  • the laser detecting array 3320 may include a plurality of detecting unit columns and a plurality of detecting unit rows, but is not limited thereto.
  • the detecting unit array 3320 may include N detecting unit columns and may include M detecting unit rows, but is not limited thereto.
  • an order may be described in a plurality of detecting unit columns and a plurality of detecting unit rows.
  • the uppermost detecting unit row of the laser detecting array 3320 may be described as the first row, the detecting unit row located below it may be described as the second row, and the last row may be described as M It may be described as a second row, but is not limited thereto.
  • the leftmost detecting unit column of the laser detecting array 3320 can be described as the first column
  • the rightmost detecting unit column can be described as the second column
  • the last column is N It may be described in the th column, but is not limited thereto.
  • the plurality of detecting units included in the laser detecting array 3320 may be arranged to correspond to intersections of each detecting unit row and each detecting unit column.
  • lasers output from a plurality of laser output units included in the laser output array 3310 may be detected by at least some of the plurality of detecting units included in the laser detecting array 3320 .
  • the first laser output from the first laser output unit included in the laser output array 3310 and arranged to correspond to the intersection of the X-th laser output unit row and the Y-th laser output unit column may be used to detect the laser. It may be detected by the first detecting unit included in the array 3320, but is not limited thereto.
  • the first detecting unit may be disposed to correspond to an intersection of an X-th detecting unit row and a Y-th detecting unit column
  • the second detecting unit may be disposed to correspond to an intersection of an X+1-th detecting unit row and a Y-th detecting unit row. It may be arranged to correspond to the intersection of the detecting unit columns, but is not limited thereto.
  • the first detecting unit may be disposed to correspond to an intersection of a Wth detecting unit row and a Zth detecting unit column
  • the second detecting unit may be disposed at a W+1th detecting unit row and a Zth detecting unit row. It may be arranged to correspond to the intersection of the tecting unit columns, but is not limited thereto.
  • the laser output from each of the plurality of laser output units included in the laser output array 3310 may be detected by another detecting unit according to the position of the object to which the laser is reflected.
  • the laser is detected by the first detecting unit when the object to which the first laser is reflected is within a first distance range, and when the object to which the first laser is reflected is within a second distance range, the second detecting unit It may be detected, but is not limited thereto.
  • the first distance range may include a distance range of 15 m or more
  • the second distance range may include a distance range of 7 m to 15 m, but is not limited thereto.
  • first and second distance ranges may be changed according to the configuration of the laser output unit, the optic unit, and the detector unit included in the lidar device and the arrangement relationship between the configurations, the technical idea of the present invention is based on the above-described examples. are not limited by
  • 43 and 44 are diagrams for describing lasers output from a laser output array and detected by a laser detecting array, according to an exemplary embodiment.
  • a lidar device 3400 may include a laser output array 3410 and a laser detecting array 3420.
  • the laser output array 3410 may include a plurality of laser output units including the first laser output unit 3411 .
  • the laser detecting array 3420 may include a plurality of detecting units including a first detecting unit 3421 and a second detecting unit 3422 .
  • the laser output from the laser output array 3410 may be reflected from an object located outside the lidar device 3400 and detected by the laser detecting array 3420 .
  • FIG. 43 is a view showing an example of an area where the laser detecting array 3420 detects the laser output from the laser output array 3410 and reflected from the object located in the first distance range.
  • FIG. 44 is a diagram exemplarily illustrating an area where the laser detecting array 3420 detects a laser output from the laser output array 3410 and reflected from an object located in the second distance range.
  • a laser output from the laser output array 3410 and reflected from an object located in a first distance range may be detected by the laser detecting array 3420 .
  • the first laser when the first laser output from the first laser output unit 3411 included in the laser output array 3410 is reflected from an object located in the first distance range, the first laser is the laser beam.
  • Light may be received by the first area 3501 of the detecting array 3420 and detected by the first detecting unit 3421 disposed to correspond to the first area 3501, but is not limited thereto.
  • the first detecting unit 3421 may be a detecting unit disposed to correspond to the first laser output unit 3411, but is not limited thereto.
  • a laser output from the laser output array 3410 and reflected from an object located in the second distance range may be detected by the laser detecting array 3420 .
  • the first laser is the laser beam.
  • Light may be received by the second area 3502 of the detecting array 3420 and detected by the second detecting unit 3422 disposed to correspond to the second area 3502, but is not limited thereto.
  • the laser output from the laser output array 3410 may be detected by two or more different detecting units according to the position of the object from which the laser is reflected.
  • the laser output from the laser output array 3410 is included in the laser output array 3410. It can be detected by a detecting unit arranged to correspond to each of a plurality of laser output units, and when the laser output from the laser output array 3410 is reflected from an object located in the second distance range, the laser output array 3410 The laser output from ) may be detected by a detecting unit disposed not to correspond to each of a plurality of laser output units included in the laser output array 3410, but is not limited thereto.
  • the probability that each detecting unit included in the laser detecting array 3420 can generate valid data may change according to the arrangement of the laser output array 3410 and the distance to the target object. By utilizing the contents, you will be able to restore invalid data.
  • FIGS. 47 to 57 A data correction method that can be expressed as data restoration, data filling, etc. will be described in more detail using FIGS. 47 to 57 below.
  • 45 is a diagram for describing lidar data according to an embodiment.
  • a lidar device 3600 may include a laser detecting array 3620.
  • the laser detecting array 3620 may include a plurality of detecting units.
  • each of the plurality of detecting units may detect light such as a laser and generate a detecting signal based on a detected result.
  • the detecting signal may be understood as a concept including both a digital signal and an analog signal.
  • a detecting value may be generated based on a detecting signal generated from each of the plurality of detecting units.
  • the operation of generating the detecting value may be implemented through at least one processor, but is not limited thereto.
  • the operation of generating the detecting value includes generating a detecting value by processing an analog detecting signal, generating a detecting value by processing a digital detecting signal, and generating histogram data by accumulating digital signals. It may include various operations for generating a detecting value in the lidar device, such as generating a detecting value based on this.
  • the detecting value may include a distance value, a depth value, an intensity value, an ambient value, and the like, but is not limited thereto.
  • the distance value and the depth value may be obtained using various methods used to obtain a distance or depth value in a lidar device such as time-of-flight (TOF) and phase shift.
  • TOF time-of-flight
  • phase shift phase shift
  • the intensity value may be obtained based on the pulse width, peak power, etc. of the detected signal, and may be understood as a concept including those commonly understood as intensity values in the field related to lidar devices. .
  • the ambient value may be obtained based on a signal obtained in a time period in which the laser is not output or not detected, or may be obtained as a total sum of all signals obtained within a detecting window for detecting the laser.
  • it is not limited thereto, and may be understood as a concept including those commonly understood as ambient values in the field related to lidar devices.
  • the detecting value may be a value corresponding to each of a plurality of detecting units included in the laser detecting array 3620, from each of a plurality of detecting units included in the laser detecting array 3620. It may be a value obtained based on the obtained detecting signal, but is not limited thereto.
  • At least one LIDAR data 3640 may be obtained based on the plurality of detecting values.
  • the at least one lidar data may include depth map data, intensity map data, ambient map data, point cloud data, etc. Not limited.
  • the depth map data may be data in which depth values of a plurality of coordinate values corresponding to the plurality of detecting units are stored in a form of a two-dimensional map.
  • the plurality of coordinate values corresponding to the plurality of detecting units may be understood as pixel coordinates, and the depth value for the plurality of coordinate values may be understood as a pixel value for each pixel coordinate. Not limited.
  • the intensity map data may be data in which intensity values of a plurality of coordinate values corresponding to the plurality of detection units are stored in the form of a two-dimensional map.
  • the plurality of coordinate values corresponding to the plurality of detecting units may be understood as pixel coordinates, and the intensity value for the plurality of coordinate values may be understood as a pixel value for each pixel coordinate. Not limited.
  • the ambient map data may be data in which ambient values of a plurality of coordinate values corresponding to the plurality of detecting units are stored in the form of a two-dimensional map.
  • a plurality of coordinate values corresponding to the plurality of detecting units may be understood as pixel coordinates, and an ambient value for the plurality of coordinate values may be understood as a pixel value for each pixel coordinate. Not limited.
  • point cloud data is a plurality of coordinate values corresponding to the plurality of detecting units and a three-dimensional position coordinate value calculated based on a depth value thereof and an intensity value or ambient value thereof.
  • Data stored can be
  • the 3D position coordinate value may be understood as a position value for point data
  • the intensity value or ambient value may be understood as an intensity value or ambient value for a point.
  • lidar data may include what is generally understood as lidar data.
  • 46 is a diagram illustrating lidar data obtained according to an embodiment.
  • FIG. 46 is a diagram showing intensity map data among lidar data obtained from the lidar device described with reference to FIG. 42 .
  • intensity map data may be stored as coordinate values corresponding to a plurality of detecting units and intensity values corresponding to the coordinate values, and the stored data is shown in an image format. 46.
  • a detecting unit in which laser is acquired may be included and a detecting unit in which laser is not acquired by the hardware configuration of the lidar device, and thus invalid intensity values may be included. Able to know.
  • 47 is a diagram for explaining a method of acquiring at least one lidar data according to an embodiment.
  • a plurality of detecting values are obtained (S3810), and types of the plurality of detecting values are determined. It may include any one of (S3820), processing a plurality of detecting values based on the determined type (S3830), and acquiring at least one LIDAR data (S3840).
  • the plurality of detecting values may be values corresponding to each of the plurality of detecting units included in the lidar device.
  • the plurality of detection values include at least one of a depth value, an intensity value, and an ambient value calculated based on a detection signal obtained from each of a plurality of detecting units included in the lidar device. It can, but is not limited to this.
  • coordinate values assigned to each of the plurality of detecting units included in the lidar device are included as pixel coordinates, and each of the plurality of detecting units
  • a concept of a pixel including, as a pixel value, a detecting value calculated on the basis of a detecting signal obtained from may be applied.
  • a pixel value for each of a plurality of pixels having as pixel coordinates a coordinate value assigned to each of a plurality of detecting units included in the lidar device is obtained. It can be explained step by step.
  • the pixel value may include at least one of the depth value, the intensity value, and the ambient value.
  • determining the types of the plurality of detecting values may include determining the plurality of detecting values as a first type detecting value or a second type detecting value.
  • the first type detecting value may mean a valid detecting value
  • the second type detecting value may mean an invalid detecting value, but is not limited thereto.
  • the valid detecting value may mean a detecting value obtained based on a physically validly sensed laser, and a detecting value for a detecting unit with a high probability that a laser is effectively sensed under certain conditions. It may mean, but is not limited to.
  • the invalid detection value may mean a detection value obtained even though the laser is not physically detected, and a detection value for a detection unit having a low probability that the laser is effectively detected under certain conditions. It may mean, but is not limited to.
  • the coordinate values assigned to each of the plurality of detecting units included in the lidar device are included as pixel coordinates.
  • a concept of a pixel including, as a pixel value, a detecting value calculated based on a detecting signal obtained from each detecting unit may be applied.
  • the step of determining the type of the plurality of detecting values is the type of each of a plurality of pixels in which pixel coordinates are coordinate values assigned to each of the plurality of detecting units included in the lidar device. It can be described as a step of determining.
  • the step of determining the types of the plurality of detection values may be described as a step of determining each of the plurality of pixels as a first type pixel or a second type pixel.
  • the first type pixels may mean pixels having valid pixel values
  • the second type pixels may mean pixels having invalid pixel values, but are not limited thereto.
  • the valid pixel value may mean a pixel value obtained based on a physically validly sensed laser, or may mean a pixel value for a detecting unit with a high probability that a laser is effectively sensed under certain conditions. However, it is not limited thereto.
  • the invalid pixel value may refer to a pixel value obtained even though the laser is not physically detected, or may refer to a pixel value for a detecting unit having a low probability that the laser is sensed validly under certain conditions. However, it is not limited thereto.
  • the detected value is maintained when the determined type is a first-type detecting value, and when the determined type is a second-type detecting value.
  • a step of correcting the detection value may be included.
  • the first detection value included in the plurality of detection values when a first detection value included in the plurality of detection values is determined to be a first type detection value, the first detection value
  • the method may include maintaining a detection value of 1 and correcting the first detection value when the first detection value is determined to be a second type detection value.
  • the method may include maintaining the first detection value and replacing the first detection value when the first detection value is determined to be a second type detection value.
  • peripheral detection values may be used to process the plurality of detection values.
  • a first detecting value included in the plurality of detecting values is a value obtained based on a first detecting signal obtained from a first detecting unit
  • Detecting values calculated based on a detecting signal obtained from a detecting unit disposed around the first detecting unit may be used, but are not limited thereto.
  • At least one filter or kernel may be used to process the plurality of detection values.
  • the at least one filter or kernel may correspond to a concept of a filter or kernel understood in the field of image processing, and may be used to correct or generate a detection value using surrounding detection values.
  • the coordinate values assigned to each of the plurality of detection units included in the lidar device are included as pixel coordinates, A concept of a pixel including, as a pixel value, a detecting value calculated based on a detecting signal obtained from each of a plurality of detecting units may be applied.
  • the coordinate value assigned to each of the plurality of detecting units is used as pixel coordinates to detect different values according to the determined type for each of a plurality of pixels. It can be described in stages of processing.
  • the method may include correcting a first pixel value corresponding to the first pixel when the first pixel is determined to be a second type pixel.
  • the method may include replacing the first pixel value corresponding to the first pixel.
  • neighboring pixel values may be used to process each of a plurality of pixels.
  • a first pixel included in the plurality of pixels is a pixel corresponding to a first detecting unit, it is disposed around the first detecting unit to process a first pixel value of the first pixel.
  • Pixel values for the detected unit may be used, but are not limited thereto.
  • the acquiring of at least one lidar data may include obtaining at least one lidar data based on a plurality of processed detecting values.
  • FIG. 48 is a diagram for explaining a lidar device according to an embodiment.
  • a lidar device 3900 may include a laser output array 3910 and a radar detecting array 3920.
  • each of the plurality of detecting units included in the first detecting unit group may be disposed to correspond to each of the plurality of laser output units included in the laser output array 3910 .
  • each of the plurality of detecting units included in the first detecting unit group may be disposed at (odd, odd) positions or (even, even) positions, but is not limited thereto.
  • the first detecting unit 3921 may be disposed at a position of (1,1).
  • each of the plurality of detecting units included in the second detecting unit group may be arranged so as not to correspond to each of the plurality of laser output units included in the laser output array 3910 .
  • each of the plurality of detecting units included in the second detecting unit group may be disposed at (odd or even) positions or (even or odd) positions, but is not limited thereto.
  • the second detecting unit 3922 may be disposed at a position of (1,2).
  • 49 is a diagram for explaining a method of determining types of a plurality of detecting values according to an embodiment.
  • a method 4000 for determining types of a plurality of detecting values includes a first detecting unit group including a first detecting unit and a second detecting unit.
  • the second detecting value corresponding to the detecting unit satisfies the third condition
  • the second detecting value is determined as the first type detecting value
  • the second detecting value satisfies the fourth condition
  • the second detecting value At least one step of determining the 2 detection value as the second type detection value (S4030) may be included.
  • determining the first detecting value as the second type detecting value may include selecting the first detecting value corresponding to the first detecting unit.
  • the meaning of selecting the first detecting value corresponding to the first detecting unit may include calling the first detecting value for comparison with at least one condition.
  • first condition and the second condition may be conditions related to a first depth value included in the first detecting value, but are not limited thereto.
  • the first condition may be a condition related to whether a first depth value included in the first detecting value is included in a first distance range
  • the second condition is related to whether the first detecting value It may be a condition related to whether the included first depth value is included in the second distance range.
  • first condition and the second condition may be opposite conditions.
  • the first condition may be a condition in which the first depth value included in the first detecting value is greater than or equal to 15m or less than 7m
  • the second condition may be a condition in which the first depth value included in the first detecting value is greater than or equal to 7m.
  • a depth value of 1 may be 7 m or more and less than 15 m, but is not limited thereto.
  • condition for the plurality of detecting units included in the first detecting unit group may be the same as the first condition and the second condition for the first detecting unit, but is not limited thereto.
  • the third detecting value when a third detecting value corresponding to a third detecting unit included in the first detecting unit group satisfies the first condition, the third detecting value is the first type detecting value.
  • the third detecting value when the third detecting value satisfies the second condition, the third detecting value may be determined as the second type detecting value, but is not limited thereto.
  • a condition for the plurality of detecting units included in the first detecting unit group may be different from the first condition and the second condition for the first detecting unit, but is not limited thereto.
  • condition for determining the type of the third detecting value corresponding to the third detecting unit included in the first detecting unit group may be adjusted according to the location of the third detecting unit. .
  • the first condition is a condition in which the depth value is greater than or equal to 15m and less than 7m
  • the second condition is a condition in which the depth value is greater than or equal to 7m and less than 15m
  • determining the type of the third detecting value may include, but is not limited to, a condition in which the depth value is greater than or equal to 16m and less than 9m and a condition in which the depth value is greater than or equal to 9m and less than 16m.
  • Conditions for determining may include, but are not limited to, a condition in which the depth value is greater than or equal to 5 m and a condition in which the depth value is greater than or equal to 5 m and less than 17 m.
  • determining the second detecting value as the second type detecting value may include selecting the second detecting value corresponding to the second detecting unit.
  • the meaning of selecting the second detecting value corresponding to the second detecting unit may include calling the second detecting value for comparison with at least one condition.
  • the third condition and the fourth condition may be conditions related to a second depth value included in the second detecting value, but are not limited thereto.
  • the third condition may be a condition related to whether a second depth value included in the second detecting value is included in a third distance range
  • the fourth condition is related to whether the second detecting value It may be a condition related to whether the included second depth value is included in the fourth distance range.
  • the third condition and the fourth condition may be opposite conditions.
  • the third condition may be a condition in which the second depth value included in the second detecting value is greater than or equal to 7m and less than 15m
  • the fourth condition may be a condition in which the second depth value included in the second detecting value is greater than or equal to 15m.
  • the depth value may be a condition of greater than or equal to 15m or less than 7m, but is not limited thereto.
  • condition for the plurality of detecting units included in the second detecting unit group may be the same as the third condition and the third condition for the second detecting unit, but is not limited thereto. don't
  • the fourth detecting value when a fourth detecting value corresponding to a fourth detecting unit included in the second detecting unit group satisfies the third condition, the fourth detecting value is the first type detecting value. , and when the fourth detecting value satisfies the fourth condition, the fourth detecting value may be determined as the second type detecting value, but is not limited thereto.
  • a condition for the plurality of detecting units included in the second detecting unit group may be different from the third condition and the fourth condition for the second detecting unit, but is not limited thereto.
  • condition for determining the type of the fourth detecting value corresponding to the fourth detecting unit included in the second detecting unit group may be adjusted according to the location of the fourth detecting unit. .
  • the third condition is a condition in which the depth value is greater than or equal to 7m and less than 15m
  • the fourth condition is a condition in which the depth value is greater than or equal to 15m or less than 7m
  • the condition for may include, but is not limited to, a condition in which the depth value is greater than or equal to 9m and less than 16m and a condition in which the depth value is greater than or equal to 16m or less than 9m.
  • first condition and the second detecting unit are conditions for determining the first detecting value for the first detecting unit included in the first detecting unit group as the first type detecting value.
  • the third condition which is a condition for determining the second detecting value for the second detecting unit included in the group as the first type detecting value, may be different from each other.
  • the first condition and the third condition may be conditions opposite to each other.
  • the first condition may be a condition in which the depth value is greater than or equal to 15 m and less than 7 m
  • the third condition may be a condition in which the depth value is greater than or equal to 7 m and less than 15 m, but is not limited thereto.
  • the second condition which is a condition for determining the first detecting value for the first detecting unit included in the first detecting unit group as the second type detecting value
  • the second detecting unit may be different from each other.
  • the second condition and the fourth condition may be conditions opposite to each other.
  • the second condition may be a condition in which the depth value is greater than or equal to 7m and less than 15m
  • the fourth condition may be a condition in which the depth value is greater than or equal to 15m or less than 7m, but is not limited thereto.
  • 50 is a diagram illustrating lidar data according to an embodiment.
  • first lidar data 4100 generated based on a plurality of detecting values obtained according to an embodiment, and generated based on a first type detecting value among the plurality of detecting values It is possible to check the second lidar data 4110 and the third lidar data 4120 generated based on the second type detecting value among the plurality of detecting values.
  • the first to third lidar data 4100 , 4110 , and 4120 are expressed in the image form of the intensity map described above.
  • the second lidar data 4110 may be an intensity map generated based on detection values determined to be first type detection values among the plurality of detection values, and the first lidar data 4100 and When compared, it can be seen that most of them have similar values.
  • the third lidar data 4120 may be an intensity map generated based on detection values determined as second type detection values among the plurality of detection values, and the second lidar data 4110 ), it can be seen that the validity of the data is low.
  • the validity of the detection values determined as the first type detection value among the plurality of detection values may be higher than the validity of the detection values determined as the second type detection value, and thus the second type detection value.
  • An operation of correcting or replacing the detected values determined as the detecting values may be required.
  • 51 and 52 are diagrams for explaining an operation of processing a detecting value according to an exemplary embodiment.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne un dispositif LiDAR pouvant comprendre : une puce d'émission laser destinée à générer un faisceau laser; une puce de détection laser destinée à détecter le faisceau laser; un module optique d'émission destiné à guider le faisceau laser, généré à partir de la puce d'émission laser, vers l'extérieur du dispositif LiDAR; un module optique de détection destiné à guider le faisceau laser, reçu de l'extérieur du dispositif LiDAR, vers la puce de détection laser; un support optique d'émission positionné entre la puce d'émission laser et le module optique d'émission; un premier matériau de durcissement positionné entre le support optique d'émission et le module optique d'émission afin de fixer la relation de position relative entre la puce d'émission laser et le module optique d'émission; et au moins un fixateur optique d'émission.
PCT/KR2021/017836 2021-11-30 2021-11-30 Dispositif lidar Ceased WO2023101038A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
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WO2025239565A1 (fr) * 2024-05-17 2025-11-20 엘지이노텍 주식회사 Procédé de test lidar

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JP2001228382A (ja) * 1999-12-08 2001-08-24 Ricoh Co Ltd マルチビーム光源ユニットの調整方法、組立方法及び調整装置、これらの対象となるマルチビーム光源ユニット並びにこのマルチビーム光源ユニットを有する画像形成装置
KR100463289B1 (ko) * 2002-01-30 2004-12-23 주식회사 레이저넷 레이저 전송기 및 그 레이저 전송기의 얼라인먼트 방법
KR20200067661A (ko) * 2018-12-04 2020-06-12 주식회사 로투보 광원을 이용한 비축대칭 렌즈 광축 조정장치
KR20210026083A (ko) * 2019-08-29 2021-03-10 (주)그린광학 초소형 및 초경량 라이다용 광학계
US20210181314A1 (en) * 2019-08-07 2021-06-17 Suteng Innovation Technology Co., Ltd. Laser radar and intelligent sensing device

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Publication number Priority date Publication date Assignee Title
JP2001228382A (ja) * 1999-12-08 2001-08-24 Ricoh Co Ltd マルチビーム光源ユニットの調整方法、組立方法及び調整装置、これらの対象となるマルチビーム光源ユニット並びにこのマルチビーム光源ユニットを有する画像形成装置
KR100463289B1 (ko) * 2002-01-30 2004-12-23 주식회사 레이저넷 레이저 전송기 및 그 레이저 전송기의 얼라인먼트 방법
KR20200067661A (ko) * 2018-12-04 2020-06-12 주식회사 로투보 광원을 이용한 비축대칭 렌즈 광축 조정장치
US20210181314A1 (en) * 2019-08-07 2021-06-17 Suteng Innovation Technology Co., Ltd. Laser radar and intelligent sensing device
KR20210026083A (ko) * 2019-08-29 2021-03-10 (주)그린광학 초소형 및 초경량 라이다용 광학계

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Publication number Priority date Publication date Assignee Title
WO2025239565A1 (fr) * 2024-05-17 2025-11-20 엘지이노텍 주식회사 Procédé de test lidar

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