WO2023127990A1 - Lidar apparatus - Google Patents

Abstract

A LiDAR apparatus according to the present invention comprises: a laser detecting array including a first detecting unit; a delay generation unit for obtaining a detecting signal from the first detecting unit and outputting a delay signal; a signal detection unit which detects the delay signal output from the delay generation unit by using a preset clock; a memory unit in which histogram data is stored on the basis of a result of detection by the signal detection unit; and a data processing unit which calculates a distance value for the first detecting unit on the basis of the histogram data stored in the memory unit, wherein the delay generation unit outputs the delay signal by applying a first delay value to a first cycle, and outputs the delay signal by applying a second delay value to a second cycle, and the first delay value and the second delay value may be different from each other.

Description

lidar device

The present invention relates to a lidar device including an optic unit and an optic unit, and more particularly, to a lidar device including a sub-optic unit and a transmission optic.

In addition, the present invention relates to a lidar device, and more particularly, to a lidar device having a distance resolution higher than the resolution of a preset clock using a delay generator.

Recently, LiDAR (Light Detection and Ranging) is in the spotlight with interest in autonomous vehicles and unmanned vehicles. LIDAR is a device that obtains surrounding distance information using lasers. It has excellent precision and resolution, and thanks to its advantage of being able to grasp objects in three dimensions, it is being applied to various fields such as drones and aircraft as well as automobiles.

Meanwhile, in the case of a bi-axial lidar device, unlike a co-axial lidar device, it may be difficult to detect an object located within a certain distance according to the arrangement of the transmission module and the reception module.

Therefore, it is important to minimize the minimum measurement distance as described above and to minimize the dead zone of the LIDAR device.

In addition, in the case of a LIDAR device that measures a distance by detecting a signal obtained from the detecting unit, the performance of the distance resolution may vary depending on the resolution of a preset clock for detecting the signal obtained from the detecting unit.

However, when the resolution of the preset clock is high, the capacity of histogram data for measuring one distance may increase.

Therefore, while setting the resolution of the preset clock within a reasonable range, it is necessary to manufacture a lidar device having a higher distance resolution than the resolution of the preset clock.

One object of the present invention is to provide a lidar device that minimizes a dead zone.

One object of the present invention is to provide a lidar device having a distance resolution higher than the resolution of a preset clock, but measuring a distance using histogram data for a plurality of cycles.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and problems not mentioned can be clearly understood by those skilled in the art from this specification and the accompanying drawings. will be.

A lidar device according to an embodiment includes a transmission module including an emitter array and a first optic unit - in this case, the emitter array includes a first emission unit, a detector array ( Detector array) and a reception module including a second optic unit, and a sub-optic unit disposed on an optical path guided by the first laser output from the first optic unit, , The sub-optical part includes a diffuser for diffusing at least a part of the first laser, the size of the diffuser is smaller than the diameter of the first optical part, and the first light emitted from the first emission unit The diameter of 1 laser - the diameter of the first laser is defined as the diameter on the surface where the diffuser is disposed - may be smaller than that.

A lidar device according to an embodiment uses a laser detecting array including a first detecting unit, a delay generator for obtaining a detecting signal from the first detecting unit and outputting a delay signal, and a preset clock. A signal detecting unit detecting the delay signal output from the delay generating unit, a memory unit storing histogram data based on a result detected by the signal detecting unit, and the first device based on the histogram data stored in the memory unit. A data processing unit that calculates a distance value for one detecting unit, wherein the delay generation unit outputs a delay signal by applying a first delay value to a first cycle and applies a second delay value to a second cycle. to output a delay signal, and the first delay value and the second delay value may be different from each other.

A lidar device according to another embodiment obtains a detection signal from a laser detecting array including a first detecting unit, and at least one delay value among first to Nth delay values. A delay generation unit for outputting the applied delay signal, a signal detection unit for detecting the delay signal output from the delay generation unit using a preset clock, and a histogram data stored based on the result detected by the signal detection unit A memory unit and a data processor configured to calculate a distance value for the first detecting unit based on the histogram data stored in the memory unit, wherein the delay generator generates the first to Nth delays for each of the M cycles. A value is applied, but the number of cycles to which the same delay value is applied may be M/N.

A lidar device according to another embodiment includes a laser detecting array including a first detecting unit, a delay generator for obtaining a detecting signal from the first detecting unit and outputting a delay signal, and a preset clock A signal detecting unit detecting the delay signal output from the delay generating unit using a memory unit storing histogram data based on a result detected by the signal detecting unit and the histogram data stored in the memory unit using A data processing unit calculating a distance value for the first detecting unit, wherein when the lidar device operates in a first mode, the delay generation unit applies the same delay value to the plurality of cycles, When the lidar device operates in the second mode, the delay generation unit may apply at least two or more different delay values to the plurality of cycles.

The solutions to the problems of the present invention are not limited to the above-described solutions, and solutions not mentioned will be clearly understood by those skilled in the art from this specification and the accompanying drawings. You will be able to.

According to an embodiment of the present invention, a lidar device minimizing a dead zone may be provided.

According to an embodiment of the present invention, a lidar device having a distance resolution higher than a preset clock resolution may be provided while measuring a distance using histogram data for a plurality of cycles.

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

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

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

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

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

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

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

7 is a side view illustrating a VCSEL array and metal contacts according to an exemplary embodiment.

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

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

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

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

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

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

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

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

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

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

19 is a diagram for 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.

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.

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.

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

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.

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

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.

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.

40 is a diagram for explaining a receiving module according to an exemplary embodiment.

41 is a diagram for explaining a receiving module according to an exemplary embodiment.

42 is a view for explaining an incident angle of a light ray of parallel light incident to a lens assembly according to an exemplary embodiment.

43 is a diagram for explaining a receiving module according to an exemplary embodiment.

44 is a diagram for explaining the bandwidth and center wavelength of the filter layer.

45 is a diagram for explaining the bandwidth and center wavelength of the filter layer.

46 and 47 are diagrams for explaining a receiving module according to an exemplary embodiment.

48 is a diagram for explaining a lidar device according to an embodiment.

FIG. 49 is a view for explaining a design of a filter layer included in the lidar device according to an embodiment shown in FIG. 48 and a wavelength design of a laser output array.

50 is a diagram for explaining a dead zone and a minimum measurement distance of a lidar device and a lidar device according to an embodiment.

51 and 52 are diagrams for explaining a transmission module included in a lidar device according to an embodiment.

53 is a diagram for explaining a laser irradiated through a transmission module according to an embodiment.

54 is a diagram for explaining a dead zone and a minimum measurement distance of a lidar device and a lidar device according to an embodiment.

55 and 56 are diagrams for explaining a sub-optic unit according to an exemplary embodiment.

57 is a diagram for explaining a laser irradiated through a transmission module according to an embodiment.

58 is a diagram for explaining various embodiments of a laser irradiated through a transmission module.

59 is a diagram for explaining various embodiments of arrangement of sub-optic units.

60 is a diagram for explaining an interference phenomenon with an external device according to an embodiment.

61 is a diagram for explaining a plurality of data sets based on a plurality of output signals of a detecting unit according to an exemplary embodiment.

62 is a diagram for explaining a histogram in which a plurality of data sets are accumulated according to an embodiment.

63 is a diagram for explaining a plurality of data sets based on a plurality of output signals of a detecting unit according to another embodiment.

64 is a diagram for explaining a histogram in which a plurality of data sets are accumulated according to another embodiment.

65 is a diagram for explaining the timing of the laser output signal of the laser output unit and the timing of the received signal of the detecting unit.

66 is a diagram for explaining a histogram according to timing of a laser output signal of a laser output unit.

67 is a diagram for explaining a control method of a lidar device according to an embodiment.

68 is a diagram for explaining a situation assumed to explain the invention according to an embodiment.

69 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a first object in a lidar device according to an embodiment.

70 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a second object in a lidar device according to an exemplary embodiment.

71 is a diagram for explaining a lidar device according to an embodiment.

72 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a first object in a lidar device according to an embodiment.

73 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a second object in a lidar device according to an exemplary embodiment.

74 is a diagram for explaining a delay generator according to an embodiment.

75 is a diagram for explaining the size of a delay value according to an exemplary embodiment.

76 is a diagram for explaining an operation mode of a lidar device according to an embodiment.

77 is a diagram for explaining a delay generator according to an embodiment.

78 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a second object in a lidar device according to an exemplary embodiment.

79 is a diagram for explaining a data processing unit according to an embodiment.

80 is a diagram for explaining an operation of a data processing unit according to an exemplary embodiment.

The embodiments described in this specification are intended to clearly explain the spirit of the present invention to those skilled in the art to which the present invention belongs, so the present invention is not limited to the embodiments described in this specification, and the The scope should be construed to include modifications or variations that do not depart from the spirit of the invention.

The terms used in this specification have been selected as general terms that are currently widely used as much as possible in consideration of the functions in the present invention, but these may vary depending on the intention of those skilled in the art, precedents, or the emergence of new technologies to which the present invention belongs. can However, in the case where a specific term is defined and used in an arbitrary meaning, the meaning of the term will be separately described. Therefore, the terms used in this specification should be interpreted based on the actual meaning of the term and the overall content of this specification, not the simple name of the term.

The drawings accompanying this specification are intended to easily explain the present invention, and the shapes shown in the drawings may be exaggerated as necessary to aid understanding of the present invention, so the present invention is not limited by the drawings.

If it is determined that a detailed description of a known configuration or function related to the present invention in this specification may obscure the gist of the present invention, a detailed description thereof will be omitted if necessary.

According to one embodiment of the present invention, as a lidar device, a transmission module including an emitter array and a first optic unit - in this case, the emitter array includes a first emission unit A reception module including a detector array and a second optic unit and a first laser output from the first emission unit are disposed on an optical path guided by the first optic unit a sub-optical unit, wherein the sub-optical unit includes a diffuser for diffusing at least a portion of the first laser, the size of the diffuser is smaller than the diameter of the first optical unit, and the first emission unit The diameter of the first laser output from - the diameter of the first laser is defined as the diameter on the surface on which the diffuser is disposed - may be provided with a smaller lidar device.

Here, the sub optic unit may further include a steering component.

Here, the diffuser included in the sub-optic part may be disposed to diffuse a portion of the first laser beam steered from the steering component included in the sub-optic part.

Here, a size of the steering component included in the sub-optic unit may be smaller than a pupil diameter of the first optical unit and smaller than a diameter of the first laser output from the first emission unit.

Here, the steering component may steer a portion of the first laser in a direction in which the reception module is located based on the center of the transmission module.

Here, the steering component may be disposed closer to the first optical unit than to the diffuser.

Here, the angle of view of the diffuser may be greater than that of the first optical unit.

Here, the size of the diffuser may be smaller than the diameter of the outermost lens of the first optical part.

Here, the center of the diffuser may be aligned with the center of the first optical unit.

Here, the diffuser may be disposed in an area where lasers output from the emission array overlap optical sights guided by the first optical unit.

Here, the lidar device may include a window, and the sub-optical unit may be disposed in the window.

Here, the lidar device further includes a sub-optic mount, and the sub-optic unit is positioned on the sub-optic mount, and the sub-optic mount may be mounted on the first optical unit.

Here, the sub-optical part may be integrally formed with the first optical part.

Here, the sub optic part may be formed as a part of an outermost lens of the first optical part.

Here, the emitter array includes a plurality of emitting units, each of the plurality of emitting units includes at least one vertical cavity surface emitting laser (VCSEL), and the detector array includes a plurality of emitters. A detecting unit may be included, and each of the plurality of detecting units may include at least one single photon avalanche diode (SPAD).

According to an embodiment of the present invention, a lidar device for measuring a distance using histogram data for a plurality of cycles, comprising: a laser detecting array including a first detecting unit; detecting from the first detecting unit; A delay generation unit for obtaining a signal and outputting a delay signal, a signal detection unit for detecting the delay signal output from the delay generation unit using a preset clock, and histogram data based on the result detected by the signal detection unit. A memory unit for storing and a data processing unit for calculating a distance value for the first detecting unit based on the histogram data stored in the memory unit, wherein the delay generator generates a first delay value for a first cycle. A lidar device may be provided to output a delay signal by applying a delay signal, output a delay signal by applying a second delay value for a second cycle, and wherein the first delay value and the second delay value are different from each other.

Here, the number of cycles to which the first delay value is applied may be two or more among the plurality of cycles, and the number of cycles to which the second delay value is applied among the plurality of cycles may be two or more.

Here, all of the preset clocks may be the same for the plurality of cycles.

Here, the first delay value and the second delay value may be smaller than a unit length of a time bin of the histogram data.

Here, the second delay value may be twice the first delay value.

Here, the number of cycles to which the first delay value is applied may be equal to the number of cycles to which the second delay value is applied.

Here, a difference between the first delay value and the second delay value may be smaller than a unit length of a time bin of the histogram data.

Here, the data processor may extract valid data based on the histogram data, and calculate a distance value with respect to the first detecting unit based on the extracted valid data.

Here, the data processing unit may calculate a center time value based on the counting values and time bin values included in the valid data, and may calculate a distance value to the first detecting unit based on the center time value.

According to an embodiment of the present invention, a lidar device for measuring a distance using histogram data for M cycles, comprising: a laser detecting array including a first detecting unit; detecting from the first detecting unit; A delay generation unit for obtaining a signal and outputting a delay signal to which at least one delay value from first to Nth delay values is applied, and signal detection for detecting the delay signal output from the delay generation unit using a preset clock. A memory unit for storing histogram data based on a result detected by the signal detection unit and a data processing unit for calculating a distance value for the first detecting unit based on the histogram data stored in the memory unit; , The delay generation unit applies the first to Nth delay values for each of the M cycles, and the number of cycles to which the same delay value is applied may be M / N individual lidar devices.

Here, the M cycles may be 128 cycles, the N delay values may be 16 delay values, and the number of cycles to which the same delay value is applied may be 8.

According to an embodiment of the present invention, a lidar device for measuring a distance using histogram data for a plurality of cycles, comprising: a laser detecting array including a first detecting unit; detecting from the first detecting unit; A delay generation unit for obtaining a signal and outputting a delay signal, a signal detection unit for detecting the delay signal output from the delay generation unit using a preset clock, and histogram data based on the result detected by the signal detection unit. A memory unit for storing and a data processing unit for calculating a distance value for the first detecting unit based on the histogram data stored in the memory unit, but when the LIDAR device operates in a first mode, the The delay generator applies the same delay value to the plurality of cycles, and when the LIDAR device operates in the second mode, the delay generator applies at least two or more different delay values to the plurality of cycles. This device may be provided.

Here, when the lidar device operates in the first mode, the delay value applied by the delay generator is different from at least two values applied by the delay generator when the lidar device operates in the second mode. It may be equal to one of the delay values.

Here, when the lidar device operates in the second mode, at least two different delay values applied by the delay generator include a first delay value and a second delay value, and the first delay value is When the lidar device operates in the first mode, it is smaller than the delay value applied by the delay generator, and the second delay value is applied by the delay generator when the lidar device operates in the first mode. may be greater than the delay value.

Here, the detector array includes a plurality of detecting units, and each of the plurality of detecting units may include at least one single photon avalanche diode (SPAD).

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

A lidar device is a device for detecting a distance to and a position of an object by using a laser. For example, the lidar device may output a laser, and when the output laser is reflected from the object, the reflected laser may be received to measure the distance between the object and the lidar device and the position of the object. In this case, the distance and location of the object may be expressed through a coordinate system. For example, the distance and position of the object may be expressed in a spherical coordinate system (r, θ, φ). However, it is not limited thereto, and may be expressed in a Cartesian coordinate system (X, Y, Z) or a cylindrical coordinate system (r, θ, z).

In addition, the lidar device may use laser output from the lidar device and reflected from the object to measure the distance of the object.

The lidar device according to an embodiment may use time of flight (TOF) of the laser from output to detection to measure the distance of the target object. For example, 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.

In addition, the LIDAR device may measure the distance of the object using a difference between a time value in which the output laser is detected directly without passing through the object and a time value based on the detected time of the laser reflected from the object and detected.

There may be a difference between the time when the lidar device sends a trigger signal for emitting the laser beam by the control unit 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.

In order to improve precision in measuring the time-of-flight of the laser beam, 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 without passing through the target object immediately or after being output.

For example, since an optic is disposed above the laser output device, the laser beam output from the laser output device by the optic can be directly sensed by the light receiver 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.

Also, for example, since the detector unit is disposed above the laser output device, 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. Alternatively, 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.

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

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

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

LiDAR device according to an embodiment may be installed in an unmanned aerial vehicle. For example, lidar devices include UAV Systems, Drones, Remote Piloted Vehicles (RPVs), Unmanned Aerial Vehicle Systems (UAVs), Unmanned Aircraft Systems (UAS), and Remote Piloted Air/Aerials (RPAVs). Vehicle) or RPAS (Remote Piloted Aircraft System).

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

A lidar device according to an embodiment may be installed in a robot. For example, lidar devices may be installed in personal robots, professional robots, public service robots, other industrial robots, or manufacturing robots.

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

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

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

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

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

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

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

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

At this time, the laser output unit 100 according to an embodiment may emit a laser.

Also, the laser output unit 100 may include one or more laser output devices. For example, the laser output unit 100 may include a single laser output device, may include a plurality of laser output devices, or in the case of including a plurality of laser output devices, the plurality of laser output devices may be a single laser output device. Arrays can be formed.

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

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

Referring back to FIG. 1 , a lidar device 1000 according to an embodiment may include an optic unit 200 .

In the description of the present invention, the optic unit may be variously expressed as a steering unit, a scanning unit, etc., but is not limited thereto.

At this time, the optical unit 200 according to an embodiment may change the flight path of the laser. For example, the optic unit 200 may change the flight path of the laser beam emitted from the laser output unit 100 toward the scan area. Also, for example, 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.

In addition, the optic unit 200 according to an embodiment may change the flight path of the laser by reflecting the laser. For example, the optic unit 200 may reflect the laser emitted from the laser output unit 100 and change the flight path of the laser to direct the laser to the scan area. Also, for example, 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.

Also, the optic unit 200 according to an exemplary embodiment may include various optical means to reflect the laser beam. For example, the optic unit 200 may include a mirror, a resonance scanner, a MEMS mirror, a voice coil motor (VCM), a polygonal mirror, a rotating mirror, or A galvano mirror or the like may be included, but is not limited thereto.

Also, the optic unit 200 according to an embodiment may change the flight path of the laser by refracting the laser. For example, 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. Also, for example, 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.

Also, the optic unit 200 according to an exemplary embodiment may include various optical means to refract the laser beam. For example, the optic unit 200 may include a lens, a prism, a micro lens, or a microfluidie lens, but is not limited thereto.

In addition, the optic unit 200 according to an embodiment may change the flight path of the laser by changing the phase of the laser. For example, the optic unit 200 may change the phase of 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. Also, for example, 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.

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

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

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

The detector unit may be variously expressed as a light receiving unit or a receiving unit in the description of the present invention, but is not limited thereto.

At this time, the detector unit 300 according to an embodiment may detect the laser. For example, the detector unit may detect laser reflected from an object located within the scan area.

Also, the detector unit 300 according to an embodiment may receive a laser beam and generate an electrical signal based on the received laser beam. For example, the detector unit 300 may receive a laser reflected from an object located within a scan area and generate an electrical signal based on the received laser beam. Also, for example, the detector unit 300 may receive a laser reflected from an object located within the scan area through one or more optical means, and generate an electrical signal based thereon. Also, for example, the detector unit 300 may receive laser reflected from an object located within the scan area through an optical filter and generate an electrical signal based on the received laser beam.

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

Also, the detector unit 300 according to an embodiment may include various sensor elements. For example, the detector unit 300 may include a PN photodiode, a phototransistor, a PIN photodiode, an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultipliers (SiPM), a time to digital converter (TDC), A comparator, a complementary metal-oxide-semiconductor (CMOS) or a charge coupled device (CCD) may be included, but is not limited thereto.

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

At this time, 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.

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

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

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

Also, the detector unit 300 according to an embodiment may include one or more optical filters. The detector unit 300 may receive the laser reflected from the target object through an optical filter. For example, 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.

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

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

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

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

For example, the 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.

Also, the controller 400 according to an embodiment may control the operation of the optical unit 200 .

For example, the controller 400 may control the operating speed of the optical unit 200 . Specifically, when the optic unit 200 includes a rotation mirror, the rotation speed of the rotation mirror can be controlled, and when the optic unit 200 includes a MEMS mirror, the repetition period of the MEMS mirror can be controlled. may, but is not limited thereto.

Also, for example, the controller 400 may control the degree of operation of the optical unit 200 . Specifically, when the optic unit 200 includes the MEMS mirror, the operating angle of the MEMS mirror may be controlled, but is not limited thereto.

Also, the controller 400 according to an embodiment may control the operation of the detector unit 300 .

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

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

Also, the controller 400 according to an embodiment may determine a distance from the lidar device 1000 to an object located within the scan area based on the laser detected by the detector unit 300 .

For example, the controller 400 may determine the distance to an object located within the scan area based on the time when the laser is output from the laser output unit 100 and the time when the laser is sensed by the detector 300. . In addition, for example, the controller 400 controls the time when the laser is output from the laser output unit 100 and the laser is detected by the detector unit 300 directly without passing through the object, and the laser reflected from the object is detected by the detector unit 300. A distance to an object located in the scan area may be determined based on a viewpoint detected at .

There may be a difference between the time when 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.

In order to improve precision in measuring the time-of-flight of the laser beam, 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.

For example, since an optic is disposed above the laser output device, 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.

Also, for example, since the detector unit 300 is disposed above the laser output device, 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. Alternatively, 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.

Specifically, the laser output unit 100 may output a laser, the control unit 400 may obtain a time point at which the laser is output from the laser output unit 100, and the laser output unit 100 may output the laser. When is reflected from an object located within the scan area, the detector unit 300 can detect the laser reflected from the object, and 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.

In addition, in detail, 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. When the laser output from the laser output unit 100 is reflected from an object located within the scan area, 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.

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

Referring to FIG. 2 , a lidar apparatus 1100 according to an embodiment may include a laser output unit 100, an optic unit 200, and a detector unit 300.

Since the laser output unit 100, the optic unit 200, and the detector unit 300 have been described with reference to FIG. 1, a detailed description thereof will be omitted.

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 . In addition, the laser beam reflected from the target object 500 may be received by the detector unit 300 .

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

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

Since the laser output unit 100, the optic unit 200, and the detector unit 300 have been described with reference to FIG. 1, a detailed description thereof will be omitted.

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.

In this case, 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.

A laser beam that has passed through the optic unit 200 may be received by the detector unit 300 .

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

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

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

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

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

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

The upper DBR layer 20 and the lower DBR layer 30 according to an embodiment may include a plurality of reflective layers. For example, in the plurality of reflective layers, a reflective layer having a high reflectance and a reflective layer having a low reflectance may be alternately disposed. In this case, the thickness of the plurality of reflective layers may be 1/4 of the wavelength of the laser emitted from the VCSEL emitter 110 .

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

Also, according to an embodiment, a substrate 50 may be disposed between the lower DBR layer 30 and the lower metal contact 60 . When the lower DBR layer 30 is doped with p-type, 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 according to an embodiment may include an active layer 40.

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

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

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

Also, the VCSEL emitter 110 according to an embodiment may be electrically connected to the upper DBR layer 20 and the lower DBR layer 30 through metal contacts.

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

Also, for example, when the upper DBR layer 20 is doped with n-type and the lower DBR layer 30 is doped with p-type, n-type power is supplied to the upper metal contact 10 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 according to an embodiment 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.

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

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

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

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

In addition, the wavelength output from the laser output unit according to an embodiment may be changed by the surrounding environment. For example, as the temperature of the surrounding environment increases, the output wavelength of the laser output unit may also increase. Alternatively, for example, as the temperature of the surrounding environment decreases, the output wavelength of the laser output unit may also decrease. 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. Alternatively, the laser output unit may emit a laser beam in a direction perpendicular to the emission surface.

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

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

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

Also, all of the VCSEL emitters 110 included in the VCSEL unit 130 according to an embodiment may be radiated in the same direction. For example, all 400 VCSEL emitters 110 included in the VCSEL unit 130 may be radiated in the same direction.

In addition, 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.

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

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

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

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

For example, 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.

In addition, the VCSEL array 150 according to an embodiment may include a metal contact. For example, the VCSEL array 150 may include a p-type metal and an n-type metal. In this case, the plurality of VCSEL units 130 may share a metal contact, but may have independent metal contacts without sharing a metal contact.

7 is a side view illustrating a VCSEL array and metal contacts according to an exemplary embodiment.

Referring to FIG. 7 , the laser output unit 100 according to an embodiment 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 according to an embodiment 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.

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

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

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

A VCSEL array 153 according to an embodiment may include a plurality of VCSEL units 130 arranged in a matrix structure. In this case, the plurality of VCSEL units 130 may share metal contacts, but may have independent metal contacts without sharing metal contacts. For example, the plurality of VCSEL units 130 may share the first metal contact 15 in units of rows. Also, for example, the plurality of VCSEL units 130 may share the second metal contact 17 in a column unit.

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

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

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

For example, when power is supplied to the first metal contact 15 in one row and the second metal contact 17 in one column, 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. can

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

For example, after 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.

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

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

For example, VCSEL units 130 may operate randomly. When the VCSEL units 130 operate randomly, interference between the VCSEL units 130 can be prevented.

There may be various methods for directing a laser beam emitted from a laser output unit to an object. Among them, the flash method is a method using the spread of a laser beam to an object by divergence of the laser beam. In the flash method, 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. For example, laser beam scanning may be performed by collimating the laser beam and then steering the laser beam. Also, for example, laser beam scanning may be performed in a manner of performing collimation after steering.

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

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

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

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

In addition, the light path of the lidar device 1200 according to an embodiment 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.

Even if 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.

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. Alternatively, when 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.

Therefore, 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. Alternatively, the laser beam passing through the collimation component may have a degree of divergence of 0.4 degrees to 1 degree.

When the degree of divergence of the laser beam is reduced, the amount of light incident to the object may be increased. When the amount of light incident on the object increases, the amount of light reflected from the object also increases, so that the laser beam can be received efficiently. In addition, when 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.

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

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

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

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

Referring to FIG. 11 , a collimation component 210 according to an exemplary embodiment 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 according to an embodiment 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 . In this case, 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.

Also, the plurality of micro lenses 211 according to an embodiment may collimate laser beams emitted from the plurality of VCSEL emitters 110 . At this time, the laser beam emitted from one of the plurality of VCSEL emitters 110 may be collimated by one of the plurality of micro lenses 211 . For example, 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 .

Also, 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.

In addition, the plurality of micro lenses according to an embodiment may be manufactured by methods such as molding, ion exchange, diffusion polymerization, sputtering, and etching.

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

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

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

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

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

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

The metasurface 220 according to an embodiment may include a plurality of nanocolumns 221 . For example, the plurality of nanocolumns 221 may be disposed on one side of the metasurface 220 . Also, for example, 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 . In addition, the metasurface 220 may reduce a divergence angle of a laser beam emitted from the laser output unit 100 . For example, 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 . For example, the metasurface 220 may be disposed on the emission surface side of the laser output unit 100 .

Alternatively, 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. For example, the nanocolumn 221 may have a shape such as a cylinder, a polygonal column, a cone, or a polygonal pyramid. In addition, the nanocolumns 221 may have an irregular shape.

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

Referring to FIG. 14 , the steering component 230 according to an embodiment may be disposed in a direction in which a laser beam emitted from the laser output unit 100 is directed. The steering component 230 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.

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

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

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

A plurality of micro lenses 232 according to an embodiment 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 . At this time, 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.

Also, the plurality of micro lenses 232 according to an embodiment 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 .

At this time, the optical axis of the micro lens 232 and the optical axis of the VCSEL emitter 110 may not coincide. For example, referring to FIG. 14 , when the optical axis of the VCSEL emitter 110 is on the right side of the optical axis of the micro lens 232, the laser beam emitted from the VCSEL emitter 110 and passing through the micro lens 232 is on the left side. can be directed to Also, for example, referring to FIG. 15 , when the optical axis of the VCSEL emitter 110 is to the left of the optical axis of the micro lens 232, the laser beam emitted from the VCSEL emitter 110 passes through the micro lens 232. can be directed to the right.

In addition, as the distance between the optical axis of the micro lens 232 and the optical axis of the VCSEL emitter 110 increases, the steering degree of the laser beam may increase. For example, when the distance between the optical axis of the micro lens 232 and the optical axis of the VCSEL emitter 110 is 10um, 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.

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

A plurality of micro prisms 235 according to an embodiment may be disposed on the substrate 236 . A plurality of micro prisms 235 and a substrate 236 may be disposed on the plurality of VCSEL emitters 110 . At this time, 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.

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

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

Also, the plurality of micro prisms 235 according to an embodiment 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.

In this case, irregular reflection due to surface roughness may be prevented by smoothing the surface of the microprism 235 through a polishing process.

According to one embodiment, the micro prisms 235 may be disposed on both sides of the substrate 236 . For example, microprisms disposed on the first surface of the substrate 236 steer the laser beam along a first axis, and microprisms disposed on the second surface of the substrate 236 steer the laser beam along a second axis. can make it

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

Referring to FIG. 18 , a steering component according to an embodiment may include a metasurface 240 .

The metasurface 240 may include a plurality of nanocolumns 241 . For example, the plurality of nanocolumns 241 may be disposed on one side of the metasurface 240 . Also, for example, 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 . For example, the metasurface 240 may be disposed on the emission surface side of the laser output unit 100 .

Alternatively, 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. For example, the nanocolumn 241 may have a shape such as a cylinder, a polygonal column, a cone, or a polygonal pyramid. In addition, 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 .

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

19 is a diagram for explaining a metasurface according to an exemplary embodiment.

Referring to FIG. 19 , a metasurface 240 according to an embodiment 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 . For example, the plurality of nanocolumns 241 may be arranged such that the widths W1 , W2 , and W3 increase in one direction. At this time, 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.

For example, 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. At this time, when the laser beam emitted from the laser output unit 100 passes through the metasurface 240, 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.

Meanwhile, the steering angle θ of the laser beam may vary according to the rate of change of the width W of the nanocolumn 241 . Here, 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. can

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

The steering angle θ of the laser beam may vary according to the width W of the nanocolumns 241 .

Specifically, the steering angle θ may increase as the rate of change of the width W of the nanocolumn 241 increases.

For example, the nanocolumn 241 may form a first pattern having a first increase/decrease rate based on the width W of the nanocolumn 241 . In addition, 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 .

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

Meanwhile, the range of the steering angle θ may be -90 degrees to 90 degrees.

20 is a diagram for explaining a metasurface according to an embodiment.

Referring to FIG. 20 , a metasurface 240 according to an embodiment 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 .

According to an embodiment, the spacing P between the nanocolumns 241 may decrease in one direction. Here, the distance P may mean a distance between centers of two adjacent nanocolumns 241 . For example, 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 . Alternatively, 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 . In this case, the first interval P1 may be obtained based on the distance between the first nanocolumn 243 and the second nanocolumn 245 . Similarly, the second interval P2 may be obtained based on the distance between the second nanocolumn 245 and the third nanocolumn 247 . In this case, the first interval P1 may be smaller than the second interval P2. That is, the distance P may increase from the first nanocolumn 243 toward the third nanocolumn 247.

At this time, when 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 θ of the laser beam may vary according to the distance P between the nanocolumns 241 .

Specifically, the steering angle θ of the laser beam may vary according to the rate of change of the distance P between the nanocolumns 241 . Here, 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 θ of the laser beam may increase as the rate of change of the spacing P between the nanocolumns 241 increases.

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

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

Meanwhile, 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.

For example, 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.

Referring to FIG. 21 , the metasurface 240 according to an embodiment 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 .

According to an embodiment, 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.

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

The steering angle θ of the laser beam may vary according to the height H of the nanocolumns 241 .

Specifically, the steering angle θ of the laser beam may vary according to the rate of change of the height H of the nanocolumns 241 . Here, 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. can The difference between the first height H1 and the second height H2 may be different from the difference between the second height H3 and the third height H3.

The steering angle θ of the laser beam may increase as the rate of change of the height H of the nanocolumn 241 increases.

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

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

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

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

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

Referring to FIG. 22, a rotating multi-faceted mirror 600 according to an embodiment may include a reflective surface 620 and a body, and vertically penetrates the upper part 615 and the lower part 610 of the body through the center. It can rotate about the rotation axis 630 that does. However, the rotating multi-faceted mirror 600 may be composed of only some of the above-described components, and may include more components. For example, the rotating multi-faceted mirror 600 may include a reflective surface 620 and a body, and the body may 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.

In addition, 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.

In addition, 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.

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

In addition, the body is for supporting the 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. At this time, 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. .

In addition, 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 .

Also, the upper part 615 and the lower part 610 of the body may have a polygonal shape. At this time, 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.

Also, the upper part 615 and the lower part 610 of the body may have the same size. However, 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.

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

In FIG. 22, 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.

In addition, in order to detect the rotation angle of the rotating multi-faceted mirror 600, the lidar device may further include an encoder unit. In addition, the LIDAR device may control the operation of the rotating multi-faceted mirror 600 using the detected rotation angle. At this time, 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.

In addition, 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.

Referring to FIG. 23 , a laser 653 may be incident in a direction coincident with a rotation axis 651 of the rotation multi-faceted mirror 650 . Here, since the top of the rotating multi-faceted mirror 650 is in the shape of an equilateral triangle, the angle formed by the three reflection surfaces may be 60 degrees. And, referring to FIG. 23, when 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.

For example, 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. In addition, 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.

Accordingly, when the number of reflective surfaces of the rotational multi-faceted mirror 650 is three and the upper and lower portions of the body are in the form of an equilateral triangle, 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.

Referring to FIG. 24 , a laser 663 may be incident in a direction coincident with a rotational axis 661 of the rotating multi-faceted mirror 660 . Here, since the top of the rotating multi-faceted mirror 660 has a square shape, the angle formed by the four reflective surfaces may be 90 degrees. And, referring to FIG. 24, when 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.

For example, 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. In addition, 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.

Accordingly, when the number of reflective surfaces of the rotating multi-sided mirror 660 is 4 and the upper and lower portions of the body have a square shape, 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.

Referring to FIG. 24 , a laser 673 may be incident in a direction coincident with a rotational axis 671 of the rotating multi-faceted mirror 670 . Here, since the upper part of the rotating multi-faceted mirror 670 is in the shape of a regular pentagon, the angle formed by the five reflection surfaces may be 108 degrees. And, referring to FIG. 24, when 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.

For example, 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.

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

As a result, referring to FIGS. 23 to 25, when the number of reflective surfaces of the rotational multifaceted mirror is N and the upper and lower portions of the body are N-gonal, if the interior angle of the N-gonal is setta, the rotational surface The maximum viewing angle of the mirror can be 360 degrees - 2 theta.

However, since the above-described viewing angle of the rotating multi-faceted mirror is only a calculated maximum value, 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.

When the scanning unit of the LIDAR device includes a rotating multi-sided mirror, 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.

Here, a portion of 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. In addition, 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.

Referring to FIG. 26 , 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 . However, although not shown in FIG. 26, the laser emitted from the laser output unit 100 may have a line or planar irradiation area.

When the laser emitted from the laser output unit 100 has a dot-shaped 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.

In addition, 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.

At this time, 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 . However, 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.

For example, as shown in FIG. 26, when the laser 735 reflected from the target object 500 is transmitted toward the detector unit 300 through the rotating multi-sided mirror 700, 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.

In addition, when a condensing lens is further included between the rotating multi-faceted mirror 700 and the detector unit 300, 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 .

However, in FIG. 26, 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.

Also, according to one embodiment, 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.

A lidar device according to an embodiment 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. The BCSC may be composed of one component or may be composed of a plurality of components.

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

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

According to one embodiment, 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.

When the collimation component 210 is a micro lens, 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.

When the collimation component 210 is a metasurface, 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.

When the steering component 230 is a micro lens, 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.

When the steering component 230 is a microprism, steering may be performed by an angle of the microprism.

When the steering component 230 is a metasurface, a laser beam may be steered by a nanopattern formed by a plurality of nanocolumns included in the metasurface.

According to an embodiment, 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. In addition, a printed circuit board (PCB), a VCSEL array, a collimation component, and a steering component may be correctly arranged through an alignment mark.

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

Also, for example, 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.

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

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

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

For example, the meta component 270 includes a plurality of meta surfaces, 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.

Alternatively, for example, 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.

Referring to FIG. 29 , a meta component 270 according to an embodiment may include a plurality of meta surfaces 271 and 273. For example, 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 nanocolumns. 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. In addition, 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.

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

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

The metasurface 275 may include a plurality of nanocolumns on both sides. For example, 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.

For example, 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 .

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

Referring to FIG. 31 , the detector unit 300 according to an embodiment 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 according to an embodiment may include a plurality of SPADs 751 . For example, 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.

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.

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

After the SPAD 751 detects photons, 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.

According to an embodiment, the SPAD 751 may detect photons for a predetermined time after the laser beam is output from the laser output unit. At this time, the SPAD 751 may detect photons during a 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.

According to an embodiment, 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.

Also, for example, the SPAD 751 may generate a signal 766 when detecting a photon other than a photon reflected from an object. In this case, photons other than the photon reflected from the object may include sunlight, a laser beam reflected from a window, and the like.

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

For example, 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.

Also, for example, 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.

Also, for example, 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.

Also, for example, 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.

In this case, 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.

In this case, the Nth detecting signal 764 may be a photon detecting signal during the Nth cycle after outputting the Nth laser beam. For example, N 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.

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

For example, 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. . In this case, the histogram 765 may include a signal by photons reflected from the object or a signal by other photons.

In order to obtain distance information of the object, it is necessary to extract a signal by photons reflected from the object in the histogram 765 . A signal generated by photons reflected from the object may be more quantitative and more regular than a signal generated by other photons.

In this case, a signal by a photon reflected from an object within a cycle may regularly exist at a specific time. On the other hand, 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.

For example, 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. Also, for example, signals of a predetermined amount 768 or more in the histogram 765 may be extracted as signals by photons reflected from the object.

In addition to the method described above, various algorithms capable of extracting signals by photons reflected from the object from the histogram 765 may exist.

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

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

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

According to another embodiment, 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.

For example, 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.

When signals extracted from a plurality of histograms are weighted and calculated as signals at one scan point, the effect of accumulating histograms multiple times can be obtained by accumulating the histogram once. Therefore, the effect of reducing the scan time and the time to obtain the entire image can be derived.

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

For example, the laser output unit outputs the laser beam of the 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. can be printed out. In this way, the laser output unit may output the laser beam of the big cell unit in row A and column B N times and then output the laser beam of the big cell unit in row C and column D M times.

At this time, 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.

For example, in the laser output unit's laser beam output sequence, when a vixel unit in one row and column 1 outputs laser beam N times, 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.

Also, for example, if the laser beam reflected in the histogram of the SPAD needs to be accumulated N times and there are M number of big cell units of the laser output unit, the M number of big cell units can be operated N times at once. Alternatively, 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.

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

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

The SiPM 780 according to an embodiment may include a plurality of microcell units 782 . 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. In addition, 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.

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

There are several differences between the histogram by the SiPM (780) and the histogram by the SPAD (751).

As described above, the histogram by the SPAD 751 may be accumulated with N detecting signals formed by one SPAD 751 receiving N laser beams. In addition, 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.

On the other hand, 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.

According to an embodiment, 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.

For example, 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 .

According to another embodiment, 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.

For example, 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 .

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

Therefore, 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.

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

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

After the microcell unit 782 detects photons, 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.

According to an embodiment, the microcell unit 782 may detect photons for a predetermined time after the laser beam is output from the laser output unit. At this time, the microcell unit 782 may detect photons during a 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 .

According to an embodiment, 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.

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

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

For example, 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. In this case, the first microcell 783 may generate a first detecting signal 791 after detecting photons.

Also, for example, 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. In this case, the second microcell 784 may generate a first detecting signal 792 after detecting photons.

Also, for example, 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. In this case, the third microcell 785 may generate a third detecting signal 793 after detecting photons.

Also, for example, 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. In this case, the Nth microcell 786 may generate an Nth detecting signal 794 after detecting photons.

In this case, 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.

In this case, the Nth detecting signal 764 may be a photon detecting signal of the Nth microcell included in the microcell unit 782 . For example, N 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.

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

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

In order to obtain distance information of the object, it is necessary to extract a signal by photons reflected from the object in the histogram 795 . A signal generated by photons reflected from the object may be more quantitative and more regular than a signal generated by other photons.

In this case, a signal by a photon reflected from an object within a cycle may regularly exist at a specific time. On the other hand, 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.

For example, a signal having the highest value in the histogram 795 may be simply extracted as a signal by a photon reflected from an object. Also, for example, signals of a predetermined amount 797 or more in the histogram 795 may be extracted as signals by photons reflected from the object.

In addition to the method described above, various algorithms capable of extracting signals by photons reflected from the object from the histogram 795 may exist.

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

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

For example, the laser output unit outputs the laser beam of the 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. can be printed out. In this way, the laser output unit may output the laser beam of the big cell unit in row A and column B N times and then output the laser beam of the big cell unit in row C and column D M times.

At this time, 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.

For example, when a vixel unit in one row and column 1 of the laser beam output sequence of the laser output unit outputs laser beam N times, 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.

Also, for example, if the laser beam reflected in the histogram of the SiPM needs to be accumulated N times and there are M vixel units of the laser output unit, the M vixel units may be operated N times at once. Alternatively, 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. For example, LiDAR may have a flash method and a scanning method.

As described above, 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.

Also, as described above, 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.

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

Also, for example, since 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 can overcome the disadvantages of the flash type lidar. For example, a flash-type lidar may be vulnerable to interference between laser beams, and a strong flash is required to detect an object, and the detection range cannot be limited.

However, the semi-flash type lidar or the quasi-flash type lidar allows laser beams to pass through a steering unit to overcome 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.

Referring to FIG. 35 , a semi-flash lidar 800 according to an embodiment may include a laser output unit 810, a Beam Collimation & Steering Component (BCSC) 820, a scanning unit 830, and a receiving unit 840. can

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

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

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

For example, 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.

Also, for example, 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.

At this time, 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 according to an embodiment may include a scanning unit 830 . For example, the scanning unit 830 may include the optical unit 200 . For example, the scanning unit 830 may include a mirror that reflects a laser beam.

For example, 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.

In addition, 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 according to an embodiment may include a receiver 840. For example, the receiver 840 may include the detector unit 300 . Also, for example, the receiver 840 may be the SPAD array 750 . Also, for example, the receiver 840 may be the SiPM 780.

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

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

Also, the receiver 840 according to an embodiment may include one or more optical filters. The receiver 840 may receive the laser reflected from the object through an optical filter. For example, the 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.

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

For example, light output from the laser output unit 810 may be incident to the scanning unit 830 via the BCSC 820 . In addition, light incident to the scanning unit 830 may be reflected and incident to the target object 850 . In addition, light incident on the object 850 may be reflected and then incident on the scanning unit 830 again. In addition, 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.

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

According to one embodiment, 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.

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

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

According to one embodiment, 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 .

In this case, 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. For example, 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. At this time, the areas may be divided vertically or left and right within the same reflective surface.

Also, for example, an area reflecting a laser beam toward the object and an area receiving the laser beam reflected from the object may be different reflective surfaces. For example, an area 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. .

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

According to one embodiment, 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.

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

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

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

At this time, the FOV of the SPAD unit 842 may be proportional to the number of SPAD pixels 847 included in the SPAD unit 842. Alternatively, the FOV of individual SPAD pixels 847 included in the SPAD unit 842 may be determined by the FOV of the SPAD unit 842 .

For example, when the horizontal FOV 845 and the vertical FOV 846 of 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.

Also, for example, when the horizontal FOV 843 and the vertical FOV 844 of the SPAD unit 842 are 1.2 degrees and the SPAD unit 842 includes 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).

According to another embodiment, 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.

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

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

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

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

For example, when the horizontal FOV 845 and the vertical FOV 846 of 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.

Also, for example, when the horizontal FOV 843 and the vertical FOV 844 of the microcell unit 842 are 1.2 degrees and the microcell unit 842 includes 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).

According to another embodiment, one big cell unit 812 may correspond to a plurality of SPAD units or micro cell units 842 . For example, 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.

According to another embodiment, a plurality of vixel units 812 and one SPAD unit or microcell unit 842 may correspond. For example, 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.

According to an embodiment, 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.

For example, 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 .

For example, 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.

Also, for example, 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. can

At this time, 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 .

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

According to another embodiment, one big cell unit 812 may correspond to a plurality of SPAD units or micro cell units 842 . For example, 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.

According to another embodiment, a plurality of vixel units 812 and one SPAD unit or microcell unit 842 may correspond. For example, 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.

According to an embodiment, 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. At this time, 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 .

For example, after the first row big cell unit of the big cell array 811 operates, 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.

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

Also, for example, the big cell units of the big cell array 811 may operate randomly. At this time, 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.

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

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

The semi-flash lidar 900 according to an embodiment 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 according to an embodiment 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 according to an embodiment 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.

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

For example, light output from the laser output unit 910 may be incident to the target object 950 via the BCSC 920 . In addition, 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.

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

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

Also, for example, 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.

In addition, when compared to the semi-flash lidar 800 of FIG. 35, the light path of the semi-flash lidar 900 of FIG. 37 can be simplified. By 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.

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

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

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

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

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

According to one embodiment, the SPAD array 941 may include a plurality of SPAD units 944 . At this time, the SPAD unit 944 may include a plurality of SPAD pixels 947. For example, the SPAD unit 944 may include 12 X 12 SPAD pixels 947.

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

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

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

For example, when the horizontal FOV (948) and vertical FOV (949) of individual SPAD pixels (947) are 0.1 degree, if the SPAD unit 944 includes N X M SPAD pixels (947), the SPAD unit (944) The horizontal FOV 945 may be 0.1*N, and the vertical FOV 946 may be 0.1*M.

Also, for example, when the horizontal FOV 945 and the vertical FOV 946 of the 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).

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

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

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

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

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

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

Also, for example, when the horizontal FOV 945 and the vertical FOV 946 of the microcell unit 944 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).

According to an embodiment, 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.

For example, 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 .

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

Also, for example, 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.

At this time, 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.

For example, if the SPAD unit or microcell unit 944 includes SPAD pixels or microcells 947 in N rows and M columns, the big cell unit 914 divides the irradiated FOV into N X M areas to determine the distance information of the object. can

According to another embodiment, one big cell unit 914 may correspond to a plurality of SPAD units or micro cell units 944 . For example, 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. .

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

According to an embodiment, the plurality of big cell units 914 included in the laser output unit 910 may operate according to a predetermined sequence or may operate randomly. At this time, 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 .

For example, after the big cell units in one row and one column of the big cell array 911 operate, the big cell units in one row and three columns may operate. Next, 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.

At this time, after 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.

Also, for example, the big cell units of the big cell array 911 may operate randomly. At this time, 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.

Referring to FIG. 39 , a lidar apparatus 3000 according to an embodiment may include a transmission module 3010 and a reception module 3020.

In addition, the transmission module 3010 may include a laser output array 3011 and a first lens assembly 3012, but is not limited thereto.

At this time, since the laser output array 3011 may be applied with the above-described laser output unit, a redundant description thereof will be omitted.

Also, the laser output array 3011 may output at least one laser. For example, the laser output array 3011 may output a plurality of lasers, but is not limited thereto.

In addition, the laser output array 3011 may output at least one laser with a first wavelength. For example, 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.

In this case, the first wavelength may be a wavelength range including an error range. For example, 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.

Also, the laser output array 3011 may output at least one laser at the same time. For example, 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.

Also, the first lens assembly 3012 may include at least two or more lens layers. For example, the first lens assembly 3012 may include at least four lens layers, but is not limited thereto.

Also, the first lens assembly 3012 may steer the laser output from the laser output array 3011 . For example, 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.

In addition, 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. can For example, 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.

In addition, the receiving module 3020 may include a laser detecting array 3021 and a second lens assembly 3022, but is not limited thereto.

At this time, the laser detecting array 3021 may be applied to the above-described detector unit and the like, so redundant description will be omitted.

Also, the laser detecting array 3021 may detect at least one laser. For example, the laser detecting array 3021 may detect a plurality of lasers.

Also, the laser detecting array 3021 may include a plurality of detectors. For example, the laser detecting array 3021 may include a first detector and a second detector, but is not limited thereto.

In addition, each of the plurality of detectors included in the laser detecting array 3021 may receive a different laser. For example, a first detector included in the laser detecting array 3021 may receive a first laser beam received in a first direction, and a second detector may receive a second laser beam received in a second direction. may, but is not limited thereto.

Also, the laser detecting array 3021 may detect at least a portion of the laser emitted from the transmission module 3010 . For example, 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. .

Also, the second lens assembly 3022 may transmit the laser irradiated from the transmission module 3010 to the laser detecting array 3021 . For example, 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.

In addition, the second lens assembly 3022 may distribute the laser irradiated from the transmission module 3010 to at least two or more different detectors. For example, 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.

In addition, at least a part of the laser output array 3011 and the laser detecting array 3021 may be matched. For example, 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, and 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.

40 is a diagram for explaining a receiving module according to an exemplary embodiment.

Referring to FIG. 40 , a receiving module 3100 according to an embodiment may include a laser detecting array 3110 and a lens assembly 3120.

At this time, since the above-described contents can be applied to the laser detecting array 3110, overlapping descriptions will be omitted.

In addition, since the above-described contents can be applied to the lens assembly 3120, overlapping descriptions will be omitted.

Also, the lens assembly 3120 may include at least two or more lens layers. For example, as shown in FIG. 40 , the lens assembly 3120 includes a first lens layer 3121, a second lens layer 3122, a third lens layer 3123, and a fourth lens layer 3124. It may include, but is not limited to.

At this time, each lens layer may be formed of the same material, but is not limited thereto, and may be formed of different materials.

In addition, each lens layer may have a different thickness from each other, but is not limited thereto and may have at least some of the same thickness.

Also, the lens assembly 3120 may include at least two or more gap layers. For example, as shown in FIG. 40 , the lens assembly 3120 may include a first gap layer 3125, a second gap layer 3126, and a third gap layer 3127, but is not limited thereto.

In this case, each of the gap layers may include a material different from that of the lens layers. For example, each of the gap layers may include air, but is not limited thereto.

In this case, each of the gap layers may include the same material, but is not limited thereto, and may include materials different from each other.

Also, each of the gap layers may mean a space or material between the respective lens layers. For example, the first gap layer 3125 may refer to a space or material between the first lens layer 3121 and the second lens layer 3122, and the second gap layer 3126 may refer to the first lens layer 3121 and the second lens layer 3122. It may mean a space or material between the second lens layer 3122 and the third lens layer 3123, and the third gap layer 3127 is the third lens layer 3123 and the fourth lens layer 3124 ), but may mean a space or material between, but is not limited thereto.

In addition, each of the gap layers may be positioned between each of the lens layers. For example, the first gap layer 3125 may be positioned between the first lens layer 3121 and the second lens layer 3122, and the second gap layer 3126 may be the second lens layer ( 3122) and the third lens layer 3123, and the third gap layer 3127 may be located between the third lens layer 3123 and the fourth lens layer 3124, Not limited to this.

In addition, a light ray of parallel light incident to the lens assembly 3120 may be received by the laser detecting array 3110 along each path. For example, with respect to parallel light incident at 0 degree to the entrance pupil of the lens assembly 3120, a first light ray R1 incident to a first part of the entrance pupil is along a first optical path. Light may be received by a first detector included in the laser detecting array 3110, and a second light ray R2 incident to a second part of the incident pupil is received by the first detector along a second optical path. The third light ray R3 incident to the third part of the incident pupil may be received by the first detector along a third optical path, and the fourth light ray R3 incident to the fourth part of the incident pupil A light ray R4 may be received by the first detector along a fourth optical path, and a fifth light ray R5 incident to a fifth portion of the entrance pupil may be received by the first detector along a fifth optical path. It may receive light, but is not limited thereto.

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, angles at which light rays of parallel light incident to the lens assembly 3120 are incident to the end surface of the first gap layer 3125 may be at least partially different. For example, a first light ray R1 incident to a first part of the entrance pupil of the lens assembly 3120 with respect to parallel light incident at 0 degrees is the first gap layer 3125 ) may be incident at a first angle, and the second light ray R2 incident to the second part of the entrance pupil may be incident at a second angle to the end face of the first gap layer 3125, A third light ray R3 incident to the third portion of the incident pupil may be incident at a third angle to the cross section of the first gap layer 3125, and a fourth light incident to the fourth portion of the incident pupil The ray R4 may be incident on the end face of the first gap layer 3125 at a fourth angle, and the fifth light ray R5 incident on a fifth part of the entrance pupil may be incident on the cross section of the first gap layer 3125. It may be incident at a fifth angle to the cross section, but is not limited thereto.

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, the first to fifth angles may be different from each other, but are not limited thereto and may be at least partially the same.

Also, a difference between a minimum angle and a maximum angle among the first to fifth angles may be a first difference value.

In addition, angles at which light rays of parallel light incident to the lens assembly 3120 are incident to the end surface of the second gap layer 3126 may be at least partially different. For example, a first light ray R1 incident to a first part of the entrance pupil of the lens assembly 3120 with respect to parallel light incident at 0 degrees is the second gap layer 3126 ) may be incident at a sixth angle, and the second light ray R2 incident to the second part of the entrance pupil may be incident at a seventh angle to the cross section of the second gap layer 3126, A third light ray R3 incident to the third portion of the incident pupil may be incident to the cross section of the second gap layer 3126 at an eighth angle, and a fourth light incident to the fourth portion of the incident pupil A ray R4 may be incident on the cross section of the second gap layer 3126 at a ninth angle, and a fifth light ray R5 incident on a fifth portion of the incident pupil may be incident on the cross section of the second gap layer 3126. It may be incident at a 10th angle to the cross section, but is not limited thereto.

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, the sixth to tenth angles may be different from each other, but are not limited thereto and may be at least partially the same.

Also, a difference between the minimum angle and the maximum angle among the sixth to tenth angles may be a second difference value.

In addition, angles at which light rays of parallel light incident to the lens assembly 3120 are incident to the end surface of the third gap layer may be at least partially different. For example, a first light ray R1 incident to a first part of the entrance pupil of the lens assembly 3120 with respect to parallel light incident at 0 degrees is a cross-section of the third gap layer. may be incident at an eleventh angle, and the second light ray R2 incident to the second part of the entrance pupil may be incident to the cross section of the third gap layer at a twelfth angle, and A third light ray R3 incident as a part may be incident at a 13th angle to the cross section of the third gap layer, and a fourth light ray R4 incident as a fourth part of the incident pupil may be incident on the third gap layer. A fifth light ray R5 incident on the fifth portion of the entrance pupil may be incident on the cross section of the third gap layer at a 14th angle, but is not limited thereto. .

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, the 11th to 15th angles may be different from each other, but are not limited thereto and may be at least partially the same.

Also, a difference between the minimum angle and the maximum angle among the 11th to 15th angles may be a third difference value.

In addition, an angle at which a light ray of parallel light incident to the lens assembly 3120 is incident to a cross section between the laser detecting array 3110 and the lens assembly 3120 may be at least partially different. For example, with respect to parallel light incident at 0 degree to the entrance pupil of the lens assembly 3120, a first light ray R1 incident to a first part of the entrance pupil is the laser detecting array ( 3110) and the lens assembly 3120 may be incident at a 16th angle, and the second light ray R2 incident to the second part of the incident pupil may be incident on the laser detecting array 3110 and the second light ray R2. A third light ray R3 that may be incident at a seventeenth angle to a cross section between the lens assembly 3120 and incident to a third portion of the entrance pupil is the laser detecting array 3110 and the lens assembly 3120. ) may be incident at an 18th angle, and the fourth light ray R4 incident to the fourth portion of the entrance pupil is a cross-section between the laser detecting array 3110 and the lens assembly 3120. , and the fifth light ray R5 incident to the fifth portion of the entrance pupil is a cross section between the laser detecting array 3110 and the lens assembly 3120 at a twentieth angle. It may be entered as, but is not limited thereto.

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, the sixteenth to twentieth angles may be different from each other, but are not limited thereto, and may be at least partially the same.

Also, a difference between the minimum angle and the maximum angle among the sixteenth to twentieth angles may be a fourth difference value.

Also, the first to fourth difference values may be different from each other. For example, the second difference value may be the smallest among the first to fourth difference values, and the fourth difference value may be the largest among the first to fourth difference values, but is not limited thereto.

41 is a diagram for explaining a receiving module according to an exemplary embodiment.

Referring to FIG. 41 , a receiving module 3200 according to an embodiment may include a laser detecting array 3210 and a lens assembly 3220.

At this time, since the above-described contents can be applied to the laser detecting array 3210, overlapping descriptions will be omitted.

In addition, since the above-described contents can be applied to the lens assembly 3220, overlapping descriptions will be omitted.

Also, the lens assembly 3220 may include at least two or more lens layers. For example, as shown in FIG. 41 , the lens assembly 3220 includes a first lens layer 3221, a second lens layer 3222, a third lens layer 3223, and a fourth lens layer 3224. It may include, but is not limited to.

In this case, each lens layer may be formed of the same material, but is not limited thereto, and may be formed of different materials.

In addition, each lens layer may have a different thickness from each other, but is not limited thereto and may have at least some of the same thickness.

Also, the lens assembly 3220 may include at least two or more gap layers. For example, as shown in FIG. 41 , the lens assembly 3220 may include a first gap layer 3225, a second gap layer 3226, and a third gap layer 3227, but is not limited thereto.

In this case, each of the gap layers may include the same material, but is not limited thereto, and may include materials different from each other.

Also, each of the gap layers may mean a space or material between the respective lens layers. For example, the first gap layer 3225 may refer to a space or material between the first lens layer 3221 and the second lens layer 3222, and the second gap layer 3226 may refer to the first lens layer 3221 and the second lens layer 3222. It may mean a space or material between the second lens layer 3222 and the third lens layer 3223, and the third gap layer 3227 is the third lens layer 3223 and the fourth lens layer 3224 ), but may mean a space or material between, but is not limited thereto.

In addition, each of the gap layers may be positioned between each of the lens layers. For example, the first gap layer 3225 may be positioned between the first lens layer 3221 and the second lens layer 3222, and the second gap layer 3226 may be the second lens layer ( 3222) and the third lens layer 3223, and the third gap layer 3227 may be located between the third lens layer 3223 and the fourth lens layer 3224, Not limited to this.

In addition, light rays of parallel light incident to the lens assembly 3220 may be received by the laser detecting array 3210 along each path. For example, with respect to parallel light incident at 30 degrees to the entrance pupil of the lens assembly 3220, a first light ray R1 incident to a first part of the entrance pupil is along a first optical path. Light may be received by a second detector included in the laser detecting array 3210, and the second light ray R2 incident to the second part of the incident pupil is received by the second detector along a second optical path. The third light ray R3 incident to the third portion of the entrance pupil may be received by the second detector along a third optical path, and the fourth light ray R3 incident to the fourth portion of the entrance pupil may be received by the second detector along a third optical path. A light ray R4 may be received by the second detector along a fourth optical path, and a fifth light ray R5 incident to a fifth portion of the incident pupil may be received by the second detector along a fifth optical path. It may receive light, but is not limited thereto.

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, angles at which light rays of parallel light incident to the lens assembly 3220 are incident to the end surface of the first gap layer 3225 may be at least partially different. For example, with respect to parallel light incident at 30 degrees to the entrance pupil of the lens assembly 3220, a first light ray R1 incident to a first part of the entrance pupil is the first gap layer 3225 ) at a first angle, and a second light ray R2 incident on a second portion of the entrance pupil may be incident at a second angle at a cross section of the first gap layer 3225, The third light ray R3 incident to the third part of the incident pupil may be incident at a third angle to the cross section of the first gap layer 3225, and the fourth light incident to the fourth part of the incident pupil A ray R4 may be incident at a fourth angle to the cross section of the first gap layer 3225, and a fifth light ray R5 incident to a fifth portion of the incident pupil may be incident on the first gap layer 3225. It may be incident at a fifth angle to the cross section, but is not limited thereto.

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, the first to fifth angles may be different from each other, but are not limited thereto and may be at least partially the same.

Also, a difference between a minimum angle and a maximum angle among the first to fifth angles may be a first difference value.

In addition, angles at which light rays of parallel light incident to the lens assembly 3220 are incident to the end surface of the second gap layer 3226 may be at least partially different. For example, with respect to parallel light incident at 30 degrees to the entrance pupil of the lens assembly 3220, the first light ray R1 incident to the first part of the entrance pupil is the second gap layer 3226 ) may be incident at a sixth angle, and the second light ray R2 incident to the second part of the entrance pupil may be incident at a seventh angle to the cross section of the second gap layer 3226, A third light ray R3 incident on the third portion of the incident pupil may be incident on the cross section of the second gap layer 3226 at an eighth angle, and a fourth light ray incident on the fourth portion of the incident pupil A ray R4 may be incident at a ninth angle to the cross section of the second gap layer 3226, and a fifth light ray R5 incident to a fifth portion of the incident pupil may be incident on the cross section of the second gap layer 3226. It may be incident at a 10th angle to the cross section, but is not limited thereto.

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, the sixth to tenth angles may be different from each other, but are not limited thereto and may be at least partially the same.

Also, a difference between the minimum angle and the maximum angle among the sixth to tenth angles may be a second difference value.

In addition, angles at which light rays of parallel light incident to the lens assembly 3220 are incident to the end surface of the third gap layer 3227 may be at least partially different. For example, with respect to parallel light incident at 30 degrees to the entrance pupil of the lens assembly 3220, the first light ray R1 incident to the first part of the entrance pupil is the third gap layer 3227 ) may be incident at an 11th angle, and the second light ray R2 incident to the second part of the entrance pupil may be incident at a 12th angle to the cross section of the third gap layer 3227, The third light ray R3 incident to the third portion of the incident pupil may be incident at a thirteenth angle to the cross section of the third gap layer 3227, and the fourth light incident to the fourth portion of the incident pupil Ray R4 may be incident at a 14th angle to the cross section of the third gap layer 3227, and a fifth light ray R5 incident to a fifth portion of the incident pupil may be incident on the cross section of the third gap layer 3227. The cross section may be incident at a 15th angle, but is not limited thereto.

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, the 11th to 15th angles may be different from each other, but are not limited thereto and may be at least partially the same.

Also, a difference between the minimum angle and the maximum angle among the 11th to 15th angles may be a third difference value.

In addition, an angle at which a light ray of parallel light incident to the lens assembly 3220 is incident to a cross section between the laser detecting array 3210 and the lens assembly 3220 may be at least partially different. For example, with respect to parallel light incident at 30 degrees to the entrance pupil of the lens assembly 3220, a first light ray R1 incident to a first part of the entrance pupil is the laser detecting array ( 3210) and the lens assembly 3220 may be incident at a 16th angle, and the second light ray R2 incident to the second part of the incident pupil may be incident on the laser detecting array 3210 and the second light ray R2. A third light ray R3 that may be incident at a seventeenth angle to a cross section between the lens assemblies 3220 and incident to a third part of the entrance pupil is the laser detecting array 3210 and the lens assembly 3220 ) may be incident at an 18th angle, and the fourth light ray R4 incident to the fourth part of the entrance pupil is a cross-section between the laser detecting array 3210 and the lens assembly 3220. , and the fifth light ray R5 incident to the fifth portion of the entrance pupil is a cross section between the laser detecting array 3210 and the lens assembly 3220 at a twentieth angle. It may be entered as, but is not limited thereto.

In this case, the first portion may be a center portion of the entrance pupil, the second portion may be an end portion of the entrance pupil in the +Y direction, and the third portion may be an end portion of the entrance pupil in the -Y direction. The fourth portion may be an end portion of the entrance pupil in the +X direction, and the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.

In addition, the sixteenth to twentieth angles may be different from each other, but are not limited thereto, and may be at least partially the same.

Also, a difference between the minimum angle and the maximum angle among the sixteenth to twentieth angles may be a fourth difference value.

Also, the first to fourth difference values may be different from each other. For example, the second difference value may be the smallest among the first to fourth difference values, and the fourth difference value may be the largest among the first to fourth difference values, but is not limited thereto.

42 is a view for explaining an incident angle of a light ray of parallel light incident to a lens assembly according to an exemplary embodiment.

More specifically, (a) of FIG. 42 is a view showing the angle of each light ray incident on the cross section of the above-described second gap layers 3126 and 3226 by way of example, and (b) of FIG. 42 is a view exemplarily showing the angle of each light ray incident to the cross section between the above-described laser detecting array and the lens assembly.

Referring to (a) of FIG. 42 , an incident angle of a light ray of parallel light incident on a lens assembly at a predetermined angle to an end face of at least one gap layer included in the lens assembly can be known. For example, the first light ray R1 of parallel light incident on the lens assembly at an angle of 0 degree may be incident on the cross section of at least one gap layer included in the lens assembly at 0 degree, and the second light ray R2 ) may be incident on the cross section of at least one gap layer included in the lens assembly at 0.89 degrees, and the third light ray R3 may be incident on the cross section of at least one gap layer included in the lens assembly at 0.89 degrees, The fourth light ray R4 may be incident on the cross section of at least one gap layer included in the lens assembly at an angle of 0.89 degrees, and the fifth light ray R5 may be incident on the cross section of the at least one gap layer included in the lens assembly at an angle of 0.89 degrees. It may enter the road, but is not limited thereto.

Also, referring to (a) of FIG. 42 , angles at which parallel light rays incident on the lens assembly at various angles are incident on the cross section of at least one gap layer included in the lens assembly can be known. For example, the first light ray R1 of parallel light incident on the lens assembly at an angle of 0 degree may be incident on the cross section of at least one gap layer included in the lens assembly at 0 degree, and the lens assembly may be incident at an angle of 15 degrees. A first light ray R1 of parallel light incident at an angle may be incident on an end surface of at least one gap layer included in the lens assembly at an angle of 6.99 degrees, and a first light ray of parallel light incident at an angle of 30 degrees to the lens assembly. (R1) may be incident on the cross section of at least one gap layer included in the lens assembly at an angle of 13.0 degrees, but is not limited thereto.

In addition, although not described, the first to third parallel rays incident on the lens assembly at various angles such as 3 degrees, 6 degrees, 9 degrees, 12 degrees, 15 degrees, 18 degrees, 21 degrees, 24 degrees, 27 degrees, and 30 degrees. Angles at which the fifth light rays R1 to R5 are incident on the cross section of at least one gap layer included in the lens assembly may be known.

In addition, referring to (a) of FIG. 42, at least a portion of light rays of a plurality of parallel lights incident on the lens assembly at different angles in the range of (x) to (y) degrees are the lens assembly It can be seen that the cross section of at least one gap layer included in may be incident in the range of (a) to (b) degrees.

For example, at least a portion of light rays of a plurality of parallel lights incident on the lens assembly at different angles in the range of 0 degrees to 30 degrees is 0 degrees to the cross section of at least one gap layer included in the lens assembly to 13 degrees, but is not limited thereto.

In addition, referring to (b) of FIG. 42 , an incident angle of a light ray of parallel light incident on the lens assembly at a predetermined angle to a cross section between the lens assembly and the laser detecting array can be known. For example, a first light ray R1 of parallel light incident on the lens assembly at an angle of 0 degree may be incident on a cross section between the lens assembly and the laser detecting array at 0 degree, and the second light ray R2 may be incident on the cross section between the lens assembly and the laser detecting array at 27.87 degrees, the third light ray R3 may be incident on the cross section between the lens assembly and the laser detecting array at 27.87 degrees, and the fourth light ray R3 may be incident on the cross section between the lens assembly and the laser detecting array at 27.87 degrees The light ray R4 may be incident on the cross section between the lens assembly and the laser detecting array at 27.87 degrees, and the fifth light ray R5 may be incident on the cross section between the lens assembly and the laser detecting array at 27.87 degrees. may, but is not limited thereto.

In this case, a cross section between the lens assembly and the laser detecting array may mean a cross section parallel to the laser detecting array.

Also, referring to (b) of FIG. 42 , angles at which parallel light rays incident on the lens assembly at various angles are incident on the cross section between the lens assembly and the laser detecting array can be known. For example, a first light ray R1 of parallel light incident on the lens assembly at an angle of 0 degrees may be incident on a cross section between the lens assembly and the laser detecting array at an angle of 0 degrees, and the lens assembly at an angle of 15 degrees. The first light ray R1 of parallel light incident to may be incident on the cross section between the lens assembly and the laser detecting array at an angle of 1.16 degrees, and the first light ray R1 of parallel light incident to the lens assembly at an angle of 30 degrees. ) may be incident on the cross section between the lens assembly and the laser detecting array at 5.12 degrees, but is not limited thereto.

In addition, although not described, the first to third parallel rays incident on the lens assembly at various angles such as 3 degrees, 6 degrees, 9 degrees, 12 degrees, 15 degrees, 18 degrees, 21 degrees, 24 degrees, 27 degrees, and 30 degrees. Incident angles of the fifth light rays R1 to R5 to the cross section between the lens assembly and the laser detecting array may be known.

In addition, referring to (b) of FIG. 42, at least a portion of light rays of a plurality of parallel lights incident on the lens assembly at different angles in the range of (x) to (y) degrees are the lens assembly It can be seen that the cross section between the and the laser detecting array can be incident in the range of (a) to (b) degrees.

For example, at least a portion of light rays of a plurality of parallel lights incident on the lens assembly at different angles in the range of 0 degrees to 30 degrees are 0 degrees to 30 degrees in cross section between the lens assembly and the laser detecting array. It may be incident in the range of 28.90 degrees, but is not limited thereto.

In addition, when the filter layer is positioned on the second gap layer, an angular distribution of light rays incident to the filter layer may be smaller than when the filter layer is positioned between the laser detecting array and the lens assembly.

For example, when the filter layer is positioned on the second gap layer, an angular distribution of light rays incident to the filter layer may be 0 degree to 13 degree, and the filter layer may be the laser detecting array and lens assembly When positioned between the filter layers, the angular distribution of light rays incident to the filter layer may be 0 degrees to 28.90 degrees, but is not limited thereto.

43 is a diagram for explaining a receiving module according to an exemplary embodiment.

Referring to FIG. 43 , a receiving module 3300 according to an embodiment may include a laser detecting array 3310 and a lens assembly 3320.

At this time, since the above-described contents can be applied to the laser detecting array 3310, overlapping descriptions will be omitted.

In addition, since the above-described contents can be applied to the lens assembly 3320, overlapping descriptions will be omitted.

Also, the lens assembly 3320 may include at least two or more lens layers. For example, as shown in FIG. 43 , the lens assembly 3320 includes a first lens layer 3321, a second lens layer 3322, a third lens layer 3323, and a fourth lens layer 3324. It may include, but is not limited to.

In this case, each lens layer may be formed of the same material, but is not limited thereto, and may be formed of different materials.

In addition, each of the lens layers may have different thicknesses, but is not limited thereto and may have at least some of the same thickness.

Also, the lens assembly 3320 may include at least two or more gap layers. For example, as shown in FIG. 43 , the lens assembly 3320 may include a first gap layer 3325, a second gap layer 3326, and a third gap layer 3327, but is not limited thereto.

In this case, each of the gap layers may include a material different from that of the lens layers. For example, each of the gap layers may include air, but is not limited thereto.

In addition, each of the gap layers may include the same material, but is not limited thereto, and may include materials different from each other.

Also, each of the gap layers may mean a space or material between the respective lens layers. For example, the first gap layer 3325 may refer to a space or material between the first lens layer 3321 and the second lens layer 3322, and the second gap layer 3326 may refer to the first lens layer 3321 and the second lens layer 3322. It may mean a space or material between the second lens layer 3322 and the third lens layer 3323, and the third gap layer 3327 is the third lens layer 3323 and the fourth lens layer 3324 ), but may mean a space or material between, but is not limited thereto.

In addition, each of the gap layers may be positioned between each of the lens layers. For example, the first gap layer 3325 may be positioned between the first lens layer 3321 and the second lens layer 3322, and the second gap layer 3326 may be the second lens layer ( 3322) and the third lens layer 3323, and the third gap layer 3327 may be located between the third lens layer 3323 and the fourth lens layer 3324, Not limited to this.

Also, the lens assembly 3320 may include at least one filter layer 3330.

At this time, since the contents of the above-described optical filter may be applied to at least one of the filter layers 3330, overlapping descriptions will be omitted.

Also, at least one filter layer 3330 may be positioned in at least one gap layer included in the lens assembly 3320 . For example, the filter layer 3330 may be positioned on the second gap layer 3326 included in the lens assembly 3320, but is not limited thereto.

In addition, at least one filter layer 3330 may be positioned in a gap layer having a small difference in incident angles of light rays of parallel lights incident to the lens assembly 3320 in the viewing angle range.

For example, at least one of the filter layers 3330 is a cross-section of light rays of parallel lights incident to the lens assembly 3320 in the viewing angle range among the first to third gap layers 3325 to 3327. The maximum and minimum angles of incidence may be located in the second gap layer 3326 having the smallest cross section, but are not limited thereto.

In addition, the distribution of angles at which light rays of parallel light incident on the lens assembly 3320 at different angles in the viewing angle range are incident on the end faces of the first to third gap layers 3325 to 3327 are respectively It may be different for each gap layer.

For example, a plurality of light rays of a plurality of parallel lights incident on the lens assembly 3320 at different angles in the range of (x) degrees to (y) degrees form the cross-section of the first gap layer 3325. is incident at (a) to (b) degrees, incident at (c) to (d) degrees to the cross section of the second gap layer 3326, and (e) to (e) to (d) degrees to the cross section of the third gap layer 3327 (f) may enter the road.

At this time, the difference between (c) and (d) may be smaller than the difference between (a) and (b), and may be smaller than the difference between (e) and (f), but is not limited thereto. don't

In addition, at least one filter layer 3330 may be positioned on the second gap layer 3326 as shown in FIG. 43, has a first center wavelength for light incident at (0) degrees, and has the (d ) may be designed as a band pass filter having a second central wavelength for incident light.

In addition, at least one filter layer 3330 may be designed as a band pass filter having a third central wavelength for light incident at the degree (f).

Hereinafter, the bandwidth and center wavelength of the filter layer will be described in more detail.

44 is a diagram for explaining the bandwidth and center wavelength of the filter layer.

Referring to FIG. 44 , a filter layer according to an embodiment may be designed as a band pass filter that transmits at least a portion of light incident to the filter layer while blocking other portions.

In this case, the filter layer may have a bandwidth that transmits at least a portion of the light incident to the filter layer, and the bandwidth may be understood as a full width half max, but is not limited thereto. It can be commonly understood as the bandwidth of a band pass filter for light.

In addition, the center wavelength of the filter layer for light incident to the filter layer may be understood as a center wavelength between wavelengths having a transmittance of 50% of the maximum transmittance, but is not limited thereto, and is typically a center wavelength of a band pass filter for light. can be understood as

In addition, the central wavelength of the filter layer may be changed according to the angle of light incident on the filter layer.

For example, as shown in FIG. 44 , a center wavelength of the filter layer may be a first center wavelength for light incident at 0 degree to the filter layer, and for light incident to the filter layer at (a) degree, the filter layer The center wavelength of may be the second center wavelength, but is not limited thereto.

Also, the first central wavelength may be a higher wavelength than the second central wavelength.

In addition, when the filter layer is located in at least one gap layer of the above-described lens assembly, the filter layer causes a plurality of light rays of a plurality of parallel lights incident to the lens assembly in the viewing angle range of the gap layer where the filter layer is located. It can be designed based on the angle of incidence to the cross section.

For example, the filter layer is located in the second gap layer of the above-described lens assembly, and a plurality of light rays of a plurality of parallel lights incident to the lens assembly in a viewing angle range are formed in the second gap layer where the filter layer is located. When the angle incident on the cross section is (0) to (a) degrees, the bandwidth of the filter layer may be designed to be equal to or greater than the difference between the first center wavelength and the second center wavelength, but is not limited thereto. don't

In addition, for example, the filter layer is located in the second gap layer of the above-described lens assembly, and a plurality of light rays of a plurality of parallel lights incident to the lens assembly in the viewing angle range are located in the second gap layer where the filter layer is located. When the angle of incidence to the cross section of the gap layer is from (0) to (a) degrees, the filter layer is such that the transmittance band for light incident at (0) degree and the transmittance band for light incident at (a) degree overlap at least partially It may be designed, but is not limited thereto.

In addition, for example, the filter layer is located in the second gap layer of the above-described lens assembly, and a plurality of light rays of a plurality of parallel lights incident to the lens assembly in the viewing angle range are located in the second gap layer where the filter layer is located. When the incident angle to the cross section of the gap layer is (0) to (a) degrees, the filter layer has a transmission band for light incident at (0) degrees and a transmission band for light incident at (a) degrees of at least one wavelength It may be designed to share a band, but is not limited thereto.

Therefore, when the filter layer is located in at least one gap layer of the above-described lens assembly, the narrower the angle distribution of the plurality of light rays incident on the cross section of the gap layer where the filter layer is located, the bandwidth of the filter layer ) can be narrowly designed.

At this time, the angle distribution of the plurality of light rays is a difference between a minimum angle and a maximum angle at which at least some of the light rays included in the plurality of light rays are incident on the cross section of the gap layer. can be defined, but is not limited thereto.

In addition, when the bandwidth of the filter layer is designed to be narrow, it is possible to reduce noise caused by external light other than laser output from a LiDAR device including the above-described lens assembly.

45 is a diagram for explaining the bandwidth and center wavelength of the filter layer.

Referring to FIG. 45 , a filter layer according to an embodiment may be designed as a band pass filter that transmits at least a portion of light incident to the filter layer while blocking other portions.

At this time, since the above-described contents can be applied to the filter layer, overlapping descriptions will be omitted.

A central wavelength of the filter layer may be changed according to an angle of light incident on the filter layer.

For example, as shown in FIG. 45 , a center wavelength of the filter layer may be a first center wavelength for light incident at 0 degree to the filter layer, and for light incident at (a) degree to the filter layer, the filter layer may have a first center wavelength. The center wavelength of may be a second center wavelength, and the center wavelength of the filter layer for light incident at (b) degree to the filter layer may be a third center wavelength, but is not limited thereto.

Also, the first central wavelength may be a wavelength higher than the second central wavelength, and the second central wavelength may be a wavelength higher than the third central wavelength.

In addition, when the filter layer is located in at least one gap layer of the above-described lens assembly, the filter layer causes a plurality of light rays of a plurality of parallel lights incident to the lens assembly in the viewing angle range of the gap layer where the filter layer is located. It can be designed based on the angle of incidence to the cross section.

For example, the filter layer is located in the second gap layer of the above-described lens assembly, and a plurality of light rays of a plurality of parallel lights incident to the lens assembly in the viewing angle range are formed in the second gap layer where the filter layer is located. When the incident angle to the end face is (0) to (a) degrees, the bandwidth of the filter layer may be designed to be equal to or greater than the difference between the first center wavelength and the second center wavelength.

In addition, for example, the filter layer is located in the second gap layer of the above-described lens assembly, and a plurality of light rays of a plurality of parallel lights incident to the lens assembly in the viewing angle range are located in the second gap layer where the filter layer is located. When the angle incident on the cross section of the gap layer is from (0) to (a) degrees, the filter layer is such that the transmittance band for light incident at (0) degree and the transmittance band for light incident at (a) degree overlap at least partially It may be designed, but is not limited thereto.

In addition, for example, the filter layer is located in the second gap layer of the above-described lens assembly, and a plurality of light rays of a plurality of parallel lights incident to the lens assembly in the viewing angle range are located in the second gap layer where the filter layer is located. When the incident angle to the cross section of the gap layer is (0) to (a) degrees, the filter layer has a transmission band for light incident at (0) degrees and a transmission band for light incident at (a) degrees of at least one wavelength It may be designed to share a band, but is not limited thereto.

In addition, in the viewing angle range, a plurality of light rays of a plurality of parallel lights incident to the lens assembly are incident on the cross section of the third gap layer where the filter layer is not located. When the angle is (0) to (b) degrees , The bandwidth of the filter layer may be designed to be less than or equal to the difference between the first center wavelength and the third center wavelength, but is not limited thereto.

In addition, in the viewing angle range, a plurality of light rays of a plurality of parallel lights incident to the lens assembly are incident on the cross section of the third gap layer where the filter layer is not located. When the angle is (0) to (b) degrees , The filter layer may be designed such that a transmission band for light incident at (0) degree and a transmission band for light incident at (b) degree do not overlap, but is not limited thereto.

In addition, in the viewing angle range, a plurality of light rays of a plurality of parallel lights incident to the lens assembly are incident on the cross section of the third gap layer where the filter layer is not located. When the angle is (0) to (b) degrees , The filter layer may be designed so that a transmission band for light incident at (0) degree and a transmission band for light incident at (b) degree do not share at least one wavelength band, but is not limited thereto.

46 and 47 are diagrams for explaining a receiving module according to an exemplary embodiment.

Referring to FIGS. 46 and 47 , a receiving module 3400 according to an embodiment may include a laser detecting array 3410 and a lens assembly 3420.

At this time, since the above-described contents can be applied to the laser detecting array 3410, overlapping descriptions will be omitted.

In addition, since the above-described contents can be applied to the lens assembly 3420, overlapping descriptions will be omitted.

The lens assembly 3420 may include at least two lens layers and at least one filter layer. For example, as shown in FIGS. 46 and 47, the lens assembly 3420 includes a first lens layer 3421, a second lens layer 3422, a third lens layer 3423, and a fourth lens layer ( 3424) and a filter layer 3430, but are not limited thereto.

In this case, the filter layer 3430 may be positioned between the first to fourth lens layers 3421 to 3424 . For example, as shown in FIGS. 46 and 47 , the filter layer 3430 may be positioned between the second lens layer 3422 and the third lens layer 3423, but is not limited thereto.

In addition, since the above contents can be applied to the first to fourth lens layers 3421 to 3424 and the filter layer 3430, overlapping descriptions will be omitted.

The lens assembly 3420 may include at least two lens layers and at least one filter layer integrally formed, but is not limited thereto.

In addition, the lens assembly 3420 may be designed to reduce noise caused by external light while distributing a plurality of parallel lights incident to the lens assembly 3420 at different angles in the viewing angle range to different detectors.

For example, as shown in FIG. 46, the lens assembly 3420 transmits parallel light incident to the lens assembly 3420 at 0 degree to the first detector 3411 included in the laser detecting array 3410. As shown in FIG. 47, the parallel light incident at 30 degrees to the lens assembly 3420 can be distributed to the second detector 3412 included in the laser detecting array 3410, Not limited to this.

In addition, for example, as shown in FIG. 46, in the lens assembly 3420, a plurality of light rays of parallel light incident on the lens assembly 3420 at 0 degrees are located at the filter layer 3430. When the angle incident on the cross section of the second gap layer 3426 is (a) to (b) degrees, the wavelength band other than the transmission band of the filter layer 3430 corresponding to the (a) to (b) degrees Light may be blocked, but is not limited thereto.

In addition, for example, as shown in FIG. 47, the lens assembly 3420 has a plurality of light rays of parallel light incident at 30 degrees to the lens assembly 3420, where the filter layer 3430 is located. When the angle incident on the cross section of the second gap layer 3426 is (c) to (d) degrees, the wavelength band other than the transmission band of the filter layer 3430 corresponding to the (c) to (d) degrees Light may be blocked, but is not limited thereto.

Also, for example, as shown in FIGS. 46 and 47 , the lens assembly 3420 is incident on the lens assembly 3420 at different angles in the range of 0 degrees to 30 degrees. It may be designed to distribute a plurality of parallel lights to different detectors but reduce noise caused by external light, but is not limited thereto.

More specifically, as shown in FIGS. 46 and 47, the lens assembly 3420 distributes the parallel light incident on the lens assembly 3420 at 0 degree to the first detector, but the (a) to ( It is possible to block noise in a wavelength band other than the transmission band of the filter layer 3430 corresponding to FIG. b), and distribute parallel light incident at 30 degrees to the lens assembly 3420 to the second detector, but also in (c) Noise in a wavelength band other than the transmission band of the filter layer 3430 corresponding to (d) may be blocked, but is not limited thereto.

48 is a diagram for explaining a lidar device according to an embodiment.

Referring to FIG. 48 , a lidar apparatus 3500 according to an embodiment may include a transmission module 3600 and a reception module 3700.

In addition, the transmission module 3600 may include a laser output array 3610 and a first lens assembly 3620, but is not limited thereto.

At this time, since the laser output array 3610 can be applied with the above-described laser output unit and the like, overlapping descriptions will be omitted.

Also, the laser output array 3610 may output one or more lasers. For example, the laser output array 3610 may output a plurality of lasers, but is not limited thereto.

Also, the laser output array 3610 may output one or more lasers with a first wavelength. For example, the laser output array 3610 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.

In this case, the first wavelength may be a wavelength range including an error range. For example, 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.

Also, the first lens assembly 3620 may include at least two or more lens layers. For example, as shown in FIG. 48 , the first lens assembly 3620 includes a first lens layer 3621, a second lens layer 3622, a third lens layer 3623, and a fourth lens layer ( 3624), but is not limited thereto.

Also, the first lens assembly 3620 may steer the laser output from the laser output array 3610 . For example, the first lens assembly 3620 may steer the first laser output from the laser output array 3610 in a first direction, and may steer the second laser output from the laser output array 3610 in a first direction. Steering may be performed in the second direction, but is not limited thereto.

In addition, the first lens assembly 3620 may steer the plurality of lasers to irradiate the plurality of lasers output from the laser output array 3610 at different angles within the range of (x) degrees to (y) degrees. can For example, the first lens assembly 3620 may steer the first laser in a first direction to irradiate the first laser output from the laser output array 3610 at (x) degree, The second laser may be steered in the second direction to irradiate the second laser output from the output array 3610 at (y) degree, but is not limited thereto.

In addition, the receiving module 3700 may include a laser detecting array 3710 and a second lens assembly 3720, but is not limited thereto.

At this time, the laser detecting array 3710 may be applied with the above-described detector unit, so duplicate descriptions will be omitted.

Also, the laser detecting array 3710 may detect at least one laser. For example, the laser detecting array 3710 may detect a plurality of lasers.

Also, the laser detecting array 3710 may include a plurality of detectors. For example, the laser detecting array 3710 may include a first detector and a second detector, but is not limited thereto.

In addition, each of the plurality of detectors included in the laser detecting array 3710 may receive a different laser. For example, a first detector included in the laser detecting array 3710 may receive a first laser beam received in a first direction, and a second detector may receive a second laser beam received in a second direction. may, but is not limited thereto.

Also, the second lens assembly 3720 may include at least two or more lens layers. For example, as shown in FIG. 48 , the second lens assembly 3720 includes a fifth lens layer 3721, a sixth lens layer 3722, a seventh lens layer 3723, and an eighth lens layer 3724. ), but is not limited thereto.

At this time, since the above-described contents may be applied to the at least two or more lens layers, overlapping descriptions will be omitted.

Also, the second lens assembly 3720 may include at least two or more gap layers. For example, as shown in FIG. 48 , the second lens assembly 3720 may include a first gap layer 3725, a second gap layer 3726, and a third gap layer 3727, but is not limited thereto. .

At this time, since the above-described contents can be applied to the at least two or more gap layers, overlapping descriptions will be omitted.

Also, the second lens assembly 3720 may include at least one filter layer. For example, as shown in FIG. 48 , the second lens assembly 3720 may include a filter layer 3730, but is not limited thereto.

Also, the second lens assembly 3720 may transfer the laser irradiated from the transmission module 3600 to the laser detecting array 3710 . For example, the second lens assembly 3720 detects the first laser when the first laser irradiated in a first direction from the transmission module 3600 is reflected from an object located in the first direction. It can be transmitted to the array 3710, 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 3710, but is limited thereto. It doesn't work.

Also, the second lens assembly 3720 may distribute the laser irradiated from the transmission module 3600 to at least two or more different detectors. For example, the second lens assembly 3720 detects the first laser when the first laser irradiated in a first direction from the transmission module 3600 is reflected from an object located in the first direction. It can be distributed to the first detector included in the array 3710, 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 3710. It may be distributed to the second detector included in, but is not limited thereto.

In addition, the transmission module 3600 may output laser at different angles in the viewing angle range, and the second lens assembly 3720 is incident to the second lens assembly 3720 at different angles in the viewing angle range. It may be designed to reduce noise caused by external light while distributing a plurality of parallel lights to different detectors.

For example, the transmission module 3600 may output a first laser of a first wavelength at 0 degree, output a second laser of the first wavelength at 30 degrees, and the second lens assembly 3720 may distribute the first laser output from the transmission module 3600 at 0 degree and reflected from the object to the first detector included in the laser detecting array 3710, and the second lens assembly 3720 The second laser output from the transmission module 3600 at 30 degrees and reflected from the object may be distributed to a second detector included in the laser detecting array 3710 .

In this case, the second lens assembly 3720 may block light in a wavelength band other than the transmission band of the filter layer 3730, and the first wavelength may be included in the transmission band, reducing noise caused by external light. can make it

Hereinafter, the design of the filter layer and the wavelength design of the laser output array will be described.

FIG. 49 is a diagram for explaining a design of a filter layer 3730 included in the lidar device 3500 and a wavelength design of a laser output array 3610 according to an embodiment shown in FIG. 48 .

At this time, for convenience of description, the second lens assembly 3720 includes at least a portion of a plurality of light rays of a plurality of parallel lights incident to the second lens assembly 3720 in the viewing angle range, the filter layer ( 3730) is positioned, the angle incident on the end face of the second gap layer 3726 of the second lens assembly 3720 is (0) to (a) degrees, and the filter layer 3730 is not located. It may be assumed that the angle incident on the end face of the third gap layer 3727 of the two-lens assembly 3720 is designed to be (0) to (b), but is not limited thereto and can be designed in various ways.

Referring to FIG. 49 , the filter layer 3730 according to an embodiment may be designed as a band pass filter that transmits at least a portion of the light incident to the filter layer 3730 while blocking other portions.

In this case, the filter layer 3730 may have a bandwidth that transmits at least a portion of the light incident to the filter layer 3730, and the bandwidth may be understood as a full width half max. It may be, but is not limited thereto, and may be commonly understood as a bandwidth of a band pass filter for light.

In addition, the center wavelength of the filter layer 3730 for light incident to the filter layer 3730 may be understood as a center wavelength between wavelengths having a transmittance of 50% of the maximum transmittance, but is not limited thereto, and typically for light It can be understood as the center wavelength of a bandpass filter.

In addition, the central wavelength of the filter layer 3730 may be changed according to the angle of light incident to the filter layer 3730 .

For example, as shown in FIG. 49 , the filter layer 3730 may be designed to have a first center wavelength for light incident at 0 degree to the filter layer 3730, and the filter layer 3730 ( It may be designed to have a second central wavelength for light incident with a) and may be designed to have a third central wavelength with respect to light incident with (b) to the filter layer 3730, but is not limited thereto. don't

Also, as shown in FIG. 49 , the bandwidth of the filter layer 3730 may be designed to be equal to or greater than the difference between the first center wavelength and the second center wavelength.

In addition, as shown in FIG. 49, the filter layer 3730 may be designed so that a transmission band for light incident at (0) degree and a transmission band for light incident at (a) degree overlap at least partially. Not limited.

In addition, as shown in FIG. 49, the filter layer 3730 may be designed so that a transmission band for light incident at (0) degree and a transmission band for light incident at (a) degree share at least one wavelength band. may, but is not limited thereto.

Also, as shown in FIG. 49 , the bandwidth of the filter layer 3730 may be designed to be equal to or less than the difference between the first center wavelength and the third center wavelength, but is not limited thereto.

In addition, as shown in FIG. 49, the filter layer 3730 may be designed so that the transmission band for light incident at (0) degree and the transmission band for light incident at (b) degree do not overlap, but are limited to this. It doesn't work.

In addition, as shown in FIG. 49, the output wavelength of the laser output array 3610 may be designed to be a first wavelength, and the first wavelength is located between the first central wavelength and the second central wavelength. It can, but is not limited to this.

In addition, as shown in FIG. 49, the output wavelength of the laser output array 3610 may be designed to be a first wavelength, and the first wavelength is the filter layer 3730 for light incident at (0) degree. It is included in the transmission band of (a) and included in the transmission band of the filter layer 3730 for light incident at (a), but may be designed not to be included in the filter layer 3730 for light incident at (b), Not limited to this.

In addition, the bandwidth of the filter layer 3730 may be designed to be at least twice the (first central wavelength - the first wavelength) nm, but is not limited thereto.

The foregoing is only one embodiment of the wavelength of the filter layer and the laser output array, but is not limited thereto, and the wavelength of the filter layer and the laser output array reduces the bandwidth of the filter layer, but the laser output from the laser output array can be received without loss as much as possible. It can be designed in a variety of ways.

50 is a diagram for explaining a dead zone and a minimum measurement distance of a lidar device and a lidar device according to an embodiment.

Referring to FIG. 50 , a lidar apparatus 5000 according to an embodiment may include a transmission module 5010 and a reception module 5020.

In addition, the transmission module 5010 may include a laser output array 5011 and a first optical unit 5012, but is not limited thereto.

At this time, since the above-described laser output unit or laser output array can be applied to the laser output array 5011, overlapping descriptions will be omitted.

In addition, since the above-described lens assembly and the like can be applied to the first optical unit 5012, overlapping descriptions will be omitted.

Also, the laser output array 5011 may output at least one laser. For example, the laser output array 5011 may output a plurality of lasers, but is not limited thereto.

In addition, the laser output array 5011 may output at least one laser with a first wavelength. For example, the laser output array 5011 may output one or more lasers in a 940 nm wavelength band, and may output a plurality of lasers in a 940 nm wavelength band, but is not limited thereto.

In addition, the wavelength bands of the plurality of lasers output from the laser output array 5011 may be partially different from each other, but may be included within a certain wavelength band range.

For example, a wavelength band of the plurality of lasers output from the laser output array 5011 may be included in a wavelength range of 935 nm to 945 nm, but is not limited thereto.

Also, for example, a wavelength band of the plurality of lasers output from the laser output array 5011 may be included in a wavelength range of 930 nm to 940 nm, but is not limited thereto.

Also, the first optical unit 5012 may steer the laser output from the laser output array 5011 . For example, the first optical unit 5012 may steer the first laser output from the laser output array 5011 in a first direction, and may steer the second laser output from the laser output array 5011 in a first direction. Steering may be performed in the second direction, but is not limited thereto.

In addition, the first optical unit 5012 is to steer the plurality of lasers to irradiate the plurality of lasers output from the laser output array 5011 at different angles within the range of (x) degrees to (y) degrees. can For example, the first optical unit 5012 may steer the first laser in a first direction in order to irradiate the first laser output from the laser output array 5011 at (x) degree. The second laser may be steered in the second direction to irradiate the second laser output from the output array 5011 at (y) degree, but is not limited thereto.

In addition, the irradiation area of the lasers output from the laser output array 5011 and steered through the first optical unit 5012 can be defined as an Emitting FOV (Emitting Field of View), and in FIG. The irradiation area of the lasers output from the laser output array 5011 and steered through the first optical unit 5012 is expressed in a two-dimensional diagram.

Accordingly, the emitting FOV 5013 may be understood as an irradiation area of a plurality of lasers output from the laser output array 5011 and steered through the first optical unit 5012 .

In addition, the receiving module 5020 may include a laser detecting array 5021 and a second optical unit 5022, but is not limited thereto.

At this time, since the above-described contents of the detector unit and the like can be applied to the laser detecting array 5021, overlapping descriptions will be omitted.

Also, the laser detecting array 5021 may detect at least one laser. For example, the laser detecting array 5021 may detect a plurality of lasers.

Also, the laser detecting array 5021 may include a plurality of detectors. For example, the laser detecting array 5021 may include a first detector and a second detector, but is not limited thereto.

In addition, each of the plurality of detectors included in the laser detecting array 5021 may receive a different laser. For example, a first detector included in the laser detecting array 5021 may receive a first laser beam received in a first direction, and a second detector may receive a second laser beam received in a second direction. However, it is not limited thereto.

Also, the second optical unit 5022 may transfer the laser irradiated from the transmission module 5010 to the laser detecting array 5021 . For example, the second optic unit 5022 detects the first laser when the first laser irradiated in a first direction from the transmission module 5010 is reflected from an object located in the first direction. It can be transmitted to the array 5021, and when the second laser irradiated in a second direction is reflected from an object located in the second direction, the second laser can be transmitted to the laser detecting array 5021, but is limited thereto. It doesn't work.

In addition, the second optic unit 5022 may distribute lasers emitted from the transmission module 5010 and received from different directions to at least two or more different detectors. For example, the second optic unit 5022 detects the first laser when the first laser irradiated in a first direction from the transmission module 5010 is reflected from an object located in the first direction. It can be distributed to the first detector included in the array 5021, 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 5021. It may be distributed to the second detector included in, but is not limited thereto.

In addition, an area where a plurality of detectors included in the laser detecting array 5021 can acquire light can be defined as a detecting FOV (Detecting Field of View), and in FIG. 50, the laser detecting An area where a plurality of detectors included in the array 5021 can obtain light is represented by a two-dimensional diagram.

Accordingly, the detecting FOV 5023 may be understood as an area in which a plurality of detectors included in the laser detecting array 5021 may acquire light through the second optical unit 5022 .

In the lidar apparatus 5000 according to the above-described embodiment, a dead zone in which it is difficult to measure a distance to an object within the maximum measurement distance range may occur.

Referring to FIG. 50 , a dead zone 5030 generated in a lidar device 5000 according to an embodiment may be an area in which the emitting FOV 5013 and the detecting FOV 5023 do not overlap.

For example, in the dead zone 5030 occurring in the lidar device 5000 according to an embodiment, the emitting FOV 5013 and the detecting FOV 5023 do not overlap, so that the emitting FOV 5013 It may be an area in which the reflected laser is not received by the laser detecting array 5021, but is not limited thereto.

In addition, since the dead zone 5030 generated in the lidar device 5000 according to an embodiment occurs in a short-distance area, the concept of the minimum measurement distance may be applied to the lidar device 5000 according to an embodiment.

For example, the lidar apparatus 5000 according to an embodiment may have a first minimum measurement distance 5040, and it is difficult to obtain distance information about an object located within the first minimum measurement distance 5040 range. can

Accordingly, hereinafter, various embodiments capable of minimizing a minimum measurement distance and a dead zone of a lidar device according to an embodiment will be described in more detail.

51 and 52 are diagrams for explaining a transmission module included in a lidar device according to an embodiment.

51 and 52, a transmission module 5100 included in a lidar device according to an embodiment may include a laser output array 5110, a first optical unit 5120, and a sub-optic unit 5130. can

At this time, since the above-described laser output unit, laser output array, and the like can be applied to the laser output array 5110, overlapping descriptions will be omitted.

In addition, since the above-described contents of the lens assembly and the first optic unit may be applied to the first optic unit 5120, overlapping descriptions will be omitted.

The laser output array 5110 according to an embodiment may include a plurality of emission units. Hereinafter, for convenience of explanation, a first emission unit, a second emission unit, and a third emission unit are referenced. to be explained as

In addition, the first emitting unit can output a first laser 5121, the second emitting unit can output a second laser 5122, and the third emitting unit can output a third laser 5122. 5123 can be output.

In this case, the first laser 5121 output from the first emission unit may be steered in a first direction through the first optical unit 5120, and the first laser 5121 output from the second emission unit may be steered in a first direction. The second laser 5122 can be steered in a second direction through the first optical unit 5120, and the third laser 5123 output from the third emission unit is directed toward the first optical unit 5120. It can be steered in the third direction through.

The sub optic unit 5130 according to an embodiment may be configured to diffuse at least a portion of the laser outputted from the laser output array 5110 and steered through the first optical unit 5120 .

For example, the sub-optic unit 5130 according to an embodiment is output from the first emission unit included in the laser output array 5110 and is steered in a first direction through the first optical unit 5120. It may be arranged to diffuse at least a portion of the first laser 5121, but is not limited thereto.

Also, for example, the sub optic unit 5130 according to an exemplary embodiment is output from the second emission unit included in the laser output array 5110 and emits light in a second direction through the first optical unit 5120. It may be arranged to diffuse at least a portion of the second laser 5122 that is steered to , but is not limited thereto.

Also, for example, the sub optic unit 5130 according to an embodiment is output from the third emission unit included in the laser output array 5110 and emits light in a third direction through the first optical unit 5120. It may be arranged to diffuse at least a part of the third laser 5123 that is steered as , but is not limited thereto.

In addition, the reason why the sub optic unit 5130 according to an embodiment is arranged to diffuse at least a part of the laser output from the laser output array 5110 and steered through the first optical unit 5120 is to measure a long distance. It may be to reduce the minimum measurement distance and dead zone of the lidar device by diffusing only a part of the laser for the laser, but to minimize the reduction in the irradiation efficiency of the laser for long-distance measurement, but is not limited thereto.

Also, the sub optic unit 5130 according to an exemplary embodiment may be disposed on an optical path along which lasers output from the laser output array 5110 are guided by the first optical unit 5120 .

For example, in the sub optic unit 5130 according to an exemplary embodiment, the first laser 5121 output from the first emission unit included in the laser output array 5110 is directed toward the first optical unit 5120. ), but may be disposed on an optical path guided by, but is not limited thereto.

Also, for example, in the sub optic unit 5130 according to an exemplary embodiment, the second laser 5122 output from the second emission unit included in the laser output array 5110 is directed toward the first optical unit. It may be disposed on the optical path guided by 5120, but is not limited thereto.

Also, for example, in the sub optic unit 5130 according to an exemplary embodiment, the third laser 5123 output from the third emission unit included in the laser output array 5110 is directed toward the first optical unit. It may be disposed on the optical path guided by 5120, but is not limited thereto.

In addition, the sub optic unit 5130 according to an embodiment may be designed to have a diameter smaller than that of the pupil of the first optical unit 5120 in order to diffuse only a portion of the laser output from the laser output array 5110. there is.

For example, as shown in FIG. 52, the length of one side of the sub optic part 5130 may be designed to be smaller than the diameter of the pupil of the outermost lens of the first optic part 5120, but is not limited thereto. don't

In addition, in order to diffuse only a part of the laser output from the laser output array 5110, the sub optic unit 5130 according to an embodiment has a diameter smaller than the diameter of each of the laser output from the laser output array 5110. can be designed

In this case, the diameter of each of the lasers output from the laser output array 5110 may be defined as the diameter of each of the lasers on the surface where the sub-optic part 5130 is disposed.

For example, as shown in FIG. 52 , the sub optic unit 5130 according to an exemplary embodiment generates the first laser 5121 output from the first emission unit included in the laser output array 5110. It may be designed to be smaller than the diameter of, but is not limited thereto.

In this case, the diameter of the first laser 5121 may be defined as the diameter of the first laser 5121 on the surface where the sub-optic part 5130 is disposed.

Also, for example, as shown in FIG. 52 , the sub optic unit 5130 according to an embodiment generates the second laser (output from the second emission unit included in the laser output array 5110). 5122), but is not limited thereto.

In this case, the diameter of the second laser 5122 may be defined as the diameter of the second laser 5122 on the surface where the sub optic part 5130 is disposed.

Also, for example, as shown in FIG. 52 , the sub optic unit 5130 according to an exemplary embodiment generates the third laser (output from the third emission unit included in the laser output array 5110). 5123), but is not limited thereto.

In this case, the diameter of the third laser 5123 may be defined as the diameter of the third laser 5123 on the surface where the sub-optic part 5130 is disposed.

Also, the sub optic unit 5130 may have a field of view (FOV) different from the emission FOV formed by the first optical unit 5120 .

For example, the FOV of the sub optic part 5130 may be greater than the FOV of the first optic part 5120, but is not limited thereto.

Also, for example, the FOV of the sub optic part 5130 may be different from the direction of the FOV of the first optic part 5120, but is not limited thereto.

In addition, the sub optic part 5130 may be arranged to have an asymmetric FOV based on the center of the laser output array 5110 .

For example, the sub optic part 5130 may be arranged to diffuse at least a portion of the laser beam 17 degrees above and 5 degrees below the center of the laser output array 5110, but is not limited thereto.

Also, for example, the sub optic unit 5130 is 17 degrees in a direction in which a receiving module (not shown) is located based on the center of the laser output array 5110, in a direction in which a receiving module (not shown) is not located. It may be arranged to diffuse at least a portion of the laser at 5 degrees, but is not limited thereto.

In addition, for example, the sub optic unit 5130 has a degree of spreading the laser in the direction where the receiving module (not shown) is located based on the center of the laser output array 5110. It may be arranged to be larger than the degree of diffusing the laser in a direction not limited thereto, but is not limited thereto.

Also, the sub optic part 5130 may be disposed to have an asymmetric FOV with respect to the center of the first optical part 5120 .

For example, the sub optic part 5130 may be arranged to diffuse at least a part of the laser beam upward by 17 degrees and downward by 5 degrees from the center of the first optical part 5120, but is not limited thereto.

Also, for example, the sub optic part 5130 is 17 degrees in the direction where the receiving module (not shown) is located based on the center of the first optical part 5120, and the direction where the receiving module (not shown) is not located It may be arranged to diffuse at least a part of the laser at 5 degrees, but is not limited thereto.

In addition, for example, the sub-optical part 5130 spreads the laser in the direction in which the receiving module (not shown) is located based on the center of the first optical part 5120. It may be arranged to be greater than the degree of diffusing the laser in a non-located direction, but is not limited thereto.

Also, the sub optic unit 5130 may include a diffuser to diffuse at least a portion of the lasers output from the laser output array 5110 .

Also, as shown in FIG. 52, the center of the sub optic part 5130 may be aligned with the center of the first optical part 5120, but is not limited thereto.

In addition, the sub optic unit 5130 may be disposed in an area where optical paths guided by the first optical unit 5120 overlap with lasers output from the laser output array 5110, but is not limited thereto. .

53 is a diagram for explaining a laser irradiated through a transmission module according to an embodiment.

Referring to FIG. 53, the laser 5200 irradiated through the transmission module according to an embodiment is output from the laser output array and steered through the first optical unit and the laser output array described above. It may include lasers steered through the above-described first optic unit and diffused through the above-described sub-optic unit.

Hereinafter, for a more detailed description, the first to seventh emission units located in the N-th column included in the laser output array and the first to seventh lasers output from the first to seventh emission units are used. Let's explain.

According to an embodiment, lasers output from each of the first to seventh emission units included in the laser output array are steered in different directions through the first optic unit, and the first to seventh point lasers (5210 to 5270 respectively) ) as the scan area.

In this case, the point laser may refer to a laser having a divergence angle of less than a certain range. For example, a point laser may refer to a laser having a divergence angle of 1.5 degrees or less. It is not limited to numerical values, and may include the concept of a point laser within a range that a person skilled in the art can understand.

In addition, according to an embodiment, after the lasers output from each of the first to seventh emission units included in the laser output array are steered in different directions through the first optic part, at least some of them are emitted through the sub-optic part. It can be diffused and irradiated to the scan area as a line or plane laser 5280.

At this time, the line or plane laser may mean a laser having a line or plane shape, but is not limited thereto, and may include the concept of a line or plane laser within a range that can be understood by a person skilled in the art. there is.

In addition, in the case of the above-described point laser, the divergence angle is less than a certain range, and the loss of energy density according to the propagation of the laser may be small, and thus, it may be usefully used to measure the distance to a target located at a long distance.

In addition, in the case of the above-mentioned line or plane laser, since the divergence angle is more than a certain range, the loss of energy density due to the laser propagation is greater, so it may not be suitable for measuring the distance to a target located in a long distance. This can be usefully used to minimize the minimum measurement distance of the device and minimize the dead zone.

54 is a diagram for explaining a dead zone and a minimum measurement distance of a lidar device and a lidar device according to an embodiment.

Prior to describing FIG. 54, it is noted that FIG. 54 is a drawing for explanation based on the lidar device described through FIGS. 51 to 53.

Referring to FIG. 54 , a lidar device 5300 according to an embodiment may include a transmission module 5310 and a reception module 5320.

In addition, the transmission module 5310 may include a laser output array 5311 and a first optical unit 5312, but is not limited thereto.

In this case, since the above-described laser output unit or laser output array can be applied to the laser output array 5311, overlapping descriptions will be omitted.

In addition, since the above-described lens assembly and the like can be applied to the first optical unit 5312, overlapping descriptions will be omitted.

In this case, the first optical unit 5312 may be understood as a concept including the above-described first optical unit and the above-described sub-optic unit.

For example, the first optic unit 5312 may be understood as an integrated concept including a bulk optic (the above-described first optic unit) and a sub-optic unit for steering a laser.

In addition, an irradiation area of lasers output from the laser output array 5311 and steered or diffused through the first optical unit 5312 may be defined as an Emitting FOV (Emitting Field of View). In 54, the irradiation area of the lasers output from the laser output array 5311 and steered or diffused through the first optical unit 5312 is schematically expressed in two dimensions.

Accordingly, the emitting FOV 5013 may be understood as an irradiation area of a plurality of lasers outputted from the laser output array 5311 and steered or diffused through the first optical unit 5312 .

In addition, the receiving module 5320 may include a laser detecting array 5321 and a second optical unit 5322, but is not limited thereto.

At this time, since the above-described contents of the detector unit and the like can be applied to the laser detecting array 5321, overlapping descriptions will be omitted.

In addition, since the above-described contents of the second lens assembly and the second optic unit may be applied to the second optic unit 5322, overlapping descriptions will be omitted.

In addition, an area where a plurality of detectors included in the laser detecting array 5321 can obtain light can be defined as a detecting FOV (Detecting Field of View), and in FIG. 54, the laser detecting An area where a plurality of detectors included in the array 5321 can acquire light is represented by a two-dimensional diagram.

Accordingly, the detecting FOV 5323 may be understood as an area in which a plurality of detectors included in the laser detecting array 5321 may acquire light through the second optical unit 5322 .

In the lidar device 5300 according to the above-described embodiment, a dead zone in which it is difficult to measure a distance to an object within the maximum measurement distance range may occur.

Referring to FIG. 54 , a dead zone 5330 generated in a lidar device 5300 according to an embodiment may be an area in which the emitting FOV 5313 and the detecting FOV 5323 do not overlap.

For example, in the dead zone 5330 occurring in the lidar device 5300 according to an embodiment, the emission FOV 5313 and the detecting FOV 5323 do not overlap, so that the emission FOV 5313 It may be an area in which the reflected laser is not received by the laser detecting array 5321, but is not limited thereto.

In addition, since the dead zone 5330 generated in the lidar device 5300 according to an embodiment occurs in a short-distance area, the concept of the minimum measurement distance may be applied to the lidar device 5300 according to an embodiment.

For example, the lidar device 5300 according to an embodiment may have a first minimum measurement distance 5340, and it is difficult to obtain distance information about an object located within the first minimum measurement distance 5340 range. can

At this time, the second minimum measurement distance 5350 shown in FIG. 54 may be the minimum measurement distance of the lidar device according to the embodiment described with reference to FIG. 50, and referring to FIG. 54, according to an embodiment The first minimum measurement distance 5340 that is the minimum measurement distance of the lidar device including the sub-optic unit may be smaller than the second minimum measurement distance 5350 that is the minimum measurement distance of the lidar device that does not include the sub-optic unit.

Also, referring to FIG. 54, a dead zone 5330 of a lidar device including a sub-optic unit according to an embodiment is a dead zone of a lidar device not including a sub-optic unit according to an embodiment shown in FIG. 50 may be smaller than

Hereinafter, various embodiments of the sub-optic unit will be described in more detail.

55 and 56 are diagrams for explaining a sub-optic unit according to an exemplary embodiment.

Referring to FIGS. 55 and 56 , a sub optic unit 5400 according to an exemplary embodiment may include a diffusing component 5410 and a steering component 5420.

As described above, in order to minimize the dead zone and the minimum measurement distance of the LIDAR device, a sub-optic unit may be required to diffuse at least a portion of the laser output from the laser output array.

At this time, the greater the degree of diffusion of the laser diffused from the sub-optic unit, the greater the degree to which the energy density of the diffused laser decreases with distance. Therefore, the dead zone and minimum measurement distance of the LIDAR device are minimized. It may be necessary to increase a distance area that can be covered using the diffused laser by reducing the degree to which the energy density of the diffused laser decreases with distance.

That is, when at least a part of the laser output from the laser output array is diffused to cover the dead zone and the minimum measurement distance, but the degree of diffusion is reduced and directionality is given to the laser to be diffused, as described above, the LIDAR device While minimizing the dead zone and the minimum measurement distance, it may be possible to increase the distance range that can be covered using the diffused laser by reducing the degree to which the energy density of the diffused laser decreases with distance.

The diffusing component 5410 according to an embodiment may be configured to diffuse at least a portion of laser output from the laser output array and steered through the first optic unit.

For example, the diffusing component 5410 according to an embodiment generates at least a portion of a first laser output from a first emission unit included in the laser output array and steered in a first direction through the first optic unit. It may be arranged to diffuse, but is not limited thereto.

Also, the diffusing component 5410 according to an exemplary embodiment may be disposed on an optical path along which lasers output from the laser output array are guided by the first optical unit.

For example, in the diffusing component 5410 according to an embodiment, the first laser output from the first emission unit included in the laser output array is directed on an optical path guided by the first optical unit. It may be placed, but is not limited thereto.

In addition, the diffusing component 5410 according to an exemplary embodiment may be designed to have a diameter smaller than that of the pupil of the first optical unit in order to diffuse only a portion of the laser output from the laser output array.

For example, the length of one side of the diffusing component 5410 may be designed to be smaller than the diameter of the pupil of the outermost lens of the first optical part, but is not limited thereto.

Also, the diffusing component 5410 according to an embodiment may be designed to have a diameter smaller than the diameter of each of the lasers output from the laser output array in order to diffuse only a portion of the laser output from the laser output array.

In this case, the diameter of each of the lasers output from the laser output array may be defined as the diameter of each of the lasers on the surface where the diffusing component 5410 is disposed.

Also, the diffusing component 5410 according to an exemplary embodiment may have a field of view (FOV) different from an emitting FOV formed by the first optical unit.

For example, the FOV of the diffusing component 5410 may be smaller than the FOV of the first optical unit, but is not limited thereto.

Also, the center of the diffusing component 5410 according to an embodiment may be aligned with the center of the first optical unit, but is not limited thereto.

In addition, the diffusing component 5410 according to an embodiment may be disposed in an area where optical paths guided by the first optical unit overlap the lasers output from the laser output array, but are not limited thereto.

Also, the diffusing component 5410 according to an embodiment may include a diffuser to diffuse at least a portion of the lasers output from the laser output array, but is not limited thereto.

In addition, the steering component 5420 according to an embodiment may be configured to steer at least a portion of the laser output from the laser output array and steered through the first optical unit described above.

For example, the steering component 5420 according to an embodiment may steer at least a portion of a first laser output from a first lighting unit included in the laser output array and steered in a first direction through the first optic unit. It may be arranged so as to, but is not limited thereto.

Also, the steering component 5420 according to an embodiment may be disposed on an optical path along which lasers output from the laser output array are guided by the first optical unit.

For example, the steering component 5420 according to an embodiment is disposed on an optical path in which the first laser output from the first emission unit included in the laser output array is guided by the first optic unit. It may be, but is not limited thereto.

In addition, the steering component 5420 according to an embodiment may be designed to have a diameter smaller than that of a pupil of the first optical unit in order to steer only a portion of the laser output from the laser output array.

For example, the length of one side of the steering component 5420 according to an embodiment may be designed to be smaller than the diameter of the pupil of the outermost lens of the first optical unit, but is not limited thereto.

In addition, the steering component 5420 according to an embodiment may be designed to have a diameter smaller than the diameter of each of the lasers output from the laser output array in order to steer only a part of the laser output from the laser output array.

In this case, the diameter of each of the lasers output from the laser output array may be defined as the diameter of each of the lasers on the surface where the steering component 5420 is disposed.

Also, the center of the steering component 5420 according to an embodiment may be aligned with the center of the first optical unit, but is not limited thereto.

In addition, the steering component 5420 according to an embodiment may be disposed in an area where optical paths guided by the first optical unit overlap the lasers output from the laser output array, but are not limited thereto.

Also, the steering component 5420 according to an embodiment may include a prism to steer at least some of the lasers output from the laser output array, but is not limited thereto.

Also, the steering component 5420 according to an embodiment may be arranged to steer at least some of the lasers output from the laser output array in a direction in which the receiving module is arranged, but is not limited thereto.

Also, the steering component 5420 according to an embodiment may be disposed closer to the first optical unit or the laser output array than to the diffusing component 5410 .

In addition, the diffusing component 5410 and the steering component 5420 according to an exemplary embodiment are configured such that after the laser output from the laser output array passes through the first optical unit and the steering component 5420, the diffusing component 5410 and the steering component 5420 (5410).

For example, the diffusing component 5410 and the steering component 5420 according to an embodiment are output from a first emitter included in the laser output array and steered in a first direction through the first optic unit. It may be arranged to diffuse after steering at least a part of the first laser in the second direction, but is not limited thereto.

57 is a diagram for explaining a laser irradiated through a transmission module according to an embodiment.

Referring to FIG. 57, the laser 5500 irradiated through the transmission module according to an embodiment is output from the above-described laser output array and steered through the above-described first optic unit and output from the above-described laser output array. It may include lasers that are steered through the above-described first optic unit, steered through the above-described sub-optic unit, and diffused.

Hereinafter, for a more detailed description, the first to seventh emission units located in the Nth column included in the laser output array and the first to seventh lasers output from the first to seventh emission units are used. Let's explain.

According to an embodiment, the lasers output from each of the first to seventh emission units included in the laser output array are steered in different directions through the first optic unit to generate first to seventh point lasers (5510 to 5570), respectively. ) as the scan area.

In this case, the point laser may refer to a laser having a divergence angle of less than a certain range. For example, a point laser may refer to a laser having a divergence angle of 1.5 degrees or less. It is not limited to numerical values, and may include the concept of a point laser within a range that a person skilled in the art can understand.

In addition, according to an embodiment, after the lasers output from each of the first to seventh emission units included in the laser output array are steered in different directions through the first optic part, at least some of them are emitted through the sub-optic part. It can be diffused and irradiated to the scan area as a line or plane laser 5580.

At this time, the line or plane laser may mean a laser having a line or plane shape, but is not limited thereto, and may include the concept of a line or plane laser within a range that can be understood by a person skilled in the art. there is.

In addition, in the case of the above-described point laser, the divergence angle is less than a certain range, and the loss of energy density according to the propagation of the laser may be small, and thus, it may be usefully used to measure the distance to a target located at a long distance.

In addition, in the case of the above-mentioned line or plane laser, since the divergence angle is more than a certain range, the loss of energy density due to the laser propagation is greater, so it may not be suitable for measuring the distance to a target located in a long distance. This can be usefully used to minimize the minimum measurement distance of the device and minimize the dead zone.

In addition, referring to FIG. 57 , it can be seen that the diffusion degree of the line or plane laser 5580 is small and the diffusion direction of the line or plane laser 5580 is different from that shown in FIG. 53 .

As shown in FIG. 57 , a distance that can be covered using the line or plane laser 5580 having a small degree of diffusion may be greater than a distance that can be covered using the line or plane laser 5580 having a large degree of diffusion.

In addition, as shown in FIG. 57, when the above-described sub-optic unit includes a diffusing component and a steering component, the steering component has a directivity to efficiently cover the dead zone and is partially diffused by the diffusing component. Since the line or plane laser 5580 is irradiated to the scan area, the dead zone and minimum measurement distance of the lidar device are more efficiently minimized, but the range that can be covered using the line or plane laser 5580 is increased. Fabrication of the device may be possible.

58 is a diagram for explaining various embodiments of a laser irradiated through a transmission module.

Using the contents described with reference to FIGS. 50 to 57, it may be possible to derive various embodiments of the laser irradiated through the transmission module.

For example, as shown in (a) of FIG. 58, the laser irradiated through the transmission module may include line or plane lasers in which a portion of the laser output from the laser output array is asymmetrically diffused.

Also, for example, as shown in (b) of FIG. 58, the laser irradiated through the transmission module may include line or plane lasers in which a part of the laser output from the laser output array is symmetrically diffused.

Also, for example, as shown in (c) of FIG. 58, the laser irradiated through the transmission module may include line or plane lasers in which a part of the laser output from the laser output array is diffused but has a direction.

In addition, in addition to the embodiment described with reference to FIG. 58, various embodiments can be derived using the above-described sub-optic unit, and only a part of the laser output from the laser output array can be utilized as a line or plane laser by utilizing the sub-optic unit. It may be an area included in the technical idea of the invention.

59 is a diagram for explaining various embodiments of arrangement of sub-optic units.

Referring to (a) of FIG. 59 , a lidar device according to an embodiment may include a transmission optic 5610 and a sub-optic unit 5620.

In this case, the transmission optic 5610 may include the above-described first lens assembly and the first optic unit, and the sub-optic unit 5620 may include the above-described sub-optic unit and the like. Since these can be applied, redundant descriptions will be omitted.

Referring to (a) of FIG. 59 , a sub optic unit 5620 according to an embodiment may be located on a sub optic mount 5630.

In this case, the sub optic unit 5620 may be located outside the sub optic mount 5630 as shown in (a) of FIG. 59, but is not limited thereto, and the sub optic mount 5630 It may be located inside, and if the sub optic part 5620 includes at least two components, it may be located across the outside and inside of the sub optic mount 5630, but is not limited thereto.

Also, the sub optic mount 5630 may be attached to the transmission optic 5610.

For example, the sub optic mount 5630 may be formed to be coupled to a lens barrel forming an outside of the transmission optic 5610, but is not limited thereto.

In addition, referring to (b) of FIG. 59, the lidar device according to an embodiment includes a transmission optic 5710, a reception optic 5720, a sub-optic unit 5730, and a window ( 5740) may be included.

At this time, the contents of the above-described first lens assembly and the first optic unit may be applied to the transmission optic 5710, and the above-described second lens assembly and the second optic unit may be applied to the reception optic 5720. Since the contents of can be applied, and the contents of the above-described sub-optic unit and the like can be applied to the sub-optic unit 5730, overlapping descriptions will be omitted.

Referring to (b) of FIG. 59 , a sub optic unit 5730 according to an embodiment may be located in a window 5740 included in a lidar device.

In this case, the sub optic part 5730 may be located inside the window 5740 as shown in (b) of FIG. 59, but is not limited thereto, and may be located outside the window 5740. If the sub-optical part 5730 includes at least two components, it may be positioned across the outside and inside of the window 5740, but is not limited thereto.

Also, referring to (c) of FIG. 59 , a lidar apparatus according to an embodiment may include a transmission optic 5810 and a sub-optic unit 5820.

In this case, the above-described contents of the first lens assembly and the first optic unit may be applied to the transmission optic 5810, and the above-described contents of the sub-optic unit and the like may be applied to the sub-optic unit 5820. Therefore, redundant descriptions are omitted.

Referring to (c) of FIG. 59 , a sub optic unit 5820 according to an embodiment may be integrally formed with the transmission optic 5810 included in a lidar device.

For example, as shown in (c) of FIG. 59, the sub optic unit 5820 according to an embodiment is formed as a part of the outermost lens 5811 of the transmission optic 5810, ) and may be integrally formed, but is not limited thereto.

In addition, there may be various embodiments for arranging the sub-optic unit other than the various embodiments of disposition of the sub-optic unit described with reference to FIG. can be said to be included in

60 is a diagram for explaining an interference phenomenon with an external device according to an embodiment.

Referring to FIG. 60 , a lidar apparatus 6000 according to an embodiment may include a processor 6100, a laser output unit 6200, and a detecting unit 6300.

The lidar device 6000 may be the lidar device 1000 of FIG. 1, may be the lidar device 1050 of FIG. 2, or may be the lidar device 1150 of FIG. Since the description of the lidar device 6000 may overlap with the description of FIGS. 1, 2 and 3, details are omitted.

The processor 6100 may be the controller 400 of FIG. 1 . The processor 6100 may be variously used as terms such as a control unit, a controller, or a control unit. Since a description of the processor 6100 may overlap with that of FIG. 1 , detailed descriptions thereof will be omitted.

The laser output unit 6200 may be the laser output unit 100 of FIGS. 1 , 2 or 3 . Since a description of the laser output unit 6200 may overlap with that of FIGS. 1, 2, and 3, details thereof will be omitted.

Since a description of the detecting unit 6300 may overlap with that of FIGS. 1, 2, and 3, detailed descriptions thereof will be omitted.

According to one embodiment, the processor 6100 may transmit a control signal to output the laser to the laser output unit 6200 . Upon receiving the control signal, the laser output unit 6200 may output the laser 6210 in response to the control signal.

In this case, the laser output unit 6200 may include an optic. For example, the laser output unit 6200 may include a lens for collimating a laser beam. Also, for example, the laser output unit 6200 may include a bulk lens including a plurality of lenses. Accordingly, the laser 6210 may be a collimated laser passing through the optic.

Alternatively, the laser 6210 output from the laser output unit 6200 may pass through an optical unit before being irradiated to the target object. In this case, the optical unit may be the optical unit 200 of FIG. 1 , 2 or 3 . A description of the optic unit may be overlapped with that of FIGS. 1, 2, or 3, so detailed descriptions thereof are omitted.

The laser 6210 may be irradiated onto an object or a specific area and then scattered. In this case, the reflected laser 6310, which is a part of the laser 6210, may be received by the detecting unit 6300.

The detecting unit 6300 may generate an output signal by receiving the reflected laser 6310 . The detecting unit 6300 may generate, store, or transmit a data set to the processor 6100 based on the output signal. Alternatively, the processor 6100 may generate or store a data set based on the output signal received from the detecting unit 6300.

In this case, the data set may be a set of data corresponding to a plurality of time intervals. Also, at this time, a plurality of time intervals of the data set may be times corresponding to time bins of the histogram. For example, data corresponding to a plurality of time intervals may be data for 0ns to 1ns, data for 1ns to 2ns, data for 2ns to 3ns, etc., but is not limited to the above values.

The processor 6100 may store a plurality of data sets based on the output signal generated by the detector 6300. The processor 6100 may generate a histogram by accumulating a plurality of data sets.

The processor 6100 may obtain a detection time when the reflected laser 6310 is detected by the detector 6300 through a histogram generated by accumulating a plurality of data sets. A method of acquiring the detection time point may be overlapped with the description of FIG. 32 , so details are omitted.

According to an embodiment, the detecting unit 6300 may be the SPAD array 750 of FIG. 31 . In this case, the plurality of SPADs 751 included in the detecting unit may detect the reflection laser 6310 reflected in different areas. Accordingly, the processor 6100 may store a plurality of data sets based on output signals generated by the plurality of SPADs 751 . Accordingly, the processor 6100 may generate histograms for each area.

For example, the first SPAD may detect laser reflected from the first area. The processor 6100 may generate a first histogram by accumulating a plurality of data sets based on the output signal of the first SPAD.

Also, for example, the second SPAD may detect laser reflected in a second area different from the first area. The processor 6100 may generate a second histogram by accumulating a plurality of data sets based on the output signal of the second SPAD.

According to the above processes, the processor 6100 may generate N histograms corresponding to the N SPADs 751 included in the detecting unit 6300 . Accordingly, the processor 6100 may determine characteristics of each region, such as a distance and a center point, with respect to the N regions included in the FOV of the detector 6300.

The histogram generated by the processor 6100 of the lidar device 6000 outputting the laser 6210 through the laser output unit 6200 and receiving the reflected laser 6310 reflected from the object through the detecting unit 6300. may include data generated by the interference laser 6410 output from the external device 6400.

The external device 6400 may be a device that outputs a laser other than the laser 6210 output from the LIDAR device 6000. That is, the external device 6400 may be a device that outputs an interference laser 6410 instead of the laser 6210 output from the lidar device 6000 .

For example, the external device 6400 may be a lidar device included in another vehicle or a lidar device included in road infrastructure, and may be a lidar device 6000 and another lidar device. Also, for example, the external device 6400 may be a headlight of another vehicle, a laser emitting device of road infrastructure, and the like. The external device 6400 is not limited to the above-described device and may include any device that irradiates the interference laser 6410 .

When data generated by the interference laser 6410 is included in the histogram generated by the processor 6100, the processor 6100 may inaccurately extract a detection time point of the reflection laser 6310 reflected on the object.

For example, when the data generated by the interference laser 6410 is generated near a specific histogram time bin, the data generated by the interference laser 6410 is generated near the specific time bin of a histogram in which a plurality of data sets are accumulated. data will be allocated.

Specifically, when the data generated by the interference laser 6410 is generated at or near the 20th time bin, the 20th time bin of the histogram in which 1024 data sets are accumulated is at or near the time bin by the interference laser 6410. The generated data will be allocated.

At this time, if the data generated by the interference laser 6410 is a value equal to or greater than the threshold of the histogram, the processor 6100 converts the data generated by the interference laser 6410 to the reflection laser 6310 reflected from the object. ), which can be mis-extracted.

Accordingly, the processor 6100 needs to control the laser output timing of the laser output unit 6200 in order to prevent data generated by the interference laser 6410 from being accumulated to a value higher than the histogram threshold.

Hereinafter, the form of data generated by the interference laser 6410 in the histogram according to the control of the laser output timing of the laser output unit 6200 of the processor 6100 will be described.

61 is a diagram for explaining a plurality of data sets based on a plurality of output signals of a detecting unit according to an exemplary embodiment. In particular, FIG. 61 is a diagram for explaining an embodiment in which the laser output unit 6200 outputs the laser 6210 at regular intervals.

When the laser output unit 6200 outputs the laser 6210 at regular intervals, the histogram generated by the processor 6100 includes data generated by the interference laser 6410 output by the external device 6400 as a threshold value. It can be included with more numbers.

Accordingly, when the processor 6100 extracts the detection time point of the reflected laser 6310 reflected from the object through the histogram, data generated by the interference laser 6410 may be an obstacle.

Hereinafter, when the laser output unit 6200 outputs the laser 6210 at regular intervals, a time bin to which data generated by the interference laser 6410 is allocated will be described in detail.

Referring to FIG. 61 , the laser output unit 6200 may output laser through an emitter 6220. Also, the external device 6400 may output an interference laser 6410. Also, the detector unit 6300 may detect photons through the detector 6320 .

In this case, the photon may be included in the reflection laser 6310 in which the laser output from the emitter 6220 is reflected by the object and returned, or may be included in the interference laser 6410 output from an external device. Alternatively, photons may be included in external noise such as sunlight.

The detector 6320 may generate an output signal by detecting photons. The detector 6320 or the processor 6100 may generate data sets 6111, 6112, and 6113 including a plurality of data based on the output signal of the detector 6320. For example, the processor 6100 may generate 50, 100, 500, 1024, 2048 or 4096 data sets based on the output signal of the detector 6320, but is not limited thereto.

As a result, the processor 6100 may generate a histogram by accumulating the plurality of data sets 6111, 6112, and 6113. For example, the processor 6100 may generate a histogram by accumulating 50, 100, 500, 1024, 2048, or 4096 data sets, but is not limited thereto. The processor 6100 may determine characteristics of the object based on the generated histogram.

According to an embodiment, the emitter 6220 may output the laser 6210 at every first period p. For example, the emitter 6220 outputs a first laser beam at a first time point t1, and emits a second laser beam at a second time point t2 that is a first period p later than the first time point t1. Laser can be output. In addition, the emitter 6220 may output a third laser beam at a third time point t3 that is a time point after the first period p from the second time point t2.

The detector 6320 may detect photons during the first time interval w1, the second time interval w2, and the third time interval w3.

At this time, the interval between the starting point of the first time interval w1 and the first time point t1, the interval between the starting point of the second time interval w2 and the second time point t2, and the third time interval w3 The interval between the starting point and the third time point t3 may be the first time interval.

The first time interval can be divided into a case of zero and a case of non-zero.

First, looking at the case where the first time interval is 0, the first time interval w1 includes the first time point t1 at which the first laser is output, and the second time interval w2 outputs the second laser. A second time point t2 is included, and a third time point t3 at which the third laser is output may be included in the third time interval w3.

Specifically, for example, the starting point of the first time interval w1 is the same as the first time interval t1, the starting point of the second time interval w2 is the same as the second time interval t2, and the third time interval is the same. The starting point of (w3) may be the same as the third time point (t3).

When the first time is 0, the detector 6320 may detect photons from the time when the emitter 6220 outputs the laser. Since the minimum measurable distance of the lidar device 6000 using the emitter 6220 and the detector 6320 is shortened, eventually, short-range measurement of the lidar device 6000 becomes possible.

Alternatively, looking at the case where the first time interval is not 0, the first time interval w1 does not include the first time point t1 and the second time interval w2 does not include the second time point t2. and the third time point t3 may not be included in the third time interval w3.

Specifically, for example, the starting point of the first time interval (w1) is a time point after the first time interval from the first time point (t1), and the starting point of the second time interval (w1) is from the second time point (t2). It is a time point after the first time interval, and the starting point of the third time interval w3 may be a time point after the first time interval from the third time point t3.

In this case, the smaller the first time interval, the smaller the minimum distance that the lidar device 6000 can measure. For example, if the first time interval is greater than a predetermined value, the lidar apparatus 6000 may not be able to detect an object existing within a predetermined distance. Since the minimum measurable distance of the lidar device 6000 using the emitter 6220 and the detector 6320 increases, eventually, short-range measurement of the lidar device 6000 may become impossible.

According to an embodiment, the processor 6100 or the detector 6320 generates a first data set 6111 based on a result of detecting photons during the first time period w1, and generates a second time period w2 ), the second data set 6112 may be generated based on the result of detecting photons during the third time interval w3, and the third data set 6113 may be generated based on the result of detecting photons during the third time period w3. there is.

The interference laser detection time point 6420 of FIG. 61 is a result showing the time point at which the detector 6320 detected the interference laser 6410 over time.

For example, the detector 6320 detects the first interference laser at the first interference time point s1 included in the first time interval w1, and the second interference time point included in the second time interval w2 ( The second interference laser may be sensed at s2), and the third interference laser may be sensed at the third interference time point s3 included in the third time interval w3.

Accordingly, the first data set 6111 includes data generated by the first coherence laser, the second data set 6112 includes data generated by the second coherence laser, and the third data set 6113 ) may include data generated by the third interference laser.

When the emission period of the interference laser 6410 is constant, the interference laser 6410 may be constantly detected in the photon detection intervals w1 , w2 , and w3 of the detector 6320 . Therefore, the interference laser 6410 can be detected by the detector 6320 during a specific time interval. For example, referring to FIG. 61 , an interference laser 6410 may be detected by a detector 6320 during a time section of a 4 th time bin or a time section of a time bin near the 4 th time bin.

When the detector 6320 detects the interference laser 6410 during a specific time bin, data generated by the interference laser 6410 may be generated in the specific time bin. Accordingly, the histogram accumulating the plurality of data sets may include data generated by the interference laser 6410 having a numerical value greater than or equal to a predetermined value in the specific time bin period.

62 is a diagram for explaining a histogram in which a plurality of data sets are accumulated according to an embodiment. The histogram of FIG. 62 is a result of accumulating a plurality of data sets based on the output signal of the detector 6320 of FIG. 61 .

According to an embodiment, the histogram is a first data set 6111, a second data set 6112, a third data set 6113, a fourth data set 6114, and a fifth data set 6115 to Nth data sets. Data set 6116 may be included.

Each data set may include data allocated to a plurality of histogram time bins. In particular, each data set may include data generated by the interference laser 6410 and data generated by the reflection laser 6310.

For example, the first data set 6111 may include data generated by the interference laser 6410 in the 4th time bin and data generated by the reflection laser 6310 in the 15th time bin. there is.

The second data set 6112, the third data set 6113, the fourth data set 6114, the fifth data set 6115 to the Nth data set 6116 also interfere with the 4th time bin of each data set. Data generated by the laser 6410 may be included, and data generated by the reflection laser 6310 may be included in the 15th time bin.

In the above example, the position of the time bin to which the data generated by the interference laser 6410 is allocated is the fourth in the first data set 6111, the fourth in the second data set 6112, and the third data set 6113. ) is also the fourth, so they can all be the same. That is, positions of time bins to which data generated by the interference laser 6410 are allocated may be the same or similar for each data set.

Also, in the above example, the position of the time bin to which the data generated by the reflection laser 6310 is allocated is the 15th in the first data set 6111, the 15th in the second data set 6112, and the third data set ( 6113) is also the 15th, so they can all be the same. That is, positions of time bins to which data generated by the reflective laser 6310 are allocated may be the same or similar for each data set.

Since the laser output unit 6200 of FIG. 61 regularly outputs the laser 6210 every first cycle p, the data generated by the reflected laser 6310 included in the data set is generated at or near a specific time bin. can be created For example, data generated by the reflected laser 6310 may be generated near the 15th time bin or the 15th time bin, such as the 14th and 16th time bins.

Also, for example, as the laser output unit 6200 regularly outputs the laser 6210 at every first period p, the detector 6320 also detects photons for a certain period of time at every first period p. can do. For example, the detector 6320 may detect photons during the first time interval w1, the second time interval w2, and the third time interval w3.

For example, the first time point t1 at which the emitter 6220 outputs the first laser beam becomes the starting point of the first time interval w1, and the emitter 6220 outputs the second laser beam. The second time point t2 as a point in time may be the end point of the first time interval w2.

In addition, the second time point t2 at which the emitter 6220 outputs the second laser beam becomes the starting point of the second time interval w2, and the second time point at which the emitter 6220 outputs the third laser beam. The third time point t3 may be the end point of the second time interval w2. In addition, the third time point t3 when the emitter 6220 outputs the third laser may be the starting point of the third time interval w3.

Since the time interval in which the detector 6320 detects photons is repeated at regular intervals, data generated by the interference laser 6410 output from the external device 6400 may also be generated at or near a specific histogram time bin. there is. For example, data generated by the coherent laser 6410 may be generated near a fourth time bin or a fourth time bin, such as third and fifth time bins.

Accordingly, the first data set 6111, the second data set 6112, the third data set 6113, the fourth data set 6114, the fifth data set 6115 to the Nth data set 6116 are The accumulated histogram may include data generated by the interference laser 6410 in the 4th time bin and data generated by the reflection laser 6310 in the 15th time bin.

The processor 6100 may extract a detection time point of the reflected laser 6310 through data having a predetermined value or a numerical value greater than or equal to the threshold value 6130 in the histogram. However, since the data generated by the interference laser 6410 and the data generated by the reflection laser 6310 are each generated at a specific time bin, a histogram in which a plurality of data sets are accumulated has a numerical value equal to or greater than the threshold value 6130. Data may be plural.

For example, data 6121 generated by the interference laser 6410 having a numerical value equal to or greater than the threshold value 6130 may be assigned to a fourth time bin of the histogram. Also, for example, data 6122 generated by the reflected laser 6310 having a numerical value equal to or greater than the threshold value 6130 may be assigned to a 15 th time bin of the histogram.

At this time, in the process of extracting the detection time by the processor 6100, the processor 6100 extracts the detection time of the reflection laser 6310 through any data among a plurality of data having a numerical value equal to or greater than the threshold value 6130. There may be issues with what to do.

In this case, the processor 6100 may solve the above problem by allowing the data generated by the interference laser 6410 to be generated irregularly in various time bins instead of being generated in a specific time bin. That is, when the processor 6100 generates a histogram by accumulating a plurality of data sets, the processor 6100 determines that the data generated by the interference laser 6410 allocated to a specific time bin has a numerical value equal to or greater than the threshold value 6130. you can avoid having it.

That is, the processor 6100 increases the temporal dispersion of the data generated by the interference laser 6410 so that the data generated by the interference laser 6410 does not have a numerical value equal to or greater than the threshold value 6130 in a specific time bin. can

At this time, the processor 6100 increases the temporal dispersion of the data generated by the interference laser 6410, and the laser 6210 emitted from the laser output unit 6200 in the lidar device 6000 is reflected by the target object. The temporal dispersion of the data generated by the received reflected laser 6310 should be reduced.

That is, the processor 6100 reduces the temporal dispersion of data generated by the reflected laser 6310 reflected on the same object, so that the data is accumulated in a specific time bin and has a numerical value equal to or greater than a certain value. The laser output timing of the unit 6200 and the detecting time interval of the detecting unit 6300 may be controlled.

Hereinafter, a method for the processor 6100 to control the laser output timing of the laser output unit 6200 and the detecting time interval of the detecting unit 6300 will be described.

63 is a diagram for explaining a plurality of data sets based on a plurality of output signals of a detecting unit according to another embodiment. In particular, FIG. 63 is a diagram for explaining an embodiment in which the laser output unit 6200 outputs the laser 6210 with an irregular cycle.

When the laser output unit 6200 outputs the laser 6210 with an irregular cycle, the histogram generated by the processor 6100 contains data generated by the interference laser 6410 output by the external device 6400. It can be included with a number less than a certain number.

Therefore, when the processor 6100 extracts the detection time point of the laser 6310 reflected from the object through the histogram, data generated by the interference laser 6410 may not be an obstacle.

Referring to FIG. 63 , similarly to FIG. 61 , the laser output unit 6200 may output a laser through an emitter 6220 . Also, the external device 6400 may output an interference laser 6410. Also, the detector unit 6300 may detect photons through the detector 6320 .

In this case, the photons may be included in the laser output from the emitter 6220 or may be included in the interference laser 6410. Alternatively, photons may be included in external noise such as sunlight.

A description of a process of generating a histogram through a plurality of data sets based on the output signal of the detector 6320 may be duplicated with that of FIG. 61, so detailed descriptions thereof are omitted.

According to one embodiment, the emitter 6220 may output the laser 6210 at irregular intervals. For example, the emitter 6220 outputs a first laser at a first time point t1, outputs a second laser at a second time point t2, and outputs a third laser at a third time point t3. can do. In this case, the interval between the first time point t1 and the second time point t2 may be different from the interval between the second time point t2 and the third time point t3.

For example, the interval between the first time point t1 and the second time point t2 may be the sum of the first time interval w1 and the first delay dd1. Also, for example, the interval between the second time point t2 and the third time point t3 may be the sum of the second time interval w2 and the second delay dd2.

In this case, the sizes of the first time interval w1 and the second time interval w2 may be the same, but are not limited thereto. Also, at this time, the sizes of the first delay dd1 and the second delay dd2 may be different, but are not limited thereto.

For example, the interval between the first time point t1 and the second time point t2 may be 3 us, and the interval between the second time point t2 and the third time point t3 may be 2.5 us. In this case, the first time period w1 and the second time period w2 may be equal to 2 us, the first delay dd1 may be 1 us, and the second delay dd2 may be 0.5 us.

The emitter 6220 of the laser output unit 6200 outputting the laser 6210 at irregular intervals may be implemented in various ways.

According to an embodiment, the processor 6100 may transmit a trigger signal to the laser output unit 6200 so that the emitter 6220 of the laser output unit 6200 outputs the laser 6210 . In this case, the trigger signal may be the sum of the first control signal and the second control signal.

For example, the first control signal may be a signal having a regular cycle. Specifically, the first control signal may be a signal in which the emission cycle of the emitter 6220 of FIG. 61 , that is, the first cycle (p) is repeated.

Also, for example, the second control signal may be a signal having an irregular cycle. Specifically, the second control signal may include a signal having a random time interval. For example, the second control signal may include a signal using a random function, a signal using jitter, or a signal determined by a predetermined sequence.

For example, the second control signal is a signal having a time interval of T, 2T, 3T, or 4T, in which the interval between signals is a multiple of a predetermined time (T), or the interval between signals is T, 3T, 2T, or 4T. It may be a signal following a predetermined sequence.

According to another embodiment, the processor 6100 may transmit a trigger signal to the laser output unit 6200 so that the emitter 6220 of the laser output unit 6200 outputs the laser 6210 . In this case, the trigger signal may be an irregular single signal rather than the sum of the first control signal and the second control signal described above.

For example, the trigger signal itself may be a signal having an irregular cycle. Specifically, the trigger signal may include a signal based on a random function and may include a signal determined by a predetermined sequence.

For example, the trigger signal may be a signal having a time interval that is a multiple of a predetermined time or a signal following a predetermined sequence, similar to the above-described second control signal.

It is not limited to the two methods mentioned above, and in order for the emitter 6220 to output the laser 6210 irregularly, the processor 6100 may generate a trigger signal having an irregular time interval in a variety of ways. .

Similar to the description of FIG. 61 , the detector 6320 can detect photons during the first time interval w1 , the second time interval w2 , and the third time interval w3 .

At this time, the interval between the starting point of the first time interval w1 and the first time point t1, the interval between the starting point of the second time interval w2 and the second time point t2, and the third time interval w3 The interval between the starting point and the third time point t3 may be the first time interval.

The case in which the first time interval is 0 and the case in which it is not 0 may be overlapped with the description of FIG. 61 , so detailed descriptions thereof are omitted.

According to an embodiment, the processor 6100 or the detector 6320 generates a first data set 6131 based on a result of detecting photons during the first time interval w1, and generates a first data set 6131 for the second time interval w2. ), the second data set 6132 may be generated based on the result of detecting photons during the third time interval w3, and the third data set 6133 may be generated based on the result of detecting photons during the third time period w3. there is.

For example, the detector 6320 detects the first interference laser at the first interference time point s1 included in the first time interval w1, and the second interference time point included in the second time interval w2 ( The second interference laser may be sensed at s2), and the third interference laser may be sensed at the third interference time point s3 included in the third time interval w3.

The processor 6100 or the detector 6320 generates data generated by the first interference laser during the first time interval w1 and generates data generated by the second interference laser during the second time interval w2. and data generated by the third coherence laser may be generated during the third time interval w3.

Accordingly, the first data set 6131 includes data generated by the first coherence laser, the second data set 6132 includes data generated by the second coherence laser, and the third data set 6133 ) may include data generated by the third interference laser.

Unlike FIG. 61, since the time intervals w1, w2, and w3 for detecting photons of the emitter 6220 and the photons of the detector 6320 do not have a regular period, the interference laser 6410 is a detector ( 6320), it can be detected not only during a specific time bin period, but during various time bin periods. That is, in the embodiment of FIG. 63 , the range of time bins to which data generated by the interference laser 6410 is allocated may be wider than that of FIG. 61 .

For example, referring to the interference laser detecting time point 6420 of FIG. 63 , after the first time point t1 at which the emitter 6220 outputs the first laser, the interference laser 6410 is emitted during the first time period ( It can be detected at the first interference time point s1 in w1). As a result, data generated by the interference laser 6410 may be generated in the 10th time bin of the first data set 6131.

Also, for example, after the second time point t2 when the emitter 6220 outputs the second laser, the interference laser 6410 is detected at the second detecting time point s2 within the second time interval w2. can As a result, data generated by the interference laser 6410 may be generated in the fourth time bin of the second data set 6132.

Also, for example, after the third time point t3 when the emitter 6220 outputs the third laser, the interference laser 6410 is detected at the third detecting time point s3 within the third time interval w3. can As a result, data generated by the interference laser 6410 may be generated in the second time bin of the third data set 6133.

In the above example, the position of the time bin to which data generated by the interference laser 6410 is allocated is 10th in the first data set 6131, 4th in the second data set 6132, and 3rd data set 6133. ) is second, so they can all be different. That is, positions of time bins to which data generated by the interference laser 6410 are allocated may be different for each data set.

Therefore, when the detector 6320 senses the interference laser 6410, the data generated by the interference laser 6410 is not generated only during a specific time bin period, but is generated in various time bin periods. Thus, a plurality of data sets can be obtained. The accumulated histogram may not include data generated by the interference laser 6410 having a numerical value greater than or equal to a certain value.

64 is a diagram for explaining a histogram in which a plurality of data sets are accumulated according to another embodiment. The histogram 6140 of FIG. 64 is a result of accumulating a plurality of data sets based on the output signal of the detector 6320 of FIG. 63 .

According to an embodiment, the histogram 6140 includes a first data set 6131, a second data set 6132, a third data set 6133, a fourth data set 6134, and a fifth data set 6135. to Nth data sets 6136.

Each data set may include data allocated to a plurality of histogram time bins. In particular, each data set may include data generated by the interference laser 6410 and data generated by the laser 6310, in which the laser output from the laser output unit 6200 is reflected by the object and returned.

For example, the first data set 6131 may include data generated by the interference laser 6410 in the 10th time bin and data generated by the reflection laser 6310 in the 15th time bin. there is.

Also, for example, the second data set 6132 may include data generated by the interference laser 6410 in the 4th time bin and data generated by the reflection laser 6310 in the 15th time bin. can

Also, for example, the third data set 6133 may include data generated by the interference laser 6410 in the second time bin and data generated by the reflection laser 6310 in the 15th time bin. can

Also, for example, the fourth data set 6134 may include data generated by the coherent laser 6410 in the 8th time bin and data generated by the reflection laser 6310 in the 15th time bin. can

Also, for example, the fifth data set 6135 may include data generated by the interference laser 6410 in the 6th time bin and data generated by the reflection laser 6310 in the 15th time bin. can

Also, for example, the Nth data set 6136 may include data generated by the interference laser 6410 in the 12th time bin and data generated by the reflection laser 6310 in the 15th time bin. can

Since the laser output unit 6200 of FIG. 63 outputs the laser 6210 with an irregular cycle, the data generated by the interference laser 6410 is not generated at or near a specific time bin, but is generated at various time bins. can For example, data generated by the coherent laser 6410 may be generated in 10th, 4th, 2nd, 8th, 6th, and 12th time bins of each data set.

The processor 6100 may increase temporal dispersion of data generated by the interference laser 6410 by causing the laser output unit 6200 to output the laser 6210 with an irregular cycle. Therefore, in the histogram 6140 in which a plurality of data sets are accumulated, the number of data generated by the interference laser 6410 cannot exceed a certain number (threshold value, 6130).

Conversely, since the output time of the laser 6210 of the laser output unit 6200 and the time of the time interval in which the detector 6320 detects photons are constant (or synchronized), the reflected laser 6310 included in the data set generates The data may be generated at or near a specific time bin. For example, data generated by the reflected laser 6310 may be generated near a 15th time bin, such as a 15th time bin or 14th and 16th time bins of each data set.

The processor 6100 keeps the distance between the output time of the laser 6210 of the laser output unit 6200 and the starting point of the detection section of the detector 6320 constant, so that the laser 6210 emitted by the laser output unit 6200 It is possible to reduce the temporal dispersion of data generated by Accordingly, in the histogram 6140 in which a plurality of data sets are accumulated, only data generated by the reflected laser 6310 may have a numerical value equal to or greater than a certain value (threshold value, 6130).

The processor 6100 may extract the detection time of the reflected laser 6310 through the histogram 6140 . The processor 6100 may extract data having a numerical value equal to or greater than the threshold value 6130 from data in the histogram 6140 and extract a detection time of the reflected laser 6310 based on a time section of the data.

At this time, in the histogram 6140 of FIG. 64, since the number of data having values equal to or greater than the threshold value 6130 is smaller than the number of the histogram 6120 in FIG. 62, the process of extracting the detection time of the reflected laser 6310 is further performed. It can be easy.

That is, the processor 6100 reduces the temporal dispersion of data generated by the reflection laser 6310 and increases the temporal dispersion of data generated by the interference laser 6410, so that a numerical value equal to or greater than the threshold value 6130 is obtained. The detection time of the reflected laser 6310 can be easily extracted by minimizing the number of data.

For example, in the histogram 6120 of FIG. 62, since the temporal dispersion of data generated by the interference laser 6410 is small, the number of data having a numerical value equal to or greater than the threshold value 6130 becomes two, and the processor 6100 may erroneously extract the detection time point of the reflection laser 6310 based on the data 6121 generated by the interference laser 6410.

However, in the histogram 6140 of FIG. 64, since the temporal dispersion of the data generated by the interference laser 6410 is large, the number of data having a numerical value equal to or greater than the threshold value 6130 becomes 1, and the processor 6100 is truly Based on the data 6142 generated by the reflective laser 6310, a detection time point of the reflective laser 6310 may be correctly extracted.

In the method of extracting the detecting time of the reflected laser 6310 from the histogram by the processor 6100, only the extraction method using the threshold value 6130 has been described, but various methods may be applied without being limited thereto.

For example, the processor 6100 may extract the detection time of the reflected laser 6310 using the center of mass of data in the histogram.

Also, for example, the processor 6100, when a plurality of generated data having a numerical value equal to or greater than the threshold value 6130 exists in the histogram, the section in which the data having the highest numerical value exists or the data having the highest numerical value and its vicinity The detecting time of the reflection laser 6310 may be extracted based on a section in which the data of .

For example, among a plurality of data having a numerical value equal to or greater than the threshold value 6130, the numerical value of data generated in a 5th time bin having a time interval of 4us to 5us is 50, and a value of 4 having a time interval of 3us to 4us is 50. There may be a case where the value of data generated in the th time bin is 40 and the value of data generated in the 6th time bin having a time interval of 5us to 6us is 30.

At this time, since the data having the highest value is data generated in the 5th time bin, the processor 6100 detects the reflected laser 6310 on the detector 6320 in the interval of 4us to 5us, which is the time interval of the 5th time bin. can be judged to have been At this time, the processor 6100 additionally extracts the detection time by referring to the values of data generated in the 4th time bin, which are time bins before and after the 5th time bin, and the values of data generated in the 6th time bin. can

For example, since the value generated in the 4th time bin is greater than the value generated in the 6th time bin, the processor 6100 starts the reflection laser ( 6310 may be determined to be detected by the detector 6320.

For example, the processor 6100 may divide the time interval of 4us to 5us of the 5th time bin by the ratio of the numerical value of data generated in the 4th time bin and the numerical value of data generated in the 6th time bin. . That is, the processor 6100 may determine that the reflected laser 6310 is detected by the detector 6320 at 4.42us through the ratio (40:30, that is, 4:3), but is not limited thereto, and the ratio is not limited thereto. The calculation method through can be various.

It is not limited to the above example, and a method for the processor 6100 to find a detection point of the reflected laser 6310 within the histogram may be any method that can be applied by a person skilled in the art.

65 is a diagram for explaining the timing of the laser output signal of the laser output unit and the timing of the received signal of the detecting unit.

Referring to FIG. 65 , the laser output unit 6200 may include an emitter 6230 that outputs laser, and the detector 6300 may include a detector 6330 that detects photons.

A description of the emitter 6230 and the detector 6330 overlaps with the foregoing description, so detailed descriptions thereof are omitted.

According to an embodiment, the emitter 6230 outputs a first laser at a first time point t1, outputs a second laser at a second time point t2, and outputs a third laser at a second time point t2 under the control of the processor 6100. At the time point t3, the third laser may be output.

There is a time interval equal to the first period p1 between the first time point t1 and the second time point t2, and the second period p2 between the second time point t2 and the third time point t3. As many time intervals may exist.

The first time interval may be the sum of the fixed period p and the first delay dd1, and the second time interval may be the sum of the fixed period p and the second delay dd2. In this case, when the first delay dd1 and the second delay dd2 are the same, the first period p1 and the second period p2 may be the same. Alternatively, when the first delay dd1 and the second delay dd2 are different, the first period p1 and the second period p2 may be different.

In order to increase the temporal dispersion of the data generated by the interference laser 6410, the processor 6100 sets the first cycle p1 and the second cycle p2 to be different, thereby increasing the laser output of the emitter 6230. You can control the point of view.

The processor 6100 irregularly controls the output timing itself of the emitter 6230 during the first cycle p1 and the second cycle p2, so that the first time point t1, the second time point t2, and the third time point t1 A time point t3 may be determined. Alternatively, the processor 6100 transmits a trigger signal to the emitter 6230 to have a constant fixed period p, and adds irregular variable delays d1 and d2 to the trigger signal, so that at the first time point t1, A second time point t2 and a third time point t3 may be determined. Details are omitted as they overlap with the previous description.

According to an embodiment, the detector 6330 may detect photons during a certain period under the control of the processor 6100 . Referring to FIG. 65 , the detector 6330 may detect photons during the first time interval w1, the second time interval w2, and the third time interval w3.

At this time, the interval between the first time point t1 and the starting point of the first time interval w1, the interval between the second time point t2 and the starting point of the second time interval w2, and the third time point t3 and the second time interval w2. Intervals between the start points of the three time intervals 3 may all have the same first time interval.

The reason why the distance between the start point of the photon detection time interval of the detector and the start point of the photon detection time interval of the emitter 6230 is all the same is to reduce the temporal dispersion of data generated by the reflection laser 6310.

That is, when the first laser, the second laser, and the third laser directed to the same area or object are reflected and detected by the detector 6330, the lasers are reflected to the same area or object. The distance of the area, the distance of the area calculated by the second laser, and the distance of the area calculated by the third laser should all be the same.

Accordingly, intervals between the start point of the photon detection time interval of the detector and the start point of the photon detection time interval of the detector may all be the same as the first time interval so that the distances calculated by the lasers are all the same.

In this case, since the description of FIG. 61 may overlap with the case where the first time interval is 0 and the case where the first time interval is not 0, detailed details are omitted.

According to an embodiment, a laser output from the emitter 6230 may be detected within a photon detection section of the detector 6330.

For example, the detector 6330 includes a reflected laser (reflected from the first laser beam output from the emitter 6230 at the first time point t1 during the first time interval w1, which is the photon detection interval, reflected by the object and returned). 6310) may be detected at the first detecting time point d1.

Also, for example, the detector 6330 includes a reflected laser reflected from the target object among the second laser beams output at the second time point t2 by the emitter 6230 during the second time interval w2, which is the photon detection interval. 6310 may be detected at the second detecting time point d2.

Also, for example, the detector 6330 includes a reflected laser reflected from the object and returned among the third laser output at the third time point t3 by the emitter 6230 during the third time interval w3, which is the photon detection interval. 6310 can be detected at the third detecting time point d3.

When the interval between the laser output time of the emitter 6230 and the start point of the photon detection time interval of the detector is all the same as the first time interval, the interval between the first time point t1 and the first detecting time point d1; The interval between the second time point t2 and the second detection time point d2 and the interval between the third time point t3 and the third detection time point d3 may all be the same.

At this time, when the laser output cycle of the emitter 6230 is irregular, the first distribution interval a1, which is the interval between the first time point t1 and the second detection time point d2, is equal to the second time point t2 and It may be different from the second distribution interval a2, which is the interval between the third detection time points d3.

1) the interval between the start point of the laser output time of the emitter 6230 and the start point of the photon detection time interval of the detector is the same as the first time interval, 2) the interval between the laser output time and the detection time of the laser is the same, , 3) Since the first distribution interval a1 and the second distribution interval a2 are different, the temporal distribution of the data generated by the interference laser 6410 is wide, and the data generated by the reflection laser 6310 The temporal distribution of data may be narrow.

Therefore, when the processor 6100 accumulates a plurality of data sets, the range of time bins to which data generated by the interference laser 6410 is allocated is wide, and the time to which data generated by the reflection laser 6310 is allocated A histogram can be created with a narrow range of bins.

In other words, the range of time bins within the histogram to which data generated by the interference laser 6410 is allocated is the first range, and the range of time bins to which data generated by the reflection laser 6310 is allocated is the first range. It may be a second range narrower than the range.

66 is a diagram for explaining a histogram according to timing of a laser output signal of a laser output unit.

FIG. 66 (a) is a diagram for explaining a first histogram 6500 according to the timing of the output signal of the laser output unit of FIG. 61 . FIG. 66( b ) is a view for explaining a second histogram 6600 according to the timing of the output signal of the laser output unit of FIG. 63 .

Referring to FIG. 66(a), data having a numerical value equal to or greater than the threshold value in the first histogram 6500 may be first data 6510 and second data 6520.

The first data 6510 may be data generated by the laser output from the laser output unit 6200, and the second data 6520 may be data generated by the interference laser 6410.

When calculating the distance of the object through the first histogram 6500, the processor 6100 may calculate the distance based on data having a numerical value equal to or greater than a threshold value. In this case, the processor 6100 may calculate the distance based on the first data 6510 or may calculate the distance based on the second data 6520 . However, when the processor 6100 calculates the distance based on the second data 6520, an error may occur in distance measurement.

Referring to FIG. 66( b ), the third data 6610 may be the only data having a numerical value equal to or greater than the threshold value in the second histogram 6600 . In addition, the fourth data 6620 in the second histogram 6600 may be a plurality of data having numerical values less than or equal to a threshold value.

In this case, the third data 6610 may be data generated by the laser output from the laser output unit 6200, and the fourth data 6620 may be data generated by the interference laser 6410.

Since the processor 6100 reduces the temporal dispersion of data generated by the laser output from the laser output unit 6200, the data is accumulated in a narrow time bin and third data 6610 having a numerical value equal to or greater than the threshold value can be created.

Also, since the processor 6100 increases the temporal dispersion of the data generated by the interferometric laser 6410, the fourth data 6620 having a numerical value below the threshold value is obtained by accumulating the data in a wide range of time bins in a certain period. can be created

When calculating the distance of the object through the second histogram 6600, the processor 6100 may calculate the distance based on data having a numerical value equal to or greater than a threshold value. At this time, since only the third data 6610 is data having a numerical value equal to or greater than the threshold in the second histogram 6600, the distance can be calculated based on the third data 6610.

Accordingly, the processor 6100 may calculate a more accurate distance when calculating the distance to the object through the second histogram 6600 than when calculating the distance to the object through the first histogram 6500 .

67 is a diagram for explaining a control method of a lidar device according to an embodiment.

Referring to FIG. 67, the lidar device control method includes determining a laser output time point (S6110), determining a starting point of a time interval for detecting the laser of the detecting unit (S6120), and output signal of the detecting unit. It may include generating a histogram based on the data (S6130) and determining characteristics of the object based on the histogram data (S6140).

According to an embodiment, the step of determining the laser output time (S6110) is the step of determining the first laser output time (t1), the second laser output time (t2), and the third laser output time (t3) of FIG. can include Details may be duplicated with those of FIG. 63 and thus are omitted.

According to an embodiment, the step of determining the starting point of the time interval for detecting the laser of the detector (S6120) includes the starting point of the first time interval w1, the starting point of the second time interval w2, and the second time interval w2 of FIG. A step of determining a starting point of the 3-time interval w3 may be included. Details may be duplicated with those of FIG. 63 and thus are omitted.

According to an embodiment, generating a histogram based on the output signal of the detector (S6130) includes the first data set 6131, the second data set 6132, the third data set 6133, A step of generating a histogram 6140 by accumulating the fourth data set 6134, the fifth data set 6135 to the Nth data set 6136 may be included. Details may be duplicated with those of FIG. 64 and thus are omitted.

According to an embodiment, the step of determining the characteristics of the object based on the histogram data ( S6140 ) may include calculating or determining the distance, center point, location coordinates, and the like of the object. This is omitted because it may overlap with the above description.

68 is a diagram for explaining a situation assumed to explain the invention according to an embodiment.

Referring to FIG. 68 , the lidar apparatus 7000 according to an embodiment may measure a distance to an object using a laser.

More specifically, the lidar device 7000 according to an embodiment may output a laser, and when the output laser is reflected from an object, the reflected laser may be obtained to generate a detecting signal, and the generated detection signal may be generated. A distance to an object may be measured based on the tacting signal.

For example, referring to FIG. 68 , a lidar apparatus 7000 according to an embodiment measures a distance from the lidar apparatus 7000 to a first object 7001 located at a first distance D1. The distance from the lidar device 7000 to the second target object 7002 located at the second distance D2 can be measured.

In this case, although the first object 7001 and the second object 7002 are simultaneously shown in FIG. 68 , a situation described below is related to the first object 7001 in the lidar device 7000. There may be a situation in which the distance is measured and a situation in which the lidar device 7000 measures the distance to the second object 7002 .

69 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a first object in a lidar device according to an embodiment.

Referring to FIG. 69 , a detecting unit included in a lidar device according to an embodiment may sense light and generate a detecting signal 7110.

At this time, the detecting signals 7110 shown in FIG. 69 are the detecting signals 7110 for the laser output from the LIDAR device and reflected from the first object 7001 located at the first distance D1. can

Referring to FIG. 69, the laser output from the lidar device and reflected from the first object 7001 located at the first distance D1 passes through a first time interval T1 after the laser is output from the lidar device. It can be sensed later from the detecting unit.

For example, the first laser output from the lidar device in the first scan period 7150 and reflected from the first object 7001 located at the first distance D1 is the first laser from the lidar device. It may be detected by the detecting unit after the first time interval T1 after being output, but is not limited thereto.

Also, for example, the second laser output from the lidar device in the second scan period 7160 and reflected from the first object 7001 located at the first distance D1 is emitted from the lidar device. After the laser is output, it may be detected by the detecting unit after a first time interval T1, but is not limited thereto.

Also, for example, the third laser output from the lidar device in the third scan period 7170 and reflected from the first object 7001 located at the first distance D1 is emitted from the lidar device. After the laser is output, it may be detected by the detecting unit after a first time interval T1, but is not limited thereto.

Also, for example, the fourth laser output from the lidar device in the fourth scan period 7180 and reflected from the first object 7001 located at the first distance D1 is emitted from the lidar device. After the laser is output, it may be detected by the detecting unit after a first time interval T1, but is not limited thereto.

In addition, referring to FIG. 69, the lidar device may detect the detecting signal 7110 using a reference clock 7120, and based on the detected result, the detecting signal 7110 is generated. Histogram data 7140 may be generated by storing or updating a counting value for a time-bin 7130 corresponding to a point in time.

For example, in the first scan period 7150, a detecting signal generated by a first laser output from the LIDAR device and reflected from a first object 7001 located at a first distance D1 ( 7110) is referred to as the first detecting signal, the first detecting signal may be detected using the reference clock 7120, and the Nth time bin based on the detection result of the first detecting signal. Counting values can be stored or updated.

In addition, for example, in the second scan period 7160, detection generated by the second laser output from the LIDAR device and reflected from the first object 7001 located at the first distance D1 When the signal 7110 is referred to as the second detecting signal, the second detecting signal may be detected using the reference clock 7120, and based on the result of detecting the second detecting signal, the Nth detecting signal may be detected. Counting values can be stored or updated in the time bin.

In addition, for example, in the third scan period 7170, detection generated by the third laser output from the LIDAR device and reflected from the first object 7001 located at the first distance D1 When a signal 7110 is referred to as a third detecting signal, the third detecting signal may be detected using the reference clock 7120, and based on a result of detecting the third detecting signal, the Nth detecting signal may be detected. Counting values can be stored or updated in the time bin.

In addition, for example, in the fourth scan period 7180, detection generated by the fourth laser output from the LIDAR device and reflected from the first object 7001 located at the first distance D1 When a signal 7110 is referred to as a fourth detecting signal, the fourth detecting signal may be detected using the reference clock 7120, and based on a result of detecting the fourth detecting signal, an Nth detecting signal may be detected. Counting values can be stored or updated in the time bin.

Also, for example, histogram data 7140 may be generated through the first to fourth scan periods 7150 to 7180, and the counting value corresponding to the Nth time bin of the histogram data 7140 is 4 It may be, but is not limited thereto.

At this time, for convenience of description, four scan sections and histogram data through the four scan sections have been described, but the number of scan sections of the LIDAR device is not limited by this description.

In addition, the scan intervals may be expressed as scan cycles, cycles, etc., but are not limited thereto.

In addition, the LIDAR device may obtain distance information about an object based on the histogram data 7140.

In this case, the distance information about the object may be described as distance information about the detection unit in that the distance information about the object is obtained based on the detection signal generated by the detection unit, but is not limited thereto.

For example, the LIDAR device may determine a peak value based on the histogram data 7140, determine a time bin corresponding to the peak value, and determine a time value corresponding to the determined time bin. Based on this, distance information with the target object may be obtained.

For a more specific example, the lidar device may determine that the time bin corresponding to the peak value is the Nth time bin based on the histogram data 7140, and the object object may be determined based on the time value corresponding to the Nth time bin. It is possible to obtain distance information with .

That is, a distance value for the first object 7001 located at the first distance D1 from the lidar device may be obtained based on a time value corresponding to the Nth time bin.

70 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a second object in a lidar device according to an exemplary embodiment.

Referring to FIG. 70 , a detecting unit included in a lidar device according to an embodiment may sense light and generate a detecting signal 7210.

At this time, the detecting signals 7210 shown in FIG. 70 are the detecting signals 7210 for the laser output from the LIDAR device and reflected from the second object 7002 located at the second distance D2. can

Referring to FIG. 70 , the laser output from the lidar device and reflected from the second object 7002 located at the second distance D2 passes through a second time interval T2 after the laser is output from the lidar device. It can be sensed later from the detecting unit.

For example, the fifth laser output from the lidar device in the fifth scan period 7250 and reflected from the second object 7002 located at the second distance D2 is the fifth laser from the lidar device. It may be detected by the detecting unit after the second time interval T2 after being output, but is not limited thereto.

Also, for example, the sixth laser output from the lidar device in the sixth scan period 7260 and reflected from the second object 7002 located at the second distance D2 is the sixth laser beam from the lidar device. After the laser is output, it may be detected by the detecting unit after a second time interval T2, but is not limited thereto.

Also, for example, the seventh laser output from the lidar device in the seventh scan period 7270 and reflected from the second object 7002 located at the second distance D2 is the seventh laser beam from the lidar device. After the laser is output, it may be detected by the detecting unit after a second time interval T2, but is not limited thereto.

Also, for example, an eighth laser output from the lidar device in an eighth scan period 7280 and reflected from a second object 7002 located at a second distance D2 is emitted from the lidar device in an eighth laser beam. After the laser is output, it may be detected by the detecting unit after a second time interval T2, but is not limited thereto.

In addition, referring to FIG. 70 , the lidar device may detect the detecting signal 7210 using a reference clock 7220, and based on the detected result, the detecting signal 7210 is generated. Histogram data 7240 may be generated by storing or updating counting values for time-bins corresponding to time points.

For example, in the fifth scan period 7250, a detecting signal generated by a fifth laser output from the LIDAR device and reflected from a second object 7002 located at a second distance D2 ( 7210) is referred to as the fifth detecting signal, the fifth detecting signal can be detected using the reference clock 7220, and the Nth time bin based on the detection result of the fifth detecting signal. Counting values can be stored or updated.

In addition, for example, in the sixth scan period 7260, detection generated by the sixth laser output from the LIDAR device and reflected from the second object 7002 located at the second distance D2 When the signal 7210 is referred to as the sixth detecting signal, the sixth detecting signal may be detected using the reference clock 7120, and based on the detection result of the sixth detecting signal, the Nth detecting signal may be detected. Counting values can be stored or updated in the time bin.

In addition, for example, in the seventh scan period 7270, detection generated by the seventh laser output from the LIDAR device and reflected from the second object 7002 located at the second distance D2 When the signal 7210 is referred to as the seventh detecting signal, the seventh detecting signal may be detected using the reference clock 7220, and based on the detection result of the seventh detecting signal, the Nth detecting signal may be detected. Counting values can be stored or updated in the time bin.

In addition, for example, in the eighth scan period 7280, detection generated by the eighth laser output from the LIDAR device and reflected from the second object 7002 located at the second distance D2 When signal 7210 is referred to as an eighth detecting signal, the eighth detecting signal may be detected using the reference clock 7220, and based on a detection result of the eighth detecting signal, an Nth detecting signal may be detected. Counting values can be stored or updated in the time bin.

Also, for example, histogram data 7240 may be generated through the fifth to eighth scan periods 7250 to 7280, and the counting value corresponding to the Nth time bin of the histogram data 7240 is 4 It may be, but is not limited thereto.

At this time, for convenience of description, four scan sections and histogram data through the four scan sections have been described, but the number of scan sections of the LIDAR device is not limited by this description.

In addition, the scan intervals may be expressed as scan cycles, cycles, etc., but are not limited thereto.

In addition, the LIDAR device may obtain distance information about an object based on the histogram data 7240.

In this case, the distance information about the object may be described as distance information about the detection unit in that the distance information about the object is obtained based on the detection signal generated by the detection unit, but is not limited thereto.

For example, the LIDAR device may determine a peak value based on the histogram data 7240, determine a time bin corresponding to the peak value, and determine a time value corresponding to the determined time bin. Based on this, distance information with the target object may be obtained.

For a more specific example, the lidar device may determine that the time bin corresponding to the peak value is the Nth time bin based on the histogram data 7240, and the object object may be determined based on the time value corresponding to the Nth time bin. It is possible to obtain distance information with .

That is, a distance value for the second object 7002 located at the second distance D2 from the lidar device may be obtained based on a time value corresponding to the Nth time bin.

68 to 70, the LIDAR device can measure the distance to the first object 7001 or the second object 7002 located at different distances (a first distance or a second distance). .

However, since the LIDAR device detects the acquired detecting signal using a reference clock and generates histogram data as a result of the detection, the same is true for objects located at different distances according to the resolution of the reference clock. A distance value can be obtained.

For example, a distance value for the first object 7001 located at the first distance D1 from the lidar device is obtained based on a time value corresponding to the N-th time bin, and the lidar device Since the distance value for the second object 7002 located at the second distance D2 from is also obtained based on the time value corresponding to the Nth time bin, the distance value for the first object 7001 and A distance value with respect to the second object 7002 may be obtained as the same distance value.

The above-mentioned phenomenon can be solved by increasing the distance resolution of the lidar device as much as the resolution of the reference clock is increased. difficulties may arise.

Therefore, hereinafter, a hardware configuration and method for increasing the distance resolution of the LIDAR device beyond the resolution of the reference clock will be described in more detail.

71 is a diagram for explaining a lidar device according to an embodiment.

Referring to FIG. 71 , a lidar device 7300 according to an embodiment may include a laser detecting array 7310 and a signal processor 7320.

At this time, since the above-described contents may be applied to the laser detecting array 7310, redundant descriptions will be omitted.

The signal processing unit 7320 according to an embodiment may include a delay generation unit 7321, a signal detection unit 7322, a memory unit 7323, and a data processing unit 7324.

The delay generation unit 7321 according to an embodiment may obtain a detecting signal generated from the laser detecting array 7310 and output a delay signal.

For example, the delay generation unit 7321 according to an embodiment obtains a first detecting signal from a first detecting unit included in the laser detecting array 7310 and generates a delay signal having a first delay value. It can be output, but is not limited thereto.

Also, for example, the delay generation unit 7321 according to an embodiment obtains the first detecting signal from the first detecting unit included in the laser detecting array 7310 and generates a delay having a second delay value. A signal may be output, but is not limited thereto.

Also, for example, the delay generation unit 7321 according to an embodiment obtains a second detecting signal from a second detecting unit included in the laser detecting array 7310 and generates a delay having a first delay value. A signal may be output, but is not limited thereto.

Also, the delay generator 7321 according to an embodiment may obtain a detecting signal generated from the laser detecting array 7310 and output a delay signal having a selected delay value.

For example, the delay generation unit 7321 according to an embodiment obtains a first detecting signal from a first detecting unit included in the laser detecting array 7310 and has a selected delay signal. can be output, but is not limited thereto.

Also, for example, the delay generation unit 7321 according to an embodiment obtains a first detecting signal from a first detecting unit included in the laser detecting array 7310 and has a selected second delay value. A delay signal may be output, but is not limited thereto.

Also, the delay generation unit 7321 according to an embodiment may obtain a detecting signal generated from the laser detecting array 7310 and output a plurality of delay signals having different delay values.

For example, the delay generation unit 7321 according to an embodiment obtains a first detecting signal from a first detecting unit included in the laser detecting array 7310 and generates a first delay having a first delay value. A second delay signal having a signal and a second delay value may be output, but is not limited thereto.

Also, the delay generation unit 7321 according to an embodiment may apply different delay values according to the scan period to output delay signals having different delay values.

For example, the delay generation unit 7321 according to an embodiment has a first delay value for detecting signals obtained from a first detecting unit included in the laser detecting array 7310 during a first scan period. Delay signals having a first delay value may be output by applying a second delay value for detecting signals obtained from the first detecting unit included in the laser detecting array 7310 during a second scan period. Delay signals having the second delay value may be output by applying the value, but the present invention is not limited thereto.

Also, a delay value applied by the delay generation unit 7321 according to an embodiment may be set as a multiple of a reference delay value.

For example, when the reference delay value of the delay values applied by the delay generation unit 7321 according to an embodiment is 78.125 ps, the first delay value is 78.125 ps, the second delay value is 156.25 ps, and the third delay value is 78.125 ps. It may be set to 234.375 ps or the like, but is not limited thereto.

Also, the signal detector 7322 according to an embodiment may detect the delay signal output from the delay generator 7321 using a preset clock.

For example, the signal detector 7322 according to an embodiment may detect a rising edge of the delay signal output from the delay generator 7321 using a preset clock, but is not limited thereto. don't

In addition, the signal detector 7322 according to an embodiment may be understood as a normal time to digital converter (TDC), but is not limited thereto.

In addition, the signal detector 7322 according to an embodiment may detect the delay signal output from the delay generator 7321 based on phase adjustment and synchronization of a preset clock.

For example, the signal detecting unit 7322 according to an embodiment includes a configuration for adjusting and synchronizing the phase of a preset clock such as ISERDESE2 and a configuration such as an edge detector, and the phase of a preset clock. A delay signal output from the delay generator 7321 may be sensed based on adjustment and synchronization, but is not limited thereto.

In addition, various embodiments may be applied to the signal detector 7322 according to an embodiment for determining a time value, a time bin value, or a storage location for the delay signal output from the delay generator 7321.

Also, the memory unit 7323 according to an embodiment may store at least one piece of data based on a result detected by the signal detection unit 7322 .

For example, the memory unit 7323 according to an embodiment may store a counting value in a corresponding address based on a result detected by the signal detection unit 7322, but is not limited thereto.

Also, for example, the memory unit 7323 according to an embodiment may store histogram data based on the result detected by the signal detector 7322, but is not limited thereto.

Also, a preset clock may be used to store data in the memory unit 7323 according to an embodiment.

In addition, the memory unit 7323 according to an embodiment includes static random access memory (SRAM), dynamic random access memory (DRAM), pseudo SRAM (PSRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), It may include at least one of BRAM (Block RAM), but is not limited thereto, and may include various memories.

In addition, the data processing unit 7324 according to an embodiment may calculate lidar data based on data stored in the memory unit 7323.

For example, the data processing unit 7324 according to an embodiment may calculate a distance value for the detecting unit based on the histogram data stored in the memory unit 7323, but is not limited thereto.

Also, for example, the data processing unit 7324 according to an embodiment may calculate an intensity value for the detecting unit based on the histogram data stored in the memory unit 7323, but is not limited thereto.

Also, for example, the data processing unit 7324 according to an embodiment may calculate a distance value for at least one object based on the histogram data stored in the memory unit 7323, but is not limited thereto.

Also, for example, the data processing unit 7324 according to an embodiment may calculate an intensity value for at least one object based on the histogram data stored in the memory unit 7323, but is not limited thereto.

72 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a first object in a lidar device according to an embodiment.

Referring to FIG. 72 , a detecting unit included in a lidar device according to an embodiment may sense light and generate a detecting signal 7410.

At this time, the detecting signals 7410 shown in FIG. 72 are the detecting signals 7410 for the laser output from the LIDAR device and reflected from the first object 7001 located at the first distance D1. can

Referring to FIG. 72 , the laser output from the lidar device and reflected from the first object 7001 located at the first distance D1 passes through a first time interval T1 after the laser is output from the lidar device. It can be sensed later from the detecting unit.

For example, the first laser output from the lidar device in the first scan period 7460 and reflected from the first object 7001 located at the first distance D1 is the first laser from the lidar device. It may be detected by the detecting unit after the first time interval T1 after being output, but is not limited thereto.

In addition, for example, the second laser output from the lidar device in the second scan period 7470 and reflected from the first object 7001 located at the first distance D1 is emitted from the lidar device. After the laser is output, it may be detected by the detecting unit after a first time interval T1, but is not limited thereto.

Also, for example, the third laser output from the lidar device in the third scan period 7480 and reflected from the first object 7001 located at the first distance D1 is emitted from the lidar device. After the laser is output, it may be detected by the detecting unit after a first time interval T1, but is not limited thereto.

Also, for example, the fourth laser output from the lidar device in the fourth scan period 7490 and reflected from the first object 7001 located at the first distance D1 is emitted from the lidar device. After the laser is output, it may be detected by the detecting unit after a first time interval T1, but is not limited thereto.

Also, referring to FIG. 72 , a delay generator included in the LIDAR device may obtain the detecting signal 7410 and output a delay signal 7420.

For example, in the first scan period 7460, a detecting signal generated by a first laser output from the LIDAR device and reflected from a first object 7001 located at a first distance D1 ( When 7410) is referred to as a first detecting signal, the delay generating unit may acquire the first detecting signal and output a first delay signal having no delay value, but is not limited thereto.

In addition, for example, in the second scan period 7470, detection generated by the second laser output from the LIDAR device and reflected from the first object 7001 located at the first distance D1 When signal 7410 is referred to as a second detecting signal, the delay generation unit may obtain the second detecting signal and output a second delay signal having a first delay value TD1, but is not limited thereto. .

In addition, for example, in the third scan period 7480, detection generated by the third laser output from the LIDAR device and reflected from the first object 7001 located at the first distance D1 When the signal 7410 is referred to as a third detecting signal, the delay generator may obtain the third detecting signal and output a third delay signal having a second delay value TD2, but is not limited thereto. .

In addition, for example, in the fourth scan period 7490, detection generated by the fourth laser output from the LIDAR device and reflected from the first object 7001 located at the first distance D1 When the signal 7410 is referred to as a fourth detecting signal, the delay generator may obtain the fourth detecting signal and output a fourth delay signal having a third delay value TD3, but is not limited thereto. .

In addition, referring to FIG. 72 , the LIDAR device may detect the delay signal 7420 using a reference clock 7430, and based on the detected result, at a time when the delay signal 7420 is generated. Histogram data 7450 may be generated by storing or updating a counting value for a corresponding time-bin 7440 .

For example, in the first scan period 7460, the first delay signal may be detected using the reference clock 7430, and an Nth time bin based on a result of detecting the first delay signal. The counting value for can be stored or updated.

Also, for example, in the second scan period 7470, the second delay signal may be detected using the reference clock 7430, and based on a result of detecting the second delay signal, the Nth delay signal may be detected. Counting values for time bins can be stored or updated.

Also, for example, in the third scan period 7480, the third delay signal may be detected using the reference clock 7430, and based on a result of detecting the third delay signal, the Nth delay signal may be detected. Counting values for time bins can be stored or updated.

Also, for example, in the fourth scan period 7490, the fourth delay signal may be detected using the reference clock 7430, and based on a result of detecting the fourth delay signal, the Nth delay signal may be detected. Counting values for time bins can be stored or updated.

Also, for example, histogram data 7450 may be generated through the first to fourth scan periods 7460 to 7490, and the counting value corresponding to the Nth time bin of the histogram data 7450 is 4 It may be, but is not limited thereto.

At this time, for convenience of description, four scan sections and histogram data through the four scan sections have been described, but the number of scan sections of the LIDAR device is not limited by this description.

In addition, the scan intervals may be expressed as scan cycles, cycles, etc., but are not limited thereto.

In addition, the LIDAR device may obtain distance information about an object based on the histogram data 7450.

In this case, the distance information about the object may be described as distance information about the detection unit in that the distance information about the object is obtained based on the detection signal generated by the detection unit, but is not limited thereto.

For example, the LIDAR device may determine a peak value based on the histogram data 7450, determine a time bin corresponding to the peak value, and determine a time value corresponding to the determined time bin. Based on this, distance information with the target object may be obtained.

For a more specific example, the lidar device may determine that the time bin corresponding to the peak value is the N-th time bin based on the histogram data 7450, and the object object may be determined based on the time value corresponding to the N-th time bin. It is possible to obtain distance information with .

That is, a distance value for the first object 7001 located at the first distance D1 from the lidar device may be obtained based on a time value corresponding to the Nth time bin.

73 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a second object in a lidar device according to an exemplary embodiment.

Referring to FIG. 73 , a detecting unit included in a lidar device according to an embodiment may sense light and generate a detecting signal 7510.

At this time, the detecting signals 7510 shown in FIG. 73 are the detecting signals 7510 for the laser output from the LIDAR device and reflected from the second object 7002 located at the second distance D2. can

Referring to FIG. 73 , the laser output from the lidar device and reflected from the second object 7002 located at the second distance D2 passes through a second time interval T2 after the laser is output from the lidar device. It can be sensed later from the detecting unit.

For example, the fifth laser output from the lidar device in the fifth scan period 7560 and reflected from the second object 7002 located at the second distance D2 is the fifth laser from the lidar device. It may be detected by the detecting unit after the second time interval T2 after being output, but is not limited thereto.

In addition, for example, the sixth laser output from the lidar device in the sixth scan period 7570 and reflected from the second object 7002 located at the second distance D2 is the sixth laser from the lidar device. After the laser is output, it may be detected by the detecting unit after a second time interval T2, but is not limited thereto.

Also, for example, the seventh laser output from the lidar device in the seventh scan period 7580 and reflected from the second object 7002 located at the second distance D2 is the seventh laser beam from the lidar device. After the laser is output, it may be detected by the detecting unit after a second time interval T2, but is not limited thereto.

Also, for example, an eighth laser output from the lidar device in an eighth scan period 7590 and reflected from a second object 7002 located at a second distance D2 is emitted from the lidar device as an eighth laser beam. After the laser is output, it may be detected by the detecting unit after a second time interval T2, but is not limited thereto.

Also, referring to FIG. 73 , a delay generator included in the LIDAR device may obtain the detecting signal 7510 and output a delay signal 7520.

For example, in the fifth scan period 7560, a detecting signal generated by a fifth laser output from the LIDAR device and reflected from a second object 7002 located at a second distance D2 ( 7510) is referred to as a fifth detecting signal, the delay generating unit may acquire the fifth detecting signal and output a fifth delay signal having no delay value, but is not limited thereto.

In addition, for example, in the sixth scan period 7570, detection generated by the sixth laser output from the LIDAR device and reflected from the second object 7002 located at the second distance D2 When signal 7510 is referred to as a sixth detecting signal, the delay generator may obtain the sixth detecting signal and output a sixth delay signal having a first delay value TD1, but is not limited thereto. .

In addition, for example, in the seventh scan period 7580, detection generated by the seventh laser output from the LIDAR device and reflected from the second object 7002 located at the second distance D2 When signal 7510 is referred to as a seventh detecting signal, the delay generation unit may obtain the seventh detecting signal and output a seventh delay signal having a second delay value TD2, but is not limited thereto. .

In addition, for example, in the eighth scan period 7590, detection generated by the eighth laser output from the LIDAR device and reflected from the second object 7002 located at the second distance D2 When signal 7510 is referred to as an eighth detecting signal, the delay generator may obtain the eighth detecting signal and output an eighth delay signal having a third delay value TD3, but is not limited thereto. .

Also, referring to FIG. 73 , the LIDAR device may detect the delay signal 7520 using a reference clock 7530, and based on the detected result, at a time when the delay signal 7520 is generated. The histogram data 7550 may be generated by storing or updating the counting value for the corresponding time-bin 7540 .

For example, in the fifth scan period 7560, the fifth delay signal may be detected using the reference clock 7530, and an Nth time bin based on a detection result of the fifth delay signal. The counting value for can be stored or updated.

In addition, for example, in the sixth scan period 7570, the sixth delay signal may be detected using the reference clock 7530, and the Nth delay signal may be detected based on a result of detecting the sixth delay signal. Counting values for time bins can be stored or updated.

Also, for example, in the seventh scan period 7580, the seventh delay signal may be detected using the reference clock 7530, and based on the detection result of the seventh delay signal, N+ The counting value for the first time bin may be stored or updated.

Also, for example, in the eighth scan period 7590, the eighth delay signal may be detected using the reference clock 7530, and based on a detection result of the eighth delay signal, N+ The counting value for the first time bin may be stored or updated.

Also, for example, histogram data 7550 may be generated through the fifth to eighth scan periods 7560 to 7590, and the counting value corresponding to the Nth time bin of the histogram data 7550 is 2 , and the counting value corresponding to the N+1th time bin may be 2, but is not limited thereto.

At this time, for convenience of description, four scan sections and histogram data through the four scan sections have been described, but the number of scan sections of the LIDAR device is not limited by this description.

In addition, the scan intervals may be expressed as scan cycles, cycles, etc., but are not limited thereto.

In addition, the LIDAR device may obtain distance information about an object based on the histogram data 7550.

In this case, the distance information about the object may be described as distance information about the detection unit in that the distance information about the object is obtained based on the detection signal generated by the detection unit, but is not limited thereto.

For example, the lidar device may determine a peak value and valid data based on the histogram data 7550, calculate a time value based on the peak value and valid data, and calculate the calculated time value. Based on this, distance information with the target object may be obtained.

For a more specific example, the lidar device may determine that data corresponding to the N-th time bin and the N+1-th time bin are valid data based on the histogram data 7550, and the N-th time bin and N A time value may be calculated based on a counting value corresponding to the +1st time bin, and distance information to the object may be obtained based on the calculated time value.

That is, a distance value for the second object 7002 located at the second distance D2 from the lidar device may be obtained based on a time value between the Nth time bin and the N+1th time bin. there is.

For example, a distance value for the second object 7002 located at the second distance D2 from the lidar device may be obtained based on a time value corresponding to the N+0.5th time bin. Not limited.

Referring to FIGS. 68, 72, and 73, the LIDAR device measures the distance to the first object 7001 or the second object 7002 located at different distances (a first distance or a second distance). can do.

Also, unlike the embodiments described in FIGS. 69 and 70 , it can be seen that distance values for the first object 7001 and the second object 7002 may be different from each other even though the same reference clock is used.

For example, a distance value for the first object 7001 located at the first distance D1 from the lidar device is obtained based on a time value corresponding to the N-th time bin, and the lidar device Since the distance value for the second object 7002 located at the second distance D2 from is also obtained based on the time value corresponding to the N+0.5th time bin, the distance to the first object 7001 The distance value and the distance value for the second object 7002 may be obtained as different distance values.

That is, it can be seen that more accurate distance measurement can be performed within the same reference clock using the above-described configuration of the delay generation unit.

As a result, the lidar device including the configuration of the delay generator according to the present invention may have a higher distance resolution than the resolution of the reference clock.

74 is a diagram for explaining a delay generator according to an embodiment.

Referring to FIG. 74, a delay generator 7600 according to an embodiment includes a data input line (DATA IN), a data output line (DATA OUT), a plurality of buffer units, a plurality of delay signal lines, a multiplexer (MUX), and Can contain control lines.

At this time, the data input line (DATA IN) is connected to at least one detecting unit included in a laser detecting array included in the lidar device to obtain a detecting signal from the at least one detecting unit. can be a line

Also, the data output line DATA OUT may be connected to the above-described signal detector and may be a line for outputting at least one delay signal.

Also, the plurality of buffer units may be configured to apply a delay to the detecting signal.

Also, the plurality of delay signal lines may be lines for transmitting at least one delay signal.

For example, the first delay signal line 7610 may be a line for transferring a first delay signal that is a detection signal that has not passed through the buffer unit, and the second delay signal line 7620 has passed through the first buffer unit. It may be a line for transferring the second delay signal, which is a detecting signal, and the third delay signal line 7630 is a line for transferring a third delay signal, which is a detecting signal, that has passed through the first buffer unit and the second buffer unit. The fourth delay signal line 7640 may be a line for transferring a fourth delay signal that is a detection signal that has passed through the first to third buffer units, and the Nth delay signal line 7650 may be a line for transmitting a first to third buffer unit. It may be a line for transmitting an Nth delay signal, which is a detection signal that has passed through the Nth to Nth buffer units, but is not limited thereto.

Also, the plurality of delay signals transferred through the plurality of delay signal lines may be transferred to a multiplexer (MUX).

Also, the multiplexer MUX may be configured to obtain a plurality of delay signals and output one delay signal.

For example, the multiplexer MUX may be configured to obtain first to Nth delay signals and output one of the first to Nth delay signals, but is not limited thereto.

Also, the control line may be a line for acquiring a control signal for determining a delay signal output from the multiplexer (MUX).

For example, when a control signal for outputting the first delay signal is obtained through the control line, the multiplexer MUX may operate to output the first delay signal among the first to Nth delay signals. Not limited to this.

The contents described through FIG. 74 are merely descriptions of an embodiment of the configuration of the delay generator according to an embodiment of the present invention to help the overall understanding of the present invention, and in implementing the technical idea of the present invention, the delay generator As for the configuration, various configurations for obtaining a detection signal from the laser detecting array and outputting a delay signal may be applied.

75 is a diagram for explaining the size of a delay value according to an exemplary embodiment.

Referring to FIG. 75 , the concept of a time bin unit length 7710 may be introduced to describe the size of a delay value according to an embodiment.

According to an embodiment, a time bin, which is a preset time interval, may be set to generate histogram data in a lidar device, and a unit length 7710 of the time bin may be set.

For example, although the unit length 7710 of the time bin may be set to 1.25 ns in order to generate histogram data in the lidar device according to an embodiment, it is not limited thereto, and the unit length of the time bin (7710 ) can be set.

Also, the unit length 7710 of the time bin may be set based on a reference clock.

For example, when the cycle length of the reference clock is 1.25 ns, the unit length 7710 of the time bin may be set to 1.25 ns, but is not limited thereto.

In addition, for example, when the cycle length of the reference clock is 5 ns and the signal is detected by diversifying the phase of the reference clock to 0 degrees, 90 degrees, 180 degrees, and 270 degrees, the unit length of the time bin (7710) may be set to 1.25 ns, but is not limited thereto.

According to an embodiment, the size of the delay value may be equal to or smaller than the unit length 7710 of the time bin.

For example, the size of the first delay value 7721 may be smaller than the unit length 7710 of the time bin, and the size of the second delay value 7722 may be smaller than the unit length 7710 of the time bin. , and the size of the Nth delay value 7723 may be the same as the unit length 7710 of the time bin, but is not limited thereto.

Also, the magnitude of the delay value according to an embodiment may be a multiple of the reference delay value.

For example, the magnitude of the first delay value 7721 may be the reference delay value, the magnitude of the second delay value 7722 may be twice the reference delay value, and the magnitude of the Nth delay value may be the reference delay value. It may be N times of, but is not limited thereto.

For a more specific example, when the delay value is 16, the first delay value 7721 may be 78.125ps, the second delay value 7722 may be 156.25ps, and the Nth delay value 7723 may be 1.25ns. , but not limited thereto.

Also, the reference delay value according to an embodiment may be a size obtained by dividing the unit length 7710 of the time bin by the number of delay values.

For example, when the unit length 7710 of the time bin is 1.25 ns and the number of delay values is 16, the reference delay value may be 78.125 ps, but is not limited thereto.

Also, the reference delay value according to an embodiment may be smaller than the unit length 7710 of the time bin.

For example, the unit length 7710 of the time bin may be 1.25 ns and the reference delay value may be 78.125 ps, but is not limited thereto.

In addition, as described above, if the reference delay value according to an embodiment is smaller than the unit length 7710 of the time bin, an effect of increasing the distance resolution of the LIDAR device may be generated while minimizing the dispersion of the counting value.

This is a good effect, in contrast to the case where the reference delay value according to an embodiment is greater than the unit length 7710 of the time bin, the counting value is distributed over various time bins according to the delay value, making it difficult to find the signal for the object. It can mean that it can happen.

76 is a diagram for explaining an operation mode of a lidar device according to an embodiment.

Referring to FIG. 76, the lidar device according to an embodiment may be operated in a first operation mode 7810, a second operation mode 7820, a third operation mode 7830, and a fourth operation mode 7840. there is.

At this time, FIG. 76 is merely a description of representative embodiments of the present invention, and the operation mode of the lidar apparatus according to the present invention may include various operation modes.

In addition, the application of the delay value according to the operation mode may be implemented through the above-described delay generation unit, but is not limited thereto.

The first operation mode 7810 of the lidar device according to an embodiment may be an operation mode in which M delay values are distributed and applied to scan intervals of the lidar device.

For example, in the first operation mode 7810 of the lidar device according to an embodiment, a first delay value is applied during a first time interval corresponding to a first scan interval, and a second delay value corresponding to a second scan interval is applied. Applying a second delay value during a time interval, applying a third delay value during a third time interval corresponding to a third scan interval, and applying an Mth delay value during an Nth time interval corresponding to an Nth scan interval It may be an operating mode.

For a more specific example, if the number of scan sections of the lidar device according to one embodiment is 128 (which may mean that the number of sampling is 128) and the number of delay values is 16, one embodiment The first operation mode 7810 of the lidar device according to is sequentially and repeatedly applied from the 1st delay value to the 16th delay value for each of the 1st to Nth time intervals corresponding to the 1st to Nth scan intervals. It may be a mode, but is not limited thereto.

In addition, the second operation mode 7820 of the lidar device according to an embodiment may be an operation mode in which M delay values are distributed and applied to scan intervals of the lidar device.

For example, in the second operation mode 7820 of the lidar device according to an embodiment, a first delay value is applied during a first time interval corresponding to a first scan interval, and a second delay value corresponding to a second scan interval is applied. Applying a first delay value during a time interval, applying a first delay value during a third time interval corresponding to a third scan interval, and applying an Mth delay value during an Nth time interval corresponding to an Nth scan interval It may be an operating mode.

For a more specific example, if the number of scan sections of the lidar device according to one embodiment is 128 (which may mean that the number of sampling is 128) and the number of delay values is 16, one embodiment The second operation mode 7820 of the lidar device according to applies a first delay value to the 1st to 8th time intervals corresponding to the 1st to 8th scan intervals, and corresponds to the 9th to 16th scan intervals. It may be an operation mode in which the second delay value is applied to the 9th to 16th time intervals and the 16th delay value is applied to the 121st to 128th time intervals corresponding to the 121st to 128th scan intervals. Not limited to this.

In addition, the third operation mode 7830 of the lidar device according to an embodiment may be an operation mode in which N delay values are distributed and applied to scan intervals of the N lidar devices.

For example, in the third operation mode 7830 of the lidar device according to an embodiment, a first delay value is applied during a first time interval corresponding to a first scan interval, and a second delay value corresponding to a second scan interval is applied. Applying a second delay value during a time interval, applying a third delay value during a third time interval corresponding to a third scan interval, and applying an Nth delay value during an Nth time interval corresponding to an Nth scan interval It may be an operating mode.

For a more specific example, if the number of scan sections of the lidar device according to one embodiment is 16 (which may mean that the number of sampling is 16) and the number of delay values is 16, one embodiment In the third operation mode 7830 of the lidar device according to, a first delay value is applied to a first time interval corresponding to a first scan interval, and a second delay value is applied to a second time interval corresponding to a second scan interval. An operation mode in which a delay value is applied, a third delay value is applied to a third time interval corresponding to a third scan interval, and a 16th delay value is applied to a 16th time interval corresponding to a 16th scan interval. may, but is not limited thereto.

In addition, the fourth operation mode 7840 of the lidar device according to an embodiment may be an operation mode in which the same delay value is applied to a plurality of scan sections of the lidar device.

For example, in the fourth operation mode 7840 of the lidar device according to an embodiment, a first delay value is applied during a first time interval corresponding to a first scan interval, and a second delay value corresponding to a second scan interval is applied. Applying a first delay value during a time interval, applying a first delay value during a third time interval corresponding to a third scan interval, and applying a first delay value during an Nth time interval corresponding to an Nth scan interval It may be an operating mode.

For a more specific example, when the number of scan sections of the lidar device according to one embodiment is 128 (which may mean that the number of sampling is 128), the fourth of the lidar device according to one embodiment The operation mode 7840 may be an operation mode in which a first delay value is applied to the first to 128th time intervals corresponding to the first to 128th scan intervals, but is not limited thereto.

In addition, according to an embodiment, the above-described fourth operating mode 7840 may be set as a basic operating mode of the lidar device, and the above-described first to third operating modes 7810 to 7830 are variations of the lidar device. It can be set to an operating mode.

Further, according to an embodiment, the delay value applied to the basic operation mode of the lidar device may be an intermediate value of a plurality of delay values applied to the modified operation mode of the lidar device.

For example, when the number of delay values applied in the modified operation mode of the lidar device is 16, the reference delay value is 78.125ps, and the first to 16th delay values are 78.125ps to 1.25ns, which are given in multiples of 78.125ps, respectively. , The delay value applied in the basic operation mode of the lidar device may be 546.875ps or 625ps, but is not limited thereto.

In addition, as in the above example, when the delay value applied to the basic operation mode of the lidar device is the middle value of the plurality of delay values applied to the modified operation mode of the lidar device, the plurality of delay signals output in the modified operation mode are the basic operation Since the delay signal output from the mode can be evenly distributed back and forth in time, computing power consumed for distance correction according to the delay can be reduced.

77 is a diagram for explaining a delay generator according to an embodiment.

Referring to FIG. 77 , a delay generation unit 7900 according to an embodiment may include a data input line (DATA IN), a plurality of buffer units, and a plurality of delay signal output lines.

At this time, the data input line (DATA IN) is connected to at least one detecting unit included in a laser detecting array included in the lidar device to obtain a detecting signal from the at least one detecting unit. can be a line

Also, the plurality of buffer units may be configured to apply a delay to the detecting signal.

Also, the plurality of delay signal output lines may be lines for transmitting at least one delay signal.

For example, the first delay signal output line 7910 may be a line for transferring a first delay signal that is a detecting signal that has not passed through the buffer unit, and the second delay signal output line 7920 may be a first buffer unit. , and the third delay signal output line 7930 transfers the third delay signal, which is a detecting signal, passing through the first buffer unit and the second buffer unit. The fourth delay signal output line 7940 may be a line for transmitting a fourth delay signal, which is a detecting signal that has passed through the first to third buffer units, and the Nth delay signal output line ( 7950) may be a line for transmitting an Nth delay signal that is a detection signal that has passed through the first to Nth buffer units, but is not limited thereto.

The contents described through FIG. 77 are only descriptions of an embodiment of the configuration of the delay generator according to an embodiment of the present invention to help the overall understanding of the present invention, and in implementing the technical idea of the present invention, the delay generator As for the configuration, various configurations for obtaining a detection signal from the laser detecting array and outputting a delay signal may be applied.

78 is a diagram for explaining an operation of a signal processing unit for measuring a distance to a second object in a lidar device according to an exemplary embodiment.

More specifically, FIG. 78 is a diagram for explaining an operation of a signal processor for measuring a distance to a second object in the lidar device including the delay generator described in FIG. 77 .

In addition, in the case of FIG. 78, since it is a modified example of the embodiment described in FIG. 73, overlapping descriptions will be omitted, and parts that can be fully understood based on the contents described through FIG. 73 will be omitted.

At this time, according to the delay generation unit described with reference to FIG. 77, N delay signals may be output based on one detecting signal.

Accordingly, N delay signals may be output based on the detecting signal obtained for each scan period.

In addition, the lidar device may detect each of the first to Nth delay signals using a reference clock.

Also, histogram data may be stored or updated based on the detection results of the first to Nth delay signals.

79 is a diagram for explaining a data processing unit according to an embodiment.

Referring to FIG. 79 , a data processing unit 8000 according to an embodiment may include a peak determining unit 8010, a valid data determining unit 8020, and a distance determining unit 8030.

The data processing unit 8000 according to an embodiment may be configured to calculate distance information about an object based on at least one piece of data stored in the memory unit as described above.

The peak determination unit 8010 according to an embodiment may be configured to determine a peak value based on a counting value included in the histogram data stored in the memory unit and obtain a time bin value at which the peak value is located. , but not limited thereto.

In addition, the peak determining unit 8010 according to an embodiment determines a rising edge using a counting value and a threshold value included in the histogram data stored in the memory unit, and determines a corresponding time bin value. It may be a configuration for obtaining, but is not limited thereto.

In addition, the valid data determination unit 8020 according to an embodiment may be configured to obtain a time bin value where valid data is located and a counting value based on the time bin value where the peak value is located, but is not limited thereto. don't

For example, when the peak determination unit 8010 determines that the time bin value at which the peak value is located is the N-th time bin, the valid data determining unit 8020 determines the N-th time bin based on the N-th time bin. 5 to N+5 time bins and corresponding counting values may be determined as valid data, but are not limited thereto.

In addition, the valid data determination unit 8020 according to an embodiment is configured to obtain a time bin value where valid data is located and a counting value based on the time bin values corresponding to the rising edge and the falling edge. It may be, but is not limited thereto.

For example, the valid data determination unit 8020 determines that the time bin value corresponding to the rising edge in the peak determination unit 8010 is the Nth time bin and the time bin value corresponding to the falling edge is the Mth time bin. In this case, the N-th time bin, the M-th time bin, the time bins located between the N-th time bin and the M-th time bin, and counting values corresponding thereto may be determined as valid data, but are not limited thereto.

Also, the distance determining unit 8030 according to an embodiment may be configured to calculate a distance value based on the valid data determined by the valid data determining unit 8020.

For example, the distance determination unit 8030 may calculate the distance based on the time bin value where the peak value of the valid data determined by the valid data determination unit 8020 is located, but is not limited thereto.

In addition, for example, the distance determining unit 8030 determines the center of mass of the valid data determined by the valid data determining unit 8020, and extracts and extracts a time value corresponding to the center mass. A distance value may be calculated based on the determined time value, but is not limited thereto.

At this time, the following equation may be used to extract the time value of the center mass according to an embodiment.

In this case, Tcm may mean the time value of the central mass, Ci may mean the counting value of the ith time bin, and ti may mean the time value of the ith time bin.

In addition, various algorithms for determining a distance based on valid data may be applied to the distance determination unit 8030 according to an embodiment, in addition to the above examples.

In addition, the data processor 8000 according to an embodiment may further include an intensity determiner (not shown).

In this case, the intensity determiner may calculate the intensity based on the sum or average of the counting values of the valid data, calculate the intensity based on the peak value of the valid data, and the rising edge and the falling edge. Various algorithms may be applied, such as calculating intensities based on the width between them.

80 is a diagram for explaining an operation of a data processing unit according to an exemplary embodiment.

Referring to FIG. 80 , first histogram data 8100 for at least one detecting unit may be obtained from a lidar device according to an embodiment.

At this time, the peak value 8110 and the time bin where the peak value 8110 is located can be determined from the first histogram data 8100, and based on the time bin where the peak value 8110 is located, +, -4 The number of time bins may be determined as valid data 8120 .

For example, when the time bin in which the peak value 8110 is located is an N-th time bin, the N-4th to N+4th time bins and counting values corresponding thereto may be determined as valid data 8120. there is.

In addition, at least one time value 8130 may be extracted based on the valid data 8120, and the at least one time value 8130 may be extracted by the above-described operation of the distance determining unit.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program commands recorded on the medium may be specially designed and configured for the embodiment or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. - includes hardware devices specially configured to store and execute program instructions, such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited examples and drawings, those skilled in the art can make various modifications and variations from the above description. For example, the described techniques may be performed in an order different from the method described, and/or components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved.

Therefore, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

As described above, in the best mode for carrying out the invention, related matters have been described.

Claims (15)

A lidar device that measures distance using histogram data for a plurality of cycles, a laser detecting array including a first detecting unit; a delay generator configured to obtain a detecting signal from the first detecting unit and output a delay signal; a signal detector detecting the delay signal output from the delay generator using a preset clock; a memory unit for storing histogram data based on a result detected by the signal detection unit; and A data processor configured to calculate a distance value for the first detecting unit based on the histogram data stored in the memory unit; The delay generator outputs a delay signal by applying a first delay value to a first cycle and outputs a delay signal by applying a second delay value to a second cycle; The first delay value and the second delay value are different from each other. lidar device. According to claim 1, Among the plurality of cycles, the number of cycles to which the first delay value is applied is two or more; Among the plurality of cycles, the number of cycles to which the second delay value is applied is two or more. lidar device. According to claim 1, For the plurality of cycles, the preset clocks are all the same. lidar device. According to claim 1, The first delay value and the second delay value are smaller than the unit length of the time bin of the histogram data. lidar device. According to claim 1, The second delay value is twice the first delay value. lidar device. According to claim 1, The number of cycles to which the first delay value is applied is equal to the number of cycles to which the second delay value is applied. lidar device. According to claim 1, A difference between the first delay value and the second delay value is smaller than the unit length of the time bin of the histogram data. lidar device. According to claim 1, The data processing unit extracting valid data based on the histogram data; Calculating a distance value for the first detecting unit based on the extracted valid data lidar device. According to claim 8, The data processing unit Calculating a center time value based on counting values and time bin values included in the valid data, and calculating a distance value to the first detecting unit based on the center time value lidar device. As a lidar device that measures the distance using histogram data for M cycles, a laser detecting array including a first detecting unit; a delay generator configured to obtain a detection signal from the first detecting unit and output a delay signal to which at least one delay value from first to N th delay values is applied; a signal detector detecting the delay signal output from the delay generator using a preset clock; a memory unit for storing histogram data based on a result detected by the signal detection unit; and A data processor configured to calculate a distance value for the first detecting unit based on the histogram data stored in the memory unit; The delay generator applies the first to Nth delay values to each of the M cycles, and the number of cycles to which the same delay value is applied is M/N. lidar device. According to claim 10, The M cycles are 128 cycles, The N delay values are 16 delay values, The number of cycles to which the same delay value is applied is 8 lidar device. A lidar device that measures distance using histogram data for a plurality of cycles, a laser detecting array including a first detecting unit; a delay generator configured to obtain a detecting signal from the first detecting unit and output a delay signal; a signal detector detecting the delay signal output from the delay generator using a preset clock; a memory unit for storing histogram data based on a result detected by the signal detection unit; and A data processor configured to calculate a distance value for the first detecting unit based on the histogram data stored in the memory unit; When the lidar device operates in the first mode, the delay generator applies the same delay value to the plurality of cycles, When the lidar device operates in the second mode, the delay generator applies at least two or more different delay values to the plurality of cycles. lidar device. According to claim 12, When the lidar device operates in the first mode, the delay value applied by the delay generation unit corresponds to at least two different delay values applied by the delay generation unit when the lidar device operates in the second mode. equal to the delay value of one of lidar device. According to claim 12, When the lidar device operates in the second mode, at least two different delay values applied by the delay generator include a first delay value and a second delay value, The first delay value is smaller than the delay value applied by the delay generator when the lidar device operates in the first mode, The second delay value is greater than the delay value applied by the delay generation unit when the lidar device operates in the first mode. lidar device. According to claim 12, The detector array includes a plurality of detecting units, Each of the plurality of detecting units includes at least one single photon avalanche diode (SPAD) lidar device.

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