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WO2023127990A1 - Appareil lidar - Google Patents

Appareil lidar Download PDF

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Publication number
WO2023127990A1
WO2023127990A1 PCT/KR2021/020101 KR2021020101W WO2023127990A1 WO 2023127990 A1 WO2023127990 A1 WO 2023127990A1 KR 2021020101 W KR2021020101 W KR 2021020101W WO 2023127990 A1 WO2023127990 A1 WO 2023127990A1
Authority
WO
WIPO (PCT)
Prior art keywords
unit
laser
delay
incident
lidar device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2021/020101
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English (en)
Korean (ko)
Inventor
박상우
오진영
김동규
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SOS Lab Co Ltd
Original Assignee
SOS Lab Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SOS Lab Co Ltd filed Critical SOS Lab Co Ltd
Priority to PCT/KR2021/020101 priority Critical patent/WO2023127990A1/fr
Publication of WO2023127990A1 publication Critical patent/WO2023127990A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J1/44—Electric circuits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak

Definitions

  • 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.
  • 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.
  • LIDAR Light Detection and Ranging
  • 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.
  • 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.
  • 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.
  • a lidar device 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 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 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 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.
  • a lidar device minimizing a dead zone may be provided.
  • 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.
  • FIG. 1 is a diagram for explaining a lidar device according to an embodiment.
  • FIG. 2 is a diagram showing a lidar device according to an embodiment.
  • FIG. 3 is a diagram showing a lidar device according to another embodiment.
  • FIG. 4 is a view showing a laser output unit according to an embodiment.
  • FIG. 5 is a diagram showing a VCSEL unit according to an embodiment.
  • FIG. 6 is a diagram showing a VCSEL array according to an embodiment.
  • FIG. 7 is a side view illustrating a VCSEL array and metal contacts according to an exemplary embodiment.
  • FIG. 8 is a diagram showing a VCSEL array according to an embodiment.
  • FIG. 9 is a diagram for explaining a lidar device according to an embodiment.
  • FIG. 10 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • FIG. 11 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • FIG. 12 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • FIG. 13 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • FIG. 14 is a diagram for describing a steering component according to an exemplary embodiment.
  • 15 and 16 are diagrams for describing a steering component according to an exemplary embodiment.
  • 17 is a diagram for describing a steering component according to an exemplary embodiment.
  • FIG. 18 is a diagram for describing a steering component according to an exemplary embodiment.
  • 19 is a diagram for explaining a metasurface according to an exemplary embodiment.
  • 20 is a diagram for explaining a metasurface according to an embodiment.
  • 21 is a diagram for explaining a metasurface according to an embodiment.
  • FIG. 22 is a diagram for explaining a rotating multi-faceted mirror according to an exemplary embodiment.
  • 23 is a top view for explaining the viewing angle of a rotating multi-faceted mirror in which the number of reflective surfaces is three and upper and lower portions of a body are in the form of an equilateral triangle.
  • 24 is a top view for explaining a viewing angle of a rotating multi-faceted mirror in which the number of reflective surfaces is four and upper and lower portions of a body are square.
  • 25 is a top view for explaining the viewing angle of a rotating multi-faceted mirror in which the number of reflection surfaces is five and the upper and lower portions of the body are in the shape of a regular pentagon.
  • 26 is a diagram for explaining an irradiating part and a light receiving part of a rotating multi-faceted mirror according to an exemplary embodiment.
  • 27 is a diagram for describing an optical unit according to an exemplary embodiment.
  • FIG. 28 is a diagram for describing an optical unit according to an exemplary embodiment.
  • 29 is a diagram for explaining a meta component according to an embodiment.
  • FIG. 30 is a diagram for explaining a meta component according to another embodiment.
  • FIG. 31 is a diagram for explaining a SPAD array according to an embodiment.
  • 32 is a diagram for explaining a histogram of SPAD according to an embodiment.
  • SiPM 34 is a diagram for explaining a histogram of SiPM according to an embodiment.
  • 35 is a diagram for explaining a semi-flash lidar according to an embodiment.
  • 36 is a diagram for explaining the configuration of a semi-flash lidar according to an embodiment.
  • FIG. 37 is a diagram for explaining a semi-flash lidar according to another embodiment.
  • 38 is a diagram for explaining the configuration of a semi-flash lidar according to another embodiment.
  • 39 is a diagram for explaining a lidar device according to an embodiment.
  • 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.
  • FIG. 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.
  • 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.
  • FIG. 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.
  • FIG. 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.
  • FIG. 80 is a diagram for explaining an operation of a data processing unit according to an exemplary embodiment.
  • 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.
  • the sub optic unit may further include a steering component.
  • 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.
  • 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.
  • 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.
  • the steering component may be disposed closer to the first optical unit than to the diffuser.
  • the angle of view of the diffuser may be greater than that of the first optical unit.
  • the size of the diffuser may be smaller than the diameter of the outermost lens of the first optical part.
  • the center of the diffuser may be aligned with the center of the first optical unit.
  • the diffuser may be disposed in an area where lasers output from the emission array overlap optical sights guided by the first optical unit.
  • the lidar device may include a window, and the sub-optical unit may be disposed in the window.
  • 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.
  • the sub-optical part may be integrally formed with the first optical part.
  • the sub optic part may be formed as a part of an outermost lens of the first optical part.
  • 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).
  • 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.
  • 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.
  • all of the preset clocks may be the same for the plurality of cycles.
  • the first delay value and the second delay value may be smaller than a unit length of a time bin of the histogram data.
  • the second delay value may be twice the first delay value.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the M cycles may be 128 cycles
  • the N delay values may be 16 delay values
  • the number of cycles to which the same delay value is applied may be 8.
  • 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.
  • 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.
  • 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 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.
  • 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).
  • SPAD single photon avalanche diode
  • a lidar device is a device for detecting a distance to and a position of an object by using a laser.
  • 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.
  • the distance and location of the object may be expressed through a coordinate system.
  • the distance and position of the object may be expressed in a spherical coordinate system (r, ⁇ , ⁇ ). However, it is not limited thereto, and may be expressed in a Cartesian coordinate system (X, Y, Z) or a cylindrical coordinate system (r, ⁇ , z).
  • 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 may use time of flight (TOF) of the laser from output to detection to measure the distance of the target object.
  • TOF time of flight
  • the lidar device may measure the distance of the object using a difference between a time value based on the output time of the laser and a time value based on the detected time of the laser reflected from the object and detected.
  • the 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.
  • the actual light emission point of the laser beam may be used.
  • 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.
  • the laser beam output from the laser output device may be directly sensed by the detector unit without passing through the target object.
  • the detector unit may be spaced apart from the laser output device at a distance of 1 mm, 1 um, 1 nm, etc., but is not limited thereto.
  • the detector unit may be disposed adjacent to the laser output device without being spaced apart from it.
  • An optic may be present between the detector unit and the laser output element, but is not limited thereto.
  • the lidar device may use a triangulation method, an interferometry method, a phase shift measurement method, and the like in addition to flight time to measure the distance of an object. Not limited.
  • LiDAR device may be installed in a vehicle.
  • the lidar device may be installed on the roof, hood, headlamp or bumper of a vehicle.
  • a plurality of lidar devices may be installed in 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.
  • 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 may be installed in a vehicle.
  • a lidar device 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 may be installed in an unmanned aerial vehicle.
  • 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).
  • a plurality of LiDAR devices may be 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.
  • 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 may be installed in a robot.
  • lidar devices may be installed in personal robots, professional robots, public service robots, other industrial robots, or manufacturing robots.
  • a plurality of lidar devices may be 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.
  • 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.
  • a lidar device may be installed in a robot.
  • a lidar device when installed in a robot, it may be for recognizing a human face, but is not limited thereto.
  • the lidar device according to one embodiment may be installed for industrial security.
  • LiDAR devices can be installed in smart factories for industrial security.
  • a plurality of lidar devices may be installed in a smart factory for industrial security.
  • one lidar device may be for observing the front and the other may be for observing the rear, but is not limited thereto.
  • 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 may be installed for industrial security.
  • a lidar device when installed for industrial security, it may be for recognizing a human face, but is not limited thereto.
  • FIG. 1 is a diagram for explaining a lidar device according to an embodiment.
  • a lidar apparatus 1000 may include a laser output unit 100.
  • the laser output unit 100 may emit a laser.
  • the laser output unit 100 may include one or more laser output devices.
  • 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.
  • 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.
  • LD laser diode
  • LED light entitling diode
  • VCSEL vertical cavity surface emitting laser
  • ECDL external cavity diode laser
  • the laser output unit 100 may output laser of a certain wavelength.
  • the laser output unit 100 may output a 905 nm band laser or a 1550 nm band laser.
  • the laser output unit 100 may output a laser of a 940 nm band.
  • the laser output unit 100 may output lasers including a plurality of wavelengths between 800 nm and 1000 nm.
  • 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.
  • a lidar device 1000 may include an optic unit 200 .
  • the optic unit may be variously expressed as a steering unit, a scanning unit, etc., but is not limited thereto.
  • the optical unit 200 may change the flight path of the laser.
  • the optic unit 200 may change the flight path of the laser beam emitted from the laser output unit 100 toward the scan area.
  • a laser flight path may be changed so that a laser reflected from an object located in the scan area is directed toward the detector unit.
  • the optic unit 200 may change the flight path of the laser by reflecting the laser.
  • 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.
  • a laser flight path may be changed so that a laser reflected from an object located in the scan area is directed toward the detector unit.
  • the optic unit 200 may include various optical means to reflect the laser beam.
  • 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.
  • VCM voice coil motor
  • a polygonal mirror a rotating mirror
  • a galvano mirror or the like may be included, but is not limited thereto.
  • the optic unit 200 may change the flight path of the laser by refracting the laser.
  • the optic unit 200 may refract the laser emitted from the laser output unit 100 to change the flight path of the laser to direct the laser to the scan area.
  • a laser flight path may be changed so that a laser reflected from an object located in the scan area is directed toward the detector unit.
  • the optic unit 200 may include various optical means to refract the laser beam.
  • the optic unit 200 may include a lens, a prism, a micro lens, or a microfluidie lens, but is not limited thereto.
  • the optic unit 200 may change the flight path of the laser by changing the phase of the laser.
  • 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.
  • a laser flight path may be changed so that a laser reflected from an object located in the scan area is directed toward the detector unit.
  • the optic unit 200 may include various optical means to change the phase of the laser.
  • the optic unit 200 may include, but is not limited to, an optical phased array (OPA), a meta lens, or a metasurface.
  • OPA optical phased array
  • meta lens a meta lens
  • metasurface a metasurface
  • the optic unit 200 may include one or more optical means. Also, for example, the optic unit 200 may include a plurality of optical means.
  • the lidar apparatus 100 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.
  • the detector unit 300 may detect the laser.
  • the detector unit may detect laser reflected from an object located within the scan area.
  • the detector unit 300 may receive a laser beam and generate an electrical signal based on the received laser beam.
  • 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.
  • 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.
  • 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.
  • the detector unit 300 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.
  • the detector unit 300 may include various sensor elements.
  • 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.
  • APD avalanche photodiode
  • APD avalanche photodiode
  • SPAD single-photon avalanche diode
  • SiPM silicon photomultipliers
  • TDC time to digital converter
  • a comparator a complementary metal-oxide-semiconductor (CMOS) or a charge coupled device (CCD) may be included, but is not limited thereto.
  • CMOS complementary metal-oxide-
  • the detector unit 300 may be a 2D SPAD array, but is not limited thereto.
  • a SPAD array may include a plurality of SPAD units, and a SPAD unit may include a plurality of SPADs (pixels).
  • the detector unit 300 may accumulate N number of histograms using a 2D SPAD array. For example, the detector unit 300 may use a histogram to detect a light reception time of a laser beam reflected from an object and received light.
  • the detector unit 300 may 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.
  • the detector unit 300 may include one or more sensor elements.
  • the detector unit 300 may include a single sensor element or may include a plurality of sensor elements.
  • the detector unit 300 may include one or more optical elements.
  • the detector unit 300 may include an aperture, a micro lens, a converging lens, or a diffuser, but is not limited thereto.
  • the detector unit 300 may include one or more optical filters.
  • the detector unit 300 may receive the laser reflected from the target object through an optical filter.
  • the detector unit 300 may include a band pass filter, a dichroic filter, a guided-mode resonance filter, a polarizer, a wedge filter, and the like, but is not limited thereto.
  • the lidar apparatus 1000 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.
  • the controller 400 may control the operation of the laser output unit 100, the optic unit 200, or the detector unit 300.
  • controller 400 may control the operation of the laser output unit 100 .
  • 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.
  • controller 400 may control the operation of the optical unit 200 .
  • the controller 400 may control the operating speed of the optical unit 200 .
  • the rotation speed of the rotation mirror can be controlled
  • the optic unit 200 includes a MEMS mirror the repetition period of the MEMS mirror can be controlled. may, but is not limited thereto.
  • the controller 400 may control the degree of operation of the optical unit 200 .
  • the optic unit 200 includes the MEMS mirror
  • the operating angle of the MEMS mirror may be controlled, but is not limited thereto.
  • controller 400 may control the operation of the detector unit 300 .
  • the controller 400 may control the sensitivity of the detector unit 300 .
  • the controller 400 may control the sensitivity of the detector unit 300 by adjusting a predetermined threshold value, but is not limited thereto.
  • the controller 400 may control the operation of the detector unit 300 .
  • 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.
  • controller 400 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 .
  • 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. .
  • 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 .
  • the lidar device 1000 sends a trigger signal for emitting a laser beam by the control unit 400 and the actual time when the laser beam is output from the laser output device. Since the laser beam is not actually output between the time point of the trigger signal and the time point of actual light emission, accuracy may decrease when included in the laser flight time.
  • the actual light emission point of the laser beam may be used. However, it may be difficult to determine the actual emission time point of the laser beam. Therefore, the laser beam output from the laser output device must be directly transmitted to the detector unit 300 without passing through the target object immediately or after being output.
  • the laser beam output from the laser output device by the optic can be directly sensed by the detector unit 300 without passing through the target object.
  • the optic may be a mirror, lens, prism, metasurface, etc., but is not limited thereto.
  • the optic may be one, but may be plural.
  • the laser beam output from the laser output device may be directly sensed by the detector unit 300 without passing through the target object.
  • the detector unit 300 may be separated from the laser output device at a distance of 1 mm, 1 um, 1 nm, etc., but is not limited thereto.
  • the detector unit 300 may be disposed adjacent to the laser output device without being spaced apart from it.
  • An optic may be present between the detector unit 300 and the laser output device, but is not limited thereto.
  • the laser output unit 100 may output a laser
  • the control unit 400 may obtain a time point at which the laser is output from the laser output unit 100
  • the laser output unit 100 may output the laser.
  • the detector unit 300 can detect the laser reflected from the object
  • the controller 400 can obtain a time point at which the laser was detected by the detector unit 300
  • the controller 400 may determine the distance to the object located in the scan area based on the output time and detection time of the laser.
  • the laser output unit 100 can output a laser, and the laser output from the laser output unit 100 can be directly detected by the detector unit 300 without passing through an object located in the scan area. and the controller 400 may obtain a point in time at which the laser that did not pass through the object was detected.
  • the detector unit 300 can detect the laser reflected from the object, and the controller 400 can detect the laser reflected from the detector unit 300.
  • the point of time at which L is detected may be obtained, and the controller 400 may determine the distance to the object located within the scan area based on the point of time of detecting the laser that has not passed through the object and the point of time of detecting the laser reflected from the object.
  • FIG. 2 is a diagram showing a lidar device according to an embodiment.
  • a lidar apparatus 1100 may include a laser output unit 100, an optic unit 200, and a detector unit 300.
  • a 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 .
  • FIG. 3 is a diagram showing a lidar device according to another embodiment.
  • a lidar device 1150 may include a laser output unit 100 , an optic unit 200 and a detector unit 300 .
  • a laser beam output from the laser output unit 100 may pass through the optic unit 200 . Also, the laser beam passing through the optic unit 200 may be irradiated toward the target object 500 . Also, the laser beam reflected from the target object 500 may pass through the optic unit 200 again.
  • the optic unit through which the laser beam is rough before being irradiated onto the target object and the optic unit through which the laser beam reflected on the target object passes may be physically the same optical unit, or may be physically different optical units.
  • a laser beam that has passed through the optic unit 200 may be received by the detector unit 300 .
  • FIG. 4 is a view showing a laser output unit according to an embodiment.
  • the laser output unit 100 may include a VCSEL emitter 110.
  • VCSEL emitter 110 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.
  • the VCSEL emitter 110 may emit a laser beam vertically from the top surface.
  • the VCSEL emitter 110 may emit a laser beam in a direction perpendicular to the surface of the upper metal contact 10 .
  • the VCSEL emitter 110 may emit a laser beam perpendicular to the acvite layer 40 .
  • the VCSEL emitter 110 may include an upper DBR layer 20 and a lower DBR layer 30.
  • the upper DBR layer 20 and the lower DBR layer 30 may include a plurality of reflective layers.
  • a reflective layer having a high reflectance and a reflective layer having a low reflectance may be alternately disposed.
  • the thickness of the plurality of reflective layers may be 1/4 of the wavelength of the laser emitted from the VCSEL emitter 110 .
  • the upper DBR layer 20 and the lower DBR layer 30 may be doped with p-type or n-type.
  • the upper DBR layer 20 may be doped with p-type and the lower DBR layer 30 may be doped with n-type.
  • the upper DBR layer 20 may be doped with an n-type, and the lower DBR layer 30 may be doped with a p-type.
  • a substrate 50 may be disposed between the lower DBR layer 30 and the lower metal contact 60 .
  • the substrate 50 may also become a p-type substrate, and when the lower DBR layer 30 is doped with n-type, the substrate 50 may also become an n-type substrate. there is.
  • the VCSEL emitter 110 may include an active layer 40.
  • the active layer 40 may be disposed between the upper DBR layer 20 and the lower DBR layer 30.
  • the active layer 40 may include a plurality of quantum wells generating laser beams.
  • the active layer 40 may emit a laser beam.
  • the VCSEL emitter 110 may include a metal contact for electrical connection with a power source or the like.
  • the VCSEL emitter 110 may include an upper metal contact 10 and a lower metal contact 60 .
  • the VCSEL emitter 110 may be electrically connected to the upper DBR layer 20 and the lower DBR layer 30 through metal contacts.
  • p-type power is supplied to the upper metal contact 10 to and electrically connected to the lower DBR layer 30 by supplying n-type power to the lower metal contact 60 .
  • n-type power is supplied to the upper metal contact 10 so that the upper DBR layer 30 is doped with n-type. It is electrically connected to the layer 20, and p-type power is supplied to the lower metal contact 60 so that it can be electrically connected to the lower DBR layer 30.
  • the VCSEL emitter 110 may include an oxidation area. Oxidation area may be disposed above the active layer.
  • An oxidation area according to an embodiment may have insulating properties. For example, electrical flow may be restricted in the oxidation area. For example, electrical connections may be limited in the oxidation area.
  • the oxidation area may serve as an aperture. Specifically, since the oxidation area has insulating properties, the beam generated from the active layer 40 can be emitted only in a portion other than the oxidation area.
  • the laser output unit may include a plurality of VCSEL emitters 110.
  • the laser output unit may turn on a plurality of VCSEL emitters 110 at once or individually.
  • the laser output unit may emit laser beams of various wavelengths.
  • the laser output unit may emit a laser beam having a wavelength of 905 nm.
  • the laser output unit may emit a laser beam having a wavelength of 1550 nm.
  • the wavelength output from the laser output unit may be changed by the surrounding environment.
  • the surrounding environment may include, but is not limited to, temperature, humidity, pressure, concentration of dust, amount of ambient light, altitude, gravity, and acceleration.
  • the laser output unit may emit a laser beam in a direction perpendicular to the support surface.
  • the laser output unit may emit a laser beam in a direction perpendicular to the emission surface.
  • FIG. 5 is a diagram showing a VCSEL unit according to an embodiment.
  • the laser output unit 100 may include a VCSEL unit 130.
  • VCSEL unit 130 may include a plurality of VCSEL emitters 110.
  • a plurality of VCSEL emitters 110 may be arranged in a honeycomb structure, but is not limited thereto.
  • one honeycomb structure may include seven VCSEL emitters 110, but is not limited thereto.
  • all of the VCSEL emitters 110 included in the VCSEL unit 130 may be radiated in the same direction.
  • all 400 VCSEL emitters 110 included in the VCSEL unit 130 may be radiated in the same direction.
  • the VCSEL unit 130 can be distinguished by the irradiation direction of the output laser beam. For example, when all N VCSEL emitters 110 output laser beams in a first direction and all M VCSEL emitters 110 output laser beams in a second direction, the N VCSEL emitters 110 ) may be distinguished as a first VCSEL unit, and the M number of VCSEL emitters 110 may be distinguished as a second VCSEL unit.
  • the VCSEL unit 130 may include a metal contact.
  • the VCSEL unit 130 may include a p-type metal and an n-type metal.
  • a plurality of VCSEL emitters 110 included in the VCSEL unit 130 may share a metal contact.
  • FIG. 6 is a diagram showing a VCSEL array according to an embodiment.
  • the laser output unit 100 may include a VCSEL array 150. 6 shows an 8X8 VCSEL array, but is not limited thereto.
  • a VCSEL array 150 may include a plurality of VCSEL units 130.
  • a plurality of VCSEL units 130 may be arranged in a matrix structure, but is not limited thereto.
  • the plurality of VCSEL units 130 may be an N X N matrix, but is not limited thereto. Also, for example, the plurality of VCSEL units 130 may be an N X M matrix, but is not limited thereto.
  • the VCSEL array 150 may include a metal contact.
  • the VCSEL array 150 may include a p-type metal and an n-type metal.
  • the plurality of VCSEL units 130 may share a metal contact, but may have independent metal contacts without sharing a metal contact.
  • FIG. 7 is a side view illustrating a VCSEL array and metal contacts according to an exemplary embodiment.
  • the laser output unit 100 may include a VCSEL array 151.
  • 6 shows a 4X4 VCSEL array, but is not limited thereto.
  • the VCSEL array 151 may include a first metal contact 11 , a wire 12 , a second metal contact 13 , and a VCSEL unit 130 .
  • a VCSEL array 151 may include a plurality of VCSEL units 130 arranged in a matrix structure. At this time, each of the plurality of VCSEL units 130 may be independently connected to the metal contact. For example, the plurality of VCSEL units 130 share the first metal contact 11 and are connected together to the first metal contact, but do not share the second metal contact 13 and are independently connected to the second metal contact. can Also, for example, the plurality of VCSEL units 130 may be directly connected to the first metal contact 11 and connected to the second metal contact through a wire 12 . At this time, the number of required wires 12 may be equal to the number of the plurality of VCSEL units 130. For example, when the VCSEL array 151 includes a plurality of VCSEL units 130 arranged in an N ⁇ M matrix structure, the number of wires 12 may be N ⁇ M.
  • first metal contact 11 and the second metal contact 13 may be different from each other.
  • first metal contact 11 may be an n-type metal
  • second metal contact 13 may be a p-type metal
  • first metal contact 11 may be a p-type metal
  • second metal contact 13 may be an n-type metal.
  • FIG. 8 is a diagram showing a VCSEL array according to an embodiment.
  • the laser output unit 100 may include a VCSEL array 153. 7 shows a 4X4 VCSEL array, but is not limited thereto.
  • a VCSEL array 153 may include a plurality of VCSEL units 130 arranged in a matrix structure.
  • the plurality of VCSEL units 130 may share metal contacts, but may have independent metal contacts without sharing metal contacts.
  • the plurality of VCSEL units 130 may share the first metal contact 15 in units of rows.
  • the plurality of VCSEL units 130 may share the second metal contact 17 in a column unit.
  • first metal contact 15 and the second metal contact 17 may be different from each other.
  • first metal contact 15 may be an n-type metal
  • second metal contact 17 may be a p-type metal
  • first metal contact 15 may be a p-type metal
  • second metal contact 17 may be an n-type metal.
  • the VCSEL unit 130 may be electrically connected to the first metal contact 15 and the second metal contact 17 through the wire 12 .
  • the VCSEL array 153 may operate in an addressable manner.
  • a plurality of VCSEL units 130 included in the VCSEL array 153 may operate independently regardless of other VCSEL units.
  • the VCSEL units in one row and one column can operate. Also, for example, if power is supplied to the first metal contact 15 in row 1 and the second metal contact 17 in columns 1 and 3, the VCSEL unit in row 1 and column 1 and the VCSEL unit in row 1 and column 3 may operate.
  • the VCSEL units 130 included in the VCSEL array 153 may operate with a certain pattern.
  • the VCSEL unit of 1 row and 1 column operates, the VCSEL unit of 1 row and 2 columns, the VCSEL unit of 1 row and 3 columns, the VCSEL unit of 1 row and 4 columns, the VCSEL unit of 2 rows and 1 column, and the VCSEL unit of 2 rows and 2 columns, etc. It operates, and can have a certain pattern with the VCSEL unit of 4 rows and 4 columns as the last.
  • the VCSEL 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.
  • the VCSEL units 130 included in the VCSEL array 153 may operate with an irregular pattern.
  • the VCSEL units 130 included in the VCSEL array 153 may operate without a pattern.
  • VCSEL units 130 may operate randomly. When the VCSEL units 130 operate randomly, interference between the VCSEL units 130 can be prevented.
  • the flash method is a method using the spread of a laser beam to an object by divergence of the laser beam.
  • a high-power laser beam is required to direct a laser beam to a target that exists at a distance. Since a high-power laser beam needs to apply a high voltage, the power increases. In addition, since it can damage a person's eyes, there is a limit to the distance that lidar using the flash method can measure.
  • the scanning method is a method of directing a laser beam emitted from a laser output unit in a specific direction.
  • Laser power loss can be reduced by directing a scanning laser beam in a specific direction. Since the loss of laser power can be reduced, compared to the flash method, the distance that can be measured by lidar is longer in the scanning method even when using the same laser power. In addition, compared to the flash method, since the laser power for measuring the same distance is lower in the scanning method, stability to the human eye can be improved.
  • Laser beam scanning may consist of collimation and steering.
  • laser beam scanning may be performed by collimating the laser beam and then steering the laser beam.
  • laser beam scanning may be performed in a manner of performing collimation after steering.
  • FIG. 9 is a diagram for explaining a lidar device according to an embodiment.
  • a lidar apparatus 1200 may include a laser output unit 100 and an optic unit.
  • the optic unit may include the BCSC 250.
  • the BCSC 250 may include a collimation component 210 and a steering component 230.
  • the BCSC 250 may be configured as follows.
  • the collimation component 210 first collimates the laser beam, and the collimated laser beam may be steered through the steering component 230 .
  • the steering component 230 may first steer the laser beam, and the steered laser beam may be collimated through the collimation component 210 .
  • the light path of the lidar device 1200 is as follows.
  • a laser beam emitted from the laser output unit 100 may be directed to the BCSC 250 .
  • a laser beam incident to the BCSC 250 may be collimated by the collimation component 210 and directed to the steering component 230 .
  • a laser beam incident to the steering component 230 may be steered and directed toward an object.
  • a laser beam incident to the object 500 may be reflected by the object 500 and directed to the detector unit.
  • the laser beam emitted from the laser output unit has directivity, a certain degree of divergence may occur as the laser beam travels straight. Due to this divergence, the laser beam emitted from the laser output unit may not be incident on the object, or even if it is incident, the amount may be very small.
  • the degree of divergence of the laser beam When the degree of divergence of the laser beam is large, the amount of the laser beam incident on the object is reduced, and the amount of the laser beam reflected from the object and directed toward the detector is also very small due to the divergence, so that desired measurement results may not be obtained.
  • the degree of divergence of the laser beam is large, the distance that can be measured by the lidar device is reduced, and thus a distant object may not be measured.
  • the efficiency of the LIDAR device may be improved as the degree of divergence of the laser beam emitted from the laser output unit is reduced before the laser beam is incident to the target object.
  • the collimation component of the present invention can reduce the degree of divergence of the laser beam.
  • a laser beam passing through the collimation component may become collimated light.
  • the laser beam passing through the collimation component may have a degree of divergence of 0.4 degrees to 1 degree.
  • the amount of light incident to the object may be increased.
  • the amount of light reflected from the object also increases, so that the laser beam can be received efficiently.
  • the amount of light incident on the target object is increased, it is possible to measure an object at a greater distance with the same laser beam power compared to before the collimation of the laser beam.
  • FIG. 10 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • a collimation component 210 may 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.
  • 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.
  • FIG. 11 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • a collimation component 210 may include a plurality of micro lenses 211 and a substrate 213 .
  • the micro lens may have a diameter of millimeters (mm), micrometers (um), nanometers (nm), picometers (pm), etc., but is not limited thereto.
  • a plurality of micro lenses 211 may be disposed on the substrate 213 .
  • a plurality of micro lenses 211 and a substrate 213 may be disposed on the plurality of VCSEL emitters 110 .
  • one of the plurality of micro lenses 211 may be arranged to correspond to one of the plurality of VCSEL emitters 110, but is not limited thereto.
  • the plurality of micro lenses 211 may collimate laser beams emitted from the plurality of VCSEL emitters 110 .
  • the laser beam emitted from one of the plurality of VCSEL emitters 110 may be collimated by one of the plurality of micro lenses 211 .
  • a divergence angle of a laser beam emitted from one of the plurality of VCSEL emitters 110 may decrease after passing through one of the plurality of micro lenses 211 .
  • the plurality of micro lenses according to an embodiment may be a refractive index distribution type lens, a microcurved surface lens, an array lens, a Fresnel lens, and the like.
  • the plurality of micro lenses according to an embodiment may be manufactured by methods such as molding, ion exchange, diffusion polymerization, sputtering, and etching.
  • the plurality of micro lenses according to an embodiment may have a diameter of 130 um to 150 um.
  • the diameter of the plurality of micro lenses may be 140um.
  • the plurality of micro lenses may have a thickness of 400 um to 600 um.
  • the thickness of the plurality of micro lenses may be 500um.
  • FIG. 12 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • a collimation component 210 may include a plurality of micro lenses 211 and a substrate 213 .
  • a plurality of micro lenses 211 may be disposed on the substrate 213 .
  • a plurality of micro lenses 211 may be disposed on the front and rear surfaces of the substrate 213 .
  • the optical axes of the micro lenses 211 disposed on the surface of the substrate 213 and the micro lenses 211 disposed on the rear surface of the substrate 213 may coincide.
  • FIG. 13 is a diagram for explaining a collimation component according to an exemplary embodiment.
  • a collimation component may include a metasurface 220.
  • the metasurface 220 may include a plurality of nanocolumns 221 .
  • the plurality of nanocolumns 221 may be disposed on one side of the metasurface 220 .
  • the plurality of nanocolumns 221 may be disposed on both sides of the metasurface 220 .
  • the plurality of nanocolumns 221 may have sub-wavelength dimensions. For example, an interval between the plurality of nanocolumns 221 may be smaller than a wavelength of a laser beam emitted from the laser output unit 100 . Alternatively, the width, diameter, and height of the nanocolumns 221 may be smaller than the wavelength of the laser beam.
  • the metasurface 220 may refract the laser beam by adjusting the phase of the laser beam emitted from the laser output unit 100 .
  • the metasurface 220 may refract laser beams output from the laser output unit 100 in various directions.
  • the metasurface 220 may collimate the laser beam emitted from the laser output unit 100 .
  • the metasurface 220 may reduce a divergence angle of a laser beam emitted from the laser output unit 100 .
  • the divergence angle of the laser beam emitted from the laser output unit 100 may be 15 degrees to 30 degrees, and the divergence angle of the laser beam after passing through the metasurface 220 may be 0.4 degrees to 1.8 degrees.
  • the metasurface 220 may be disposed on the laser output unit 100 .
  • the metasurface 220 may be disposed on the emission surface side of the laser output unit 100 .
  • the metasurface 220 may be deposited on the laser output unit 100 .
  • a plurality of nanocolumns 221 may be formed on top of the laser output unit 100 .
  • the plurality of nanocolumns 221 may form various nanopatterns on the laser output unit 100 .
  • the nanocolumns 221 may have various shapes.
  • the nanocolumn 221 may have a shape such as a cylinder, a polygonal column, a cone, or a polygonal pyramid.
  • the nanocolumns 221 may have an irregular shape.
  • FIG. 14 is a diagram for describing a steering component according to an exemplary embodiment.
  • the steering component 230 may be disposed in a direction in which a laser beam emitted from the laser output unit 100 is directed.
  • the steering component 230 can adjust the direction the laser beam is directed.
  • the steering component 230 may adjust an angle between an optical axis of a laser light source and a laser beam.
  • the steering component 230 may steer the laser beam such that an angle between the optical axis of the laser light source and the laser beam is between 0 degrees and 30 degrees.
  • the steering component 230 may steer the laser beam such that an angle between the optical axis of the laser light source and the laser beam is -30 degrees to 0 degrees.
  • 15 and 16 are diagrams for describing a steering component according to an exemplary embodiment.
  • a steering component 231 may include a plurality of micro lenses 231 and a substrate 233 .
  • a plurality of micro lenses 232 may be disposed on the substrate 233 .
  • a plurality of micro lenses 232 and a substrate 233 may be disposed on the plurality of VCSEL emitters 110 .
  • one of the plurality of micro lenses 232 may be arranged to correspond to one of the plurality of VCSEL emitters 110, but is not limited thereto.
  • the plurality of micro lenses 232 may steer laser beams emitted from the plurality of VCSEL emitters 110 . At this time, a laser beam emitted from one of the plurality of VCSEL emitters 110 may be steered by one of the plurality of micro lenses 232 .
  • the optical axis of the micro lens 232 and the optical axis of the VCSEL emitter 110 may not coincide.
  • the laser beam emitted from the VCSEL emitter 110 and passing through the micro lens 232 is on the left side.
  • the laser beam emitted from the VCSEL emitter 110 and passing through the micro lens 232 is on the left side.
  • the laser beam emitted from the VCSEL emitter 110 passes through the micro lens 232. can be directed to the right.
  • the steering degree of the laser beam may increase.
  • the angle between the optical axis of the laser light source and the laser beam may be greater than when the distance is 1um.
  • 17 is a diagram for describing a steering component according to an exemplary embodiment.
  • a steering component 234 may include a plurality of micro prisms 235 and a substrate 236 .
  • a plurality of micro prisms 235 may be disposed on the substrate 236 .
  • a plurality of micro prisms 235 and a substrate 236 may be disposed on the plurality of VCSEL emitters 110 .
  • the plurality of micro prisms 235 may be arranged to correspond to one of the plurality of VCSEL emitters 110, but is not limited thereto.
  • the plurality of micro prisms 235 may steer laser beams emitted from the plurality of VCSEL emitters 110 .
  • the plurality of micro prisms 235 may change an angle between an optical axis of a laser light source and a laser beam.
  • the angle between the optical axis of the laser light source and the laser beam increases.
  • the angle of the micro prism 235 is 0.05 degrees
  • the laser beam is steered by 35 degrees
  • the angle of the micro prism 235 is 0.25 degrees
  • the laser beam is steered by 15 degrees.
  • the plurality of micro prisms 235 may be Porro prism, Amici roof prism, Pentaprism, Dove prism, Retroreflector prism, and the like. Also, the plurality of micro prisms 235 may be made of glass, plastic, or fluorite. In addition, the plurality of micro prisms 235 may be manufactured by molding, etching, or the like.
  • irregular reflection due to surface roughness may be prevented by smoothing the surface of the microprism 235 through a polishing process.
  • the micro prisms 235 may be disposed on both sides of the substrate 236 .
  • microprisms disposed on the first surface of the substrate 236 steer the laser beam along a first axis
  • microprisms disposed on the second surface of the substrate 236 steer the laser beam along a second axis. can make it
  • FIG. 18 is a diagram for describing a steering component according to an exemplary embodiment.
  • a steering component may include a metasurface 240 .
  • the metasurface 240 may include a plurality of nanocolumns 241 .
  • the plurality of nanocolumns 241 may be disposed on one side of the metasurface 240 .
  • the plurality of nanocolumns 241 may be disposed on both sides of the metasurface 240 .
  • the metasurface 240 may refract the laser beam by adjusting the phase of the laser beam emitted from the laser output unit 100 .
  • the metasurface 240 may be disposed on the laser output unit 100 .
  • the metasurface 240 may be disposed on the emission surface side of the laser output unit 100 .
  • the metasurface 240 may be deposited on the laser output unit 100 .
  • a plurality of nanocolumns 241 may be formed on top of the laser output unit 100 .
  • the plurality of nanocolumns 241 may form various nanopatterns on the laser output unit 100 .
  • the nanocolumns 241 may have various shapes.
  • the nanocolumn 241 may have a shape such as a cylinder, a polygonal column, a cone, or a polygonal pyramid.
  • the nanocolumns 241 may have an irregular shape.
  • the plurality of nanopillars 241 may form various nanopatterns.
  • the metasurface 240 may steer a laser beam emitted from the laser output unit 100 based on the nanopattern.
  • the nanocolumns 241 may form nanopatterns based on various characteristics.
  • the characteristics may include a width (W), a pitch (P), a height (H), and the number per unit length of the nanocolumns 241 .
  • nanopatterns formed based on various characteristics and steering of a laser beam according to the nanopatterns will be described.
  • 19 is a diagram for explaining a metasurface according to an exemplary embodiment.
  • a metasurface 240 may include a plurality of nanocolumns 241 having different widths W.
  • a nanopattern may be formed based on the width W of the plurality of nanocolumns 241 .
  • the plurality of nanocolumns 241 may be arranged such that the widths W1 , W2 , and W3 increase in one direction.
  • the laser beam emitted from the laser output unit 100 may be steered in a direction in which the width W of the nanocolumns 241 increases.
  • the metasurface 240 includes first nanocolumns 243 having a first width W1, second nanocolumns 245 having a second width W2, and a third width W3.
  • a third nanocolumn 247 may be included.
  • the first width W1 may be greater than the second and third widths W2 and W3.
  • the second width W2 may be greater than the third width W3. That is, the width W of the nanocolumn 241 may decrease from the first nanocolumn 243 to the third nanocolumn 247 side.
  • the first direction emitted from the laser output unit 100 and the first nanocolumn 243 from the third nanocolumn 247 ) may be steered in a direction between the second direction, which is the direction toward.
  • the steering angle ⁇ of the laser beam may vary according to the rate of change of the width W of the nanocolumn 241 .
  • the increase/decrease rate of the width W of the nanocolumns 241 may mean a numerical value representing the average degree of increase/decrease of the width W of a plurality of adjacent nanocolumns 241 .
  • the rate of increase in the width W of the nanocolumns 241 is calculated based on the difference between the first width W1 and the second width W2 and the difference between the second width W2 and the third width W3.
  • the difference between the first width W1 and the second width W2 may be different from the difference between the second width W2 and the third width W3.
  • the steering angle ⁇ of the laser beam may vary according to the width W of the nanocolumns 241 .
  • the steering angle ⁇ may increase as the rate of change of the width W of the nanocolumn 241 increases.
  • the nanocolumn 241 may form a first pattern having a first increase/decrease rate based on the width W of the nanocolumn 241 .
  • the nanocolumn 241 may form a second pattern having a second increase/decrease rate smaller than the first increase/decrease rate based on the width W of the nanocolumn 241 .
  • the first steering angle according to the first pattern may be greater than the second steering angle according to the second pattern.
  • the range of the steering angle ⁇ may be -90 degrees to 90 degrees.
  • 20 is a diagram for explaining a metasurface according to an embodiment.
  • a metasurface 240 may include a plurality of nanocolumns 241 having different intervals P between adjacent nanocolumns 241 .
  • the plurality of nanocolumns 241 may form a nanopattern based on a change in the spacing P between adjacent nanocolumns 241 .
  • the metasurface 240 may steer the laser beam emitted from the laser output unit 100 based on the nanopattern formed based on the change in the spacing P between the nanocolumns 241 .
  • the spacing P between the nanocolumns 241 may decrease in one direction.
  • the distance P may mean a distance between centers of two adjacent nanocolumns 241 .
  • the first interval P1 may be defined as a distance between the center of the first nanocolumn 243 and the center of the second nanocolumn 245 .
  • the first interval P1 may be defined as the shortest distance between the first nanocolumns 243 and the second nanocolumns 245 .
  • a laser beam emitted from the laser output unit 100 may be steered in a direction in which the distance P between the nanocolumns 241 decreases.
  • the metasurface 240 may include first nanopillars 243 , second nanopillars 245 , and third nanopillars 247 .
  • the first interval P1 may be obtained based on the distance between the first nanocolumn 243 and the second nanocolumn 245 .
  • the second interval P2 may be obtained based on the distance between the second nanocolumn 245 and the third nanocolumn 247 .
  • the first interval P1 may be smaller than the second interval P2. That is, the distance P may increase from the first nanocolumn 243 toward the third nanocolumn 247.
  • the laser beam emitted from the laser output unit 100 passes through the metasurface 240, the laser beam is emitted from the first direction from the laser output unit 100 and the third nanocolumn 247. It can be steered in a direction between the first direction, which is the direction toward the 1 nanocolumn 243 .
  • the steering angle ⁇ of the laser beam may vary according to the distance P between the nanocolumns 241 .
  • the steering angle ⁇ of the laser beam may vary according to the rate of change of the distance P between the nanocolumns 241 .
  • the increase/decrease rate of the spacing P between the nanocolumns 241 may mean a numerical value representing an average degree of change in the spacing P between adjacent nanocolumns 241 .
  • the steering angle ⁇ of the laser beam may increase as the rate of change of the spacing P between the nanocolumns 241 increases.
  • the nanocolumns 241 may form a first pattern having a first increase/decrease rate based on the spacing P.
  • the nanocolumns 241 may form a second pattern having a second increase/decrease rate based on the spacing P.
  • the first steering angle according to the first pattern may be greater than the second steering angle according to the second pattern.
  • the steering principle of the laser beam according to the change in the spacing P of the nanocolumns 241 described above can be similarly applied even when the number of nanocolumns 241 per unit length is changed.
  • the laser beam emitted from the laser output unit 100 is divided into the first direction and the nanocolumns per unit length ( 241) may be steered in a direction between the second direction in which the number increases.
  • 21 is a diagram for explaining a metasurface according to an embodiment.
  • the metasurface 240 may include a plurality of nanocolumns 241 having different heights H of the nanocolumns 241 .
  • the plurality of nanocolumns 241 may form nanopatterns based on changes in the height H of the nanocolumns 241 .
  • the heights H1 , H2 , and H3 of the plurality of nanocolumns 241 may increase in one direction.
  • a laser beam emitted from the laser output unit 100 may be steered in a direction in which the height H of the nanocolumns 241 increases.
  • the 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 .
  • 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 ⁇ of the laser beam may vary according to the height H of the nanocolumns 241 .
  • the steering angle ⁇ of the laser beam may vary according to the rate of change of the height H of the nanocolumns 241 .
  • the increase/decrease rate of the height H of the nanocolumns 241 may mean a numerical value representing an average degree of change in the height H of adjacent nanocolumns 241 .
  • the rate of increase in the height H of the nanocolumns 241 is calculated based on the difference between the first height H1 and the second height H2 and the difference between the second height H2 and the third height H3.
  • the difference between the first height H1 and the second height H2 may be different from the difference between the second height H3 and the third height H3.
  • the steering angle ⁇ of the laser beam may increase as the rate of change of the height H of the nanocolumn 241 increases.
  • the nanocolumn 241 may form a first pattern having a first increase/decrease rate based on its height H.
  • the nanocolumn 241 may form a second pattern having a second increase/decrease rate based on the height H of the nanocolumn 241 .
  • the first steering angle according to the first pattern may be greater than the second steering angle according to the second pattern.
  • the steering component 230 may include a mirror that reflects the laser beam.
  • steering component 230 may include planar mirrors, multi-sided mirrors, resonant mirrors, MEMS mirrors, and galvano mirrors.
  • the steering component 230 may include a polygonal mirror that rotates 360 degrees along one axis and a nodding mirror that is repeatedly driven in a preset range along one axis.
  • FIG. 22 is a diagram for describing a multi-sided mirror that is a steering component according to an exemplary embodiment.
  • a rotating multi-faceted mirror 600 may include a reflective surface 620 and a body, and vertically penetrates the upper part 615 and the lower part 610 of the body through the center. It can rotate about the rotation axis 630 that does.
  • the rotating multi-faceted mirror 600 may be composed of only some of the above-described components, and may include more components.
  • the rotating multi-faceted mirror 600 may include a reflective surface 620 and a body, and the body may include only the lower portion 610. At this time, the reflective surface 620 may be supported on the lower part 610 of the body.
  • the reflective surface 620 is a surface for reflecting the received laser beam and may include a reflective mirror or reflective plastic, but is not limited thereto.
  • the reflective surface 620 may be installed on a side surface of the body except for the upper part 610 and the lower part 615, and may be installed so that the rotation axis 630 and the normal line of each reflective surface 620 are orthogonal. there is. This may be to repeatedly scan the same scan area by making the scan area of the laser irradiated from each of the reflective surfaces 620 the same.
  • the reflective surface 620 may be installed on a side surface of the body except for the upper part 610 and the lower part 615, and the normal line of each reflective surface 620 has a different angle from the rotation axis 630, respectively. may be installed. This may be to expand the scan area of the lidar device by making the scan area of the laser irradiated from each of the reflective surfaces 620 different.
  • the reflective surface 620 may have a rectangular shape, but is not limited thereto, and may have various shapes such as a triangle and a trapezoid.
  • the body is for supporting the reflection surface 620 and may include an upper part 615, a lower part 610, and a pillar 612 connecting the upper part 615 and the lower part 610.
  • the pillar 612 may be installed to connect the centers of the upper part 615 and the lower part 610 of the body, and installed to connect each vertex of the upper part 615 and the lower part 610 of the body. It may be installed to connect each corner of the upper part 615 and the lower part 610 of the body, but the structure for connecting and supporting the upper part 615 and lower part 610 of the body is not limited. .
  • the body may be coupled to the driving unit 640 in order to receive driving force for rotation, and may be coupled to the driving unit 640 through the lower part 610 of the body, or through the upper part 615 of the body. It may also be fastened to the driving unit 640 .
  • the upper part 615 and the lower part 610 of the body may have a polygonal shape.
  • the upper part 615 of the body and the lower part 610 of the body may have the same shape, but are not limited thereto, and the upper part 615 of the body and the lower part 610 of the body may have different shapes. You may.
  • the upper part 615 and the lower part 610 of the body may have the same size.
  • the size of the upper portion 615 of the body and the lower portion 610 of the body may be different from each other without being limited thereto.
  • the upper part 615 and/or lower part 610 of the body may include an empty space through which air may pass.
  • the rotating multi-sided mirror 600 is described as a hexahedron in the form of a quadrangular column including four reflective surfaces 620, but the reflective surfaces 620 of the rotating multi-sided mirror 600 are necessarily four. It is not necessarily a hexahedron in the form of a quadrangular prism.
  • the lidar device may further include an encoder unit.
  • the LIDAR device may control the operation of the rotating multi-faceted mirror 600 using the detected rotation angle.
  • the encoder unit may be included in the rotating multi-sided mirror 600 or may be disposed spaced apart from the rotating multi-sided mirror 600 .
  • LiDAR devices may have different FOVs required depending on their use. For example, in the case of a fixed lidar device for 3D mapping, a wide viewing angle in the vertical and horizontal directions may be required, and in the case of a lidar device placed in a vehicle, a relatively wide viewing angle in the horizontal direction is required. In comparison, a relatively narrow viewing angle in the vertical direction may be required. In addition, lidar deployed on drones may require the widest possible angle of view in vertical and horizontal directions.
  • the scan area of the lidar device may be determined based on the number of reflective surfaces of the rotating multi-faceted mirror, and accordingly, the viewing angle of the lidar device may be determined. Therefore, the number of reflective surfaces of the rotating multi-faceted mirror can be determined based on the viewing angle of the lidar device required.
  • 23 to 25 are views explaining the relationship between the number of reflective surfaces and the viewing angle.
  • 23 to 25 describe the case of three, four, or five reflective surfaces, but the number of reflective surfaces is not determined, and if the number of reflective surfaces is different, it can be easily calculated by inferring the description below.
  • 22 to 24 describe the case where the upper and lower portions of the body are regular polygons, but even when the upper and lower portions of the body are not regular polygons, the following description can be inferred and easily calculated.
  • FIG. 23 is a top view for explaining the viewing angle of the rotating multi-faceted mirror 650 in which the number of reflection surfaces is three and the upper and lower portions of the body are in the form of an equilateral triangle.
  • a laser 653 may be incident in a direction coincident with a rotation axis 651 of the rotation multi-faceted mirror 650 .
  • the angle formed by the three reflection surfaces may be 60 degrees.
  • the rotating multi-sided mirror 650 is slightly rotated clockwise and positioned, the laser is reflected upward on the drawing, and the rotating multi-sided mirror is slightly rotated counterclockwise. The laser may be reflected to a lower part on the drawing. Therefore, by calculating the path of the reflected laser with reference to FIG. 23, the maximum viewing angle of the rotating multi-faceted mirror can be found.
  • the reflected laser when reflected through the first reflective surface of the rotating multi-faceted mirror 650, the reflected laser may be reflected upward at an angle of 120 degrees with the incident laser 653.
  • the reflected laser beam when reflected through the third reflective surface of the rotating multi-faceted mirror, the reflected laser beam may be reflected downward at an angle of 120 degrees with respect to the incident laser beam.
  • the maximum viewing angle of the rotational multi-faceted mirror may be 240 degrees.
  • 24 is a top view for explaining the viewing angle of the rotating multi-faceted mirror in which the number of reflective surfaces is four and upper and lower portions of the body are square.
  • a laser 663 may be incident in a direction coincident with a rotational axis 661 of the rotating multi-faceted mirror 660 .
  • the angle formed by the four reflective surfaces may be 90 degrees.
  • the rotating multi-sided mirror 660 rotates slightly clockwise and is positioned, the laser is reflected upward on the drawing, and the rotating multi-sided mirror 660 rotates slightly counterclockwise to position In this case, the laser may be reflected to the lower part on the drawing. Therefore, by calculating the path of the reflected laser with reference to FIG. 24 , the maximum viewing angle of the rotating multi-faceted mirror 660 can be found.
  • the reflected laser when reflected through the first reflective surface of the rotating multi-faceted mirror 660, the reflected laser may be reflected upward at an angle of 90 degrees to the incident laser 663.
  • the reflected laser beam when reflected through the fourth reflective surface of the rotating multi-faceted mirror 660, the reflected laser beam may be reflected downward at an angle of 90 degrees with the incident laser beam 663.
  • the maximum viewing angle of the rotating multi-sided mirror 660 may be 180 degrees.
  • 24 is a top view for explaining a viewing angle of a rotating multi-faceted mirror in which the number of reflection surfaces is five and upper and lower portions of the body are in the shape of a regular pentagon.
  • a laser 673 may be incident in a direction coincident with a rotational axis 671 of the rotating multi-faceted mirror 670 .
  • the angle formed by the five reflection surfaces may be 108 degrees.
  • the rotating multi-sided mirror 670 rotates clockwise slightly and is positioned, the laser is reflected upward on the drawing, and the rotating multi-sided mirror 670 rotates slightly counterclockwise to When positioned, the laser can be reflected to the lower part on the drawing. Therefore, by calculating the path of the reflected laser with reference to FIG. 24, the maximum viewing angle of the rotating multi-faceted mirror can be found.
  • the reflected laser when reflected through the first reflection surface of the rotating multi-faceted mirror 670, the reflected laser may be reflected upward at an angle of 72 degrees with the incident laser 673. In addition, when reflected through the 5th reflective surface of the rotating multi-faceted mirror 670, the reflected laser may be reflected downwardly with the incident laser 673 at an angle of 72 degrees.
  • the maximum viewing angle of the rotating multi-faceted mirror may be 144 degrees.
  • the viewing angle determined by the rotating multi-faceted mirror in the lidar device may be smaller than the calculated maximum value. Also, at this time, the lidar device may use only a portion of each reflective surface of the rotating multi-faceted mirror for scanning.
  • the rotating multi-sided mirror can be used to irradiate the laser emitted from the laser output unit toward the scan area of the LIDAR device, and reflect the object on the scan area. It can be used to receive the laser beam to the detector unit.
  • each reflective surface of the rotating multi-faceted mirror used to irradiate the emitted laser into the scanning area of the LIDAR device will be referred to as an irradiation portion.
  • a portion of each reflective surface of the rotating multi-faceted mirror for receiving laser reflected from an object existing on the scan area into the detector unit will be referred to as a light receiving portion.
  • 26 is a diagram for explaining an irradiating part and a light receiving part of a rotating multi-faceted mirror according to an exemplary embodiment.
  • the laser emitted from the laser output unit 100 may have a dot-shaped irradiation area and may be incident on the reflective surface of the rotating multi-faceted mirror 700 .
  • the laser emitted from the laser output unit 100 may have a line or planar irradiation area.
  • the irradiation part 720 of the rotating multi-sided mirror 700 determines the point where the emitted laser meets the rotating multi-sided mirror. It may be in the form of lines connected in the direction of rotation of the multi-sided mirror. Therefore, in this case, the irradiation part 720 of the rotational multi-faceted mirror 700 may be positioned in a line form in a direction perpendicular to the rotational axis 710 of the rotational multi-faceted mirror 700 on each reflection surface.
  • the laser irradiated from the irradiation part 720 of the rotating multi-sided mirror 700 and irradiated to the scan area 510 of the lidar device 1000 is directed to the target object existing on the scan area 510 (500) , and the laser 735 reflected from the object 500 may be reflected in a greater range than the irradiated laser 725. Therefore, the laser 735 reflected from the object 500 is parallel to the irradiated laser beam and can be received by the LIDAR device 1000 in a wider range.
  • the laser 735 reflected from the target object 500 may be transmitted larger than the size of the reflective surface of the rotating multi-faceted mirror 700 .
  • the light-receiving part 730 of the rotating multi-sided mirror 700 is a part for receiving the laser 735 reflected from the object 500 to the detector unit 300, and the reflective surface of the rotating multi-sided mirror 700 It may be a part of the reflective surface smaller than the size.
  • the rotating multi-sided mirror 700 Among the reflective surfaces of the light-receiving portion 730, a portion that reflects light so as to be transmitted toward the detector unit 300 may be a light-receiving portion 730. Therefore, the light-receiving portion 730 of the rotating multi-sided mirror 700 may be a portion obtained by extending a portion of the reflective surface that is reflected so as to be transmitted toward the detector unit 300 in the direction of rotation of the rotating multi-sided mirror 700. there is.
  • the light receiving portion 730 of the rotating multi-faceted mirror 700 is transmitted toward the condensing lens among the reflective surfaces.
  • the reflective portion may be a portion extending in the direction of rotation of the rotating multi-faceted mirror 700 .
  • the irradiation part 720 and the light receiving part 730 of the rotating multi-sided mirror 700 are described as being spaced apart, but the irradiating part 720 and the light receiving part 730 of the rotating multi-faceted mirror 1550 A part of silver may overlap, and the irradiation part 720 may be included in the light receiving part 730.
  • the steering component 230 may include, but is not limited to, an optical phased array (OPA) in order to change the phase of the emitted laser and thereby change the irradiation direction.
  • OPA optical phased array
  • a lidar device may include an optic unit for directing a laser beam emitted from a laser output unit to an object.
  • the optic unit may include a Beam Collimation and Steering Component (BCSC) for collimating and steering a laser beam emitted from the laser output unit.
  • BCSC Beam Collimation and Steering Component
  • the BCSC may be composed of one component or may be composed of a plurality of components.
  • 27 is a diagram for describing an optical unit according to an exemplary embodiment.
  • an optical unit may include a plurality of components.
  • it may include a collimation component 210 and a steering component 230 .
  • the collimation component 210 may serve to collimate the beam emitted from the laser output unit 100, and the steering component 230 collimates the beam emitted from the collimation component 210. It can play a role of steering the mapped beam. As a result, a laser beam emitted from the optic unit may be directed in a predetermined direction.
  • the collimation component 210 may be a micro lens or a metasurface.
  • an optical array may be disposed on one side of the substrate or an optical array may be disposed on both sides of the substrate.
  • the laser beam may be collimated by a nanopattern formed by a plurality of nanocolumns included in the metasurface.
  • the steering component 230 may be a micro lens, a micro prism, or a metasurface.
  • an optical array may be disposed on one side of the substrate or an optical array may be disposed on both sides of the substrate.
  • steering may be performed by an angle of the microprism.
  • a laser beam may be steered by a nanopattern formed by a plurality of nanocolumns included in the metasurface.
  • the optic unit when the optic unit includes a plurality of components, correct arrangement between the plurality of components may be required. At this time, the collimation component and the steering component may be correctly arranged through an alignment mark.
  • a printed circuit board (PCB), a VCSEL array, a collimation component, and a steering component may be correctly arranged through an alignment mark.
  • the VCSEL array and collimation component can be correctly placed.
  • the collimation component and the steering component may be correctly arranged by inserting an alignment mark between the collimation components or at an edge portion of the collimation components.
  • FIG. 28 is a diagram for describing an optical unit according to an exemplary embodiment.
  • an optical unit may include one single component.
  • a meta component 270 may be included.
  • the meta component 270 may collimate or steer a laser beam emitted from the laser output unit 100 .
  • the meta component 270 includes a plurality of meta surfaces, one meta surface collimates the laser beam emitted from the laser output unit 100, and the other meta surface collimates the collimated laser beam. can be steered. It will be specifically described in FIG. 29 below.
  • the meta component 270 may collimate and steer a laser beam emitted from the laser output unit 100 by including one metasurface. It will be specifically described in FIG. 24 below.
  • 29 is a diagram for explaining a meta component according to an embodiment.
  • a meta component 270 may include a plurality of meta surfaces 271 and 273.
  • a first metasurface 271 and a second metasurface 273 may be included.
  • the first metasurface 271 may be disposed in a direction in which a laser beam is emitted from the laser output unit 100 .
  • the first metasurface 271 may include a plurality of nanocolumns.
  • the first metasurface may form a nanopattern by a plurality of 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.
  • the laser beam may be steered in a specific direction according to the spacing P, the height H, and the number per unit length of the plurality of nanocolumns.
  • FIG. 30 is a diagram for explaining a meta component according to another embodiment.
  • a meta component 270 may include one meta surface 274.
  • the metasurface 275 may include a plurality of nanocolumns on both sides.
  • the metasurface 275 may include a first set of nanopillars 276 on a first surface and a second set of nanopillars 278 on a second surface.
  • the metasurface 275 may be steered after collimating a laser beam emitted from the laser output unit 100 by means of a plurality of nano-columns forming respective nano-patterns on both sides.
  • the first nanopillar set 276 disposed on one side of the metasurface 275 may form a nanopattern.
  • a laser beam emitted from the laser output unit 100 may be collimated by the nanopattern formed by the first nanopillar set 276 .
  • the second nanopillar set 278 disposed on the other side of the metasurface 275 may form a nanopattern.
  • a laser beam passing through the first nanopillar 276 may be steered in a specific direction by the nanopattern formed by the second set of nanopillars 278 .
  • FIG. 31 is a diagram for explaining a SPAD array according to an embodiment.
  • the detector unit 300 may include a SPAD array 750.
  • 31 shows an 8X8 SPAD array, but is not limited thereto, and may be 10X10, 12X12, 24X24, 64X64, or the like.
  • the SPAD array 750 may include a plurality of SPADs 751 .
  • the plurality of SPADs 751 may be arranged in a matrix structure, but are not limited thereto and may be arranged in a circular, elliptical, or honeycomb structure.
  • the SPAD array 750 When a laser beam is incident on the SPAD array 750, photons can be detected by an avalanche phenomenon. According to one embodiment, the result by the SPAD array 750 may be accumulated in the form of a histogram.
  • 32 is a diagram for explaining a histogram of SPAD according to an embodiment.
  • the SPAD 751 may detect photons.
  • signals 766 and 767 may be generated.
  • recovery time may be required until it returns to a state in which photons can be detected again. If the recovery time does not pass after the SPAD 751 detects the photon, even if the photon is incident on the SPAD 751 at this time, the SPAD 751 cannot detect the photon. Therefore, the resolution of SPAD 751 can be determined by the recovery time.
  • the SPAD 751 may detect photons for a predetermined time after the laser beam is output from the laser output unit. At this time, the SPAD 751 may detect photons during a certain period of cycle. For example, the SPAD 751 may detect photons several times during a cycle according to the time resolution of the SPAD 751 . At this time, the time resolution of the SPAD 751 may be determined by the recovery time of the SPAD 751.
  • the SPAD 751 may detect photons reflected from an object and other photons. For example, the SPAD 751 may generate a signal 767 when detecting a photon reflected from an object.
  • the SPAD 751 may generate a signal 766 when detecting a photon other than a photon reflected from an object.
  • photons other than the photon reflected from the object may include sunlight, a laser beam reflected from a window, and the like.
  • the SPAD 751 may detect photons during a predetermined time cycle after outputting a laser beam from a laser output unit.
  • the SPAD 751 may detect photons during a first cycle after outputting a first laser beam from a laser output unit. In this case, the SPAD 751 may generate a first detecting signal 761 after detecting photons.
  • the SPAD 751 may output a second laser beam from the laser output unit and then detect photons during the second cycle. In this case, the SPAD 751 may generate a second detecting signal 762 after detecting photons.
  • the SPAD 751 may output a third laser beam from the laser output unit and then detect photons during the third cycle. In this case, the SPAD 751 may generate a third detecting signal 763 after detecting photons.
  • the SPAD 751 may output the Nth laser beam from the laser output unit and then detect photons during the Nth cycle. At this time, the SPAD 751 may generate an Nth detecting signal 764 after detecting photons.
  • the first detecting signal 761, the second detecting signal 762, the third detecting signal 763, and the Nth detecting signal 764 include a signal 767 by photons reflected from the object or A signal 766 by photons other than photons reflected from the object may be included.
  • the Nth detecting signal 764 may be a photon detecting signal during the Nth cycle after outputting the Nth laser beam.
  • N can be 5, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 200, 300, etc.
  • Signals by the SPAD 751 may be accumulated in the form of a histogram.
  • a histogram may have a plurality of histogram bins.
  • Signals by the SPAD 751 may be accumulated in the form of a histogram corresponding to each histogram bin.
  • the histogram may be formed by accumulating signals by one SPAD 751 or by accumulating signals by a plurality of SPADs 751 .
  • the histogram 765 may be created by accumulating the first detecting signal 761, the second detecting signal 762, the third detecting signal 763, and the Nth detecting signal 764.
  • the histogram 765 may include a signal by photons reflected from the object or a signal by other photons.
  • a signal generated by photons reflected from the object may be more quantitative and more regular than a signal generated by other photons.
  • a signal by a photon reflected from an object within a cycle may regularly exist at a specific time.
  • signals caused by sunlight are small and may exist irregularly.
  • a signal with a large histogram accumulation at a specific time is likely to be a signal caused by photons reflected from an object. Accordingly, a signal having a large amount of accumulation in the accumulated histogram 765 may be extracted as a signal by photons reflected from the object.
  • a signal having the highest value in the histogram 765 may be simply extracted as a signal generated by a photon reflected from an object.
  • signals of a predetermined amount 768 or more in the histogram 765 may be extracted as signals by photons reflected from the object.
  • distance information of the object may be calculated based on a generation time of the corresponding signal or a reception time of the photon.
  • a signal extracted from the histogram 765 may be a signal at one scan point.
  • one scan point may correspond to one SPAD.
  • signals extracted from a plurality of histograms may be signals at one scan point.
  • one scan point may correspond to a plurality of SPADs.
  • signals extracted from a plurality of histograms may be weighted and calculated as a signal at one scan point. At this time, the weight may be determined by the distance between the SPADs.
  • the signal at the first scan point has a weight of 0.8 for the signal of the first SPAD, a weight of 0.6 for the signal of the second SPAD, a weight of 0.4 for the signal of the third SPAD, and a weight of 0.4 for the signal of the fourth SPAD. It can be calculated by giving the signal a weight of 0.2.
  • the laser output unit may output a laser beam addressably.
  • the laser output unit may output a laser beam addressably for each big cell unit.
  • the laser output unit outputs the laser beam of the big cell unit in the first row and column 1 once, then outputs the laser beam of the big cell unit in the 1st row and column 3 once, and then outputs the laser beam of the big cell unit in the 2nd row and 4th column once.
  • the laser output unit may output the laser beam of the big cell unit in row A and column B N times and then output the laser beam of the big cell unit in row C and column D M times.
  • the SPAD array may receive light of a laser beam reflected from a target object and returned from among laser beams output from a corresponding vixel unit.
  • the laser beam reflected from the object by the SPAD unit in one row and column 1 corresponding to the first row and column 1 can be received up to N times.
  • the M number of big cell units can be operated N times at once.
  • M big cell units may be operated M*N times one by one, or M big cell units may be operated M*N/5 times, 5 times each.
  • the detector unit 300 may include a SiPM 780.
  • the SiPM 780 may include a plurality of microcells 781 and a plurality of microcell units 782 .
  • a microcell can be a SPAD.
  • the microcell unit 782 may be a SPAD array that is a set of a plurality of SPADs.
  • the SiPM 780 may include a plurality of microcell units 782 .
  • 33 shows the SiPM 780 in which the microcell units 782 are arranged in a 4X6 matrix, but is not limited thereto and may be a 10X10, 12X12, 24X24, or 64X64 matrix.
  • the microcell units 782 may be arranged in a matrix structure, but are not limited thereto and may be arranged in a circular, elliptical, or honeycomb structure.
  • results obtained by the SiPM 780 may be accumulated in the form of a histogram.
  • the histogram by the SPAD 751 may be accumulated with N detecting signals formed by one SPAD 751 receiving N laser beams.
  • the histogram by the SPAD 751 may be an accumulation of X*Y detection signals formed by X number of SPADs 751 receiving laser beam Y.
  • the histogram by the SiPM 780 may be formed by accumulating signals from one microcell unit 782 or by accumulating signals from a plurality of microcell units 782.
  • one microcell unit 782 may form a histogram by outputting laser beam 1 from the laser output unit and then detecting photons reflected from the object.
  • a histogram by the SiPM 780 may be formed by accumulating signals generated by detecting photons reflected from an object by a plurality of microcells included in one microcell unit 782 .
  • the plurality of microcell units 782 may form a histogram by detecting photons reflected from the object after outputting a laser beam once from the laser output unit.
  • a histogram by the SiPM 780 may be formed by accumulating signals generated by detecting photons reflected from an object by a plurality of microcells included in the plurality of microcell units 782 .
  • one SPAD 751 or a plurality of SPADs 751 may require N laser beam output from the laser output unit.
  • the histogram by the SiPM 780 may require only one laser beam output from one microcell unit 782 or a plurality of microcell units 782 .
  • the histogram by the SPAD 751 may take longer to accumulate than the histogram by the SiPM 780.
  • the histogram by the SiPM 780 has the advantage of being able to quickly form a histogram with only one laser beam output.
  • SiPM 34 is a diagram for explaining a histogram of SiPM according to an embodiment.
  • the SiPM 780 may detect photons.
  • the microcell unit 782 may detect photons.
  • signals 787 and 788 may be generated.
  • a recovery time may be required until it returns to a state in which photons can be detected again. If the recovery time does not pass after the microcell unit 782 detects the photon, even if the photon is incident on the microcell unit 782 at this time, the microcell unit 782 cannot detect the photon. Accordingly, the resolution of the microcell unit 782 may be determined by the recovery time.
  • the microcell unit 782 may detect photons for a predetermined time after the laser beam is output from the laser output unit. At this time, the microcell unit 782 may detect photons during a certain period of cycle. For example, the microcell unit 782 may detect photons multiple times during a cycle depending on the time resolution of the microcell unit 782 . At this time, the time resolution of the microcell unit 782 may be determined by the recovery time of the microcell unit 782 .
  • the microcell unit 782 may detect photons reflected from an object and other photons. For example, the microcell unit 782 may generate a signal 787 when detecting a photon reflected from an object.
  • the microcell unit 782 may generate a signal 788 when detecting a photon other than a photon reflected from an object.
  • photons other than the photon reflected from the object may include sunlight, a laser beam reflected from a window, and the like.
  • the microcell unit 782 may detect photons during a predetermined time cycle after outputting a laser beam from the laser output unit.
  • the first microcell 783 included in the microcell unit 782 may output a laser beam from the laser output unit and then detect photons during the first cycle.
  • the first microcell 783 may generate a first detecting signal 791 after detecting photons.
  • the second microcell 784 included in the microcell unit 782 may output a laser beam from the laser output unit and then detect photons during the first cycle.
  • the second microcell 784 may generate a first detecting signal 792 after detecting photons.
  • the third microcell 785 included in the microcell unit 782 may output a laser beam from the laser output unit and then detect photons during the first cycle.
  • the third microcell 785 may generate a third detecting signal 793 after detecting photons.
  • the Nth microcell 786 included in the microcell unit 782 may output a laser beam from the laser output unit and then detect photons during the first cycle.
  • the Nth microcell 786 may generate an Nth detecting signal 794 after detecting photons.
  • the first detecting signal 791, the second detecting signal 792, the third detecting signal 793, and the Nth detecting signal 794 include a signal 787 by photons reflected from the object or A signal 788 by photons other than photons reflected from the object may be included.
  • the Nth detecting signal 764 may be a photon detecting signal of the Nth microcell included in the microcell unit 782 .
  • N can be 5, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 200, 300, etc.
  • Signals by microcells can be accumulated in the form of a histogram.
  • a histogram can have multiple histogram bins.
  • Signals by the microcells may be accumulated in the form of a histogram corresponding to each histogram bin.
  • the histogram may be formed by accumulating signals from one microcell unit 782 or by accumulating signals from a plurality of microcell units 782 .
  • the histogram 795 may be created by accumulating the first detecting signal 791, the second detecting signal 792, the third detecting signal 793, and the Nth detecting signal 794.
  • the histogram 795 may include a signal by photons reflected from the object or a signal by other photons.
  • a signal generated by photons reflected from the object may be more quantitative and more regular than a signal generated by other photons.
  • a signal by a photon reflected from an object within a cycle may regularly exist at a specific time.
  • signals caused by sunlight are small and may exist irregularly.
  • a signal with a large histogram accumulation at a specific time is likely to be a signal caused by photons reflected from an object. Accordingly, a signal having a large amount of accumulation in the accumulated histogram 795 may be extracted as a signal by photons reflected from the object.
  • a signal having the highest value in the histogram 795 may be simply extracted as a signal by a photon reflected from an object.
  • signals of a predetermined amount 797 or more in the histogram 795 may be extracted as signals by photons reflected from the object.
  • distance information of the object may be calculated based on a generation time of the corresponding signal or a reception time of the photon.
  • the laser output unit may output a laser beam addressably.
  • the laser output unit may output a laser beam addressably for each big cell unit.
  • the laser output unit outputs the laser beam of the big cell unit in the first row and column 1 once, then outputs the laser beam of the big cell unit in the 1st row and column 3 once, and then outputs the laser beam of the big cell unit in the 2nd row and 4th column once.
  • the laser output unit may output the laser beam of the big cell unit in row A and column B N times and then output the laser beam of the big cell unit in row C and column D M times.
  • the SiPM may receive light of a laser beam reflected from a target object and returned from among laser beams output from a corresponding vixel unit.
  • the microcell unit in one row and column 1 corresponding to the first row and column 1 outputs the reflected laser beam to the target object.
  • the beam can be received up to N times.
  • the M vixel units may be operated N times at once.
  • M big cell units may be operated M*N times one by one, or M big cell units may be operated M*N/5 times, 5 times each.
  • Lidar can be implemented in several ways.
  • LiDAR may have a flash method and a scanning method.
  • the flash method is a method using the spread of a laser beam to an object by divergence of the laser beam. Since the flash method collects distance information of an object by illuminating a single laser pulse to the FOV, the resolution of the flash method lidar may be determined by the detector unit or the receiver unit.
  • the scanning method is a method of directing a laser beam emitted from a laser output unit in a specific direction. Since the scanning method uses a scanner or steering unit to illuminate the FOV with a laser beam, the resolution of the scanning lidar can be determined by the scanner or steering unit.
  • lidar may be implemented in a mixed method of a flash method and a scanning method.
  • a combination of the flash method and the scanning method may be a semi-flash method or a semi-scanning method.
  • the mixed method of the flash method and the scanning method may be a quasi-flash method or a quasi-scanning method.
  • the semi-flash type lidar or the quasi-flash type lidar may mean a quasi-flash type lidar that is not a complete flash type lidar.
  • one unit of the laser output unit and one unit of the receiver may be a flash type LiDAR, but a plurality of units of the laser output unit and a plurality of units of the receiver are gathered, and a semi-flash type lidar is not a complete flash type lidar. it can be
  • a laser beam output from a laser output unit of the semi-flash type lidar or the quasi-flash type lidar may pass through a steering unit, it may be a quasi-flash type lidar rather than a complete flash type lidar.
  • the semi-flash type lidar or the quasi-flash type lidar can overcome the disadvantages of the flash type lidar.
  • 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.
  • the semi-flash type lidar or the quasi-flash type lidar allows laser beams to pass through a steering unit to overcome an interference phenomenon between laser beams, and to control each laser output unit, so that the detection range can be controlled. and may not require a strong flash.
  • 35 is a diagram for explaining a semi-flash lidar according to an embodiment.
  • a semi-flash lidar 800 may include a laser output unit 810, a Beam Collimation & Steering Component (BCSC) 820, a scanning unit 830, and a receiving unit 840.
  • BCSC Beam Collimation & Steering Component
  • the semi-flash lidar 800 may include a laser output unit 810 .
  • the laser output unit 810 may include a big cell array.
  • the laser output unit 810 may include a big cell array in which units including a plurality of big cell emitters are gathered.
  • the semi-flash lidar 800 may include a BCSC 820.
  • BCSC 820 may include a collimation component 210 and a steering component 230 .
  • the laser beam output from the laser output unit 810 is collimated by the collimation component 210 of the BCSC 820, and the collimated laser beam is collimated by the steering component 230 of the BCSC 820. ) can be steered through.
  • a laser beam output from a first big cell unit included in the laser output unit 810 may be collimated by a first collimation component and steered in a first direction by a first steering component.
  • a laser beam output from a second big cell unit included in the laser output unit 810 may be collimated by a second collimation component and steered in a second direction by a second steering component.
  • the big cell units included in the laser output unit 810 may be steered in different directions. Therefore, unlike the flash method by diffusion of a single pulse, the laser beam of the laser output unit of the semi-flash type LIDAR can be steered in a specific direction by the BCSC. Therefore, the laser beam output from the laser output unit of the semi-flash type lidar may have directionality by means of the BCSC.
  • the semi-flash lidar 800 may include a scanning unit 830 .
  • the scanning unit 830 may include the optical unit 200 .
  • the scanning unit 830 may include a mirror that reflects a laser beam.
  • the scanning unit 830 may include a flat mirror, a multi-sided mirror, a resonant mirror, a MEMS mirror, and a galvano mirror. Also, for example, the scanning unit 830 may include a multi-sided mirror that rotates 360 degrees along one axis and a nodding mirror that repeatedly drives within a preset range along one axis.
  • a semi-flash type lidar may include a scanning unit. Therefore, unlike a flash method that acquires an entire image at once by spreading a single pulse, a semi-flash type lidar may scan an image of an object by a scanning unit.
  • a target object may be randomly scanned by laser output from a laser output unit of a semi-flash type lidar. Therefore, the semi-flash lidar can intensively scan only a desired region of interest among the entire FOV.
  • the semi-flash lidar 800 may include a receiver 840.
  • the receiver 840 may include the detector unit 300 .
  • the receiver 840 may be the SPAD array 750 .
  • the receiver 840 may be the SiPM 780.
  • the receiver 850 may include various sensor elements.
  • the receiver 840 may include a PN photodiode, phototransistor, PIN photodiode, APD, SPAD, SiPM, TDC, CMOS, or CCD, but is not limited thereto.
  • the receiver 840 may build a histogram. For example, the receiver 840 may detect a light receiving time point of a laser beam reflected from the target object 850 and received light using the histogram.
  • the receiver 840 may include one or more optical elements.
  • the receiver 840 may include an aperture, a micro lens, a converging lens, or a diffuser, but is not limited thereto.
  • the receiver 840 may include one or more optical filters.
  • the receiver 840 may receive the laser reflected from the object through an optical filter.
  • the receiver 840 may include a band pass filter, a dichroic filter, a guided-mode resonance filter, a polarizer, a wedge filter, and the like, but is not limited thereto.
  • the semi-flash type lidar 800 may have a constant light path between components.
  • light output from the laser output unit 810 may be incident to the scanning unit 830 via the BCSC 820 .
  • light incident to the scanning unit 830 may be reflected and incident to the target object 850 .
  • light incident on the object 850 may be reflected and then incident on the scanning unit 830 again.
  • light incident on the scanning unit 830 may be reflected and received by the receiving unit 840 .
  • a lens for increasing light transmission/reception efficiency may be additionally inserted into the above optical path.
  • 36 is a diagram for explaining the configuration of a semi-flash lidar according to an embodiment.
  • a semi-flash lidar 800 may include a laser output unit 810, a scanning unit 830, and a receiver 840.
  • the laser output unit 810 may include a big cell array 811 . Although only one column of big cell array 811 is shown in FIG. 36, it is not limited thereto, and the big cell array 811 may have an N X M matrix structure.
  • the big cell array 811 may include a plurality of big cell units 812 .
  • the big cell unit 812 may include a plurality of big cell emitters.
  • the big cell array 811 may include 25 big cell units 812 . At this time, 25 big cell units 812 may be arranged in one row, but is not limited thereto.
  • the big cell unit 812 may have a diverging angle.
  • the big cell unit 812 may have a horizontal diffusion angle 813 and a vertical diffusion angle 814 .
  • the big cell unit 812 may have a horizontal diffusion angle 813 of 1.2 degrees and a vertical diffusion angle 814 of 1.2 degrees, but are not limited thereto.
  • the scanning unit 830 may receive a laser beam output from the laser output unit 810 . At this time, the scanning unit 830 may reflect the laser beam toward the target object. Also, the scanning unit 830 may receive a laser beam reflected from an object. In this case, the scanning unit 830 may transfer the laser beam reflected from the object to the receiving unit 840 .
  • an area that reflects the laser beam toward the object and an area that receives the laser beam reflected from the object may be the same or different.
  • an area for reflecting a laser beam toward an object and an area for receiving a laser beam reflected from the object may be on the same reflection surface.
  • the areas may be divided vertically or left and right within the same reflective surface.
  • an area reflecting a laser beam toward the object and an area receiving the laser beam reflected from the object may be different reflective surfaces.
  • an area that reflects a laser beam toward an object may be a first reflective surface of the scanning unit 830, and an area that receives a laser beam reflected from an object may be a second reflective surface of the scanning unit 830. .
  • the scanning unit 830 may reflect the 2D laser beam output from the laser output unit 810 toward the target object.
  • the lidar device may scan the object in 3D due to rotation or scanning of the scanning unit 830 .
  • the receiver 840 may include a SPAD array 841 .
  • 36 shows only one row of SPAD arrays 841, but is not limited thereto, and the SPAD array 841 may have an N X M matrix structure.
  • the SPAD array 841 may include a plurality of SPAD units 842 .
  • the SPAD unit 842 may include a plurality of SPAD pixels 847.
  • the SPAD unit 842 may include 12 X 12 SPAD pixels 847.
  • the SPAD pixel 847 may mean one SPAD element, but is not limited thereto.
  • the SPAD array 841 may include 25 SPAD units 842 .
  • 25 SPAD units 842 may be arranged in one row, but is not limited thereto.
  • the arrangement of the SPAD units 842 may correspond to the arrangement of the big cell units 812 .
  • the SPAD unit 842 may have an FOV capable of receiving light.
  • the SPAD unit 842 may have a horizontal FOV 843 and a vertical FOV 844 .
  • the SPAD unit 842 may have a horizontal FOV 843 of 1.2 degrees and a vertical FOV 844 of 1.2 degrees.
  • the FOV of the SPAD unit 842 may be proportional to the number of SPAD pixels 847 included in the SPAD unit 842.
  • the FOV of individual SPAD pixels 847 included in the SPAD unit 842 may be determined by the FOV of the SPAD unit 842 .
  • the SPAD unit 842 when the horizontal FOV 845 and the vertical FOV 846 of each SPAD pixel 847 are 0.1 degree, if the SPAD unit 842 includes N X M SPAD pixels 847, the SPAD unit 842 The horizontal FOV 843 may be 0.1*N, and the vertical FOV 844 may be 0.1*M.
  • the horizontal FOV 843 and the vertical FOV 844 of the SPAD unit 842 are 1.2 degrees and the SPAD unit 842 includes 12 X 12 SPAD pixels 847, individual SPAD pixels
  • the horizontal FOV 845 and vertical FOV 846 of (847) may be 0.1 degrees (1.2/12).
  • the receiver 840 may include the SiPM array 841. Although only one row of SiPM arrays 841 are shown in FIG. 36, the present invention is not limited thereto, and the SiPM array 841 may have an N X M matrix structure.
  • the SiPM array 841 may include a plurality of microcell units 842 .
  • the microcell unit 842 may include a plurality of microcells 847 .
  • the microcell unit 842 may include 12 X 12 microcells 847 .
  • the SiPM array 841 may include 25 microcell units 842 .
  • 25 microcell units 842 may be arranged in one row, but is not limited thereto.
  • the arrangement of the micro cell units 842 may correspond to the arrangement of the big cell units 812 .
  • the microcell unit 842 may have an FOV capable of receiving light.
  • microcell unit 842 may have a horizontal FOV 843 and a vertical FOV 844 .
  • the microcell unit 842 may have a horizontal FOV 843 of 1.2 degrees and a vertical FOV 844 of 1.2 degrees.
  • the FOV of the microcell unit 842 may be proportional to the number of microcells included in the microcell unit 842 .
  • the FOV of an individual microcell 847 included in the microcell unit 842 may be determined by the FOV of the microcell unit 842 .
  • the microcell unit 842 when the horizontal FOV 845 and the vertical FOV 846 of each microcell 847 are 0.1 degrees, if the microcell unit 842 includes N X M microcells 847, the microcell unit 842 The horizontal FOV 843 of ) may be 0.1 * N, and the vertical FOV 844 may be 0.1 * M.
  • the horizontal FOV 843 and the vertical FOV 844 of the microcell unit 842 are 1.2 degrees and the microcell unit 842 includes 12 X 12 microcells 847, individual The horizontal FOV 845 and vertical FOV 846 of the microcell 847 may be 0.1 degrees (1.2/12).
  • one big cell unit 812 may correspond to a plurality of SPAD units or micro cell units 842 .
  • the laser beam output from the big cell unit 812 in one row and one column is reflected by the scanning unit 830 and the target object 850 and is reflected by the SPAD unit or micro cell unit 842 in one row and one column and one row and two columns. ) can be received.
  • a plurality of vixel units 812 and one SPAD unit or microcell unit 842 may correspond.
  • the laser beam output from the big cell unit 812 in one row and one column may be reflected by the scanning unit 830 and the target object 850 and be received by the SPAD unit or micro cell unit 842 in one row and one column. there is.
  • the big cell unit 812 of the laser output unit 810 and the SPAD unit or micro cell unit 842 of the receiver 840 may correspond.
  • the horizontal spread angle and the vertical spread angle of the big cell unit 812 may be the same as the horizontal FOV 845 and vertical FOV 846 of the SPAD unit or micro cell unit 842 .
  • the laser beam output from the big cell unit 812 in one row and one column may be reflected by the scanning unit 830 and the target object 850 and be received by the SPAD unit or micro cell unit 842 in one row and one column. there is.
  • the laser beam output from the big cell unit 812 in row N and column M is reflected by the scanning unit 830 and the target object 850 and received by the SPAD unit or micro cell unit 842 in row N and column M.
  • the laser beam output from the vixel unit 812 in row N and column M and reflected by the scanning unit 830 and the object 850 is received by the SPAD unit or microcell unit 842 in row N and column M, and
  • the device 800 may have resolution by means of a SPAD unit or microcell unit 842 .
  • the FOV to be irradiated by the big cell unit 812 is divided into N X M areas to determine the distance information of the object.
  • one big cell unit 812 may correspond to a plurality of SPAD units or micro cell units 842 .
  • the laser beam output from the big cell unit 812 in one row and one column is reflected by the scanning unit 830 and the target object 850 and is reflected by the SPAD unit or micro cell unit 842 in one row and one column and one row and two columns. ) can be received.
  • a plurality of vixel units 812 and one SPAD unit or microcell unit 842 may correspond.
  • the laser beam output from the big cell unit 812 in one row and one column may be reflected by the scanning unit 830 and the target object 850 and be received by the SPAD unit or micro cell unit 842 in one row and one column. there is.
  • the plurality of big cell units 812 included in the laser output unit 810 may operate according to a predetermined sequence or may operate randomly.
  • the SPAD unit or the micro cell unit 842 of the receiver 840 may also operate corresponding to the operation of the big cell unit 812 .
  • the third row big cell unit can operate. Then, the fifth big cell unit may operate, and then the seventh big cell unit may operate.
  • the third row SPAD unit or microcell unit 842 may operate.
  • the fifth SPAD unit or microcell unit 842 may operate, and then the seventh SPAD unit or microcell unit 842 may operate.
  • the big cell units of the big cell array 811 may operate randomly.
  • the SPAD unit or microcell unit 842 of the receiver existing at a position corresponding to the position of the randomly operating big cell unit 812 may operate.
  • FIG. 37 is a diagram for explaining a semi-flash lidar according to another embodiment.
  • a semi-flash lidar 900 may include a laser output unit 910, a BCSC 920, and a receiver 940.
  • the semi-flash lidar 900 may include a laser output unit 910 .
  • a description of the laser output unit 910 may be duplicated with that of the laser output unit 810 of FIG. 35 , and thus a detailed description thereof will be omitted.
  • the semi-flash lidar 900 may include a BCSC 920.
  • a description of the BCSC 920 may be duplicated with that of the BCSC 820 of FIG. 35, so a detailed description thereof will be omitted.
  • the semi-flash lidar 900 may include a receiver 940.
  • a description of the receiving unit 940 may be duplicated with that of the receiving unit 840 of FIG. 35, so a detailed description thereof will be omitted.
  • the semi-flash type lidar 900 may have a constant light path between components.
  • light output from the laser output unit 910 may be incident to the target object 950 via the BCSC 920 .
  • light incident on the object 950 may be reflected and received by the receiver 940 .
  • a lens for increasing light transmission/reception efficiency may be additionally inserted into the above optical path.
  • the semi-flash lidar 900 of FIG. 37 may not include a scanning unit.
  • the scanning role of the scanning unit may be performed by the laser output unit 910 and the BCSC 920.
  • the laser output unit 910 may include an addressable big cell array and partially output a laser beam to a region of interest by an addressable operation.
  • the BCSC 920 may include a collimation component and a steering component to provide a specific directionality to the laser beam to irradiate the laser beam to a desired region of interest.
  • the light path of the semi-flash lidar 900 of FIG. 37 can be simplified.
  • simplifying the light path light loss during light reception can be minimized, and the possibility of crosstalk can be reduced.
  • 38 is a diagram for explaining the configuration of a semi-flesh lidar according to another embodiment.
  • a semi-flash lidar 900 may include a laser output unit 910 and a receiver 940.
  • the laser output unit 910 may include a big cell array 911 .
  • the big cell array 99110 may have an N X M matrix structure.
  • the big cell array 911 may include a plurality of big cell units 914 .
  • the big cell unit 914 may include a plurality of big cell emitters.
  • the big cell array 811 may include 1250 big cell units 914 in a 50 X 25 matrix structure, but is not limited thereto.
  • the big cell unit 914 may have a diverging angle.
  • the big cell unit 914 may have a horizontal spread angle 915 and a vertical spread angle 916 .
  • the big cell unit 914 may have a horizontal diffusion angle 813 of 1.2 degrees and a vertical diffusion angle 814 of 1.2 degrees, but are not limited thereto.
  • the receiver 940 may include a SPAD array 941 .
  • the SPAD array 841 may have an N X M matrix structure.
  • the SPAD array 941 may include a plurality of SPAD units 944 .
  • the SPAD unit 944 may include a plurality of SPAD pixels 947.
  • the SPAD unit 944 may include 12 X 12 SPAD pixels 947.
  • the SPAD array 941 may include 1250 SPAD units 944 in a 50 X 25 matrix structure.
  • the arrangement of the SPAD units 944 may correspond to the arrangement of the big cell units 914 .
  • the SPAD unit 944 may have an FOV capable of receiving light.
  • SPAD unit 944 can have horizontal FOV 945 and vertical FOV 946 .
  • the SPAD unit 944 may have a horizontal FOV 945 of 1.2 degrees and a vertical FOV 946 of 1.2 degrees.
  • the FOV of the SPAD unit 944 may be proportional to the number of SPAD pixels 947 included in the SPAD unit 944.
  • the FOV of individual SPAD pixels 947 included in the SPAD unit 944 may be determined by the FOV of the SPAD unit 944 .
  • the horizontal FOV (948) and vertical FOV (949) of individual SPAD pixels (947) are 0.1 degree
  • the SPAD unit 944 includes N X M SPAD pixels (947)
  • the horizontal FOV 945 may be 0.1*N
  • the vertical FOV 946 may be 0.1*M.
  • the horizontal FOV 945 and the vertical FOV 946 of the SPAD unit 944 are 1.2 degrees and the SPAD unit 944 includes 12 X 12 SPAD pixels 947, individual SPAD pixels
  • the horizontal FOV 948 and vertical FOV 949 of (947) may be 0.1 degrees (1.2/12).
  • the receiver 840 may include the SiPM array 941 .
  • the SiPM array 841 may have an N X M matrix structure.
  • the SiPM array 941 may include a plurality of microcell units 944 .
  • the microcell unit 944 may include a plurality of microcells 947 .
  • the microcell unit 944 may include 12 X 12 microcells 947 .
  • the SiPM array 941 may include 1250 microcell units 944 in a 50 X 25 matrix structure.
  • the arrangement of the micro cell units 944 may correspond to the arrangement of the big cell units 914 .
  • the microcell unit 944 may have an FOV capable of receiving light.
  • microcell unit 944 may have horizontal FOV 945 and vertical FOV 946 .
  • the microcell unit 944 may have a horizontal FOV 945 of 1.2 degrees and a vertical FOV 946 of 1.2 degrees.
  • the FOV of the microcell unit 944 may be proportional to the number of microcells 947 included in the microcell unit 944 .
  • the FOV of individual microcells 947 included in the microcell unit 944 may be determined by the FOV of the microcell unit 944 .
  • the horizontal FOV 948 and the vertical FOV 949 of each microcell 947 are 0.1 degrees
  • the microcell unit 944 includes N X M microcells 947, the microcell unit 944 )
  • the horizontal FOV 945 may be 0.1*N
  • the vertical FOV 946 may be 0.1*M.
  • the horizontal FOV 945 and the vertical FOV 946 of the microcell unit 944 are 1.2 degrees and the microcell unit 944 includes 12 X 12 microcells 947, individual The horizontal FOV 948 and vertical FOV 949 of the microcell 947 may be 0.1 degrees (1.2/12).
  • the big cell unit 914 of the laser output unit 910 and the SPAD unit or micro cell unit 944 of the receiver 940 may correspond.
  • the horizontal spread angle and the vertical spread angle of the big cell unit 914 may be the same as the horizontal FOV 945 and vertical FOV 946 of the SPAD unit or micro cell unit 944 .
  • a laser beam output from the big cell unit 914 in one row and one column may be reflected by the object 850 and received by the SPAD unit or micro cell unit 944 in one row and one column.
  • the laser beam output from the big cell unit 914 in the N row and M column may be reflected by the object 850 and received by the SPAD unit or the micro cell unit 944 in the N row and M column.
  • the laser beam output from the vixel unit 914 in row N and column M and reflected by the target object 850 is received by the SPAD unit or microcell unit 944 in row N and column M, and the lidar device 900 is SPAD It may have resolution by unit or microcell unit 944.
  • the big cell unit 914 divides the irradiated FOV into N X M areas to determine the distance information of the object.
  • one big cell unit 914 may correspond to a plurality of SPAD units or micro cell units 944 .
  • the laser beam output from the big cell unit 914 in one row and one column may be reflected by the object 850 and received by the SPAD units or microcell units 944 in one row and one column and one row and two columns. .
  • a plurality of vixel units 914 and one SPAD unit or microcell unit 944 may correspond.
  • a laser beam output from the big cell unit 914 in one row and one column may be reflected by the object 850 and received by the SPAD unit or micro cell unit 944 in one row and one column.
  • the plurality of big cell units 914 included in the laser output unit 910 may operate according to a predetermined sequence or may operate randomly.
  • the SPAD unit or the micro cell unit 944 of the receiver 940 may also operate corresponding to the operation of the big cell unit 914 .
  • the big cell units in one row and one column of the big cell array 911 may operate.
  • the big cell unit in 1 row and 5 columns may operate, and then the big cell unit in 1 row and 7 columns may operate.
  • the SPAD unit or microcell unit 944 in one row and one column of the receiver 940 operates, the SPAD unit or microcell unit 944 in one row and three columns may operate. Next, the SPAD unit or microcell unit 944 in 1 row and 5 columns may operate, and then the SPAD unit or microcell unit 944 in 1 row and 7 columns may operate.
  • the big cell units of the big cell array 911 may operate randomly.
  • the SPAD unit or microcell unit 944 of the receiver existing at a position corresponding to the position of the randomly operating big cell unit 914 may operate.
  • 39 is a diagram for explaining a lidar device according to an embodiment.
  • a lidar apparatus 3000 may include a transmission module 3010 and a reception module 3020.
  • the transmission module 3010 may include a laser output array 3011 and a first lens assembly 3012, but is not limited thereto.
  • the laser output array 3011 may be applied with the above-described laser output unit, a redundant description thereof will be omitted.
  • the laser output array 3011 may output at least one laser.
  • the laser output array 3011 may output a plurality of lasers, but is not limited thereto.
  • the laser output array 3011 may output at least one laser with a first wavelength.
  • the laser output array 3011 may output at least one laser with a wavelength of 940 nm, or may output a plurality of lasers with a wavelength of 940 nm, but is not limited thereto.
  • the first wavelength may be a wavelength range including an error range.
  • the first wavelength may mean a wavelength range of 935 nm to 945 nm as a wavelength of 940 nm with an error range of 5 nm, but is not limited thereto.
  • the laser output array 3011 may output at least one laser at the same time.
  • the laser output array 3011 outputs at least one laser at the same time, such as outputting a first laser at a first time or outputting first and second lasers at a second time. can do.
  • the first lens assembly 3012 may include at least two or more lens layers.
  • the first lens assembly 3012 may include at least four lens layers, but is not limited thereto.
  • the first lens assembly 3012 may steer the laser output from the laser output array 3011 .
  • the first lens assembly 3012 may steer the first laser output from the laser output array 3011 in a first direction, and may steer the second laser output from the laser output array 3011 in a first direction. Steering may be performed in the second direction, but is not limited thereto.
  • the first lens assembly 3012 may steer the plurality of lasers to irradiate the plurality of lasers output from the laser output array 3011 at different angles within the range of (x) degrees to (y) degrees.
  • the first lens assembly 3012 may steer the first laser in a first direction to irradiate the first laser output from the laser output array 3011 at (x) degree, and the laser output The second laser may be steered in the second direction to irradiate the second laser output from the array 3011 at (y) degree, but is not limited thereto.
  • the receiving module 3020 may include a laser detecting array 3021 and a second lens assembly 3022, but is not limited thereto.
  • the laser detecting array 3021 may be applied to the above-described detector unit and the like, so redundant description will be omitted.
  • the laser detecting array 3021 may detect at least one laser.
  • the laser detecting array 3021 may detect a plurality of lasers.
  • the laser detecting array 3021 may include a plurality of detectors.
  • the laser detecting array 3021 may include a first detector and a second detector, but is not limited thereto.
  • each of the plurality of detectors included in the laser detecting array 3021 may receive a different laser.
  • a first detector included in the laser detecting array 3021 may receive a first laser beam received in a first direction
  • a second detector may receive a second laser beam received in a second direction. may, but is not limited thereto.
  • the laser detecting array 3021 may detect at least a portion of the laser emitted from the transmission module 3010 .
  • the laser detecting array 3021 may detect at least a portion of the first laser emitted from the transmission module 3010 and may detect at least a portion of the second laser, but is not limited thereto. .
  • the second lens assembly 3022 may transmit the laser irradiated from the transmission module 3010 to the laser detecting array 3021 .
  • the second lens assembly 3022 detects the first laser when the first laser irradiated in a first direction from the transmission module 3010 is reflected from an object located in the first direction. It can be transmitted to the array 3021, and when the second laser irradiated in the second direction is reflected from an object located in the second direction, the second laser can be transmitted to the laser detecting array 3021, but is limited thereto. It doesn't work.
  • the second lens assembly 3022 may distribute the laser irradiated from the transmission module 3010 to at least two or more different detectors.
  • the second lens assembly 3022 detects the first laser when the first laser irradiated in a first direction from the transmission module 3010 is reflected from an object located in the first direction. It can be distributed to the first detector included in the array 3021, and when the second laser irradiated in the second direction is reflected from the object located in the second direction, the second laser is transmitted to the laser detecting array 3021. It may be distributed to the second detector included in, but is not limited thereto.
  • the laser output array 3011 and the laser detecting array 3021 may be matched.
  • a first laser output from a first laser output device included in the laser output array 3011 may be detected by a first detector included in the laser detecting array 3021
  • the laser output array A second laser output from a second laser output device included in 3011 may be detected by a second detector included in the laser detecting array 3021, but is not limited thereto.
  • 40 is a diagram for explaining a receiving module according to an exemplary embodiment.
  • a receiving module 3100 may include a laser detecting array 3110 and a lens assembly 3120.
  • the lens assembly 3120 may include at least two or more lens layers.
  • 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.
  • each lens layer may be formed of the same material, but is not limited thereto, and may be formed of different materials.
  • 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.
  • the lens assembly 3120 may include at least two or more gap layers.
  • 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.
  • each of the gap layers may include a material different from that of the lens layers.
  • each of the gap layers may include air, but is not limited thereto.
  • each of the gap layers may include the same material, but is not limited thereto, and may include materials different from each other.
  • each of the gap layers may mean a space or material between the respective lens layers.
  • the first gap layer 3125 may refer to a space or material between the first lens layer 3121 and the second lens layer 3122
  • 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
  • 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.
  • each of the gap layers may be positioned between each of the lens layers.
  • the first gap layer 3125 may be positioned between the first lens layer 3121 and the second lens layer 3122
  • the second gap layer 3126 may be the second lens layer ( 3122) and the third lens layer 3123
  • the third gap layer 3127 may be located between the third lens layer 3123 and the fourth lens layer 3124, Not limited to this.
  • a light ray of parallel light incident to the lens assembly 3120 may be received by the laser detecting array 3110 along each path.
  • 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
  • a light ray R4 may be received by the first detector along a fourth optical path
  • 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.
  • 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • 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.
  • 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
  • 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
  • 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
  • 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
  • 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • first to fifth angles may be different from each other, but are not limited thereto and may be at least partially the same.
  • a difference between a minimum angle and a maximum angle among the first to fifth angles may be a first difference value.
  • 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.
  • 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
  • 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
  • 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
  • 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,
  • 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • sixth to tenth angles may be different from each other, but are not limited thereto and may be at least partially the same.
  • a difference between the minimum angle and the maximum angle among the sixth to tenth angles may be a second difference value.
  • 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.
  • 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.
  • 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
  • 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
  • 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. .
  • 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • the 11th to 15th angles may be different from each other, but are not limited thereto and may be at least partially the same.
  • a difference between the minimum angle and the maximum angle among the 11th to 15th angles may be a third difference value.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • sixteenth to twentieth angles may be different from each other, but are not limited thereto, and may be at least partially the same.
  • a difference between the minimum angle and the maximum angle among the sixteenth to twentieth angles may be a fourth difference value.
  • first to fourth difference values may be different from each other.
  • the second difference value may be the smallest among the first to fourth difference values
  • 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.
  • a receiving module 3200 may include a laser detecting array 3210 and a lens assembly 3220.
  • the lens assembly 3220 may include at least two or more lens layers.
  • 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.
  • each lens layer may be formed of the same material, but is not limited thereto, and may be formed of different materials.
  • 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.
  • the lens assembly 3220 may include at least two or more gap layers.
  • 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.
  • each of the gap layers may include the same material, but is not limited thereto, and may include materials different from each other.
  • each of the gap layers may mean a space or material between the respective lens layers.
  • the first gap layer 3225 may refer to a space or material between the first lens layer 3221 and the second lens layer 3222
  • 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
  • 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.
  • each of the gap layers may be positioned between each of the lens layers.
  • the first gap layer 3225 may be positioned between the first lens layer 3221 and the second lens layer 3222
  • the second gap layer 3226 may be the second lens layer ( 3222) and the third lens layer 3223
  • the third gap layer 3227 may be located between the third lens layer 3223 and the fourth lens layer 3224, Not limited to this.
  • light rays of parallel light incident to the lens assembly 3220 may be received by the laser detecting array 3210 along each path.
  • 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.
  • 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • 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.
  • a first light ray R1 incident to a first part of the entrance pupil is the first gap layer 3225 ) at a first angle
  • 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
  • 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
  • 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
  • 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • first to fifth angles may be different from each other, but are not limited thereto and may be at least partially the same.
  • a difference between a minimum angle and a maximum angle among the first to fifth angles may be a first difference value.
  • 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.
  • the first light ray R1 incident to the first part of the entrance pupil is the second gap layer 3226
  • 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
  • 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
  • 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 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • sixth to tenth angles may be different from each other, but are not limited thereto and may be at least partially the same.
  • a difference between the minimum angle and the maximum angle among the sixth to tenth angles may be a second difference value.
  • 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.
  • the first light ray R1 incident to the first part of the entrance pupil is the third gap layer 3227
  • 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
  • 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
  • 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
  • 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • the 11th to 15th angles may be different from each other, but are not limited thereto and may be at least partially the same.
  • a difference between the minimum angle and the maximum angle among the 11th to 15th angles may be a third difference value.
  • 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.
  • 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
  • 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
  • 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
  • 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.
  • 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
  • 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
  • the fifth portion may be an end portion of the entrance pupil in the -X direction, but are not limited thereto.
  • sixteenth to twentieth angles may be different from each other, but are not limited thereto, and may be at least partially the same.
  • a difference between the minimum angle and the maximum angle among the sixteenth to twentieth angles may be a fourth difference value.
  • first to fourth difference values may be different from each other.
  • the second difference value may be the smallest among the first to fourth difference values
  • the fourth difference value may be the largest among the first to fourth difference values, but is not limited thereto.
  • FIG. 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.
  • 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.
  • 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.
  • 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
  • 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
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • 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
  • 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
  • the fifth light ray R5 may be incident on the cross section between the lens assembly and the laser detecting array at 27.87
  • a cross section between the lens assembly and the laser detecting array may mean a cross section parallel to the laser detecting array.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an angular distribution of light rays incident to the filter layer may be 0 degree to 13 degree
  • the filter layer may be the laser detecting array and lens assembly
  • 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.
  • a receiving module 3300 may include a laser detecting array 3310 and a lens assembly 3320.
  • the lens assembly 3320 may include at least two or more lens layers.
  • 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.
  • each lens layer may be formed of the same material, but is not limited thereto, and may be formed of different materials.
  • each of the lens layers may have different thicknesses, but is not limited thereto and may have at least some of the same thickness.
  • the lens assembly 3320 may include at least two or more gap layers.
  • 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.
  • each of the gap layers may include a material different from that of the lens layers.
  • each of the gap layers may include air, but is not limited thereto.
  • each of the gap layers may include the same material, but is not limited thereto, and may include materials different from each other.
  • each of the gap layers may mean a space or material between the respective lens layers.
  • the first gap layer 3325 may refer to a space or material between the first lens layer 3321 and the second lens layer 3322
  • 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
  • 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.
  • each of the gap layers may be positioned between each of the lens layers.
  • the first gap layer 3325 may be positioned between the first lens layer 3321 and the second lens layer 3322
  • the second gap layer 3326 may be the second lens layer ( 3322) and the third lens layer 3323
  • the third gap layer 3327 may be located between the third lens layer 3323 and the fourth lens layer 3324, Not limited to this.
  • the lens assembly 3320 may include at least one filter layer 3330.
  • At least one filter layer 3330 may be positioned in at least one gap layer included in the lens assembly 3320 .
  • the filter layer 3330 may be positioned on the second gap layer 3326 included in the lens assembly 3320, but is not limited thereto.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • a filter layer 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.
  • 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.
  • 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.
  • 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.
  • the central wavelength of the filter layer may be changed according to the angle of light incident on the filter layer.
  • 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.
  • the first central wavelength may be a higher wavelength than the second central wavelength.
  • the filter layer 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the filter layer 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.
  • 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.
  • 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.
  • a filter layer 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.
  • a central wavelength of the filter layer may be changed according to an angle of light incident on the filter layer.
  • 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.
  • the first central wavelength may be a wavelength higher than the second central wavelength
  • the second central wavelength may be a wavelength higher than the third central wavelength
  • the filter layer 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a receiving module 3400 may include a laser detecting array 3410 and a lens assembly 3420.
  • the lens assembly 3420 may include at least two lens layers and at least one filter layer.
  • 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.
  • the filter layer 3430 may be positioned between the first to fourth lens layers 3421 to 3424 .
  • the filter layer 3430 may be positioned between the second lens layer 3422 and the third lens layer 3423, but is not limited thereto.
  • the lens assembly 3420 may include at least two lens layers and at least one filter layer integrally formed, but is not limited thereto.
  • 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.
  • 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.
  • 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.
  • a plurality of light rays of parallel light incident on the lens assembly 3420 at 0 degrees are located at the filter layer 3430.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 48 is a diagram for explaining a lidar device according to an embodiment.
  • a lidar apparatus 3500 may include a transmission module 3600 and a reception module 3700.
  • the transmission module 3600 may include a laser output array 3610 and a first lens assembly 3620, but is not limited thereto.
  • the laser output array 3610 may output one or more lasers.
  • the laser output array 3610 may output a plurality of lasers, but is not limited thereto.
  • the laser output array 3610 may output one or more lasers with a first wavelength.
  • 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.
  • the first wavelength may be a wavelength range including an error range.
  • the first wavelength may mean a wavelength range of 935 nm to 945 nm as a wavelength of 940 nm with an error range of 5 nm, but is not limited thereto.
  • the first lens assembly 3620 may include at least two or more lens layers.
  • 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.
  • the first lens assembly 3620 may steer the laser output from the laser output array 3610 .
  • 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.
  • 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.
  • 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.
  • the receiving module 3700 may include a laser detecting array 3710 and a second lens assembly 3720, but is not limited thereto.
  • the laser detecting array 3710 may be applied with the above-described detector unit, so duplicate descriptions will be omitted.
  • the laser detecting array 3710 may detect at least one laser.
  • the laser detecting array 3710 may detect a plurality of lasers.
  • the laser detecting array 3710 may include a plurality of detectors.
  • the laser detecting array 3710 may include a first detector and a second detector, but is not limited thereto.
  • each of the plurality of detectors included in the laser detecting array 3710 may receive a different laser.
  • a first detector included in the laser detecting array 3710 may receive a first laser beam received in a first direction
  • a second detector may receive a second laser beam received in a second direction. may, but is not limited thereto.
  • the second lens assembly 3720 may include at least two or more lens layers.
  • 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.
  • the second lens assembly 3720 may include at least two or more gap layers.
  • 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. .
  • the second lens assembly 3720 may include at least one filter layer.
  • the second lens assembly 3720 may include a filter layer 3730, but is not limited thereto.
  • the second lens assembly 3720 may transfer the laser irradiated from the transmission module 3600 to the laser detecting array 3710 .
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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
  • 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 .
  • 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.
  • the filter layer 3730 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.
  • 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.
  • 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.
  • the central wavelength of the filter layer 3730 may be changed according to the angle of light incident to the filter layer 3730 .
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 wavelength of the filter layer and the laser output array 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.
  • a lidar apparatus 5000 may include a transmission module 5010 and a reception module 5020.
  • the transmission module 5010 may include a laser output array 5011 and a first optical unit 5012, but is not limited thereto.
  • the laser output array 5011 may output at least one laser.
  • the laser output array 5011 may output a plurality of lasers, but is not limited thereto.
  • the laser output array 5011 may output at least one laser with a first wavelength.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first optical unit 5012 may steer the laser output from the laser output array 5011 .
  • 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.
  • 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.
  • 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.
  • 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.
  • Emitting FOV emitting Field of View
  • 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.
  • 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 .
  • the receiving module 5020 may include a laser detecting array 5021 and a second optical unit 5022, but is not limited thereto.
  • the laser detecting array 5021 may detect at least one laser.
  • the laser detecting array 5021 may detect a plurality of lasers.
  • the laser detecting array 5021 may include a plurality of detectors.
  • the laser detecting array 5021 may include a first detector and a second detector, but is not limited thereto.
  • each of the plurality of detectors included in the laser detecting array 5021 may receive a different laser.
  • a first detector included in the laser detecting array 5021 may receive a first laser beam received in a first direction
  • a second detector may receive a second laser beam received in a second direction.
  • the second optical unit 5022 may transfer the laser irradiated from the transmission module 5010 to the laser detecting array 5021 .
  • 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.
  • 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.
  • 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.
  • 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 .
  • a dead zone in which it is difficult to measure a distance to an object within the maximum measurement distance range may occur.
  • a dead zone 5030 generated in a lidar device 5000 may be an area in which the emitting FOV 5013 and the detecting FOV 5023 do not overlap.
  • 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.
  • 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.
  • the lidar apparatus 5000 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.
  • 51 and 52 are diagrams for explaining a transmission module included in a lidar device according to an embodiment.
  • a transmission module 5100 included in a lidar device may include a laser output array 5110, a first optical unit 5120, and a sub-optic unit 5130.
  • the laser output array 5110 may include a plurality of emission units.
  • a first emission unit, a second emission unit, and a third emission unit are referenced. to be explained as
  • the first emitting unit can output a first laser 5121
  • the second emitting unit can output a second laser 5122
  • the third emitting unit can output a third laser 5122. 5123 can be output.
  • 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 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 .
  • the sub-optic unit 5130 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.
  • the sub optic unit 5130 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.
  • the sub optic unit 5130 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.
  • 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.
  • the sub optic unit 5130 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 .
  • 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.
  • 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.
  • 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.
  • the sub optic unit 5130 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.
  • 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
  • the sub optic unit 5130 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
  • 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.
  • the sub optic unit 5130 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.
  • 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.
  • the sub optic unit 5130 generates the second laser (output from the second emission unit included in the laser output array 5110). 5122), but is not limited thereto.
  • 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.
  • the sub optic unit 5130 generates the third laser (output from the third emission unit included in the laser output array 5110). 5123), but is not limited thereto.
  • 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.
  • the sub optic unit 5130 may have a field of view (FOV) different from the emission FOV formed by the first optical unit 5120 .
  • FOV field of view
  • 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.
  • 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.
  • the sub optic part 5130 may be arranged to have an asymmetric FOV based on the center of the laser output array 5110 .
  • 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.
  • 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.
  • 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.
  • the sub optic part 5130 may be disposed to have an asymmetric FOV with respect to the center of the first optical part 5120 .
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • the laser 5200 irradiated through the transmission module 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.
  • 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.
  • 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.
  • the point laser may refer to a laser having a divergence angle of less than a certain range.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 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.
  • FIG. 54 is a drawing for explanation based on the lidar device described through FIGS. 51 to 53.
  • a lidar device 5300 may include a transmission module 5310 and a reception module 5320.
  • the transmission module 5310 may include a laser output array 5311 and a first optical unit 5312, but is not limited thereto.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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 .
  • the receiving module 5320 may include a laser detecting array 5321 and a second optical unit 5322, but is not limited thereto.
  • 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.
  • 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 .
  • a dead zone in which it is difficult to measure a distance to an object within the maximum measurement distance range may occur.
  • a dead zone 5330 generated in a lidar device 5300 may be an area in which the emitting FOV 5313 and the detecting FOV 5323 do not overlap.
  • 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.
  • the concept of the minimum measurement distance may be applied to the lidar device 5300 according to an embodiment.
  • the lidar device 5300 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.
  • 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.
  • 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

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

Abstract

Un appareil LiDAR selon la présente invention comprend : un réseau de détection laser comprenant une première unité de détection ; une unité de génération de retard pour obtenir un signal de détection à partir de la première unité de détection et délivrer en sortie un signal de retard ; une unité de détection de signal qui détecte le signal de retard émis par l'unité de génération de retard à l'aide d'une horloge prédéfinie ; une unité de mémoire dans laquelle des données d'histogramme sont stockées sur la base d'un résultat de détection par l'unité de détection de signal ; et une unité de traitement de données qui calcule une valeur de distance pour la première unité de détection sur la base des données d'histogramme stockées dans l'unité de mémoire, l'unité de génération de retard délivrant le signal de retard par application d'une première valeur de retard à un premier cycle, et délivre le signal de retard par application d'une seconde valeur de retard à un second cycle, et la première valeur de retard et la seconde valeur de retard peuvent être différentes l'une de l'autre.
PCT/KR2021/020101 2021-12-29 2021-12-29 Appareil lidar Ceased WO2023127990A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5797878B2 (ja) * 2008-11-21 2015-10-21 ジック アーゲー 光電センサ及び光通過時間原理により距離を測定する方法
US20180299552A1 (en) * 2017-03-01 2018-10-18 Ouster, Inc. Accurate photo detector measurements for lidar
WO2020100569A1 (fr) * 2018-11-14 2020-05-22 ソニー株式会社 Dispositif de commande, procédé de commande et système de commande de capteur
JP2021018231A (ja) * 2019-07-16 2021-02-15 ソニーセミコンダクタソリューションズ株式会社 測定装置および測定方法、並びにプログラム
JP6911674B2 (ja) * 2017-09-26 2021-07-28 株式会社リコー 時間測定装置、測距装置、移動体装置、時間測定方法及び測距方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5797878B2 (ja) * 2008-11-21 2015-10-21 ジック アーゲー 光電センサ及び光通過時間原理により距離を測定する方法
US20180299552A1 (en) * 2017-03-01 2018-10-18 Ouster, Inc. Accurate photo detector measurements for lidar
JP6911674B2 (ja) * 2017-09-26 2021-07-28 株式会社リコー 時間測定装置、測距装置、移動体装置、時間測定方法及び測距方法
WO2020100569A1 (fr) * 2018-11-14 2020-05-22 ソニー株式会社 Dispositif de commande, procédé de commande et système de commande de capteur
JP2021018231A (ja) * 2019-07-16 2021-02-15 ソニーセミコンダクタソリューションズ株式会社 測定装置および測定方法、並びにプログラム

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