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WO2025170263A1 - Dispositif lidar comprenant un ensemble d'émission laser et un ensemble de détection laser - Google Patents

Dispositif lidar comprenant un ensemble d'émission laser et un ensemble de détection laser

Info

Publication number
WO2025170263A1
WO2025170263A1 PCT/KR2025/001354 KR2025001354W WO2025170263A1 WO 2025170263 A1 WO2025170263 A1 WO 2025170263A1 KR 2025001354 W KR2025001354 W KR 2025001354W WO 2025170263 A1 WO2025170263 A1 WO 2025170263A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
laser emitting
array
unit
detecting
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.)
Pending
Application number
PCT/KR2025/001354
Other languages
English (en)
Korean (ko)
Inventor
정훈일
윤주헌
임찬묵
장동주
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
Publication of WO2025170263A1 publication Critical patent/WO2025170263A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J1/00—Photometry, e.g. photographic exposure meter
    • G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
    • G01J1/44—Electric circuits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
    • H01S5/4025—Array arrangements, e.g. constituted by discrete laser diodes or laser bar
    • H01S5/4075—Beam steering
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
    • H01S5/42—Arrays of surface emitting lasers
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S5/00—Semiconductor lasers
    • H01S5/40—Arrangement of two or more semiconductor lasers, not provided for in groups H01S5/02 - H01S5/30
    • H01S5/42—Arrays of surface emitting lasers
    • H01S5/423—Arrays of surface emitting lasers having a vertical cavity
    • H01S5/426—Vertically stacked cavities

Definitions

  • a solid-state LiDAR device is a device that can obtain distance information about a three-dimensional surrounding space without a mechanically moving component, and a laser emitting array can be used to implement a solid-state LiDAR device.
  • the present disclosure relates to a laser emitting assembly capable of reducing the difference in resistance according to the position of laser emitting units and efficiently outputting laser.
  • the present disclosure relates to a laser emitting assembly for securing a sufficient area in which a lidar device can measure a distance to a target.
  • the optical unit (200) may function to change the flight path of the laser output from the laser output unit (100), and when the laser output from the laser output unit (100) is reflected from the object, may function to change the flight path of the laser reflected from the object, but is not limited thereto.
  • the optical section (200) may include one or more optical elements or optical means for reflecting the light described above as needed, but the optical section (200) does not necessarily have to include the optical elements or optical means for reflecting the light described above.
  • the optical unit (200) may include an optical element or optical means that refracts light.
  • the optical unit (200) may include a lens. That is, the optical unit (200) may be configured to include an optical element that refracts light in order to change the flight path (or optical path) of the laser.
  • the optical unit (200) may function to change the flight path by refracting the laser output from the laser output unit (100), and when the laser output from the laser output unit (100) is reflected from an object, may function to change the flight path by refracting the laser reflected from the object, but is not limited thereto.
  • the optical element or optical means for refracting the light may be one of a lens, a prism, a micro lens, a microfluidic lens, or a metasurface.
  • the optical elements or optical means for refracting the light described above are merely examples, and the optical unit (200) may include other types of optical elements as long as they are optical elements that have the function of refracting light, in addition to the optical elements listed.
  • the optical section (200) may include one or more optical elements or optical means for refracting the light described above as needed, but the optical section (200) does not necessarily have to include the optical elements or optical means for refracting the light described above.
  • optical unit (200) can change the flight path of the laser by changing the phase of the laser.
  • the optical unit (200) may be designed to change the phase of the generated laser by the laser output unit (100) to a preset phase before the generated laser is output to the outside of the lidar device, thereby changing the flight path.
  • the optical unit (200) may be designed to change the phase of the incoming laser to a preset phase so that the laser entering the lidar device from the outside can be detected by the detector unit (300), thereby changing the flight path.
  • the optical element or optical means for changing the phase of the laser may be one of an OPA (Optical Phased Array), a meta lens, or a meta surface.
  • OPA Optical Phased Array
  • the optical element or optical means for changing the phase of the laser described above are merely exemplary, and in addition to the optical elements listed, if it is an optical element that has the function of reflecting light, the optical unit (200) may include other types of optical elements.
  • the optical section (200) may include one or more optical elements or optical means for reflecting the light described above as needed, but the optical section (200) does not necessarily have to include the optical elements or optical means for reflecting the light described above.
  • the optical unit (200) may include two or more optical units (or sub-optic units).
  • the optical unit (200) may include, but is not limited to, a transmitting optic unit for irradiating a laser output from a laser output unit (100) according to one embodiment to a scan area of a lidar device and a receiving optic unit for transmitting a laser reflected from a target to a detector unit (300).
  • the optical unit (200) may include a first optical unit for changing the flight path of the laser output from the laser output unit (100) according to one embodiment in the direction of the first group and a second optical unit for changing the flight path of the laser output from the laser output unit (100) according to one embodiment in the direction of the second group, but is not limited thereto.
  • the detector unit (300) may determine the detection point of the laser based on the detection information of the generated laser based on the rising edge of the generated electrical signal, may determine the detection point of the laser based on the detection information of the generated laser based on the falling edge of the generated electrical signal, and may determine the detection point of the laser based on the detection information of the generated laser based on the rising edge of the generated electrical signal and the detection information of the generated laser based on the falling edge, but is not limited thereto.
  • the detector unit (300) may determine the detection point of the laser based on the peak of the generated histogram data, judgment of the rising edge and falling edge based on a predetermined value, etc., but is not limited thereto.
  • the detector unit (300) may be implemented with various electro-optical devices that receive light and output an electrical signal accordingly.
  • the detector unit (300) may include one or more electro-optical elements (hereinafter referred to as detecting elements or detectors).
  • the detector unit (300) may include a single detecting element or may include a plurality of detecting elements.
  • control unit (400) may generate laser detection information by comparing a predetermined threshold value with the rising edge, falling edge, or median of the rising edge and falling edge of the electrical signal generated from the detector unit (300), but is not limited thereto.
  • control unit (400) may generate histogram data corresponding to the detection information of the laser based on the electrical signal generated from the detector unit (300), but is not limited thereto.
  • control unit (400) can determine the laser detection time based on the laser detection information generated from the detector unit (300).
  • control unit (400) may determine the detection point of the laser based on the detection information of the laser generated based on the rising edge of the electrical signal generated from the detector unit (300), may determine the detection point of the laser based on the detection information of the laser generated based on the falling edge of the electrical signal generated, and may determine the detection point of the laser based on the detection information of the laser generated based on the rising edge of the electrical signal generated and the detection information of the laser generated based on the falling edge, but is not limited thereto.
  • control unit (400) may determine the detection point of the laser based on histogram data generated based on the electrical signal generated from the detector unit (300), but is not limited thereto.
  • control unit (400) may determine the detection point of the laser based on the peak of the histogram data generated from the detector unit (300), the judgment of the rising edge and falling edge based on a predetermined value, etc., but is not limited thereto.
  • the histogram data may be generated based on an electrical signal generated from a detector unit (300) according to one embodiment during at least one detection cycle.
  • control unit (400) can obtain distance information to the target based on the determined output time of the laser and the determined detection time of the laser, but is not limited thereto.
  • FIG. 2 is a drawing showing various embodiments of a lidar device.
  • FIG. 2 is a diagrammatic drawing that is simply used to explain one embodiment among various embodiments of the lidar device, and various embodiments of the lidar device are not limited to (c) of FIG. 2.
  • a lidar device may include a laser output unit (140), an optical unit (240), and a detector unit (340), and the optical unit (240) may include at least one lens (241) capable of collimating and steering a laser output from the laser output unit (130) and at least one lens (242) capable of transmitting a laser reflected from a target object to the detector unit (340), but is not limited thereto.
  • FIG. 3 is a diagram for explaining the operation of a lidar device and lidar data according to one embodiment.
  • a lidar device (1000) includes a laser output unit for outputting a laser and a detector unit for detecting a laser. Descriptions of the laser output unit and the detector unit have been described above, and any redundant descriptions will be omitted.
  • a data processing unit can obtain lidar data (1200) based on a laser detected by the lidar device (1000).
  • the field of view (1100) of the lidar device (1000) means an area where the laser is irradiated or an area where the position of the target object can be effectively detected by the lidar device (1000).
  • lidar data (1200) may refer to various types of data obtained from the lidar device (1000), and may refer to, for example, point data, point cloud, frame data, etc. obtained from the lidar device (1000), but is not limited thereto.
  • the horizontal viewing angle (1110) of the lidar device (1000) may be defined by the horizontal angle between the first laser (1111) facing the leftmost direction and the second laser (1112) facing the rightmost direction. More specifically, the horizontal angle of the first laser (1111) defined on a spherical coordinate system set based on the virtual optical origin of the lidar device (i.e., The horizontal angle of the second laser (1112) defined on the spherical coordinate system (i.e., the value, hereinafter, the first angle) and It can be defined as the difference between the values (below, second angle).
  • the vertical viewing angle (1120) of the lidar device (1000) may be defined by the vertical angle between the third laser (1121) facing upward and the fourth laser (1122) facing downward. More specifically, it may be defined by the difference between the angle (i.e., the ⁇ value, hereinafter, the third angle) of the third laser (1121) defined on a spherical coordinate system set based on the virtual optical origin of the lidar device and the angle (i.e., the ⁇ value, hereinafter, the fourth angle) of the fourth laser (1122) defined on a spherical coordinate system set based on the virtual optical origin of the lidar device.
  • the definition of the horizontal viewing angle (1110) and the vertical viewing angle (1120) of the lidar device (1000) is not limited to the above-described example, and may be defined by various methods for expressing an area to which a laser is irradiated from the lidar device (1000).
  • the horizontal viewing angle (1110) and the vertical viewing angle (1120) may be defined by the detected laser. More specifically, the horizontal viewing angle (1110) and the vertical viewing angle (1120) may be defined by point data generated by the detected laser.
  • the horizontal viewing angle (1110) of the lidar device (1000) may be defined by the first point data (1210) and the second point data (1220), and more specifically, may be defined by the irradiation angle of the laser corresponding to the first point data (1210) and the irradiation angle of the laser corresponding to the second point data (1220), but is not limited thereto.
  • the definition of the horizontal angular resolution and vertical angular resolution of the above lidar device (1000) is not limited to the above-described examples, and may be defined by various methods to express the angular resolution capable of distinguishing the detection target object.
  • lidar data (1200) obtained from a lidar device (1000) may include point data having angular resolution.
  • the angular resolution may include horizontal angular resolution for resolution in the horizontal direction and vertical angular resolution for resolution in the vertical direction.
  • the definition of the horizontal angular resolution and vertical angular resolution of the above lidar device (1000) is not limited to the above-described examples, and may be defined by various methods to express the angular resolution capable of distinguishing the detection target object.
  • the plurality of lasers irradiated by the above lidar device (1000) may each have a size and a divergence angle.
  • the size of the laser may be defined based on the shape of the image of the laser formed on a surface positioned at an arbitrary distance from the lidar device. For example, if the shape of the image of the laser is a circle-like shape, the size of the laser may be defined in a manner generally used to define the size of the circle. That is, the size of the laser may be defined by the area of the circle, or the size of the laser may be defined by the radius or diameter of the circle.
  • the shape of the image of the laser may be an ellipse-like shape.
  • the size of the laser may be defined by the length of the major axis and the length of the minor axis of the ellipse.
  • the divergence angle of the laser may be determined based on the distance between the arbitrary surface and the lidar device and the size of the laser.
  • the divergence angle of the laser may be determined based on the size of the image of the laser formed on two or more surfaces.
  • the vertical divergence angle of the laser may be the same as the horizontal divergence angle of the laser, but may be different from each other.
  • each point data included in the above lidar data (1200) may include distance information.
  • an optical origin (1300) can be defined for the above lidar device (1000).
  • the optical origin (1300) may mean the origin of the coordinate system for expressing the above-described lidar data.
  • Figures 4 and 5 are drawings for explaining the lighting area, detection area, and measurable area.
  • the lidar device (3000) includes a transmission module (3010), and lasers output through a laser emitting array (3011) included in the transmission module (3010) can be steered through an emitting lens assembly (3012).
  • the laser emitting unit included in the laser emitting array (3011) outputs a laser in the height direction of the laser emitting unit.
  • an axis formed in the height direction of the laser emitting unit from the center of the laser emitting array (3011) is called a reference axis.
  • the reference axis is an axis formed in a direction perpendicular to a plane constituting the laser emitting array (3011) from the center of the laser emitting array (3011), as can be seen in FIG. 4(d).
  • the vertical angle is the angle between the reference axis and the vertical vector direction
  • the horizontal angle is the angle between the reference axis and the horizontal vector direction.
  • the lighting area may be such that the first line and the second line are parallel, the left end of the first line and the left end of the second line are connected by a third line, and the right end of the first line and the right end of the second line are connected by a fourth line.
  • each of the first line and the second line may be orthogonal to each of the third line and the fourth line.
  • FIGS. 4 and 10 a detection area used to explain an embodiment of the present disclosure is defined.
  • Fig. 4(b) is intended to explain the horizontal angle between the horizontal vector direction and the reference axis.
  • light incident on the detecting lens assembly (3022) may be incident within an angle d to the left with respect to the reference axis (dotted line) and may be incident within an angle c to the right.
  • c and d may be the same or different.
  • the right side may refer to an area formed along one direction of the reference axis and the first axis in the first plane in Fig. 4(d)
  • the left side may refer to an area formed along the opposite direction of the reference axis and the first axis in Fig. 4(d).
  • light focused on the A1 detecting units arranged in the leftmost row within the laser detecting array (3021) may be incident at a horizontal angle of angle c to the right with respect to the reference axis.
  • light focused on the A1 detecting units arranged in the leftmost row may be incident at a horizontal angle of angle c to the right while passing through the detecting lens assembly (3022).
  • light focused on the A2 detecting units arranged in the rightmost row within the laser detecting array (3021) may be incident at a horizontal angle of angle d to the left with respect to the reference axis.
  • Fig. 4(c) is intended to explain the vertical angle between the vertical vector direction and the reference axis.
  • light incident on the detecting lens assembly (3022) may be incident upward within an angle a with respect to the reference axis (dotted line) and downward within an angle b.
  • a and b may be the same or different.
  • the upper side may refer to an area formed along one direction of the reference axis and the second axis in the second plane in Fig. 4(d)
  • the lower side may refer to an area formed along the opposite direction of the reference axis and the second axis in Fig. 4(d).
  • light focused on the B1 detecting units arranged in the top row within the laser detecting array (3021) may be incident at a vertical angle of angle b downwards with respect to the reference axis.
  • light focused on the B1 detecting units arranged in the top row may be incident at a vertical angle of angle b downwards with respect to the reference axis while passing through the detecting lens assembly (3022).
  • light focused on the B2 detecting units arranged in the bottom row within the laser detecting array (3021) may be incident at a vertical angle of angle a upwards with respect to the reference axis.
  • light focused on the B2 detecting units arranged in the bottom row may be incident at a vertical angle of angle a upwards with respect to the reference axis while passing through the detecting lens assembly (3022).
  • the line connecting the two points is defined as the vertical length of the detection area. At this time, the line connecting the two points is spaced apart by a distance Q from the receiving module (3020) along the reference axis.
  • Figure 4(a) shows a rectangular detection area having the horizontal and vertical lengths defined through Figures 4(b) and 4(c).
  • the first line connecting the two points assuming that the light focused on each of the A1 detecting unit and the A2 detecting unit arranged in the lowermost row is reflected from two points spaced apart by R and is incident on the detecting lens assembly (3022)
  • the second line connecting the two points assuming that the light focused on each of the B1 detecting unit and the B2 detecting unit arranged in the leftmost column is reflected from two points spaced apart by R and is incident on the detecting lens assembly (3022)
  • the third line connecting the two points assuming that the light focused on each of the B1 detecting unit and the B2 detecting unit arranged in the rightmost column is reflected from two points spaced apart by R and
  • the detection area may be such that the first line and the second line are parallel, the left end of the first line and the left end of the second line are connected by a third line, and the right end of the first line and the right end of the second line are connected by a fourth line.
  • each of the first line and the second line may be orthogonal to each of the third line and the fourth line.
  • the detection unit may be composed of at least one detection element.
  • the detection unit may be composed of one detection element or may be composed of multiple detection elements.
  • the measurable area refers to an area where the illumination area and the detection area, which are spaced apart by Q along the reference axis from the transmitting module (3010) and/or the receiving module (3020), overlap each other, as described above. In other words, it refers to an area where the illumination area and the detection area, which are spaced apart by Q along the reference axis from the lidar device (3000), overlap each other.
  • the lasers output from the transmission module (3010) are reflected by the target and enter the receiving module (3020), so that the receiving module (3020) can detect the lasers and measure the distance between the target and the lidar device (3000).
  • the lidar device (3000) can measure the distance to the target from the first point where the illumination range formed according to the field of view of the transmitting module (3010) and the detection range formed according to the field of view of the receiving module (3020) intersect. Accordingly, the radius from the lidar device (3000) to the first point is called the minimum measurement distance.
  • the laser output from the transmission module (3010) has a constant intensity, and the intensity gradually decreases while the laser flies.
  • the light incident on the reception module (3020) must have a minimum intensity to detect the light and measure the distance between the lidar device (3000) and the target object. Therefore, the radius within which a laser with a constant intensity can be output from the transmission module (3010), reflected from the target object, and then incident on the reception module (3020) with the minimum intensity that the reception module (3020) can detect is called the maximum measurement distance.
  • the ratio of the overlapping of the illumination area and the detection area may vary depending on the distance (along) from the reference axis from the lidar device (3000). For example, referring to FIG. 5, it is shown that the illumination area and the detection area are formed at positions o, p, and q respectively apart from the lidar device (3000) along the reference axis.
  • the lighting area and the detection area are rectangular in shape and have a similar relationship to each other.
  • the first to third lighting areas have a similar relationship to each other
  • the first to third detection areas have a similar relationship to each other.
  • first illumination area and the first detection area are similar to each other, and ideally, they are expected to be congruent.
  • the second illumination area and the second detection area are similar to each other, and ideally, they are expected to be congruent.
  • the third illumination area and the third detection area are similar to each other, and ideally, they are expected to be congruent.
  • the first illumination area at a position o apart from the reference axis of the lidar device (3000) may be shifted to the right compared to the first detection area.
  • the third illumination area at a position q apart from the lidar device (3000) along the reference axis may be shifted to the left compared to the third detection area.
  • the second illumination area and the second detection area at a position p apart from the lidar device (3000) along the reference axis can completely overlap.
  • the ratio of the horizontal length and the vertical length of the measurable area may vary depending on the distance from the lidar device (3000) along the reference axis, as the ratio of the overlapping of the illumination area and the detection area may vary.
  • this difference in ratio may be very small in practice.
  • the difference between the horizontal length and the vertical length of the measurable area at the maximum measurement distance and the horizontal length and the vertical length of the measurable area at the minimum measurement distance does not exceed the width of one detection unit. Preferably, it does not exceed half the width of one detection unit.
  • all measurable areas that can be formed within the maximum measurement distance and the minimum measurement distance by the lidar device (3000) have the same ratio of horizontal length to vertical length, which means that within the maximum measurement distance and the minimum measurement distance, (i) the laser output from the laser emitting unit arranged in the (first row, first column) of the laser emitting array is reflected and detected by the detecting unit arranged in the (first row, first column) of the laser detecting array, and (ii) the laser output from the laser emitting unit arranged in the (first row, last column) of the laser emitting array is reflected and detected by the detecting unit arranged in the (first row, last column) of the laser detecting array.
  • the laser output from the laser emitting unit arranged in the (last row, first column) of the laser emitting array is reflected and detected by the detecting unit arranged in the (last row, first column) of the laser detecting array
  • the laser output from the laser emitting unit arranged in the (last row, last column) of the laser emitting array is reflected and detected by the detecting unit arranged in the (last row, last column) of the laser detecting array.
  • the detection unit and the laser emitting unit arranged at corresponding positions at any distance within the maximum measurement distance and the minimum measurement distance, respectively may mean that the laser emitting array (3011) and the laser detecting array (3021) are aligned.
  • the distance along the reference axis from the lidar device (3000) only affects the left-right positions of the detection area and the lighting area and does not affect the up-down positions, the overlapping ratio between the vertical length of the detection area and the vertical length of the lighting area will always be the same regardless of the distance.
  • the first detection area to the third detection area are similar to each other and the first illumination area to the third illumination area are similar to each other, it is safe to say that the first measurable area to the third measurable area are also similar to each other according to the description described above. Accordingly, in the embodiment of the present disclosure, it is assumed that all measurable areas that can be formed between the minimum measurement distance and the maximum measurement distance are similar to each other regardless of the distance from the lidar device (3020) along the reference axis.
  • the ratio of the horizontal length to the vertical length of each of the measurable area, the illumination area, and the detection area can be referred to as an aspect ratio.
  • the ratio of the horizontal length to the vertical length of the laser emitting array (3011) and the ratio of the horizontal length to the vertical length of the laser detecting array (3021) can also be referred to as an aspect ratio.
  • the relationship between each aspect ratio and the definition of the aspect ratio of each of the laser detecting array (3021) and the laser emitting array (3011) will be described in detail below.
  • the detection unit and the laser emitting unit arranged at corresponding positions within the laser emitting array (3011) and the laser detecting array (3021) are aligned so that the ratio of the horizontal length and vertical length of the measurable area is always constant regardless of the distance, the following relationship is established.
  • the total horizontal angle of the lidar device (3000) obtained by adding c and d in FIG. 4 is defined as e
  • the total vertical angle of the lidar device (3000) obtained by adding a and b is defined as g.
  • the horizontal length in the row direction of the measurable area defined for the present disclosure can be defined as x
  • the vertical length in the column direction can be defined as y
  • the horizontal length in the row direction of the laser detector array (3021) can be defined as k
  • the vertical length in the column direction can be defined as l.
  • [Mathematical expression 1] is the emission lens assembly (3012) and/or the detecting lens assembly (3022).
  • [Mathematical Formula 2] is established when the emitting lens assembly (3012) and/or the detecting lens assembly (3022) It can be established when there is a relationship.
  • D represents the distance between the images formed on the laser detector array when two lasers are reflected and incident on the laser detector array at an angle g.
  • D may represent the distance between the laser emitting units that output the two lasers flying at an angle g. In this case, It means.
  • D refers to the distance between images formed on the laser detector array when two laser beams are reflected and incident on the laser detector array at an angle e.
  • D may refer to the distance between the laser emitting units that output the two lasers flying at an angle e.
  • means. f is a focal length, which may mean the distance between the focus of two laser beams formed by the emitting lens assembly (3012) or the detecting lens assembly (3022) and the laser emitting array (3011) or the laser detector array (3022).
  • FIG. 7 is a diagram for explaining lidar data according to one embodiment.
  • lidar data can be expressed in various formats such as a point cloud, a depth map, and an intensity map.
  • the point cloud may be a format in which information about each measurement point is converted into location information and displayed, and the point cloud according to one embodiment may include location coordinate values (x, y, z) and intensity values (I) acquired based on angle information and distance information irradiated or acquired by a laser, but is not limited thereto.
  • the depth map may be in a format that includes two-dimensional pixel position information and distance information for each measurement point, and the depth map according to one embodiment may include pixel values (x, y) and distance values (D) acquired based on angle information at which the laser is irradiated or acquired, but is not limited thereto.
  • lidar data can be acquired in various formats, but for convenience of explanation, the following explanation will be based on lidar data acquired in the form of a point cloud.
  • the point cloud data (2000) may include a plurality of point data.
  • the point cloud data (2000) may be a point data set including a plurality of point data.
  • each of the plurality of point data may include, but is not limited to, location coordinate values (x, y, z) and intensity values (i).
  • a plurality of laser output directions determined within the field of view (FOV) of the aforementioned lidar device (1000) may correspond to each of the laser emitting elements (e.g., VCSELs). That is, the laser output direction of each laser emitting element on the spherical coordinate system based on the optical origin is a horizontal angle ( ) and vertical angle ( ⁇ ). At this time, the flight time of the laser and the intensity of the detected light (intensity, intensity) can be obtained based on the electrical output information detected by the detecting elements corresponding to each laser emitting element.
  • the laser emitting elements e.g., VCSELs
  • the position coordinate values included in each of the plurality of point data can be obtained based on the distance value between the target object and the lidar device (more specifically, the optical origin of the lidar device) converted based on the output direction of the laser and the flight time of the laser.
  • the position coordinate values included in each of the plurality of point data may be obtained based on the angle (or coordinate) value output by the laser and the distance value obtained based on the output laser, but are not limited thereto.
  • the position coordinate values included in each of the plurality of point data may be acquired based on the coordinate values of the detector that acquired the laser and the distance values acquired based on the acquired laser, but are not limited thereto.
  • the intensity value included in each of the plurality of point data can be obtained based on an electrical signal obtained from a detector unit.
  • the at least one sub-point data set (2110) may mean a set of point data grouped by a clustering algorithm, but is not limited thereto.
  • a lidar data processing unit may obtain at least one attribute data for at least one sub-point data set (2110) based on a human input, but is not limited thereto.
  • a lidar data processing unit may obtain at least one attribute data for at least one sub-point data set (2110) using a specific algorithm, but is not limited thereto.
  • the lidar data processing unit may obtain at least one attribute data for the at least one sub-point data set (2110) using a learned machine learning model, but is not limited thereto.
  • the lidar data processing unit may obtain at least one attribute data for at least one sub-point data set (2110) using a learned deep learning model, but is not limited thereto.
  • the machine learning model or deep learning model described above may include at least one artificial neural network layer (ANN).
  • ANN artificial neural network layer
  • the machine learning model or deep learning model described above may include, but is not limited to, at least one artificial neural network layer from among various artificial neural network layers such as a feedforward neural network, a radial basis function network, a Cohen self-organizing network, a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a long short-term memory network (LSTM), or gated recurrent units (GRUs).
  • a feedforward neural network such as a feedforward neural network, a radial basis function network, a Cohen self-organizing network, a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a long short-term memory network (LSTM), or gated recurrent units (GRUs).
  • DNN deep neural network
  • CNN convolutional neural network
  • RNN recurrent neural network
  • LSTM long short-term memory network
  • GRUs gated recurrent units
  • At least one artificial neural network layer included in the above-described machine learning model or deep learning model may be designed to use the same or different activation functions.
  • the activation function may include, but is not limited to, a sigmoid function, a hyperbolic tangent function, a Relu function (rectified linear unit function), a leaky Relu function, an ELU function (exponential linear unit function), a softmax function, etc., and may include various activation functions (including custom activation functions) for outputting a result value or transmitting it to another artificial neural network layer.
  • the at least one loss function may include, but is not limited to, MSE (Mean Squared Error), RMSE (Root Mean Squared Error), Binary Crossentropy, Categorical Crossentropy, Sparse Categorical Crossentropy, etc., and may include various functions (including custom loss functions) for calculating the difference between the predicted result value and the actual result value.
  • MSE Mean Squared Error
  • RMSE Root Mean Squared Error
  • Binary Crossentropy Categorical Crossentropy
  • Sparse Categorical Crossentropy Sparse Categorical Crossentropy
  • various functions including custom loss functions
  • machine learning model or deep learning model can be trained using at least one optimizer.
  • the optimizer can be used to update the relationship parameters between the input values and the result values.
  • At least one attribute data (2200) can be acquired based on point cloud data included in one frame data.
  • the first wavelength may be a wavelength range including an error range.
  • the first wavelength may be a 940 nm wavelength with an error range of 5 nm, meaning a wavelength range from 935 nm to 945 nm, but is not limited thereto.
  • the emitting lens assembly (3012) may include at least two lens layers.
  • the emitting lens assembly (3012) may include at least four lens layers, but is not limited thereto.
  • the emitting lens assembly (3012) can collimate the laser output from the laser emitting array (3011).
  • the emitting lens assembly (3012) can collimate the first laser output from the laser emitting array (3011) to change the divergence angle of the first laser.
  • the emitting lens assembly (3012) does not necessarily have to have a collimating function.
  • the emitting lens assembly (3012) can steer the laser output from the laser emitting array (3011).
  • the emitting lens assembly (3012) can steer the first laser output from the laser emitting array (3011) in a first direction, and can steer the second laser output from the laser emitting array (3011) in a second direction, but is not limited thereto.
  • the emitting lens assembly (3012) can steer the plurality of lasers output from the laser emitting array (3011) to irradiate the plurality of lasers at different angles within a range of (x) degrees to (y) degrees.
  • the emitting lens assembly (3012) can steer a first laser output from the laser emitting array (3011) in a first direction to irradiate the first laser in an (x) degree, and can steer a second laser in a second direction to irradiate the second laser in an (y) degree, also output from the laser emitting array (3011).
  • the emitting lens assembly (3012) can make the steered direction (e.g., the first direction) of the laser generated by the first laser emitting element different from the steered direction (e.g., the second direction) of the laser generated by the second laser emitting element.
  • the emitting lens assembly (3012) does not necessarily have to have a steering function. That is, the emitting lens assembly (3012) should have a steering function only when it is necessary to steer the laser output directions of individual laser emitting elements, but otherwise, the steering function is not a function necessarily required for the emitting lens assembly (3012).
  • the first laser emitting element and the second laser emitting element are arranged on the same plane so that the first laser output from the first laser emitting element and the second laser output from the second laser emitting element are output so that they proceed in the same direction, and even if they are output with a large divergence angle, they are collimated by the emitting lens assembly (3012) and steered in different directions so that the first laser and the second laser can be irradiated so that they proceed in different directions but have a small divergence angle.
  • the receiving module (3020) may include, but is not limited to, a laser detecting array (3021) and a detecting lens assembly (3022).
  • the laser detection array (3021) can detect light.
  • the laser detection array (3021) can detect multiple lasers.
  • the laser detecting array (3021) may include a plurality of detecting elements.
  • the laser detecting array (3021) may include a first detecting element and a second detecting element, but is not limited thereto.
  • each of the plurality of detecting elements included in the laser detecting array (3021) can receive different lasers.
  • a first detecting element included in the laser detecting array (3021) can receive a first laser received in a first direction
  • a second detecting element can receive a second laser received in a second direction, but is not limited thereto.
  • each of the plurality of detecting elements receives a different laser may include the meaning that each of the plurality of detecting elements included in the laser detecting array (3021) is arranged to receive a different laser by the detecting lens assembly (3022), even though they physically have the same function.
  • the laser detecting array (3021) can detect at least a portion of the laser emitted from the transmission module (3010).
  • the laser detecting array (3021) can detect at least a portion of the first laser emitted from the transmission module (3010) when the first laser is reflected from the object, and can detect at least a portion of the second laser when the second laser is reflected from the object, but is not limited thereto.
  • the detecting lens assembly (3022) can transmit the laser emitted from the transmission module (3010) to the laser detecting array (3021).
  • the detecting lens assembly (3022) may transmit the first laser irradiated in a first direction from the transmission module (3010) to the laser detecting array (3021) when the first laser is reflected from an object located in the first direction, and may transmit the second laser irradiated in a second direction to the laser detecting array (3021) when the second laser is reflected from an object located in the second direction, but is not limited thereto.
  • the detecting lens assembly (3022) can distribute the laser irradiated from the transmission module (3010) to at least two different detecting elements.
  • the detecting lens assembly (3022) can distribute the first laser irradiated from the transmission module (3010) in a first direction to a first detecting element included in the laser detecting array (3021) when the first laser is reflected from an object located in the first direction, and can distribute the second laser irradiated in a second direction to a second detecting element included in the laser detecting array (3021) when the second laser is reflected from an object located in the second direction, but is not limited thereto.
  • the laser emitting array (3011) and the laser detecting array (3021) may be at least partially matched.
  • a first laser output from a first laser emitting element included in the laser emitting array (3011) may be detected by a first detecting element included in the laser detecting array (3021)
  • a second laser output from a second laser emitting element included in the laser emitting array (3011) may be detected by a second detecting element included in the laser detecting array (3021), but is not limited thereto.
  • this can be implemented by aligning the laser emitting array (3011) with the emitting lens assembly (3012), the laser detecting array (3021) with the detecting lens assembly (3022), and the transmitting module (3010) with the receiving module (3020).
  • the laser emitting array (3011) and the emitting lens assembly (3012) may be aligned so that a first laser output from the first laser emitting element is radiated in a first direction and a second laser output from the second laser emitting element is radiated in a second direction
  • the laser detecting array (3021) and the detecting lens assembly (3022) may be aligned so that the first detecting element receives light received from the detecting lens assembly (3022) from a third direction and the second detecting element receives light received from the detecting lens assembly (3022) from a fourth direction
  • the transmitting module (3010) and the receiving module (3020) may be aligned so that the first direction and the third direction correspond to each other and the second direction and the fourth direction correspond to each other.
  • the detecting lens assembly (3022) can focus the incident light at a focus position determined according to the direction of incidence of the light or at a detecting element corresponding to the focus position.
  • FIG. 11 is a drawing for explaining a laser emitting array and a laser detecting array included in a lidar device according to one embodiment.
  • a lidar device (3100) may include a laser emitting array (3110) and a laser detecting array (3120).
  • the above laser emitting array (3110) may include a plurality of laser emitting units.
  • the laser emitting array (3110) may include a first laser emitting unit (3111) and a second laser emitting unit (3112).
  • the laser emitting array (3110) may be an array in which a plurality of laser emitting units are arranged in a two-dimensional matrix form.
  • the laser emitting array (3110) may be an array in which a plurality of laser emitting units are arranged in a two-dimensional matrix form having M rows and N columns, but is not limited thereto.
  • each of the plurality of laser emitting units may include at least one laser emitting element.
  • the first laser emitting unit (3111) included in the plurality of laser emitting units may be configured with one laser emitting element
  • the second laser emitting unit (3112) may be configured with one laser emitting element, but is not limited thereto.
  • the first laser emitting unit (3111) included in the plurality of laser emitting units may be composed of two or more laser emitting elements
  • the second laser emitting unit (3112) may be composed of two or more laser emitting elements, but is not limited thereto.
  • the lasers output from each of the plurality of laser emitting units can be irradiated in different directions.
  • the first laser output from the first laser emitting unit (3111) included in the plurality of laser emitting units may be irradiated in a first direction through the transmission optic
  • the second laser output from the second laser emitting unit (3112) may be irradiated in a second direction through the transmission optic, but is not limited thereto.
  • the lasers output from each of the plurality of laser emitting units and irradiated through the transmission optics may not overlap each other at the target location.
  • the first laser output from the first laser emitting unit (3111) included in the plurality of laser emitting units and irradiated through the transmission optic may not overlap with the second laser output from the second laser emitting unit (3112) and irradiated through the transmission optic at a distance of 100 m, but is not limited thereto.
  • the laser detecting array (3120) may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix form having M rows and N columns, but is not limited thereto.
  • the laser emitting array (3110) may include M*N laser emitting units
  • the laser detecting array (3120) may include (M+3)*N detecting units, but is not limited thereto.
  • the number of laser emitting elements included in the second laser emitting unit (3112) is 1, the number of detecting elements included in the second laser detecting unit (3122) may be 9, but is not limited thereto.
  • FIG. 12 and FIG. 13 are drawings for explaining a lidar device according to one embodiment.
  • the emitting optics holder (4013) may be positioned between the laser emitting module (4011) and the emitting optics module (4012) to fix the relative positional relationship between the laser emitting module (4011) and the emitting optics module (4012), but is not limited thereto.
  • the emitting optics holder (4013) may be formed to fix the movement of the emitting optics module (4012).
  • a receiving module (4020) may include a laser detecting module (4021), a detecting optics module (4022), and a detecting optics holder (4023).
  • the above-described detecting optics module (4022) may include a detecting lens assembly, and the contents of the above-described detecting lens assembly, etc. may be applied to the detecting lens assembly, so redundant descriptions will be omitted.
  • the detecting optics holder (4023) may be positioned between the laser detecting module (4021) and the detecting optics module (4022).
  • the detecting optics holder (4023) may be positioned between the laser detecting module (4021) and the detecting optics module (4022) to fix the relative positional relationship between the laser detecting module (4021) and the detecting optics module (4022), but is not limited thereto.
  • the detecting optics holder (4023) can be formed to fix the movement of the detecting optics module (4022).
  • the detecting optics holder (4023) may be formed to include a hole into which at least a portion of the detecting optics module (4022) is inserted so as to restrict movement of the detecting optics module (4022), but is not limited thereto.
  • the above-mentioned emitting optics holder (4013) and the above-mentioned detecting optics holder (4023) can be formed as one piece.
  • the emitting optics holder (4013) and the detecting optics holder (4023) may be formed as one piece so that each of the two holes of one optics holder is formed such that at least a portion of the emitting optics module (4012) and the detecting optics module (4013) are inserted into each hole, but the present invention is not limited thereto.
  • the above-described emitting optics holder (4013) and the above-described detecting optics holder (4023) may not be physically distinct, and may conceptually mean a first part and a second part of one optics holder, but are not limited thereto.
  • FIG. 13 is a drawing for explaining one embodiment of the lidar device of FIG. 12, and the contents described in FIG. 12 and the present disclosure are not limited by the shape illustrated in FIG. 13.
  • FIG. 14 and FIG. 15 are drawings for explaining a laser emitting module and a laser detecting module according to one embodiment.
  • a lidar device (4100) may include a laser emitting module (4110) and a laser detecting module (4120).
  • a laser emitting module (4110) may include a laser emitting array (4111) and a first substrate (4112).
  • the laser emitting array (4111) may be provided in the form of a chip in which a plurality of laser emitting units are arranged in an array form, but is not limited thereto.
  • the laser emitting array (4111) may be provided in the form of a laser emitting chip, but is not limited thereto.
  • the laser emitting array (4111) may be positioned on the first substrate (4112), but is not limited thereto.
  • the first substrate (4112) may include, but is not limited to, a laser emitting driver for controlling the operation of the laser emitting array (4111).
  • a laser detecting module (4120) may include a laser detecting array (4121) and a second substrate (4122).
  • a laser detecting array (4121) may be provided in the form of a chip in which a plurality of laser detecting units are arranged in an array form, but is not limited thereto.
  • the laser detecting array (4121) may be provided in the form of a laser detecting chip, but is not limited thereto.
  • the laser detecting array (4121) may be positioned on the second substrate (4122), but is not limited thereto.
  • the second substrate (4122) may include, but is not limited to, a laser detecting driver for controlling the operation of the laser detecting array (4121).
  • first substrate (4112) and the second substrate (4122) may be provided separately from each other as shown in FIG. 14, but are not limited thereto and may be provided as a single substrate.
  • FIG. 15 is a drawing for explaining one embodiment of the lidar device of FIG. 14, and the contents described in FIG. 14 and the present disclosure are not limited by the shape illustrated in FIG. 15.
  • FIG. 16 and FIG. 17 are drawings for explaining an emitting lens module and a detecting lens module according to one embodiment.
  • a lidar device (4200) may include an emitting lens module (4210) and a detecting lens module (4220).
  • an emitting lens module (4210) may include an emitting lens assembly (4211) and an emitting lens mounting tube (4212).
  • An emitting lens assembly (4211) can be placed within the emitting lens mounting tube (4212).
  • the above-described emitting lens mounting tube (4212) may refer to a barrel surrounding the above-described emitting lens assembly (4211), but is not limited thereto.
  • a detecting lens module (4220) may include a detecting lens assembly (4221) and a detecting lens mounting tube (4222).
  • a detecting lens assembly (4221) can be placed within the detecting lens mounting tube (4222).
  • the detecting lens mounting tube (4222) may refer to a tube surrounding the detecting lens assembly (4221), but is not limited thereto.
  • the emitting optics module (4210) can be arranged to be aligned with the laser emitting module described above.
  • the meaning that the above-described emitting optics module (4210) is arranged to be aligned with the above-described laser emitting module may include, but is not limited to, the meaning that it is arranged to have a physically preset relative positional relationship and the meaning that it is aligned to be able to irradiate the laser at an optically targeted angle.
  • the detecting optics module (4220) can be arranged to be aligned with the laser detecting module described above.
  • the meaning that the detecting optics module (4220) is arranged to be aligned with the above-described laser detecting module may include, but is not limited to, the meaning that it is arranged to have a physically preset relative positional relationship and the meaning that it is aligned to be able to detect a laser that is received at an optically targeted angle.
  • FIG. 17 is a drawing for explaining one embodiment of the lidar device of FIG. 16, and the contents described in FIG. 16 and the present disclosure are not limited by the shape illustrated in FIG. 17.
  • Fig. 18 is a drawing showing a laser output unit according to one embodiment.
  • a laser output unit (100) may include a pixel element (110).
  • a pixel element (110) may include an upper metal contact (10), an upper DBR layer (upper Distributed Bragg reflector 20), an active layer (quantum well 40), a lower DBR layer (lower Distributed Bragg reflector 30), a substrate (substrate 50), and a lower metal contact (60).
  • the pixel element (110) can emit a laser beam vertically from the upper surface.
  • the pixel element (110) can emit a laser beam in a direction perpendicular to the surface of the upper metal contact (10).
  • the pixel element (110) can emit a laser beam vertically to the active layer (40).
  • a pixel element (110) may include an upper DBR layer (20) and a lower DBR layer (30).
  • the upper DBR layer (20) and the lower DBR layer (30) may be formed of a plurality of reflective layers.
  • the plurality of reflective layers may be alternately arranged with reflective layers having high reflectivity and reflective layers having low reflectivity.
  • the thickness of the plurality of reflective layers may be one-fourth of the laser wavelength emitted from the pixel element (110), but is not limited thereto.
  • the upper DBR layer (20) and the lower DBR layer (30) may be doped with p-type and 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 n-type and the lower DBR layer (30) may be doped with p-type.
  • a substrate (50) may be placed between the lower DBR layer (30) and the lower metal contact (60). If the lower DBR layer (30) is doped with a p-type, the substrate (50) may also be a p-type substrate, and if the lower DBR layer (30) is doped with an n-type, the substrate (50) may also be an n-type substrate.
  • a pixel element (110) may include an active layer (40).
  • an active layer (40) may be placed between an upper DBR layer (20) and a lower DBR layer (30).
  • An active layer (40) may include a plurality of quantum wells that generate laser beams.
  • the active layer (40) may emit laser beams.
  • a pixel element (110) may include a metal contact for electrical connection with a power source, etc.
  • the pixel element (110) may include an upper metal contact (10) and a lower metal contact (60).
  • the pixel element (110) can be electrically connected to the upper DBR layer (20) and the lower DBR layer (30) through metal contacts.
  • a p-type voltage can be supplied to the upper metal contact (10) to electrically connect it with the upper DBR layer (20), and an n-type voltage can be supplied to the lower metal contact (60) to electrically connect it with the lower DBR layer (30).
  • an n-type voltage may be supplied to the upper metal contact (10) to electrically connect with the upper DBR layer (20), and a p-type voltage may be supplied to the lower metal contact (60) to electrically connect with the lower DBR layer (30).
  • a pixel element (110) may include an oxidation area.
  • the oxidation area may be positioned on top of the active layer.
  • the oxidation area can serve as an aperture. Specifically, since the oxidation area is insulating, a beam generated from the active layer (40) can be emitted only from a portion other than the oxidation area.
  • the laser output unit may include a plurality of pixel elements (110).
  • the laser output unit can turn on multiple pixels (110) at once or individually.
  • the laser output unit can emit laser beams of various wavelengths.
  • the laser output unit can emit a laser beam having a wavelength of 905 nm.
  • the laser output unit can emit a laser beam having a wavelength of 940 nm.
  • the laser output unit can emit a laser beam having a wavelength of 1550 nm.
  • the wavelength of the laser output from the laser output unit may vary depending on the surrounding environment.
  • the wavelength of the laser output from the laser output unit may increase as the temperature of the surrounding environment increases.
  • the wavelength of the laser output from the laser output unit may decrease as the temperature of the surrounding environment decreases.
  • the surrounding environment may include, but is not limited to, temperature, humidity, pressure, dust concentration, ambient light, altitude, gravity, acceleration, etc.
  • the laser output unit can emit a laser beam in a direction perpendicular to the support surface.
  • the laser output unit can emit a laser beam in a direction perpendicular to the emission surface.
  • the laser emitting element used to implement an embodiment of the present disclosure may be the above-described V-cell element.
  • the laser emitting unit may include at least one V-cell element.
  • the laser emitting unit may be composed of one V-cell element.
  • the laser emitting unit may be composed of a plurality of V-cell elements.
  • the laser emitting array may be a plurality of laser emitting units arranged in an array form.
  • the laser emitting unit is composed of one V-cell element
  • the laser emitting array may be a plurality of V-cell elements arranged in an array form.
  • the laser emitting array may be a plurality of laser emitting units, each of which is composed of a plurality of V-cell elements, arranged in an array form.
  • the sub-emitting array may include one or more laser emitting units among the plurality of laser emitting units included in the laser emitting array.
  • the pixel element may be referred to as a "pixel” for convenience of naming.
  • the laser emitting element may be referred to as an "emitter” for convenience of naming.
  • the detecting element used to implement an embodiment of the present disclosure may be a SPAD (Single Photon Avalanche Diode) element.
  • the detecting unit may include at least one SPAD element.
  • the detecting unit may be composed of one SPAD element.
  • the detecting unit may be composed of a plurality of SPAD elements.
  • the laser detecting array may be composed of a plurality of detecting units arranged in an array form.
  • the laser detecting array may be composed of a plurality of SPAD elements arranged in an array form.
  • the laser detecting array may be composed of a plurality of detecting units, each of which is composed of a plurality of SPAD elements, arranged in an array form.
  • the sub-detection array may include one or more detection units among the plurality of detection units included in the laser detection array.
  • the spad element may be referred to as a "spad” for convenience of naming.
  • the detection element may be referred to as a "detector” for convenience of naming.
  • FIG. 19 is a drawing for explaining a laser emitting array according to one embodiment.
  • a laser emitting array (5000) may include a plurality of laser emitting units, at least one sub-emitting array, at least one upper conductor, at least one lower conductor, and at least one voltage supply.
  • the at least one sub-emitting array may mean a group of operatively connected laser emitting units among the plurality of laser emitting units, may mean a group of physically connected laser emitting units, may mean a group of laser emitting units connected to the same voltage supply, may mean a group of laser emitting units defined by the at least one upper conductor, and may mean a group of laser emitting units defined by a capacitor electrically connected to the at least one voltage supply, but is not limited thereto.
  • At least one sub-emitting array may include a plurality of sub-emitting arrays.
  • At least one sub-emitting array may include, but is not limited to, a plurality of sub-emitting arrays including a first sub-emitting array (5010).
  • At least one sub-emitting array may include a plurality of laser emitting units.
  • the first sub-emitting array (5010) may include, but is not limited to, a plurality of laser emitting units.
  • the first sub-emitting array (5010) may include, but is not limited to, a first laser emitting unit (5011) and a second laser emitting unit (5012).
  • a plurality of laser emitting units included in at least one sub-emitting array may be connected to at least one upper conductor.
  • a plurality of laser emitting units included in the first sub-emitting array (5010) may be connected to the first upper conductor (5013) through an upper metal contact, but is not limited thereto.
  • the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) may be connected to the first upper conductor (5013) through their respective upper metal contacts, but are not limited thereto.
  • a plurality of laser emitting units included in at least one sub-emitting array may be connected to the first lower conductor (5014) via a lower metal contact, but is not limited thereto.
  • the first laser emitting unit (5011) and the second laser emitting unit (5012) included in at least one sub-emitting array may be connected to the first lower conductor (5014) via a lower metal contact, but are not limited thereto.
  • the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) included in at least one sub-emitting array may be connected to the first voltage supply unit (5015) through the first upper conductor (5013) and may receive energy from the first voltage supply unit (5015), but are not limited thereto.
  • the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) included in at least one sub-emitting array may be connected to the first voltage supply unit (5015) through the first lower conductor (5014) and may receive energy from the first voltage supply unit (5015), but are not limited thereto.
  • a plurality of laser emitting units included in at least one sub-emitting array may receive voltage from at least one voltage supply.
  • the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) included in at least one sub-emitting array may be connected to the first voltage supply unit (5015) through the first upper conductor (5013) and may receive voltage from the first voltage supply unit (5015), but are not limited thereto.
  • the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) included in at least one sub-emitting array may be connected to the first voltage supply unit (5015) through the first lower conductor (5014) and may receive voltage from the first voltage supply unit (5015), but are not limited thereto.
  • the lengths of the electrical paths between at least one laser emitting unit and at least one voltage supply included in at least one sub-emitting array according to one embodiment may be different from each other.
  • the electrical path between the first laser emitting unit (5011) included in the first sub-emitting array (5010) and the first voltage supply unit (5015) may be smaller than the electrical path between the second laser emitting unit (5012) and the first voltage supply unit (5015), but is not limited thereto.
  • the electrical path may mean a path along which current or electrons travel from a voltage supply unit to each laser emitting unit, and may include a concept that can be understood as an electrical path by a person skilled in the art.
  • FIG. 20 is a drawing for explaining a laser emitting array according to one embodiment.
  • FIG. 20 only illustrates a laser emitting array having a 4 X 4 matrix shape
  • the shape of the laser emitting array is not limited thereto.
  • the laser emitting array can have a matrix shape of 5 X 5, 6 X 6, 7 X 7, 8 X 8, 9 X 9, 10 X 10, 11 X 11, 12 X 12, 13 X 13, 14 X 14, 15 X 15, 16 X 16, etc.
  • the laser emitting array can have a matrix shape of N X M.
  • the shape of the laser emitting array is not limited to the numbers described and can have a matrix shape composed of other numbers.
  • a laser emitting array (6100) may include a plurality of voltage supply units (6120, 6125, 6130, 6135).
  • the laser emitting array (6100) may include first voltage supply units (6120, 6125) arranged adjacent to both ends of a pixel array arranged along the first axis.
  • the laser emitting array (6100) may include second voltage supply units (6130, 6135) arranged adjacent to both ends of a pixel array arranged along the second axis.
  • the laser emitting array (6100) may include first voltage supply units (6120) arranged adjacent to one end of the pixel array arranged along the first axis and second voltage supply units (6125) arranged adjacent to the other end. Furthermore, for example, the laser emitting array (6100) may include third voltage supply units (6130) arranged adjacent to one end of the pixel array arranged along the second axis and fourth voltage supply units (6135) arranged adjacent to the other end.
  • the plurality of voltage supply units (6120, 6125, 6130, 6135) may include a conductive material.
  • the plurality of voltage supply units (6120, 6125, 6130, 6135) may include a metal.
  • the plurality of voltage supply units (6120, 6125, 6130, 6135) may be electrically connected to the plurality of laser emitting units (6110). At this time, the plurality of voltage supply units (6120, 6125, 6130, 6135) may supply voltage to the plurality of laser emitting units (6110).
  • the plurality of voltage supply units (6120, 6125, 6130, 6135) can supply a p-type voltage or an n-type voltage to the plurality of laser emitting units (6110).
  • the p-type voltage may be a voltage supplied from a (+) terminal of a voltage source
  • the n-type voltage may be a voltage supplied from a (-) terminal of the voltage source.
  • the p-type voltage may be a voltage generally applied to a p-doped body
  • the n-type voltage may be a voltage generally applied to an n-doped body.
  • the first voltage supply units (6120, 6125) arranged at both ends of the laser emitting array arranged along the first axis can be connected to the lower metal contacts (60) of the plurality of laser emitting units (6110).
  • an n-type voltage can be applied to the lower metal contacts (60) of the laser emitting units (6110) through the first voltage supply units (6120, 6125).
  • the second voltage supply units (6130, 6135) arranged at both ends of the laser emitting array arranged along the second axis may be connected to the upper metal contacts (10) of the plurality of laser emitting units (6110).
  • a p-type voltage may be applied to the upper metal contact (10) of the laser emitting unit (6110) through the second voltage supply units (6130, 6135).
  • a voltage higher than a reference voltage may be applied to the upper metal contact (10) of the laser emitting unit (6110) through the second voltage supply units (6130, 6135).
  • the first voltage supply units (6120, 6125) arranged at both ends of the laser emitting array arranged along the first axis may be connected to the upper metal contacts (10) of the plurality of laser emitting units (6110).
  • a p-type voltage may be applied to the upper metal contact (10) of the laser emitting unit (6110) through the first voltage supply units (6120, 6125).
  • a voltage higher than a reference voltage may be applied to the upper metal contact (10) of the laser emitting unit (6110) through the first voltage supply units (6120, 6125).
  • the second voltage supply units (6130, 6135) arranged at both ends of the laser emitting array arranged along the second axis may be connected to the lower metal contacts (60) of the plurality of laser emitting units (6110).
  • an n-type voltage may be applied to the lower metal contacts (60) of the laser emitting units (6110) through the second voltage supply units (6120, 6125).
  • a voltage lower than a reference voltage may be applied to the lower metal contacts (60) of the laser emitting units (6110) through the second voltage supply units (6120, 6125).
  • a laser emitting array (6110) may include a plurality of transmission lines (6140, 6150).
  • the plurality of transmission lines (6140, 6150) may include a conductive material.
  • the plurality of transmission lines (6140, 6150) may include metal.
  • a plurality of transmission lines (4140) may connect a plurality of laser emitting units (6110) arranged along the first axis to each other or electrically connect a laser emitting unit (6110) and first voltage supply units (6120, 6125).
  • a plurality of transmission lines (6140, 6150) may connect a plurality of laser emitting units (6110) arranged along the second axis to each other or electrically connect a laser emitting unit (6110) and second voltage supply units (6130, 6135).
  • a plurality of laser emitting units (6110) included in a laser emitting array (6110) can operate individually.
  • a plurality of laser emitting units (6110) included in a laser emitting array (6110) can each operate independently, regardless of whether other laser emitting units are operating.
  • an n-type voltage may be applied to a voltage supply unit arranged in row 1 among the first voltage supply units (6120, 6125), and a p-type voltage may be applied to a voltage supply unit arranged in column 1 among the second voltage supply units (6130, 6135).
  • a voltage lower than the reference voltage may be applied to a voltage supply unit arranged in row 1 among the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to a voltage supply unit arranged in column 1 among the second voltage supply units (6130, 6135).
  • an n-type voltage may be applied to a voltage supply unit arranged in the first row among the first voltage supply units (6120, 6125), and a p-type voltage may be applied to a voltage supply unit arranged in the second column among the second voltage supply units (6130, 6135).
  • a voltage lower than the reference voltage may be applied to the voltage supply unit arranged in the first row among the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to the voltage supply unit arranged in the second column among the second voltage supply units (6130, 6135).
  • an n-type voltage may be applied to the voltage supply unit arranged in the first row among the first voltage supply units (6120, 6125), and a p-type voltage may be applied to all of the second voltage supply units (6130, 6135).
  • a voltage lower than the reference voltage may be applied to the voltage supply unit arranged in the first row among the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to all of the second voltage supply units (6130, 6135).
  • an n-type voltage may be applied to the voltage supply units arranged in the second and third rows among the first voltage supply units (6120, 6125), and a p-type voltage may be applied to the voltage supply units arranged in the second and fourth columns among the second voltage supply units (6130, 6135).
  • a voltage lower than the reference voltage may be applied to the voltage supply units arranged in the second and third rows among the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to the voltage supply units arranged in the second and fourth columns among the second voltage supply units (6130, 6135).
  • an n-type voltage may be applied to all of the first voltage supply units (6120, 6125) and a p-type voltage may be applied to all of the second voltage supply units (6130, 6135).
  • a voltage lower than the reference voltage may be applied to all of the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to all of the second voltage supply units (6130, 6135).
  • FIG. 21 is a drawing for explaining a laser emitting array according to another embodiment.
  • a laser emitting array (6200) may include a plurality of laser emitting units (6210).
  • the description of the plurality of laser emitting units (6210) may overlap with the description of the plurality of laser emitting units (6110) described with reference to FIG. 20, so a detailed description will be omitted.
  • the description of the multiple voltage supply units may overlap with the description of the multiple voltage supply units (6120, 6125, 6130, 6135) described with reference to FIG. 20, so a detailed description will be omitted.
  • the description of the plurality of transmission lines (6240, 6250) may overlap with the description of the plurality of transmission lines (6140, 6150) described with reference to FIG. 20, so a detailed description will be omitted.
  • a laser emitting array (6200) may include a common contact (6260).
  • the common contact (6260) may include a conductive material.
  • the common contact (6260) may include a metal.
  • a common contact (6260) may be electrically connected to a plurality of laser emitting units (6210) arranged along the first axis.
  • the common contact (6260) may be electrically connected to a plurality of laser emitting units (6210) arranged along the first axis through a lower metal contact (60).
  • the common contact (6260) may be electrically connected to a plurality of laser emitting units (6210) arranged along the first axis through an upper metal contact (10).
  • FIG. 21 (b) is a drawing showing that a plurality of laser emitting units (6210) arranged along a first axis in the laser emitting array of FIG. 21 (a) are connected to a voltage supply unit (6220, 6225), and a voltage supply unit (6230, 6235) and transmission lines (6250) for connecting a plurality of laser emitting units (6210) along a second axis are omitted.
  • the common contact (6260) according to the embodiment described in Fig. 21 may have resistance. In this case, the longer the length from one reference point to one end of the common contact (6260), the greater the resistance.
  • the resistance from the first reference point, which is the center of the laser emitting unit in the first row and the first column, to the left end of the common contact (6260) in the first row may be smaller than the resistance from the second reference point, which is the center of the laser emitting unit in the first row and the second column, to the left end of the common contact (6260) in the first row.
  • the resistance from the first reference point, which is the center of the laser emitting unit in the first row and the first column, to the left end of the common contact (6260) in the first row may be smaller than the resistance from the third reference point, which is the center of the laser emitting unit in the first row and the third column, to the left end of the common contact (6260) in the first row.
  • the resistance from the first reference point, which is the center of the laser emitting unit in the first row and the first column, to the left end of the common contact (6260) in the first row may be smaller than the resistance from the fourth reference point, which is the center of the laser emitting unit in the first row and the fourth column, to the left end of the common contact (6260) in the first row.
  • the common contact (6260) receives voltage only from the first voltage supply unit (6225) adjacent to the left end of the common contact (6260) through the transmission line (6240), the difference in resistance between the plurality of laser emitting units in one row may not be uniform.
  • the intensity of the laser beam output between the laser emitting units may be different. If the laser beam output intensity between the laser emitting units is different, an uneven beam profile may be formed in the laser emitting array.
  • the maximum measurement distances of each laser emitting unit may be different, which may degrade the performance of the lidar device using the laser emitting array.
  • the first voltage supply units (6220, 6225) can be arranged at both ends, rather than at one end, of the plurality of laser emitting units (6210) arranged along the first axis.
  • the resistance difference between the laser emitting units can be reduced.
  • the aspect ratio of the laser emitting array by controlling the aspect ratio of the laser emitting array, the resistance difference between the laser emitting units can be reduced.
  • the aspect ratio of the laser emitting array by controlling the aspect ratio of the laser emitting array and controlling the horizontal and vertical lengths of the common contacts (6260) of each row, the resistance difference between the laser emitting units arranged in the laser emitting array can be reduced.
  • the aspect ratio of the laser emitting array is defined in detail later.
  • FIGS. 22 to 25 are diagrams for explaining the resistance of a laser emitting unit according to one embodiment. Specifically, FIGS. 22 to 25 illustrate a case where a voltage supply unit is arranged adjacent to one end of a laser emitting array.
  • Fig. 21 is a diagram illustrating a laser emitting array (6010) according to one embodiment.
  • the laser emitting array (6010) according to one embodiment includes a plurality of laser emitting units (6011), a voltage supply unit (6012), a transmission line (6013), and a common contact (6014). At this time, the laser emitting array (6010) includes a voltage supply unit (6012) adjacent to one of the two ends of the laser emitting array.
  • a laser emitting array can operate a plurality of laser emitting units (6011) by supplying voltage to the plurality of laser emitting units (6011) through a voltage supply unit (6012). At this time, the resistance generated from a common contact (6014) electrically connected to the voltage supply unit (6012) of each laser emitting unit (6011) may be different for each laser emitting unit.
  • the laser emitting unit in the first row may have a first central point (C1).
  • the resistance of the first central point (C1) may be a composite resistance of the resistance from one end of the common contact (6014) to the corner of the laser emitting unit in the first row and the resistance from the corner of the laser emitting unit in the first row to the first central point (C1).
  • the resistance from one end of the common contact (6014) to the corner of the first row laser emitting unit may be R1. Additionally, the resistance from the corner of the first row laser emitting unit to the first center point (C1) may be R2. Accordingly, the resistance of the first center point (C1) may be the combined resistance of R1 and R2. For example, the resistance of the first center point (C1) may be R1+R2.
  • R1 may be equal to R2. Accordingly, the resistance of the first center point (C1) may be 2*R1 or 2*R2.
  • FIG. 23 is a diagram illustrating a laser emitting array (6010) according to one embodiment.
  • the laser emitting units in the second row may have a second center point (C2).
  • the resistance of the second center point (C2) may be the resistance from one end of the common contact (6014) to the corner of the laser emitting units in the second row and the combined resistance from the corner of the laser emitting cell units in the second row to the second center point (C2).
  • the resistance from one end of the common contact (6014) to the corner of the two-row laser emitting unit may be R1.
  • the resistance from the corner of the two-row laser emitting unit to the second center point (C2) may be R2.
  • the resistance of the second center point (C2) may be the combined resistance of R1 and R2.
  • the resistance of the second center point (C2) may be R1+R2.
  • R1 may be four times R2. Accordingly, the resistance of the second central point (C2) may be (5/4)*R1 or 5*R2.
  • FIG. 24 is a diagram illustrating a laser emitting array (6010) according to one embodiment.
  • the three-row laser emitting unit may have a third center point (C3).
  • the resistance of the third center point (C3) may be a composite resistance of the resistance from one end of the common contact (6014) to the corner of the three-row laser emitting unit and the resistance from the corner of the three-row laser emitting unit to the third center point (C3).
  • the resistance from one end of the common contact (6014) to the corner of the three-row laser emitting unit may be R1. Additionally, the resistance from the corner of the three-row laser emitting unit to the third central point (C3) may be R2. Accordingly, the resistance of the third central point (C3) may be the composite resistance of R1 and R2. For example, the resistance of the third central point (C3) may be R1+R2.
  • R1 may be 7 times R2. Accordingly, the resistance of the third central point (C3) may be (8/7)*R1 or 8*R2.
  • FIG. 25 is a diagram illustrating a laser emitting array (6010) according to one embodiment.
  • the four rows of laser emitting units may have a fourth central point (C4).
  • the resistance of the fourth central point (C4) may be a composite resistance of the resistance from one end of the common contact (6014) to the corner of the four rows of laser emitting units and the resistance from the corner of the four rows of laser emitting units to the fourth central point (C4).
  • the resistance from one end of the common contact (6014) to the corner of the four-row laser emitting unit may be R1. Additionally, the resistance from the corner of the four-row laser emitting unit to the fourth central point (C4) may be R2. Accordingly, the resistance of the fourth central point (C4) may be the composite resistance of R1 and R2. For example, the resistance of the fourth central point (C4) may be R1+R2.
  • the resistance of the laser emitting unit may increase as it moves away from the voltage supply unit (6012).
  • the laser emitting unit in the first row may have a lower resistance than the laser emitting units in the same row.
  • the resistance of the laser emitting unit in the first row may be 2*R2.
  • the resistance of the laser emitting units in the second row may be greater than that of the laser emitting units in the first row.
  • the resistance of the laser emitting units in the second row may be 5*R2.
  • the resistance of the laser emitting unit in row 3 may be greater than the resistance of the laser emitting units in rows 1 and 2.
  • the resistance of the laser emitting unit in row 3 may be 8*R2.
  • the resistance of the laser emitting unit in row 4 may be greater than the pixel units in rows 1, 2, and 3.
  • the resistance of the laser emitting unit in row 4 may be 11*R2.
  • each laser emitting unit can output a laser beam of different intensity.
  • the greater the difference in resistance between the laser emitting units the greater the difference in intensity of the laser beam. If the difference in intensity of the laser beam is large, the beam profile of the laser emitting array becomes unbalanced, and the measurement distance of the lidar device using the laser emitting array may vary depending on the laser emitting unit, which may cause a problem.
  • the difference (9*R2) between the resistance of the laser emitting unit in the first row and the resistance of the laser emitting unit in the fourth row may be greater than the difference (3*R2) between the resistance of the laser emitting unit in the first row and the resistance of the laser emitting unit in the second row.
  • the difference between the intensity of the laser beam output from the laser emitting unit in the first row and the intensity of the laser beam output from the laser emitting unit in the fourth row may be greater than the difference between the intensity of the laser beam output from the laser emitting unit in the first row and the intensity of the laser beam output from the laser emitting unit in the second row.
  • a voltage supply unit (6012) may be placed at both ends of the common contact (6014) to electrically connect the common contact (6014) and the plurality of laser emitting units (6011). A method of applying voltage to both ends of the common contact (6014) will be described below.
  • FIGS. 26 to 29 are diagrams for explaining the resistance of a laser emitting unit according to another embodiment. Specifically, FIGS. 26 to 29 illustrate a case where voltage supply units (6022, 6025) are arranged adjacent to both ends of a laser emitting array.
  • Fig. 25 is a diagram illustrating a laser emitting array (6020) according to another embodiment.
  • the laser emitting array (6020) may include a plurality of laser emitting units (6021), a voltage supply unit (6022), a transmission line (6023), and a common contact (6024).
  • the laser emitting array (6020) may include a voltage supply unit (6025) adjacent to one of the two ends of the laser emitting array.
  • a laser emitting array can operate a plurality of laser emitting units (6021) by supplying voltage to the plurality of laser emitting units (6021) through voltage supply units (6022, 6025) arranged at both ends. At this time, the resistance generated from a common contact (6024) electrically connected to the voltage supply units (6022, 6025) of each laser emitting unit (6021) may be different for each laser emitting unit.
  • the laser emitting unit in the first row may have a fifth center point (C5).
  • the resistance of the fifth center point (C5) may be a composite resistance of the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).
  • the resistance of the fifth center point (C5) may be a resistance obtained by connecting in parallel the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).
  • the resistance from one end of the common contact (6024) to the corner of the first row of laser emitting units may be R1. Furthermore, the resistance from the corner of the first row of laser emitting units to the fifth central point (C5) may be R2. Furthermore, the resistance from the corner of the first row of laser emitting units to the other end of the common contact (6024) may be R3.
  • the resistance of the fifth center point (C5) may be the composite resistance of R1, R2, and R3.
  • the resistance of the fifth center point (C5) may be (R1+R2)*(R2+R3)/(R1+2*R2+R3).
  • R1 may be equal to R2.
  • R3 may be 10 times R1 or R2. Therefore, the resistance of the fifth central point (C5) may be (22/13)*R2.
  • FIG. 27 is a drawing showing a laser emitting array (6020) according to another embodiment.
  • the laser emitting unit in the second row may have a sixth center point (C6).
  • the resistance of the sixth center point (C6) may be a composite resistance of the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).
  • the resistance of the sixth center point (C6) may be a resistance obtained by connecting in parallel the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).
  • the resistance from one end of the common contact (6014) to the corner of the two-row pixel unit may be R1. Additionally, the resistance from the corner of the two-row laser emitting unit to the sixth central point (C6) may be R2. Additionally, the resistance from the corner of the two-row laser emitting unit to the other end of the common contact (6024) may be R3.
  • R1 may be four times R2.
  • R3 may be seven times R2. Therefore, the resistance of the sixth central point (C6) may be (40/13)*R2.
  • FIG. 28 is a drawing showing a laser emitting array (6020) according to another embodiment.
  • the laser emitting unit in the third row may have a seventh center point (C7).
  • the resistance of the seventh center point (C7) may be a composite resistance of the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).
  • the resistance of the seventh center point (C7) may be a resistance obtained by connecting in parallel the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).
  • the resistance from one end of the common contact (6014) to the corner of the three-row laser emitting unit may be R1. Additionally, the resistance from the corner of the three-row laser emitting unit to the seventh central point (C7) may be R2. Additionally, the resistance from the corner of the three-row laser emitting unit to the other end of the common contact (6024) may be R3.
  • the resistance of the seventh center point (C7) may be the composite resistance of R1, R2, and R3.
  • the resistance of the seventh center point (C7) may be (R1+R2)*(R2+R3)/(R1+2*R2+R3).
  • R1 may be seven times R2.
  • R3 may be four times R2. Therefore, the resistance of the seventh central point (C7) may be (40/13)*R2.
  • FIG. 29 is a drawing showing a laser emitting array (6020) according to another embodiment.
  • the laser emitting unit in the fourth row may have an eighth center point (C8).
  • the resistance of the eighth center point (C8) may be a composite resistance of the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).
  • the resistance of the eighth center point (C8) may be a resistance obtained by connecting in parallel the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).
  • the resistance from one end of the common contact (6014) to the corner of the four-row laser emitting unit may be R1. Additionally, the resistance from the corner of the four-row laser emitting unit to the eighth central point (C8) may be R2. Additionally, the resistance from the corner of the four-row laser emitting unit to the other end of the common contact (6024) may be R3.
  • the resistance of the 8th center point (C8) may be the composite resistance of R1, R2, and R3.
  • the resistance of the 8th center point (C8) may be (R1+R2)*(R2+R3)/(R1+2*R2+R3).
  • R1 may be 10 times R2.
  • R3 may be the same as R2. Therefore, the resistance of the eighth central point (C8) may be (22/13)*R2.
  • the resistance difference between the laser emitting units of FIGS. 26 to 29 may be smaller than the resistance difference between the laser emitting units of FIGS. 22 to 25.
  • the resistance of the first central point (C1) of the first-row laser emitting unit of FIGS. 22 to 25 may be 2*R2
  • the resistance of the second central point (C2) of the second-row laser emitting unit may be 5*R2
  • the resistance of the third central point (C3) of the third-row laser emitting unit may be 8*R2
  • the resistance of the fourth central point (C4) of the four-row laser emitting unit may be 11*R2.
  • the largest difference in resistance between the laser emitting units may be 9*R2, which is the difference in resistance between the 1-row laser emitting unit and the 4-row laser emitting unit.
  • the resistance of the fifth central point (C5) of the first-row laser emitting unit of FIGS. 26 to 29 may be (22/13)*R2
  • the resistance of the sixth central point (C6) of the second-row laser emitting unit may be (40/13)*R2
  • the resistance of the seventh central point (C7) of the third-row laser emitting unit may be (40/13)*R2
  • the resistance of the eighth central point (C8) of the fourth-row laser emitting unit may be (22/13)*R2.
  • the largest difference in resistance between the laser emitting units may be (18/13)*R2, which is the resistance difference between the 1st row laser emitting unit and the 2nd row laser emitting unit, the resistance difference between the 1st row laser emitting unit and the 3rd row laser emitting unit, the resistance difference between the 2nd row laser emitting unit and the 4th row laser emitting unit, or the resistance difference between the 3rd row laser emitting unit and the 4th row laser emitting unit.
  • the laser emitting arrays of FIGS. 26 to 29 may have a smaller difference in resistance between the laser emitting units than the laser emitting arrays of FIGS. 22 to 25.
  • the largest difference in resistance between the laser emitting units (6011) included in the laser emitting arrays (6010) of FIGS. 22 to 25 may be 9*R2
  • the largest difference in resistance between the laser emitting units (6021) included in the laser emitting arrays (6020) of FIGS. 26 to 29 may be (18/13)*R2, which is smaller than 9*R2.
  • the smallest difference in resistance between the laser emitting units (6011) included in the laser emitting array (6010) of FIGS. 22 to 25 may be 3*R2
  • the largest difference in resistance between the laser emitting units (6021) included in the laser emitting array (6020) of FIGS. 26 to 29 may be (18/13)*R2, which is smaller than 3*R2.
  • the difference in resistance of the laser emitting units can be reduced.
  • the laser emitting unit placed close to the voltage supply unit has a relatively small resistance and can output a laser beam of relatively high intensity.
  • the difference in resistance between the laser emitting units can be reduced compared to when supplying voltage to the laser emitting units by arranging voltage supply units at only one end of the common contact.
  • the difference in resistance between the laser emitting units By reducing the difference in resistance between the laser emitting units, the difference in intensity of each laser beam output from the laser emitting units can be reduced. By reducing the difference in intensity of each laser beam output from the laser emitting units, the maximum measurement distance of a lidar device using a laser emitting array can be relatively unrestricted.
  • Fig. 30(a) is a redisplay of the laser emitting array (6200) of Fig. 21(b).
  • the common contact (6260) has a width of w and a length of z.
  • the resistance of the common contact (6260) can be reduced.
  • the overall resistance of the common contact (6260, 6360) decreases as the length becomes shorter and the width becomes wider, since it is proportional to the length of the common contact (6260, 6360) and inversely proportional to the cross-sectional area of the common contact (6260, 6360) related to the width.
  • the spacing between two adjacent laser emitting units in the row direction may be shortened.
  • the width of the common contact (6360) is lengthened, the spacing between two adjacent laser emitting units in the column direction may be lengthened.
  • the laser emitting array (6300) configured as in FIG. 30 if the spacing between the laser emitting units arranged in the row direction of one common contact (6360) is shortened, the resistance difference between the laser emitting units can be further reduced. Accordingly, the difference in the intensity of each laser beam output from the laser emitting units that receive voltage through one common contact (6360) can be reduced. In other words, by reducing the difference in the intensity of each laser output from the laser emitting units, the maximum measurement distance of the lidar device using the laser emitting array may not be relatively limited. That is, the intensity between the lasers output from the laser emitting units can be made uniform.
  • the width of the common contact (6360) and reducing the length thereby reducing the aspect ratio, which is the ratio of the horizontal length to the vertical length of the laser emitting array (6300), it can be effective in reducing the resistance difference between the laser emitting units arranged in the laser emitting array (6300) and enabling uniform laser output between the laser emitting units.
  • the aspect ratio of the laser emitting array (3110) and the aspect ratio of the laser detection array (3120) are defined.
  • the aspect ratio of the laser emitting array (3110) will be examined.
  • the distance between the laser emitting unit (3112) arranged in the first column and the laser emitting unit (3115) arranged in the last column is defined as the first distance.
  • the distance between the laser emitting unit (3113) arranged in the first row and the laser emitting unit (3114) arranged in the last row is defined as the second distance.
  • the aspect ratio of the laser emitting array (3110) is defined as (first distance/second distance).
  • FIG. 31(b) is for defining the aspect ratio of the laser detecting array (3120).
  • the aspect ratio of the laser detecting array (3120) according to the embodiment of the present disclosure is in accordance with the definition defined below. That is, not only the aspect ratio of the laser detecting array (3120) described below but also the aspect ratio of the laser detecting array (3120) described above is in accordance with the definition defined below.
  • the aspect ratio of the laser detecting array (3120) will be examined.
  • the distance between the detecting unit (3122) arranged in the first column and the detecting unit (3125) arranged in the last column is defined as the third distance.
  • the distance between the detecting unit (3123) arranged in the first row and the detecting unit (3124) arranged in the last row is defined as the fourth distance.
  • the aspect ratio of the laser detecting array (3110) is defined as (3rd distance/4th distance).
  • the aspect ratio of the illumination area can be defined as (the horizontal length of the illumination area/the vertical length of the illumination area), and the aspect ratio of the detection area can be defined as (the horizontal length of the detection area/the vertical length of the detection area). Additionally, the aspect ratio of the measurable area can be defined as (the horizontal length of the measurable area/the vertical length of the measurable area).
  • Figure 32 is intended to illustrate problems that may arise from reducing the aspect ratio of the laser emitting array (3110).
  • both the emitting lens assembly (4211) and the detecting lens assembly (4221) were composed of symmetrical lenses.
  • the illumination area is formed to have a similar relationship with the laser emitting array (3110) according to the aspect ratio of the laser emitting array (3110), and the detection area is formed to have a similar relationship with the laser detecting array (3120) according to the aspect ratio of the laser detecting array (3120). That is, the aspect ratio of the illumination area and the aspect ratio of the laser emitting array (3110) may match each other, and the aspect ratio of the detection area and the aspect ratio of the laser detecting array (3120) may match each other.
  • the aspect ratio of the laser emitting array (3110) is reduced, the aspect ratio of the illumination area is also reduced.
  • the lighting area and the detection area do not have a similar relationship, so the measurement efficiency cannot be increased.
  • the laser emitting array (3110) has an aspect ratio of K:1 and the laser detecting array (3120) has an aspect ratio of L:1.
  • K may be a rational number between 0 and 1. That is, when the first distance described above is greater than or equal to the second distance, K has a rational number value greater than or equal to 1, but when the first distance is less than the second distance, K may have a rational number value between 0 and 1.
  • K may be a rational number between 0 and 1, but may also be a rational number greater than or equal to 1, and is a value less than L.
  • L if the third distance is greater than or equal to the fourth distance, L has a rational value greater than or equal to 1, but if the third distance is less than the fourth distance, L may have a rational value between 0 and 1.
  • L may be a rational number between 0 and 1, but may also be a rational number greater than or equal to 1, and it is assumed that it is a value greater than K.
  • an illumination area having an aspect ratio of K:1 can be formed.
  • the detection area formed by the laser detecting array (3120) can have an aspect ratio of L:1.
  • the measurable area can be formed quite inefficiently. That is, as can be seen in Fig. 32, measurement of the object is possible only in the measurable area, which is the area where the illumination area and the detection area overlap. However, since the illumination area and the detection area do not have a similar relationship, a portion of the illumination area and a portion of the detection area are wasted.
  • the laser emitting unit located at (1st row, 1st column) of the laser emitting array (3110) and the detecting unit located at (1st row, 1st column) of the laser detecting array (3120) may not be aligned with each other or may have difficulty in aligning with each other. That is, the corresponding laser emitting units and detecting units in the laser emitting array (3110) and the laser detecting array (3120) may not be aligned with each other or may have difficulty in aligning with each other.
  • the laser is steered in vain in some upper and lower portions of the illumination area, and the detection unit detects light in vain in some left and right portions of the detection area. This can result in unnecessary power consumption and problems that prevent optimal performance of the lidar device.
  • the horizontal area formed by the illumination area decreases, which in turn causes a reduction in the horizontal area of the measurable area.
  • the number of laser emitting units (or elements) in the row direction may be required to be greater than the number of laser emitting units (or elements) in the column direction, as shown in FIG. 33.
  • the number of laser emitting units in the row direction (E) must be four times more than the number of laser emitting units in the column direction (G) to achieve the same angular resolution in the horizontal and vertical fields of view.
  • a method is needed to minimize the number of channels to reduce the frame rate while making the aspect ratio of the illumination region and the aspect ratio of the detection region match or approximate each other so that the illumination region and the detection region can have a similar relationship (ideally, a congruent relationship).
  • the aspect ratio of the laser emitting array (3110) is K:1
  • a method is needed to increase the aspect ratio of the illumination area to L:1 (K ⁇ L), thereby making the aspect ratio of the illumination area and the aspect ratio of the detection area and/or the aspect ratio of the laser emitting array (3120) match or approximate them.
  • a lidar device (3500) may include a transmitting module (3600) and a receiving module (3700).
  • the transmitting module (3600) may include, but is not limited to, a laser emitting array (3610) and an emitting lens assembly (3620).
  • the laser emitting array (3610) can output at least one laser.
  • the laser emitting array (3610) can output multiple lasers, but is not limited thereto.
  • the laser emitting array (3610) can output at least one laser with a first wavelength.
  • the laser emitting array (3610) can output at least one laser with a wavelength of 940 nm, and can output multiple lasers with a wavelength of 940 nm, but is not limited thereto.
  • the emitting lens assembly (3620) may include at least two lens layers.
  • the emitting lens assembly (3620) may include, but is not limited to, a first lens layer (3621), a second lens layer (3622), a third lens layer (3623), and a fourth lens layer (3624).
  • the emitting lens assembly (3620) can steer the laser output from the laser emitting array (3610).
  • the emitting lens assembly (3620) can steer the first laser output from the laser emitting array (3610) in a first direction, and can steer the second laser output from the laser emitting array (3610) in a second direction, but is not limited thereto.
  • the emitting lens assembly (3620) can steer the plurality of lasers output from the laser emitting array (3610) to irradiate the plurality of lasers at different angles within a range of (x) degrees to (y) degrees.
  • the emitting lens assembly (3620) can steer the first laser output from the laser emitting array (3610) in a first direction to irradiate the first laser in an (x) degree, and can steer the second laser in a second direction to irradiate the second laser in an (y) degree, but is not limited thereto.
  • the receiving module (3700) may include, but is not limited to, a laser detecting array (3710) and a detecting lens assembly (3720).
  • the laser detection array (3710) can detect at least one laser.
  • the laser detection array (3710) can detect multiple lasers.
  • the laser detecting array (3710) may include a plurality of detecting elements.
  • the laser detecting array (3710) may include a first detecting element and a second detecting element, but is not limited thereto.
  • each of the plurality of detecting elements included in the laser detecting array (3710) can receive different lasers.
  • a first detecting element included in the laser detecting array (3710) can receive a first laser received in a first direction
  • a second detecting element can receive a second laser received in a second direction, but is not limited thereto.
  • the detecting lens assembly (3720) may include at least two lens layers.
  • the detecting lens assembly (3720) may include, but is not limited to, a fifth lens layer (3721), a sixth lens layer (3722), a seventh lens layer (3723), and an eighth lens layer (3724).
  • the detecting lens assembly (3720) may include at least two gap layers.
  • the detecting lens assembly (3720) may include, but is not limited to, a first gap layer (3725), a second gap layer (3726), and a third gap layer (3727).
  • the detecting lens assembly (3720) may include at least one filter layer.
  • the detecting lens assembly (3720) may include a filter layer (3730), but is not limited thereto.
  • the detecting lens assembly (3720) can transmit the laser irradiated from the transmission module (3600) to the laser detecting array (3710).
  • the detecting lens assembly (3720) can transmit the first laser irradiated from the transmission module (3600) in a first direction to the laser detecting array (3710) when the first laser is reflected from an object located in the first direction, and can transmit the second laser to the laser detecting array (3710) when the second laser irradiated in a second direction is reflected from an object located in the second direction, but is not limited thereto.
  • the detecting lens assembly (3720) can distribute the laser irradiated from the transmission module (3600) to at least two different detecting elements.
  • the detecting lens assembly (3720) can distribute the first laser irradiated from the transmission module (3600) in a first direction to a first detecting element included in the laser detecting array (3710) when the first laser is reflected from an object located in the first direction, and can distribute the second laser to a second detecting element included in the laser detecting array (3710) when the second laser is irradiated in a second direction and reflected from an object located in the second direction, but is not limited thereto.
  • the transmission module (3600) can output lasers at different angles in the field of view range
  • the detecting lens assembly (3720) can be designed to distribute a plurality of parallel lights incident on the detecting lens assembly (3720) at different angles in the field of view range to different detecting elements while reducing noise caused by external light.
  • the transmission module (3600) can output a first laser of a first wavelength at 0 degrees, and can output a second laser of the first wavelength at 30 degrees
  • the detecting lens assembly (3720) can distribute the first laser, which is output from the transmission module (3600) at 0 degrees and reflected from the target object, to the first detecting element included in the laser detecting array (3710)
  • the detecting lens assembly (3720) can distribute the second laser, which is output from the transmission module (3600) at 30 degrees and reflected from the target object, to the second detecting element included in the laser detecting array (3710).
  • the detecting lens assembly (3720) can block light of a wavelength band outside the transmission band of the filter layer (3730), and the first wavelength can be included in the transmission band, thereby reducing noise caused by external light.
  • a cylindrical lens may be used as illustrated in FIGS. 35(a) and (b).
  • at least one cylindrical lens may be included within the emitting lens assembly to increase the aspect ratio of the illumination area.
  • at least one cylindrical lens may be included within the emitting lens assembly to increase the horizontal length or horizontal field of view of the illumination area.
  • Fig. 35(a) is a square cylindrical lens having a rectangular bottom, which is one type of cylindrical lens
  • Fig. 35(b) is a circular cylindrical lens having an elliptical or circular bottom, which is one type of cylindrical lens.
  • a rectangular cylindrical lens can be defined by a plurality of axes and a plurality of surfaces.
  • a principal point of the cylindrical lens (ii) a central plane defined parallel to or coincident with a planar portion of the cylindrical lens, (iii) a central axis passing through the central point while being orthogonal to the principal plane, (iv) an auxiliary plane parallel to the central axis while being orthogonal to the principal plane, and (v) an auxiliary axis passing through the central point while being orthogonal to the auxiliary plane can be defined.
  • the base of a circular cylindrical lens can be defined as having a major axis and a minor axis that are orthogonal to each other while passing through the center point.
  • the major axis can refer to an axis that has the longest diameter on the base of an ellipse and coincides with a line passing through two foci of the ellipse.
  • the minor axis can refer to an axis that passes through the center line and is orthogonal to the major axis and coincides with a line having the shortest diameter.
  • the base of the circular cylindrical lens can be in the shape of a circle (i.e., a circle).
  • cylindrical lens used in the present disclosure is not limited to a rectangular cylindrical lens or a circular cylindrical lens, and cylindrical lenses of various shapes may be used.
  • cylindrical lens in the following description may mean that one or more cylindrical lenses are used among a rectangular cylindrical lens, a circular cylindrical lens, and various other cylindrical lenses.
  • the horizontal steering angles of the laser emitting units of the laser emitting array (3610) may be the same for each row. Accordingly, it may be desirable to use a square cylindrical lens of FIG. 35(a).
  • the circular cylindrical lens of FIG. 35(b) can make the horizontal/vertical steering angles of the laser emitting units of the laser emitting array (3610) different for each column and row. Therefore, FIG. 35(b) can be used to make the shape (or form) of the illumination area different from the shape (or form) of the laser emitting array (3610).
  • the vertical or horizontal angle steered along a column or row parallel to the major axis can be made larger than the horizontal or vertical angle steered along a row or column parallel to the minor axis.
  • the steered vertical or horizontal angle can decrease as it gets farther from the major axis, and the steered horizontal or vertical angle can decrease as it gets farther from the minor axis.
  • a method to make the illumination area and detection area have a similar relationship (ideally a congruent relationship) by using a cylindrical lens.
  • FIG. 36 is for explaining an emitting lens assembly (3640) and a detecting lens assembly structure (3720) according to an embodiment of the present disclosure.
  • cylindrical lens described below may be a square cylindrical lens of Fig. 35(a). However, as described above, it is not limited thereto.
  • the structure of the detecting lens assembly (3720) is composed of at least one symmetrical lens as described in FIG. 34, and a filter layer may be present in the lens gap between the lenses.
  • the emitting lens assembly (3640) may include at least one symmetrical lens and at least one cylindrical lens.
  • the number of symmetrical lenses included in the emitting lens assembly (3640) may be greater than the number of cylindrical lenses, but is not limited thereto.
  • the number of symmetrical lenses may be less than the number of cylindrical lenses, as needed.
  • the transmitting module including the emitting lens assembly (3640) may be arranged in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)” as disclosed in FIG. 36.
  • At least one symmetrical lens (3620) may be interposed between the laser emitting array (3610) and at least one cylindrical lens (3630).
  • the transmitting module including the emitting lens assembly (3640) may be arranged in the order of “laser emitting array (3610) - at least one cylindrical lens (3630) - at least one symmetrical lens (3620)”, which is different from that disclosed in FIG. 36.
  • At least one cylindrical lens (3630) may be interposed between the laser emitting array (3610) and at least one symmetrical lens (3620).
  • the transmission modules may be advantageous to arrange the transmission modules in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)” as disclosed in FIG. 36.
  • laser emitting array 3610
  • symmetrical lens 3620
  • cylindrical lens 3630
  • the steering direction must be adjusted by adjusting the focus of the cylindrical lens positioned between the laser emitting array (3610) and the at least one symmetrical lens after adjusting the focus of the at least one symmetrical lens, so the work of adjusting the focus of the cylindrical lens must be performed between the laser emitting array (3610) and the symmetrical lens.
  • this may cause the assembly/manufacturing of the transmitting module to be more difficult than adjusting the focus in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)”.
  • the transmitting module is arranged in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)” as disclosed in FIG. 36, after arranging the laser emitting array (3610), at least one symmetrical lens (3620) can be arranged in front of the laser emitting array (3610), and the focus of the at least one symmetrical lens (3620) can be adjusted. After that, at least one cylindrical lens (3630) can be arranged in front of the at least one symmetrical lens (3620), and the focus of the at least one cylindrical lens (3630) can be adjusted.
  • the structure can be much more advantageous for assembling or producing the transmitting module.
  • the cylindrical lens when assembling the emitting lens assembly (3640), if the cylindrical lens is structured to be rotated and fitted, it may be much easier to align the cylindrical lens in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)” from the perspective of assembling/producing the transmission module.
  • At least one cylindrical lens (3630) and the laser emitting array (3610) from a design perspective when at least one cylindrical lens (3630) is a square cylindrical lens.
  • the optical center line of at least one cylindrical lens (3630) must be assembled so that it is positioned parallel to the column direction of the laser emitting array (3610). In other words, the optical center line must be assembled so that it is parallel to any column (e.g., the Y-th column) among the rows and columns of the laser emitting array (3610).
  • the fact that the optical center line must be parallel to any column does not necessarily mean that the angle between the optical center line and any column must be 0 degrees, both physically and mathematically. It would be ideal to assemble the cylindrical lens (3630) and the laser emitting array (3610) such that the angle between the optical center line and any column is 0 degrees during the process of assembling them. However, even if the angle between the optical center line and any column is not 0 degrees, if the angle between the optical center line and any column is within a range acceptable for assembly/design errors, the optical center line and any column should be understood as being parallel. For example, if the angle between the optical center line and any column is within ⁇ , the optical center line and any column should be understood as being parallel.
  • the first angle between the optical center line and the any column will be much smaller than the second angle between the optical center line and the any row.
  • the difference between the first angle between the optical center line and any column and the second angle between the optical center line and any row may be close to 90 degrees, and the sum of the angles between the optical center line and any column and the angles between the optical center line and any row may be 90 degrees.
  • the laser output from the first laser emitting unit arranged in the first column can be steered at a horizontal angle ⁇ while passing through at least one symmetrical lens (3620) and can be steered at a horizontal angle ⁇ while passing through at least one cylindrical lens (3630).
  • the laser output from the second laser emitting unit arranged in the fifth column can be output at a horizontal angle of 0 degrees, i.e., vertically, while passing through at least one symmetrical lens (3620) and at least one cylindrical lens (3630).
  • FIG. 38 shows that the illumination area and the detection area are made to have a similar relationship (ideally a congruent relationship) by using at least one cylindrical lens (3630). That is, by using at least one cylindrical lens (3630) to make the aspect ratio of the illumination area larger than the aspect ratio of the laser emitting array (3610), the aspect ratio of the illumination area can be made identical/similar to the aspect ratio of the laser detecting array (3710) and/or the aspect ratio of the detection area.
  • an illumination area having an aspect ratio of L:1 or similar can be formed through at least one cylindrical lens. That is, the aspect ratio of the illumination area can be made to match or be similar to the aspect ratio of the detection area and/or the aspect ratio of the laser detecting array, which is L:1.
  • the aspect ratio of the measurable area can be made identical or similar to the aspect ratios of the illumination area and the detection area.
  • the measurement of the target can be performed over the widest possible area.
  • the measurable area can be created with a size and aspect ratio identical or close to those of the illumination area and detection area.
  • the aspect ratio when using at least one cylindrical lens (3630), the aspect ratio can be made larger than when using only at least one symmetrical lens.
  • the difference between the aspect ratio of the laser emitting array (3610) and the aspect ratio of the illumination area may be greater than the difference between the aspect ratio of the laser detecting array (3710) and the aspect ratio of the detection area.
  • the difference between the aspect ratio of the laser emitting array (3610) and the aspect ratio of the illumination area may be greater than the difference between the aspect ratio of the laser detecting array (3710) and the aspect ratio of the illumination area.
  • the detecting lens assembly (3720) is composed of at least one symmetrical lens, and thus the aspect ratio of the detection area and the aspect ratio of the laser detecting array (3710) will match.
  • the width (w') of the common contact (4260) when the width (w') of the common contact (4260) is widened, the cross-sectional area (e.g., diameter of the transmission line (4240)) of the transmission line (4240) connecting the common contact (4260) and the power supply (4220, 4225) can be widened.
  • a thicker transmission line (4240) can be used than before.
  • the resistance of the transmission line (4240) decreases. Accordingly, the resistance of the transmission line (4240) may also decrease along with the resistance of the common contact (4260). Then, the resistance of the current path connecting the "power supply (4220, 4225) - transmission line (4240) - common contact (4260)" decreases overall, thereby decreasing the overall voltage drop. Accordingly, the loss of the voltage applied through the power supply (4220, 4225) can be reduced while more voltage can be used to actually output the laser, thereby increasing the efficiency of the output intensity of the laser. In other words, the difference between the voltage applied from the power supply (4220, 4225) and the voltage used in the laser emitting units arranged in the common contact (4260) can be reduced. In other words, the power loss rate due to the composite resistance of the transmission line (4240) and the common contact (4260) can be reduced.
  • the lengths of the transmission lines (4240) connected to both ends of the common contact (4260) may be different from each other. This is also to more efficiently route the transmission lines (4240) of the common contact (4260) and the power supply (4220, 4225). In other words, the length of the first transmission line connected to the first end of the common contact (4260) and the length of the second transmission line connected to the second end arranged on the opposite side from the first end may be different from each other.
  • the transmission lines (4240) have different lengths and are connected to the opposite ends within a single common contact (4260), voltage is supplied with different delays at each end of the single common contact (4260).
  • a significant difference may occur in the laser output timing between the laser emitting units arranged within a single common contact (4260).
  • the laser emitting unit arranged close to the center of the common contact (4260) may first receive voltage from the side with the shorter transmission line (4240) and later receive voltage from the side with the longer transmission line (4240). Therefore, the laser emitting unit arranged close to the center of the common contact (4260) may output a laser with a lower intensity than the expected intensity, and the laser output may be performed inefficiently.
  • Fig. 39 (b) illustrates that the common contacts (4260) have different lengths.
  • the common contacts (4260) included in the laser emitting array may have one of two different lengths.
  • long and short common contacts may be arranged alternately.
  • the lengths of the transmission lines (4240) connected to both ends of a common contact (4260) are the same.
  • the length of the first transmission line connected to the first end of the common contact (4260) and the length of the second transmission line connected to the second end located on the opposite side from the first end may be the same.
  • the laser emitting units arranged at a position close to the center of the common contact (4260) may receive the voltage applied from the power supply units (4220, 4225) at both ends at the same time or at a very similar time. Through this, the laser emitting units arranged at a position close to the center of the common contact (4260) output laser with the expected intensity, and the laser output can be performed efficiently.
  • the uniformity of the power transmitted through each of the common contacts (4260) and the peak intensity of the laser may differ.
  • the diameter or cross-sectional area of the transmission line is increased and the overall length and width of the common contacts (4260) are decreased and increased, the overall combined resistance of the transmission line (4240) and the common contacts (4260) is significantly reduced, so that the difference in the power uniformity and the peak intensity of the laser between the common contacts (4260) may be very small or almost non-existent.
  • the laser emitting units can be placed in an area where all common contacts overlap.
  • the laser emitting units can be placed in an area indicated by a dot pattern.
  • the widest possible area can be measured for one frame or point cloud.
  • the resistance of the common contact can be reduced, thereby increasing the uniformity of the output intensity of the lasers output from the laser emitting array.
  • the aspect ratio of the laser emitting array is smaller than the aspect ratio of the laser detecting array, the laser output intensity ratio between the laser emitting unit located at the center of the laser emitting array and the laser emitting unit located at the first or last column (located in the center row) of the laser emitting array was improved by approximately 150% to 170%.
  • the peak intensity that each laser emitting unit arranged in the laser emitting array can output can also be improved by approximately 9% to 10%.
  • the power supply must apply voltage to the laser emitting unit that outputs the laser with the highest intensity among the laser emitting units so that the eye safety standard is met.
  • the other laser emitting units must output lasers with lower intensities, making it difficult to output lasers with sufficient intensity.
  • the lidar device (1000) can irradiate a laser (5081) toward the surrounding environment. At this time, the irradiation direction of the laser (5081) can continuously change. For example, the lidar device (1000) can irradiate a first laser toward a first point, and a second laser toward a second point. At this time, the first and second lasers can be irradiated simultaneously, or can be irradiated independently at different times.
  • the lidar device (1000) can form a field of view (FOV) using the irradiated laser.
  • FOV field of view
  • the lidar device (1000) can detect an object existing within a range of 120 degrees in the horizontal direction and 60 degrees in the vertical direction from the lidar device (1000), or measure a distance to the object.
  • a person (5082) may exist within the field of view of the lidar device (1000).
  • at least a portion of the laser output from the lidar device (1000) may be irradiated to the eyes of the person (5082), and the intensity of the laser (5081) may affect the eyes of the person (5082).
  • the laser (5081) output from the above lidar device (1000) may have to satisfy eye-safety conditions so as not to affect the eye health of the person (5082).
  • the above lidar device (1000) may need to increase the intensity of the laser (5081) output to improve the measurement distance and accuracy, but may need to irradiate the laser (5082) below a certain intensity so as not to affect the eye health of the person (5082).
  • Figure 41 is a drawing for explaining eye-safety standards.
  • the lidar device In order to prevent the laser irradiated from the lidar device from affecting human eye health, it is necessary to design the lidar device so that it does not affect the human eye even when the human eye is located at the minimum distance that a person can approach when using the lidar device.
  • Fig. 42 is a drawing for explaining a laser emitting array according to another embodiment.
  • Fig. 42 may be a plan view of a portion of the laser emitting array viewed from above.
  • a laser emitting array (6030) may include a plurality of laser emitting units (6031), a voltage supply (6032), a common contact (6034), and a transmission line (6035).
  • the laser emitting array (6030) may additionally have a transmission line connected to the central portion of the laser emitting units (6031).
  • the transmission line may additionally be connected to a common contact (6034) in the central portion.
  • the resistance due to the common contact (6034) of the laser emitting units can be made the same or the difference therebetween can be reduced.
  • the total resistance received by the laser emitting unit in row 1 from the common contact can be (2/3)R.
  • the total resistance received by the two rows of laser emitting units from the common contact can be (2/3)R.
  • the total resistance received by the laser emitting units in row 1 from the common contact and the total resistance received by the laser emitting units in row 2 from the common contact can be equal to (2/3)R.
  • the total resistance received by the three rows of laser emitting units from the common contact can be (2/3)R.
  • the total resistance received by the four rows of laser emitting units from the common contact can be (2/3)R.
  • the total resistance received by the three rows of laser emitting units from the common contact and the total resistance received by the four rows of laser emitting units from the common contact can be equal to (2/3)R.
  • the total resistance received by the first row of laser emitting units, the second row of laser emitting units, the third row of laser emitting units, and the fourth row of laser emitting units from the common contact can be equal to (2/3)R.
  • both methods 1 and 2 for reducing resistance between laser emitting units may be applied, or only one of methods 1 and 2 may be applied.
  • an emitting lens assembly can be designed using one or more symmetrical lenses and one or more cylindrical lenses, while applying both Method 1 and Method 2 and using either of FIG. 39(a) and FIG. 39(b). (Hereinafter, Application Example 1)
  • Method 2 one may design an emitting lens assembly using one or more symmetrical lenses and one or more cylindrical lenses, using either of FIG. 39(a) and FIG. 39(b). (Hereinafter, Application Example 3)
  • the method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium.
  • the computer-readable medium may include program commands, data files, data structures, etc., alone or in combination.
  • the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software.
  • Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories.
  • Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.
  • the hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.
  • the form for carrying out the invention may be a form of the best form for carrying out the invention as described above and various combinations of the forms described above in the best form for carrying out the invention.

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

Abstract

La présente divulgation concerne un dispositif de détection et télémétrie par ondes lumineuses (LiDAR). En particulier, le dispositif LiDAR comprend : un réseau bidimensionnel de lasers à cavité verticale émettant par la surface (VCSEL) comprenant une pluralité de VCSEL ; un réseau de bidimensionnel détecteurs comprenant une pluralité de détecteurs ; un ensemble lentille d'émission qui oriente chacun d'une pluralité de faisceaux laser générés par le réseau bidimensionnel de VCSEL dans des directions prédéterminées qui leur correspondent ; et un ensemble lentille de détection qui transmet une lumière entrante dans le dispositif LiDAR au réseau bidimensionnel de détecteurs, l'ensemble lentille de détection étant composé d'au moins une lentille symétrique et l'ensemble lentille d'émission comprenant au moins une lentille cylindrique.
PCT/KR2025/001354 2024-02-05 2025-01-23 Dispositif lidar comprenant un ensemble d'émission laser et un ensemble de détection laser Pending WO2025170263A1 (fr)

Applications Claiming Priority (2)

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KR10-2024-0017349 2024-02-05
KR1020240017349A KR102761657B1 (ko) 2024-02-05 2024-02-05 레이저 이미팅 어셈블리 및 레이저 디텍팅 어셈블리를 포함하는 라이다 장치

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WO2025170263A1 true WO2025170263A1 (fr) 2025-08-14

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WO (1) WO2025170263A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070065439A (ko) * 2004-10-15 2007-06-22 트리코 프로덕츠 코포레이션 오브 테네시 Ｖｃｓｅｌ 다이오드 어레이를 갖는 물체 검출 시스템
US20200119522A1 (en) * 2017-04-12 2020-04-16 Sense Photonics, Inc. Devices with ultra-small vertical cavity surface emitting laser emitters incorporating beam steering
KR20210137586A (ko) * 2017-07-28 2021-11-17 옵시스 테크 엘티디 작은 각도 발산을 갖는 vcsel 어레이 lidar 송신기
KR20210144531A (ko) * 2020-05-22 2021-11-30 주식회사 에스오에스랩 라이다 장치
KR20240001013A (ko) * 2022-06-24 2024-01-03 주식회사 에스오에스랩 레이저 출력 어레이, 수신 옵틱 및 이를 이용하는 라이다 장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20070065439A (ko) * 2004-10-15 2007-06-22 트리코 프로덕츠 코포레이션 오브 테네시 Ｖｃｓｅｌ 다이오드 어레이를 갖는 물체 검출 시스템
US20200119522A1 (en) * 2017-04-12 2020-04-16 Sense Photonics, Inc. Devices with ultra-small vertical cavity surface emitting laser emitters incorporating beam steering
KR20210137586A (ko) * 2017-07-28 2021-11-17 옵시스 테크 엘티디 작은 각도 발산을 갖는 vcsel 어레이 lidar 송신기
KR20210144531A (ko) * 2020-05-22 2021-11-30 주식회사 에스오에스랩 라이다 장치
KR20240001013A (ko) * 2022-06-24 2024-01-03 주식회사 에스오에스랩 레이저 출력 어레이, 수신 옵틱 및 이를 이용하는 라이다 장치

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