KR20210027005A - Distance measuring device - Google Patents

Abstract

According to one embodiment of the present invention, a lidar device comprises: a laser output unit for irradiating an object with a laser; and a laser light receiving unit for receiving the laser irradiated by the laser output unit and reflected from the object to be returned. The laser output unit is disposed on a body having a first surface, and includes first and second vertical cavity surface emitting laser (VCSEL) arrays. The first VCSEL array outputs a laser beam to form a first horizontal field-of-view (FOV), and the second VCSEL array outputs a laser beam to form a second horizontal FOV. The first and second FOVs overlap a first area with respect to a first axis, wherein the first axis represents a horizontal axis of the first surface. The first area includes an FOV formed by outputting a laser beam in a direction that the first VCSEL array is perpendicular to the first surface, in the first horizontal FOV, and includes an FOV formed by outputting a laser beam in a direction that the second VCSEL array is perpendicular to the first surface, in the second horizontal FOV. Accordingly, the steering efficiency of a laser beam can be improved.

Description

Distance measuring device {DISTANCE MEASURING DEVICE}

The present invention relates to a distance measuring apparatus for obtaining a distance to an object using a laser beam, and more particularly, by irradiating a laser toward a scan area and detecting a laser reflected from an object existing on the scan area. , A distance measurement device for obtaining distance information, and a laser output unit included in the distance measurement device.

The distance measuring device is a device that measures a distance to an object using a laser. For example, the distance measuring device may include a LiDAR (Light Detecting And Ranging) and a TOF camera.

In addition, LiDAR (Light Detecting And Ranging) is a device that detects a distance to an object using a laser. In addition, the lidar device is a device capable of obtaining positional information on objects existing around it by generating a point cloud using a laser. In addition, studies on meteorological observation using a lidar device, 3D mapping, autonomous vehicles, autonomous driving drones, and unmanned robot sensors are also actively progressing.

In addition, the TOF camera is a distance measuring device that can obtain not only 2D data but also 3D information using a laser. Gesture recognition, face recognition, vehicle recognition, etc. are possible using the TOF camera.

An object of the present invention relates to a distance measuring apparatus capable of improving the steering efficiency of a laser beam.

Another object of the present invention relates to a content of setting a reference point for distance measurement by a distance measuring device when a plurality of laser output units are present.

Another object of the present invention relates to a distance measuring device that prevents the formation of a dead zone, which is an area where a laser beam is not irradiated.

The lidar device according to an embodiment includes a laser output unit that irradiates a laser toward an object, and a laser light receiving unit configured to receive a laser returned by reflecting a laser irradiated from the laser output unit to the object, and the laser output The unit is disposed on a first surface of the body, and the laser output unit includes a first vixel (Vertical Cavity Surface Emitting Laser) array and a second vixel array, and the first vixel array directs a laser beam in a first direction. And a second big cell unit that outputs a first big cell unit and a second big cell unit that outputs a laser beam in a second direction, and the second big cell array includes a third big cell unit that outputs a laser beam in the first direction, and the first The 1 big cell unit and the second big cell unit may be arranged at a first distance, and the distance between the first big cell unit and the third big cell unit may be less than or equal to the first distance.

The lidar device according to an embodiment includes a laser output unit that irradiates a laser toward an object, and a laser light receiving unit configured to receive a laser returned by reflecting a laser irradiated from the laser output unit to the object, and the laser output The part is disposed on the first surface of the body, the laser output unit includes a first VICSEL (Vertical Cavity Surface Emitting Laser) array, and the laser output unit collimates the laser beam output from the first VICSEL array. A first optic and a second optic for steering a laser beam output from the first big cell array and the second big cell array, wherein the first big cell array includes a first big cell unit and a second big cell unit, and the The first bixel unit outputs a laser having a divergence angle of a first angle, the second bixel unit outputs a laser having a divergence angle of a second angle, and the first sub-optic included in the second optic is the The laser beam output from the first bixel unit is steered in a first direction, and a second sub-optic included in the second optic steers the laser beam output from the second bixel unit in a second direction, and the first The angle formed by the first direction and the second direction is so that an area not irradiated with the laser from the laser output unit is generated between the laser beam output from the bixel unit and the laser beam output from the second bixel unit. It may be less than half of the sum of the first angle and the second angle.

The lidar device according to an embodiment includes a laser output unit that irradiates a laser toward an object, and a laser light receiving unit configured to receive a laser returned by reflecting a laser irradiated from the laser output unit to the object, and the laser output The unit is disposed on a body having a first surface, and the laser output unit includes a first vixel (Vertical Cavity Surface Emitting Laser) array and a second vixel array, and the first vixel array outputs a laser beam to 1 horizontal FOV (Horizontal Field Of View) is formed, the second big cell array outputs a laser beam to form a second horizontal FOV, and the first horizontal FOV and the second horizontal FOV are the first axis-the The first axis represents the horizontal axis of the first plane-and overlaps with the first region, and the first region is a laser beam in a direction in which the first bixel array is perpendicular to the first plane among the first horizontal FOVs. Among the FOVs formed by outputting and the second horizontal FOVs, the second big cell array may include a FOV formed by outputting a laser beam in a direction perpendicular to the first surface.

The laser output device according to an embodiment includes a laser output unit that irradiates a laser toward an object, the laser output unit is disposed on a first surface of the body, and the laser output unit is a first VICSEL (Vertical Cavity Surface Emitting). Laser) array and a second big cell array, wherein the first big cell array includes a first big cell unit that outputs a laser beam in a first direction and a second big cell unit that outputs a laser beam in a second direction, the The second big cell array includes a third big cell unit that outputs a laser beam in the first direction, the first big cell unit and the second big cell unit are arranged at a first interval, and the first big cell unit and the The interval of the third big cell unit may be less than or equal to the first interval.

The laser output device according to an embodiment includes a laser output unit that irradiates a laser toward an object, the laser output unit is disposed on a first surface of the body, and the laser output unit is a first VICSEL (Vertical Cavity Surface Emitting). Laser) array, wherein the laser output unit is a first optic for collimating a laser beam output from the first big cell array, and a second steering for a laser beam output from the first big cell array and the second big cell array. Including optics, the first big cell array includes a first big cell unit and a second big cell unit, the first big cell unit outputs a laser having a divergence angle of a first angle, and the second big cell unit is a second big cell unit. A laser having a divergence angle of 2 angles is output, and the first sub-optic included in the second optic steers the laser beam output from the first bixel unit in a first direction, and a first sub-optic included in the second optic is 2 The sub-optic steers the laser beam output from the second vixel unit in a second direction, and between the laser beam output from the first vixel unit and the laser beam output from the second vixel unit from the laser output unit. The angle formed by the first direction and the second direction may be less than half of the sum of the first angle and the second angle so that a region where the laser is not irradiated is not generated.

A distance calculation method according to another embodiment is a distance calculation method using a lidar device including a laser output unit, a laser light receiving unit, and a controller, wherein a first laser output unit of the laser output unit outputs a laser beam, and the first 1 A step of acquiring an outgoing light point at which a laser output unit outputs a laser beam, receiving a laser beam reflected from an object among the output laser beams by the light receiving unit, acquiring a light receiving point of the received laser beam, the Calculating a flight distance of the received laser beam based on an outgoing light point and the light receiving point, and a laser output from the first laser output unit, perpendicular to the first laser output unit, based on the flight distance A first imaginary line extending backward in the traveling direction of the beam and a second laser output unit included in the laser output unit and perpendicular to the second laser output unit, and extending rearward in the traveling direction of the laser beam output from the second laser output unit 2 It may include obtaining a distance from a reference point defined based on a virtual line to the object.

In the lidar device according to another embodiment, a laser output unit for irradiating a laser toward an object, a laser light receiving unit for receiving a laser returned by reflecting a laser irradiated from the laser output unit to the object, and in the laser output unit Acquires an outgoing light point at which a laser is output and a light receiving point at which the laser beam reflected from the object is received, based on the flight distance of the received laser beam calculated based on the outgoing light point and the light receiving point, and the laser output A first virtual line that is perpendicular to the first laser output unit of the unit and extends to the rear of the traveling direction of the laser beam output from the first laser output unit and is perpendicular to the second laser output unit of the laser output unit, the It may include a control unit that calculates a distance from a reference point to the object from a reference point defined based on a second virtual line extending backward in a traveling direction of the laser beam output from the second laser output unit.

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

According to an embodiment of the present invention, a lidar device with improved steering efficiency of a laser beam may be provided.

According to another embodiment of the present invention, when a plurality of laser output units exist, a reference point for distance measurement of the lidar device may be provided.

According to another embodiment of the present invention, a lidar device in which a dead zone, which is an area to which a laser beam is not irradiated, is not formed may be provided.

1 is a diagram for describing a lidar device according to an exemplary embodiment.
2 is a diagram illustrating a lidar device according to an embodiment.
3 is a view showing a laser output unit according to an embodiment.
4 is a diagram showing a VCSEL unit according to an embodiment.
5 is a diagram showing a VCSEL array according to an embodiment.
6 is a side view showing a VCSEL array and a metal contact according to an embodiment.
7 is a diagram illustrating a VCSEL array according to an embodiment.
8 is a diagram for describing a LiDAR device according to an exemplary embodiment.
9 is a diagram for describing a collimation component according to an embodiment.
10 is a diagram for describing a collimation component according to an embodiment.
11 is a diagram for describing a collimation component according to an embodiment.
12 is a diagram for describing a collimation component according to an embodiment.
13 is a diagram for describing a steering component according to an exemplary embodiment.
14 and 15 are diagrams for describing a steering component according to an exemplary embodiment.
16 is a diagram for describing a steering component according to an exemplary embodiment.
17 is a diagram for describing a steering component according to an exemplary embodiment.
18 is a diagram for describing a meta surface according to an exemplary embodiment.
19 is a diagram for describing a meta surface according to an exemplary embodiment.
20 is a diagram for describing a metasurface according to an exemplary embodiment.
21 is a diagram for describing an optical unit according to an exemplary embodiment.
22 is a diagram for describing an optical unit according to an exemplary embodiment.
23 is a diagram for describing a meta component according to an embodiment.
24 is a diagram for describing a meta component according to another embodiment.
25 is a diagram illustrating a big cell module according to an embodiment.
26 is a diagram illustrating a laser output unit according to an exemplary embodiment.
27 to 29 are diagrams illustrating a big cell module according to an embodiment.
30 to 31 are views viewed from above of a horizontal FOV of a big cell module according to an embodiment.
32 to 34 are views as viewed from the front of the horizontal FOV of the big cell module according to an embodiment.
35 is a diagram illustrating a lidar device according to an embodiment.
36 to 37 are diagrams illustrating a big cell module according to another embodiment.
40 is a diagram illustrating a LiDAR device according to another exemplary embodiment.
41 to 42 are diagrams illustrating a laser output unit according to an exemplary embodiment.
43 is a diagram illustrating reference points for measuring distances between big cell modules according to an exemplary embodiment.
44 is a diagram illustrating reference points for measuring distances between big cell modules according to another embodiment.
45 to 47 are diagrams illustrating reference points for measuring distances between big cell modules according to another embodiment.
48 to 50 are diagrams illustrating a reference point for measuring a distance in a big cell module according to an exemplary embodiment.
51 to 52 are diagrams illustrating a reference point for measuring a distance in a big cell module according to another embodiment.
53 to 54 are diagrams illustrating a reference point for measuring a distance in a big cell module according to another embodiment.
55 is a diagram illustrating a view from above of a big cell array according to an embodiment.
56 is a diagram illustrating a view from above of a big cell array according to another embodiment.
57 to 58 are diagrams illustrating a LiDAR device according to an exemplary embodiment.
59 to 60 are diagrams illustrating a LiDAR device according to another exemplary embodiment.

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

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

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

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

According to an embodiment, a laser output unit for irradiating a laser toward an object, and a laser light receiving unit for receiving a laser returned by reflecting a laser irradiated from the laser output unit to the object, and the laser output unit It is disposed on a first surface, and the laser output unit includes a first vixel (Vertical Cavity Surface Emitting Laser) array and a second vixel array, and the first vixel array outputs a laser beam in a first direction. 1 bixel unit and a second bixel unit that outputs a laser beam in a second direction, and the second bixel array includes a third bixel unit that outputs a laser beam in the first direction, and the first bixel unit And the second big cell unit may be disposed at a first distance, and a lidar device having a distance between the first big cell unit and the third big cell unit less than the first distance may be provided.

Here, the first direction may be perpendicular to the first surface.

Here, the second big cell unit may be adjacent to the first big cell unit.

Here, the third big cell unit may be adjacent to the first big cell unit.

Here, the first big cell unit may be disposed on the outermost side of the first big cell array, and the third big cell unit may be disposed on the outermost side of the second big cell array.

Here, the laser output unit includes a plurality of optics, a first of the plurality of optics collimates a laser beam, and a second of the plurality of optics directs the laser beam in one direction. It can be steered.

Here, the first optic may be disposed in a direction in which a laser beam is output from a laser output element among the laser output units, and the second optic may be disposed in a direction in which a laser beam is output from the first optic.

Here, the first big cell array includes a plurality of big cell emitters, the first optic includes a plurality of sub optics, and a first big cell emitter and the plurality of sub optics among the plurality of big cell emitters Among the optics, the first sub-optic may correspond to each other.

Here, the first big cell array includes a plurality of big cell units including a plurality of big cell emitters, the second optic includes a plurality of sub optics, and the first of the plurality of big cell units One big cell unit and a first sub-optic among the plurality of sub-optics may correspond to each other.

Here, the first optic may be at least one of a lens, a microlens, a microlens array, and a metasurface.

Here, the second optic is a lens, a microlens, a microlens array, a prism, a microprism, a microprism array, and a metasurfa. It may be at least one of.

Here, a main body including a plurality of the bodies may be included, and a horizontal field of view (FOV) of the main body may be the sum of the horizontal FOVs of the plurality of first bodies.

Here, a main body including a plurality of the bodies is included, and a horizontal FOV (horizontal field of view) of the main body is a horizontal FOV of the body, a steering angle of the first and second big cell arrays, and the It may be defined based on the divergence of the laser beam output from the laser output unit.

According to an embodiment, the LiDAR device according to an embodiment includes a laser output unit that irradiates a laser toward an object, and a laser light receiving unit that receives a laser reflected from the laser output unit and returned to the object. Including, the laser output unit is disposed on the first surface of the body, the laser output unit includes a first vixel (Vertical Cavity Surface Emitting Laser) array, and the laser output unit is output from the first vixel array. And a first optic for collimating a laser beam and a second optic for steering a laser beam output from the first and second vixel arrays, and the first vixel array includes a first vixel unit and a second vixel A unit, wherein the first bixel unit outputs a laser having a divergence angle of a first angle, the second bixel unit outputs a laser having a divergence angle of a second angle, and included in the second optics The first sub-optic steers the laser beam output from the first bixel unit in a first direction, and the second sub-optic included in the second optic directs the laser beam output from the second bixel unit in a second direction. The first direction and the second direction so that an area not irradiated with the laser from the laser output unit is generated between the laser beam output from the first vixel unit and the laser beam output from the second vixel unit. An angle formed by a direction may be provided with a lidar device that is less than half of the sum of the first angle and the second angle.

Here, the first angle and the second angle may be the same.

Here, the second big cell unit may be adjacent to the first big cell unit.

Here, the first optic may be disposed in a direction in which a laser beam is output from a laser output element among the laser output units, and the second optic may be disposed in a direction in which a laser beam is output from the first optic.

Here, the first big cell array includes a plurality of big cell emitters, the first optic includes a plurality of sub optics, and a first big cell emitter and the plurality of sub optics among the plurality of big cell emitters Among the optics, the third sub-optic may correspond to each other.

Here, the first optic may include a plurality of sub optics, and the first big cell unit and a third sub optic of the plurality of sub optics may correspond to each other.

Here, the first big cell unit and the first sub-optic may correspond to each other.

Here, the first optic may be at least one of a lens, a microlens, a microlens array, and a metasurface.

Here, the second optic is a lens, a microlens, a microlens array, a prism, a microprism, a microprism array, and a metasurfa. It may be at least one of.

Here, a main body including a plurality of the bodies may be included, and a horizontal field of view (FOV) of the main body may be the sum of the horizontal FOVs of the plurality of first bodies.

Here, the horizontal FOV (horizontal field of view) of the main body may be defined based on a steering angle and divergence of a laser beam output from the laser output unit included in the body.

Here, the laser output unit includes a second big cell array, the first optic collimates a laser beam output from the second big cell array, and the second optic performs a laser beam output from the second big cell array. Steering, and the second big cell array includes a third big cell unit that outputs a laser having a divergence angle of a third angle, and a third sub-optic included in the second optic is a laser output from the third big cell unit. To steer the beam in a third direction, and to prevent a region where the laser is not irradiated from the laser output unit between the laser beam output from the first vixel unit and the laser beam output from the third vixel unit, the first An angle formed by the first direction and the third direction may be less than half of the sum of the first angle and the third angle.

Here, the first direction and the third direction may be symmetric with respect to a second surface perpendicular to the first surface.

Here, the first big cell unit and the second big cell unit may be arranged at a first distance, and a distance between the first big cell unit and the third big cell unit may be less than or equal to the first distance.

Here, the third big cell unit may be adjacent to the first big cell unit.

Here, the first big cell unit may be disposed on the outermost side of the first big cell array, and the third big cell unit may be disposed on the outermost side of the second big cell array.

According to an embodiment, a laser output unit that irradiates a laser toward an object is included, the laser output unit is disposed on a first surface of the body, and the laser output unit is a first VICSEL (Vertical Cavity Surface Emitting Laser) array. And a second big cell array, wherein the first big cell array includes a first big cell unit that outputs a laser beam in a first direction and a second big cell unit that outputs a laser beam in a second direction, and the second big cell The array includes a third big cell unit that outputs a laser beam in the first direction, the first big cell unit and the second big cell unit are arranged at a first interval, and the first big cell unit and the third big cell A laser output device may be provided in which the unit spacing is less than or equal to the first spacing.

According to an embodiment, a laser output unit that irradiates a laser toward an object is included, the laser output unit is disposed on a first surface of the body, and the laser output unit is a first VICSEL (Vertical Cavity Surface Emitting Laser) array. Including, wherein the laser output unit comprises a first optic for collimating the laser beam output from the first vixel array and a second optic for steering the laser beam output from the first vixel array and the second vixel array And, the first big cell array includes a first big cell unit and a second big cell unit, the first big cell unit outputs a laser having a divergence angle of a first angle, and the second big cell unit is A laser having a divergence angle is output, and a first sub-optic included in the second optic steers the laser beam output from the first bixel unit in a first direction, and a second sub-optic included in the second optic Is steering the laser beam output from the second big cell unit in a second direction, and a laser is irradiated from the laser output unit between the laser beam output from the first big cell unit and the laser beam output from the second big cell unit. A laser output device may be provided in which an angle formed by the first direction and the second direction is less than half of the sum of the first angle and the second angle so that no areas are not generated.

According to an embodiment, a laser output unit for irradiating a laser toward an object, and a laser light receiving unit for receiving a laser reflected by the laser irradiated from the laser output unit and returned to the object, wherein the laser output unit is a first It is disposed on a body having a surface, and the laser output unit includes a first vixel (Vertical Cavity Surface Emitting Laser) array and a second vixel array, and the first vixel array outputs a laser beam to provide a first horizontal FOV. (Horizontal Field Of View) is formed, and the second big cell array outputs a laser beam to form a second horizontal FOV, and the first horizontal FOV and the second horizontal FOV are the first axis-the first axis is The first area is overlapped with the first area based on the horizontal axis of the first surface, and the first area of the first horizontal FOV outputs a laser beam in a direction perpendicular to the first surface. A lidar device including a FOV formed by outputting a laser beam in a direction perpendicular to the first surface of the second big cell array among the formed FOV and the second horizontal FOV may be provided.

Here, the irradiation angles of the first horizontal FOV and the second horizontal FOV may be the same.

Here, the horizontal FOV of the laser output unit may be a sum of the first horizontal FOV and the second horizontal FOV.

Here, the first big cell array outputs a laser beam to form a first vertical field of view (FOV), the second big cell array outputs a laser beam to form a second vertical FOV, and the first vertical field of view The FOV and the irradiation angle of the second vertical FOV may be the same.

Here, the laser beam irradiation direction of the first big cell array and the laser beam irradiation direction of the second big cell array may be symmetrical with respect to a second axis orthogonal to the first axis.

Here, the laser beam irradiation direction of the first big cell array and the laser beam irradiation direction of the second big cell array may be symmetrical to each other with respect to a virtual second surface perpendicular to the first surface.

Here, the laser output unit includes a plurality of optics, a first of the plurality of optics collimates a laser beam, and a second of the plurality of optics directs the laser beam in one direction. It can be steered.

Here, the first optic may be disposed in a direction in which a laser beam is output from a laser output element among the laser output units, and the second optic may be disposed in a direction in which a laser beam is output from the first optic.

Here, the first big cell array includes a plurality of big cell emitters, the first optic includes a plurality of sub optics, and a first big cell emitter and the plurality of sub optics among the plurality of big cell emitters Among the optics, the first sub-optic may correspond to each other.

Here, the first big cell array includes a plurality of big cell units including a plurality of big cell emitters, the second optic includes a plurality of sub optics, and the first of the plurality of big cell units One big cell unit and a first sub-optic among the plurality of sub-optics may correspond to each other.

Here, the first optic may be at least one of a lens, a microlens, a microlens array, and a metasurface.

Here, the second optic is a lens, a microlens, a microlens array, a prism, a microprism, a microprism array, and a metasurfa. It may be at least one of.

Here, the first horizontal FOV includes a first laser beam, which is a laser beam having a large position value of the center of the laser beam relative to the first axis among the outermost laser beams, and the second horizontal FOV is the outermost laser beam. A second laser beam, which is a laser beam having a small position value of a center of the laser beam with respect to the first axis, may have the same direction as the center of the first laser beam and the center of the second laser beam.

Here, a center of the first laser beam and a traveling direction of the center of the second laser beam may be perpendicular to the first surface.

Here, the first horizontal FOV includes a second area that does not overlap with the second horizontal FOV, the second horizontal FOV includes a third area that does not overlap with the first horizontal FOV, and the second area And the irradiation angle of the third area may be the same.

Here, the angle of the first horizontal FOV may be 30 degrees.

Here, a main body including a plurality of the bodies may be included, and a horizontal field of view (FOV) of the main body may be the sum of the horizontal FOVs of the plurality of first bodies.

Here, a main body including a plurality of the bodies is included, and a horizontal FOV (horizontal field of view) of the main body is a horizontal FOV of the body, a steering angle of the first and second big cell arrays, and the It may be defined based on the divergence of the laser beam output from the laser output unit.

According to another embodiment, a distance calculation method using a lidar device including a laser output unit, a laser light receiving unit, and a controller, wherein the first laser output unit of the laser output unit outputs a laser beam, the first laser output Acquiring an outgoing time point for outputting an additional laser beam, receiving a laser beam reflected from an object among the output laser beams by the light-receiving unit, acquiring a time point at which the received laser beam is received, the outgoing light time point, and Calculating a flight distance of the received laser beam based on the light-receiving time point, and progress of the laser beam output from the first laser output unit, perpendicular to the first laser output unit, based on the flight distance A first virtual line extending rearward in the direction and a second virtual line perpendicular to the second laser output unit included in the laser output unit and extending rearward in the traveling direction of the laser beam output from the second laser output unit A distance calculation method including acquiring a distance to the object from a reference point defined based on may be provided.

Here, based on the reference point, calculating a distance from the lidar device to the object based on a distance from the reference point to the object and a distance from the reference point to the first laser output unit. have.

Here, based on the reference point, a distance from the first laser output unit to the object, a distance from the reference point to the second laser output unit and the reference point, the first laser output unit and the second laser output unit It may include calculating the position of the object based on the angle.

Here, the reference point is a center point of a sphere having a diameter of the first distance,

The first distance is a third virtual line from the intersection of the first virtual line and the second virtual line-perpendicular to the third laser output unit of the laser output unit, and in a direction of travel of the laser beam output from the third laser output unit. May be the minimum distance to-extending backwards.

Here, the reference point is a center point of a sphere having a diameter of the first distance,

The first distance is the first virtual line, the second virtual line, and the third virtual line virtual line-is perpendicular to a third laser output unit among the laser output units, and the advance of the laser beam output from the third laser output unit It may be the same as the maximum distance among the distances between intersections among the intersections of-extending backward of the direction.

Here, the first virtual line may be a virtual line at a first point of the first laser output unit, and the second virtual line may be a virtual line at a second point of the second laser output unit.

Here, the first point may be a central point of the first laser output unit, and the second point may be a central point of the second laser output unit.

Here, the coordinates of the first point calculated using the center point of the first laser output unit as the origin and the coordinates of the second point calculated using the center point of the second laser output unit as the origin may be the same.

Here, the second laser output unit may form a first angle with respect to the first laser output unit.

Here, the first angle may be 120 degrees.

Here, the minimum distance from the reference point to the first laser output unit may be equal to the minimum distance from the reference point to the second laser output unit.

Here, the minimum distance from the reference point to the first laser output unit may be predetermined.

According to another embodiment, a laser output unit that irradiates a laser toward an object, a laser light receiving unit that receives a laser that is returned by reflecting a laser irradiated from the laser output unit to the object, and a laser is output from the laser output unit A light-emitting time point and a light-receiving time point at which the laser beam reflected from the object is received, is based on the flight distance of the received laser beam calculated based on the light-out time point and the light-receiving time point, and 1 A first virtual line that is perpendicular to the laser output unit and extends backward in the traveling direction of the laser beam output from the first laser output unit, and is perpendicular to the second laser output unit of the laser output unit, and the second laser A lidar device including a control unit that calculates a distance from a reference point to the object from a reference point defined based on a second virtual line extending backward in a traveling direction of the laser beam output from the output unit may be provided.

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

)로 표현될 수 있다. 다만, 이에 한정되는 것은 아니며, 직교좌표계(X, Y, Z) 또는 원통 좌표계(r, θ, z) 등으로 표현될 수 있다.The lidar device is a device for detecting a distance to an object and a position of the object using a laser. For example, the lidar device may output a laser, and when the output laser is reflected from the object, the reflected laser may be received to measure the distance between the object and the lidar device and the position of the object. In this case, the distance and position of the object may be expressed through a coordinate system. For example, the distance and position of the object are in the spherical coordinate system (r, θ,

) Can be expressed. However, the present invention is not limited thereto, and may be expressed in a Cartesian coordinate system (X, Y, Z) or a cylindrical coordinate system (r, θ, z).

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Referring to FIG. 2, a lidar device 1100 according to an exemplary embodiment may include a laser output unit 100, an optical unit 200, and a sensor unit 300.

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

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

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

Referring to FIG. 3, the laser output unit 100 according to an embodiment may include a VCSEL emitter 110.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Referring to FIG. 4, the laser output unit 100 according to an embodiment may include a VCSEL unit 130.

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

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

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

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

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

Referring to FIG. 5, the laser output unit 100 according to an embodiment may include a VCSEL array 150. 5 illustrates an 8X8 VCSEL array, but is not limited thereto.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

8 is a diagram for describing a LiDAR device according to an exemplary embodiment.

Referring to FIG. 8, the lidar device 1200 according to an exemplary embodiment may include a laser output unit 100 and an optical unit. In this case, the optical unit may include the BCSC 250. In addition, the BCSC 250 may include a collimation component 210 and a steering component 230.

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

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

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

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

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

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

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

Referring to FIG. 9, the collimation component 210 according to an embodiment may be disposed in a direction in which a laser beam emitted from the laser output unit 100 is directed. The collimation component 210 may adjust the degree of divergence of the laser beam. The collimation component 210 may reduce the degree of divergence of the laser beam.

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

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

Referring to FIG. 10, the collimation component 210 according to an embodiment may include a plurality of micro lenses 211 and a substrate 213.

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

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

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

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

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

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

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

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

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

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

Referring to FIG. 12, a collimation component according to an embodiment may include a metasurface 220.

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

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

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

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

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

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

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

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

Referring to FIG. 13, the steering component 230 according to an exemplary embodiment may be disposed in a direction in which a laser beam emitted from the laser output unit 100 is directed. The steering component 230 may adjust the direction in which the laser beam is directed. The steering component 230 may adjust an angle between the optical axis of the laser light source and the laser beam.

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

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

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

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

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

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

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

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

Referring to FIG. 16, the steering component 234 according to an embodiment may include a plurality of micro prisms 235 and a substrate 236.

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

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

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

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

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

Referring to FIG. 17, the steering component according to an embodiment may include a meta surface 240.

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

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

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

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

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

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

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

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

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

Referring to FIG. 18, the metasurface 240 according to an exemplary embodiment may include a plurality of nanopillars 241 having different widths (W).

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

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

Meanwhile, the steering angle θ of the laser beam may vary according to an increase/decrease rate of the width W of the nanopillars 241. Here, the increase/decrease rate of the width W of the nanopillars 241 may mean a numerical value representing an average increase/decrease of the width W of the plurality of adjacent nanopillars 241.

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

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

The steering angle θ of the laser beam may vary depending on the width W of the nanopillars 241.

Specifically, the steering angle θ may increase as the increase/decrease rate of the width W of the nanopillar 241 increases.

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

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

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

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

Referring to FIG. 19, the metasurface 240 according to an embodiment may include a plurality of nanopillars 241 having different spacings P between adjacent nanopillars 241.

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

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

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

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

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

The steering angle θ of the laser beam may vary according to the distance P between the nanopillars 241.

Specifically, the steering angle θ of the laser beam may vary according to an increase/decrease rate of the spacing P between the nanopillars 241. Here, the increase/decrease rate of the interval P between the nanopillars 241 may mean a numerical value representing an average degree of change in the interval P between adjacent nanopillars 241.

The steering angle θ of the laser beam may increase as the increase/decrease rate of the gap P between the nanopillars 241 increases.

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

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

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

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

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

Referring to FIG. 20, the metasurface 240 according to an embodiment may include a plurality of nanopillars 241 having different heights H of the nanopillars 241.

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

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

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

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

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

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

The steering angle θ of the laser beam may increase as the increase/decrease rate of the height H of the nanopillar 241 increases.

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

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

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

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

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

Referring to FIG. 21, the optical unit according to an embodiment may include a plurality of components. For example, it may include a collimation component 210 and a steering component 230.

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

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

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

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

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

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

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

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

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

Referring to FIG. 22, the optical unit according to an embodiment may include one single component. For example, it may include a meta component 270.

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

For example, the meta component 270 includes a plurality of meta-surfaces, collimating a laser beam emitted from the laser output unit 100 in one meta-surface, and collimating a laser beam in the other meta-surface. Can be steered. It will be described in detail in FIG. 23 below.

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

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

Referring to FIG. 23, the meta component 270 according to an embodiment may include a plurality of meta surfaces 271 and 273. For example, it may include a first meta surface 271 and a second meta surface 273.

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

The second meta-surface 273 may be disposed in a direction in which the laser beam is output from the first meta-surface 271. The second metasurface 273 may include a plurality of nanopillars. The second meta-surface 273 may form a nano pattern by a plurality of nano-pillars. The second meta-surface 273 may steer the laser beam emitted from the laser output unit 100 by the formed nanopatterns. For example, as shown in FIG. 23, the laser beam may be steered in a specific direction by the increase/decrease rate of the width W of the plurality of nanopillars. In addition, the laser beam may be steered in a specific direction by the distance P, the height H, and the number per unit length of the plurality of nanopillars.

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

Referring to FIG. 24, the meta component 270 according to an embodiment may include one meta surface 274.

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

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

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

Hereinafter, a lidar device according to an embodiment of the present application will be described.

25 is a diagram illustrating a big cell module according to an embodiment.

Referring to FIG. 25, a big cell module 2100 according to an embodiment may include a body 2101, a first surface 2102, and a laser output unit 2130. In addition, the laser output unit 2130 may include a first big cell array 2110 and a second big cell array 2120.

25 illustrates a big cell module in which the first big cell array 2110 and the second big cell array 2120 are arranged vertically, but is not limited thereto.

For example, the laser output unit 2130 may include only one of the first big cell array 2110 and the second big cell array 2120, or the first big cell array 2110 in the laser output unit 2130. And the second big cell array 2120 may be disposed left and right, and the laser output unit 2130 may include an additional big cell array together with the first big cell array 2110 and the second big cell array 2120.

The big cell module 2100 may include a laser output unit 2130, a laser light receiving unit, and a controller. In addition, the big cell module 2100 may include a plurality of optics.

The big cell module 2100 may have a plurality of surfaces. For example, the big cell module 2100 may have a shape of a polygonal column, a cylinder, a polygonal cone, or a cone, but is not limited thereto.

The big cell module 2100 may be a synthetic resin, a metal, or a combination thereof.

A laser output unit 2130 may be disposed on one surface of the big cell module 2100. The laser output unit 2130 may be one, but may be plural. When there are a plurality of laser output units 2130, the first laser output unit included in the laser output unit 2130 may be disposed on the same surface as the second laser output unit, or may be disposed on a different surface.

In addition, a laser output unit 2130 may be disposed outside the big cell module 2100 on one surface of the big cell module 2100, but may be disposed inside the big cell module 2100.

The big cell module 2100 may be transparent. For example, a surface on which the laser output unit 2130 is disposed may be transparent.

According to an embodiment, when the laser output unit 2130 is disposed outside the big cell module 2100, the big cell module 2100 may irradiate a laser beam toward the inside of the big cell module 2100. In this case, the laser beam may be made of a transparent material to pass through the big cell module 2100.

In addition, according to an embodiment, when the laser output unit 2130 is disposed inside the big cell module 2100, the big cell module 2100 irradiates a laser beam toward the outside of the big cell module 2100. When doing so, it may be made of a transparent material so that the laser beam passes through the big cell module 2100.

In addition, a laser light receiving unit may be disposed on one surface of the big cell module 2100. The laser light receiving unit may be one, but may be plural. When there are a plurality of laser light receiving units, the first laser light receiving unit included in the laser light receiving unit may be disposed on the same surface as the second laser light receiving unit or may be disposed on a different surface.

In the big cell module 2100, a surface on which the laser output unit 2130 is disposed and a surface on which the laser light receiving unit is disposed may be the same, but may be different.

A controller may be disposed on one side of the big cell module 2100. The surface on which the controller is disposed may be the same as the surface on which the laser output unit or the laser light receiving unit is disposed, but may be different.

Alternatively, the big cell module 2100 may accommodate a controller therein. Alternatively, a controller may be disposed outside the big cell module 2100.

According to an embodiment, the big cell module 2100 may output a laser beam from the laser output unit 2130 by a controller. The big cell module 2100 may output a laser beam toward the object by the laser output unit 2130.

In addition, the big cell module 2100 may acquire a point of time when the laser beam is emitted. For example, the big cell module 2100 may acquire the timing of the outgoing light of the laser beam by the controller.

According to an embodiment, the big cell module 2100 irradiates a laser beam onto an object. At this time, the laser beam irradiated by the big cell module 2100 forms a constant field of view (FOV). The FOV may include a horizontal FOV (horizontal FOV) or a vertical FOV (vertical FOV).

The horizontal FOV may follow the horizontal axis of the module. In addition, the vertical FOV may follow the vertical axis of the module.

In addition, the FOV of the big cell module 2100 may be determined by the laser output unit 2130. For example, the horizontal FOV of the big cell module 2100 may be the horizontal FOV of the laser output unit 2130, or may be equal to or smaller than the sum of the horizontal FOVs of the plurality of laser output units, but is not limited thereto. In addition, for example, the vertical FOV of the big cell module 2100 may be the vertical FOV of the laser output unit 2130, or may be equal to or smaller than the sum of the vertical FOVs of the plurality of laser output units, but is not limited thereto.

Also, the horizontal FOV of the big cell module 2100 may be defined based on a steering angle of the first big cell array 2110, a steering angle of the second big cell array 2120, and divergence of a radar beam.

For example, when the horizontal FOV of each big cell array is 30 degrees, the horizontal FOV of the laser output unit 2130 or the big cell module 2100 may be 60 degrees or less than 60 degrees, but is not limited thereto.

Also, for example, when the vertical FOV of each big cell array is 30 degrees, the vertical FOV of the laser output unit 2130 or the big cell module 2100 may be 30 degrees, but is not limited thereto.

In addition, according to an embodiment, the big cell module 2100 may receive a laser beam reflected from an object. For example, the big cell module 2100 may receive a laser beam reflected from an object by a laser light receiving unit.

In addition, the big cell module 2100 may acquire a time point of receiving the laser beam. For example, the big cell module 2100 may acquire the time point of receiving the laser beam by the controller.

According to an embodiment, the controller may obtain a time point of receiving the laser beam by the light receiving unit.

For example, the controller may acquire the time point of receiving the laser beam by the SPAD array, but is not limited thereto. In this case, the controller may acquire the time point of receiving the laser beam by using the histogram calculated by the SPAD array, but is not limited thereto.

According to an embodiment, the big cell module 2100 has a first surface 2102 on which the laser output unit 2130 is disposed. The first surface may be disposed in a direction toward the object.

In addition, one laser output unit 2130 may be disposed on the first surface, but a plurality of laser output units 2130 may be disposed.

In addition, the laser light receiving unit may be disposed on the first surface, but is not limited thereto.

In addition, the first surface may be a flat surface, but may be a curved surface or a single layer.

According to an embodiment, the laser output unit 2130 may be disposed on one surface of the big cell module 2100. For example, the big cell module 2100 may be disposed on one surface facing the object. For example, it may be disposed on the first surface 2102 of the big cell module 2100.

According to an embodiment, the laser output unit 2130 may include a VCSEL (Vertical Cavity Surface Emitting Laser). The big cell may be disposed on the first surface 2102 of the big cell module 2100 to output a laser beam perpendicular to the first surface 2102.

For example, the laser output unit 2130 may include a plurality of big cell emitters.

In addition, for example, the laser output unit 2130 may include a plurality of big cell units including a plurality of big cell emitters.

Also, for example, the laser output unit 2130 may include a plurality of big cell arrays including a plurality of big cell units.

According to an embodiment, the laser output unit 2130 may output a laser beam toward an object. For example, the laser output unit 2130 may output a laser beam toward the object by the controller.

In addition, according to an embodiment, the laser output unit 2130 may include a first big cell array 2110 and a second big cell array 2120.

In addition, according to an embodiment, the first big cell array 2110 and the second big cell array 2120 may be spaced apart or disposed adjacent to each other. For example, the first big cell array 2110 and the second big cell array 2120 may be disposed to be spaced apart from or adjacent to the first side 2102 of the big cell module 2100.

According to an embodiment, the laser output unit 2130 irradiates a laser beam onto an object. At this time, the laser beam irradiated by the laser output unit 2130 forms a constant field of view (FOV). The FOV may include a horizontal FOV (horizontal FOV) or a vertical FOV (vertical FOV).

Also, the FOV of the laser output unit 2130 may be determined by the first big cell array 2110 and the second big cell array 2120. For example, the horizontal FOV of the laser output unit 2130 may be equal to or smaller than the sum of the horizontal FOVs of the first big cell array 2110 and the second big cell array 2120, but is not limited thereto. In addition, for example, the vertical FOV of the laser output unit 2130 may be equal to or smaller than the sum of the vertical FOVs of the first big cell array 2110 and the second big cell array 2120, but is not limited thereto.

In addition, the horizontal FOV of the big cell module 2100 may be defined based on a steering angle of the first big cell array 2110, a steering angle of the second big cell array 2120, and divergence of a radar beam.

According to an embodiment, the first big cell array 2110 may be disposed on the big cell module 2100. For example, the first big cell array 2110 may be disposed on the first surface 2102 of the big cell module 2100.

In addition, according to an embodiment, the first big cell array 2110 may be a big cell array including a plurality of big cell units, but may also be a big cell unit.

In addition, according to an embodiment, the first big cell array 2110 forms a constant FOV. For example, the first big cell array 2110 forms a horizontal FOV and a vertical FOV.

According to an embodiment, the second big cell array 2120 may be disposed on the big cell module 2100. For example, the second big cell array 2120 may be disposed on the second surface 2102 of the big cell module 2100.

In addition, according to an embodiment, the second big cell array 2120 may be a big cell array including a plurality of big cell units, but may also be a big cell unit.

In addition, according to an embodiment, the second big cell array 2120 forms a constant FOV. For example, the second big cell array 2120 forms a horizontal FOV and a vertical FOV.

According to an embodiment, the first big cell array 2110 and the second big cell array 2120 may be the same or different.

For example, the first big cell array 2110 and the second big cell array 2120 may have the same number of big cell units or the same number of big cell emitters, but are not limited thereto. Also, for example, the first big cell array 2110 and the second big cell array 2120 may have the same FOV or an angle of the irradiation range, but the present invention is not limited thereto. Also, for example, the first big cell array 2110 and the second big cell array 2120 may have the same size or material, but are not limited thereto.

When the first big cell array 2110 and the second big cell array 2120 are the same, the second big cell array 2120 may be the first big cell array 2110 rotated 180 degrees, but is not limited thereto.

The FOV angles of the first big cell array 2110 and the second big cell array 2120 may be the same or different.

When the first big cell array 2110 and the second big cell array 2120 have the same FOV angle, the horizontal FOV of the first big cell array 2110 may be the same as the horizontal FOV of the second big cell array 2120. Also, the vertical FOV of the first big cell array 2110 may be the same as the vertical FOV of the second big cell array 2120.

The horizontal FOV of the first big cell array 2110 and the horizontal FOV of the second big cell array 2120 have the same angle, but the irradiation range may be different. For example, when the horizontal FOV of the first big cell array 2110 and the horizontal FOV of the second big cell array 2120 are N°, the horizontal FOV irradiation range of the first big cell array 2110 is -N° to 0° And, the horizontal FOV irradiation range of the second big cell array 2120 may be 0° to N°, but is not limited thereto.

Alternatively, the horizontal FOV of the first big cell array 2110 and the horizontal FOV of the second big cell array 2120 may partially overlap. For example, the horizontal FOV irradiation range of the first big cell array 2110 may be -N° to M°, and the horizontal FOV irradiation range of the second big cell array 2120 may be -M° to N°, but limited thereto. It doesn't work.

According to an embodiment, the first big cell array 2110 and the second big cell array 2120 may be disposed to be spaced apart or adjacent to each other.

26 is a diagram illustrating a laser output unit according to an exemplary embodiment.

Referring to FIG. 26, the laser output unit 2150 according to an embodiment may include a laser output device 2151, a plurality of optics, for example, a first optic 2152 and a second optic 2153. .

According to an embodiment, the laser output unit 2130 may change a flight path of a laser beam output from a laser output element by an optic.

The optics are, for example, OPA (Optical Phased Array), lens, microlens, microlens array, prism, microprism, microprism array ) And metasurfa.

The optic may collimate a laser beam output from a laser output device. In addition, the optic may steer the laser beam output from the laser output device in one direction. Alternatively, the optic may collimate the laser beam output from the laser output device and then steer it in one direction.

According to an embodiment, the laser output device 2151 may be one of a big cell emitter, a big cell unit, and a big cell array. The laser output device may be disposed on the first surface 2102 of the body 2101 of the big cell module 2100.

According to an embodiment, the first optic 2152 may collimate a laser beam. Also, the second optic 2153 may steer the laser beam.

According to an embodiment, the first optic 2152 may be disposed in a direction in which a laser beam is output from the laser output device 2151. Also, the second optic 2153 may be disposed in a direction in which the laser beam is output from the first optic 2152, but is not limited thereto.

In addition, according to an embodiment, the laser output device 2151, the first optic 2152, and the second optic 2153 may be disposed adjacent to each other or may be disposed spaced apart from each other.

In addition, according to another embodiment, the functions of the first optic 2152 and the second optic 2153 may be implemented by another optic, but are not limited thereto.

27 to 29, the big cell module 2100 according to an embodiment may include a body 2101, a first surface 2102, and a laser output unit 2130. In addition, the laser output unit 2130 may include a first big cell array 2110 and a second big cell array 2120.

As shown in FIG. 27, the first big cell array 2110 may form a first horizontal FOV 2111. Also, the second big cell array 2120 may form a second horizontal FOV 2121.

In FIG. 27, the laser beam is illustrated as being irradiated at one point, but this is a diagram for convenience in explaining the horizontal FOV. The present invention is not limited thereto, and the laser beam may be irradiated at multiple points without being output at one point with respect to the big cell arrays 2110 and 2120.

The first horizontal FOV 2111 and the second horizontal FOV 2121 may overlap, but are not limited thereto.

As shown in FIG. 28, the first big cell array 2110 may form a first horizontal FOV 2111. Also, the second big cell array 2120 may form a second horizontal FOV 2121.

In FIG. 28, it is illustrated as if the laser beam is irradiated at one point, but this is a diagram for convenience in explaining the horizontal FOV. The present invention is not limited thereto, and the laser beam may be irradiated at multiple points without being output at one point with respect to the big cell arrays 2110 and 2120.

The horizontal axis of the first side 2102 of the big cell module 2100 may be defined as a first axis (a1), and the vertical axis of the first side 2102 of the big cell module 2100 is defined as a second axis (a2) Can be. The first axis a1 and the second axis a2 may be orthogonal.

The first horizontal FOV 2111 and the second horizontal FOV 2121 may be symmetrical with respect to the second axis a2, but are not limited thereto. In addition, the first horizontal FOV 2111 and the second horizontal FOV 2121 may be symmetrical with respect to a plane perpendicular to the first surface 2102 of the big cell module 2100, but are not limited thereto.

According to an embodiment, the second big cell array 2120 may be the first big cell array 2110 rotated 180 degrees. In the manufacturing process, after manufacturing a plurality of the same big cell array, when placing it in the big cell module 2100, one of the same big cell arrays is placed, and the other one of the same big cell arrays is based on the placed big cell array. It can be rotated 180 degrees and then placed on the Big Cell module.

In this way, disposing the same big cell array by rotating 180 degrees not only makes the manufacturing process simple, but also increases the efficiency of steering by symmetrical steering ranges of the big cell arrays.

When the horizontal FOV of the desired big cell module is 2N degrees, the 2N degree may not be satisfied by the optics included in the laser output unit. For example, when the horizontal FOV of the desired big cell module is 60 degrees, in the case of a micro prism, which is an example of the optics included in the laser output unit, micro prisms having various angles must be included in order to create a steering angle of 60 degrees. However, in reality, there may be a problem in implementing the angle of the micro prism to a specific angle or less. When the angle of the micro prism is less than a certain angle, for example, the steering efficiency may be drastically reduced. For example, when the angle of the micro prism is 0.25 degrees or less, it may be difficult to implement and a decrease in steering efficiency may occur, but is not limited thereto.

To solve the above problem, a plurality of big cell arrays can be used. For example, when the horizontal FOV of a desired big cell module is 2N degrees, a plurality of big cell arrays having a horizontal FOV of N degrees can be used.

For example, when the horizontal FOV of a desired big cell module is 60 degrees, the laser output unit may include two big cell arrays having a horizontal FOV of 30 degrees. At this time, one of the plurality of big cell arrays covers the FOV of -30 degrees to 0 degrees, and the other of the plurality of big cell arrays covers the FOV of 0 degrees to +30 degrees, and as a result, the horizontal FOV of the laser output part is formed at 60 degrees. Can be. Since the horizontal FOV of the laser output unit may be the horizontal FOV of the big cell module, as a result, the horizontal FOV of the big cell module can be formed at 60 degrees.

As shown in FIG. 29, the first big cell array 2110 may form a first vertical FOV 2112. Also, the second big cell array 2120 may form a second vertical FOV 2122.

In FIG. 29, it is illustrated as if the laser beam is irradiated at one point, but this is a diagram for convenience in explaining the horizontal FOV. The present invention is not limited thereto, and the laser beam may be irradiated at multiple points without being output at one point with respect to the big cell arrays 2110 and 2120.

The first big cell array 2110 and the second big cell array 2120 may form vertical FOVs 2112 and 2122 along the vertical axis of the first surface 2102. For example, the vertical FOVs 2112 and 2122 of the first big cell array 2110 and the second big cell array 2120 may be formed by a plurality of optics included in the laser output unit, or formed by one optic. It may be, but is not limited thereto.

The first vertical FOV 2112 and the second vertical FOV 2122 may have the same irradiation angle. For example, the first vertical FOV 2112 and the second vertical FOV 2122 may have an irradiation angle of 30 degrees, but are not limited thereto.

In addition, the first vertical FOV 2112 and the second vertical FOV 2122 may overlap, but are not limited thereto.

According to an embodiment, the vertical FOV of the laser output unit may be equal to or less than the sum of the vertical FOVs of the first big cell array 2110 and the second big cell array 2120. In addition, according to an embodiment, the vertical FOV of the big cell module 2100 may be equal to or less than the sum of the vertical FOVs of the first big cell array 2110 and the second big cell array 2120.

In addition, the vertical FOV of the big cell module 2100 may be defined based on a steering angle of the first big cell array 2110, a steering angle of the second big cell array 2120, and divergence of a radar beam.

30 to 31 are views viewed from above of a horizontal FOV of a big cell module according to an embodiment.

30 to 31, the first big cell array 2110 and the second big cell array 2120 form a horizontal FOV based on the first axis a1. The first big cell array 2110 forms a first horizontal FOV 2111 based on the first axis a1. The second big cell array 2120 forms a second horizontal FOV 2121 based on the first axis a1.

The first horizontal FOV 2111 and the second horizontal FOV 2121 may overlap, but are not limited thereto.

Referring to FIG. 31, the first horizontal FOV 2111 may include outermost laser beams 2113, 2114, 2123, and 2124.

For example, the outermost laser beam may refer to a laser beam having a maximum irradiation angle and a laser beam having a minimum irradiation angle, but is not limited thereto.

For example, the position value of the laser beam may be determined based on the first axis a1 with respect to a virtual plane spaced apart from the big cell array. For example, among the laser beams, the position value of the laser beam 2114 is greater than the position value of the laser beam 2113 with respect to the virtual plane spaced apart from the (2113, 2114) bixel array. It can be big.

For example, the first horizontal FOV 2111 may include a first laser beam 2114 which is a laser beam having a large position value with respect to the first axis a1 among the outermost laser beams. Also, for example, the second horizontal FOV 2121 may include a second laser beam 2123, which is a laser beam having a small position value with respect to the first axis a1 among the outermost laser beams.

According to an embodiment, the traveling directions of the first laser beam 2114 and the second laser beam 2123 may be the same. In this case, the traveling directions of the first laser beam 2113 and the second laser beam 2123 may be a direction perpendicular to the first axis a1. Further, the traveling directions of the first and second laser beams 2113 and 2123 may be perpendicular to the first surface 2102.

32 to 34 are views as viewed from the front of the horizontal FOV of the big cell module according to an embodiment.

32 to 34, the first big cell array 2110 and the second big cell array 2120 form a horizontal FOV based on the first axis a1. The first big cell array 2110 forms a first horizontal FOV 2111 based on the first axis a1. The second big cell array 2120 forms a second horizontal FOV 2121 based on the first axis a1.

The first horizontal FOV 2111 and the second horizontal FOV 2121 may overlap, but are not limited thereto.

Referring to FIG. 33, the first horizontal FOV 2111 may include a first area 2131 and a second area 2117. The first area 2131 may be an area overlapping the second horizontal FOV 2121. The second area 2117 may be an area that does not overlap with the second horizontal FOV 2121.

The second horizontal FOV 2121 may include a first area 2131 and a third area 2127. The first area 2131 may be an area overlapping the first horizontal FOV 2121. The third area 2127 may be an area that does not overlap with the first horizontal FOV 2121.

Referring to FIG. 34, the first horizontal FOV 2111 is a laser beam 2116 output in a direction perpendicular to the first surface 2102 and a laser beam output in a direction other than perpendicular to the first surface 2102 ( 2115).

The laser beam 2116 output in a direction perpendicular to the first surface 2102 and the laser beam 2115 output in a direction other than perpendicular to the first surface 2102 are Can be output by optics. That is, the direction of the laser beam may be determined by the arrangement or optics of the big cell emitter.

Referring to FIG. 34, a laser beam 2116 output in a direction perpendicular to the first surface 2102 is shown by a single arrow, but the present invention is not limited thereto, and a plurality of laser beams are perpendicular to the first surface 2102. It can be output in the direction.

In addition, the second horizontal FOV 2121 is generated by a laser beam 2126 output in a direction perpendicular to the first surface 2102 and a laser beam 2125 output in a direction not perpendicular to the first surface 2102. Can be formed.

The first area 2131 may be an area where the first horizontal FOV 2111 and the second horizontal FOV 2121 overlap.

According to an embodiment, the first area 2131 may be formed by laser beams output in various directions to form a horizontal FOV.

For example, the first area 2131 may be an area formed by the laser beam 2116 output in a direction perpendicular to the first surface 2102 among the laser beams forming the first horizontal FOV 2111. . Also, the first area 2131 may be an area formed by the laser beam 2115 output in a direction other than perpendicular to the first surface 2102 among the laser beams forming the first horizontal FOV 2111.

In addition, for example, the first area 2131 may be an area formed by the laser beam 2126 output in a direction perpendicular to the first surface 2102 among the laser beams forming the second horizontal FOV 2121. have. Also, the first area 2131 may be an area formed by the laser beam 2125 output in a direction other than perpendicular to the first surface 2102 among the laser beams forming the second horizontal FOV 2121.

The description of the horizontal FOV of the big cell module 2100 through FIGS. 30 to 34 may also be applied to the big cell module 2200 shown in FIGS. 36 to 39 below.

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

Referring to FIG. 35, a lidar device 2001 according to an embodiment may include a plurality of big cell modules 2100.

In the lidar device 2001 according to an embodiment, a plurality of big cell modules 2100 may be arranged adjacent to each other, or may be spaced apart from each other. For example, when the lidar device 2001 is a type in which a plurality of big cell modules 2100 are disposed adjacent to each other, the adjacent big cell modules 2100 may share one surface with each other.

In addition, the lidar device 2001 according to an embodiment may be arranged so that the first surface 2102 on which the laser output unit 2130 of the adjacent big cell modules 2100 is disposed forms an angle or a curved surface. Alternatively, it may be arranged so as not to form an angle or to form a straight line.

In addition, when the horizontal FOV of the lidar device 2001 or the big cell module according to an embodiment is N°, M/N big cell modules are included to satisfy the horizontal FOV of the entire lidar device desired by the user, M°. can do.

For example, when the horizontal FOV of the big cell module is 60°, three big cell modules may be included to satisfy 180°, which is the horizontal FOV of the entire lidar device desired by the user. At this time, the horizontal FOV of 60 degrees of the big cell module may be formed by a plurality of big cell arrays. For example, a horizontal FOV of 60 degrees of a big cell module may be formed by two big cell arrays having a horizontal FOV of 30 degrees. In this case, the lidar device may include three big cell modules having a horizontal FOV of 60 degrees including two big cell arrays having a horizontal FOV of 30 degrees.

36 to 39 are diagrams illustrating a big cell module according to another embodiment.

36 to 39, the big cell module 2200 according to an embodiment may include a body 2201, a first surface 2202, and a laser output unit 2230. In addition, the laser output unit 2230 may include a first big cell array 2210 and a second big cell array 2220.

36 illustrates a big cell module in which the first big cell array 2210 and the second big cell array 2220 are arranged left and right, but is not limited thereto.

Since the description of the big cell module 2200 may overlap with the description of the big cell module 2100 described above, a detailed description will be omitted.

Since the description of the body 2201 may overlap with the description of the body 2101 described above, a detailed description will be omitted.

Since the description of the first surface 2202 may overlap with the description of the first surface 2102 described above, a detailed description will be omitted.

The description of the laser output unit 2230 may be duplicated with the description of the laser output unit 2130 described above, and a detailed description thereof will be omitted.

Since the description of the first big cell array 2210 may overlap with the description of the first big cell array 2110 described above, a detailed description will be omitted.

Since the description of the second big cell array 2220 may overlap with the description of the first big cell array 2120 described above, a detailed description will be omitted.

Referring to FIG. 36, the laser output unit 2230 of the big cell module 2200 may include a first big cell array 2210 and a second big cell array 2220.

According to an embodiment, the first big cell array 2210 may include a first big cell unit that outputs a laser beam in a first direction. In addition, the first big cell array 2210 may include a second big cell unit that outputs a laser beam in a second direction.

In this case, the first direction and the second direction may be the same, but may be different. For example, the difference between the first direction and the second direction may be 0.104 degrees, but is not limited thereto.

According to an embodiment, the second big cell array 2220 may include a third big cell unit that outputs a laser beam in a third direction.

In this case, the third direction may be the same as the first direction, but may be different. For example, the first direction and the third direction may be directions perpendicular to the first surface 2202 of the big cell module 2200, but are not limited thereto.

According to an embodiment, the first big cell unit and the second big cell unit may not be spaced apart from each other, but may be disposed at a first distance. Also, the first big cell unit and the second big cell unit may be adjacent big cell units. For example, the first big cell unit and the second big cell unit may be disposed adjacent to each other with a first interval. Also, for example, the first big cell unit and the second big cell unit may be disposed adjacent to each other with a first interval.

In addition, the first big cell unit and the third big cell unit may not be spaced apart, but may be spaced apart. In this case, the distance between the first and third big cells units may be less than or equal to the first distance between the first and second big cells units. Also, the first big cell unit and the third big cell unit may be adjacent big cell units. For example, the first big cell unit and the third big cell unit may be disposed adjacent to each other with an interval less than or equal to the first interval. Also, for example, the first big cell unit and the third big cell unit may be disposed adjacent to each other with an interval less than or equal to the first interval.

According to another embodiment, the first big cell unit may be an outermost big cell unit of the first big cell array. For example, the first big cell unit may be a big cell unit disposed at the right edge of the first big cell array, but is not limited thereto.

Also, the third big cell unit may be an outermost big cell unit of the second big cell array. For example, the third big cell unit may be a big cell unit disposed at the left edge of the second big cell array, but is not limited thereto.

In this case, an interval between the first big cell unit and the third big cell unit may be less than or equal to the first interval. When the distance between the first and third big cell units exceeds the first distance, a dead zone in which a laser beam is not irradiated may be formed between the first and second big cell arrays. In order not to form a dead zone between the first big cell array and the second big cell array, an interval between the first big cell unit and the third big cell unit may be adjusted.

The distance between the first big cell unit and the third big cell unit may be defined based on the steering angle of the first big cell unit, the steering angle of the third big cell unit, and the divergence angle of the laser beam.

For example, when the steering angle of the first big cell unit and the third big cell unit is perpendicular to the first surface 2202, the distance between the first big cell unit and the third big cell unit may be the first distance. It is not limited to this.

As shown in FIG. 37, the first big cell array 2210 may form a first horizontal FOV 2211. Also, the second big cell array 2220 may form a second horizontal FOV 2221.

The first horizontal FOV 2211 and the second horizontal FOV 2221 may overlap, but are not limited thereto.

38, the first big cell array 2210 may form a first horizontal FOV 2211. Also, the second big cell array 2220 may form a second horizontal FOV 2221.

The first surface 2202 of the big cell module 2200 may be horizontal with respect to the first axis a1 and vertical with respect to the second axis a2. The first axis a1 and the second axis a2 may be orthogonal.

The first horizontal FOV 2211 and the second horizontal FOV 2221 may be symmetrical with respect to the second axis a2, but are not limited thereto. In addition, the first horizontal FOV 2211 and the second horizontal FOV 2221 may be symmetrical with respect to a plane perpendicular to the first surface 2202 of the big cell module 2200, but are not limited thereto.

According to an embodiment, the second big cell array 2220 may be the first big cell array 2210 rotated 180 degrees. In the manufacturing process, after manufacturing a plurality of the same big cell array, when placing it in the big cell module 2200, one of the same big cell arrays is placed, and the other one of the same big cell arrays is based on the placed big cell array. It can be rotated 180 degrees and then placed on the Big Cell module.

In this way, disposing the same big cell array by rotating 180 degrees not only makes the manufacturing process simple, but also increases the efficiency of steering by symmetrical steering ranges of the big cell arrays.

When the horizontal FOV of the desired big cell module is 2N degrees, the 2N degree may not be satisfied by the optics included in the laser output unit. For example, when the horizontal FOV of the desired big cell module is 60 degrees, in the case of a micro prism, which is an example of the optics included in the laser output unit, micro prisms having various angles must be included in order to create a steering angle of 60 degrees. However, in reality, there may be a problem in implementing the angle of the micro prism to a specific angle or less. When the angle of the micro prism is less than a certain angle, for example, the steering efficiency may be drastically reduced. For example, when the angle of the micro prism is 0.25 degrees or less, it may be difficult to implement and a decrease in steering efficiency may occur, but is not limited thereto.

To solve the above problem, a plurality of big cell arrays can be used. For example, when the horizontal FOV of a desired big cell module is 2N degrees, a plurality of big cell arrays having a horizontal FOV of N degrees can be used.

For example, when the horizontal FOV of a desired big cell module is 60 degrees, the laser output unit may include two big cell arrays having a horizontal FOV of 30 degrees. At this time, one of the plurality of big cell arrays covers the FOV of -30 degrees to 0 degrees, and the other of the plurality of big cell arrays covers the FOV of 0 degrees to +30 degrees, and as a result, the horizontal FOV of the laser output part is formed at 60 degrees. Can be. Since the horizontal FOV of the laser output unit may be the horizontal FOV of the big cell module, as a result, the horizontal FOV of the big cell module can be formed at 60 degrees.

39, the first big cell array 2210 may form a first vertical FOV 2212. Also, the second big cell array 2220 may form a second vertical FOV 2222.

The first vertical FOV 2212 and the second vertical FOV 2222 may have the same irradiation angle. For example, the first vertical FOV 2112 and the second vertical FOV 2122 may have an irradiation angle of 30 degrees, but are not limited thereto.

In addition, the first vertical FOV 2112 and the second vertical FOV 2122 may overlap, but are not limited thereto.

The description of the horizontal FOV of the big cell module 2200 shown in FIGS. 36 to 39 may be common with the description of the horizontal FOV of the big cell module 2100 described through FIGS. 30 to 34 above.

40 is a diagram illustrating a LiDAR device according to another exemplary embodiment.

Referring to FIG. 40, a lidar device 2002 according to an embodiment may include a plurality of big cell modules 2200.

In the lidar apparatus 2002 according to an exemplary embodiment, a plurality of big cell modules 2200 may be disposed adjacent to each other or may be spaced apart from each other. For example, when the lidar device 2002 has a form in which a plurality of big cell modules 2200 are disposed adjacent to each other, the adjacent big cell modules 2200 may share one surface with each other.

In addition, the lidar device 2002 according to an exemplary embodiment may be arranged such that the first surface 2202 on which the laser output units 2230 of adjacent big cell modules 2200 are disposed forms an angle or a curved surface. Alternatively, it may be arranged so as not to form an angle or to form a straight line.

In addition, when the horizontal FOV of the lidar device 2002 and the big cell module 2200 according to an embodiment is N°, M/N big cells are used to satisfy the horizontal FOV of the entire lidar device desired by the user, M°. A module 2200 may be included.

For example, when the horizontal FOV of the big cell module 2200 is 60°, three big cell modules 2200 may be included to satisfy 180°, which is the horizontal FOV of the entire lidar device desired by the user. At this time, the horizontal FOV of 60 degrees of the big cell module may be formed by a plurality of big cell arrays. For example, a horizontal FOV of 60 degrees of the big cell module may be formed by two big cell arrays having a horizontal FOV of 30 degrees. In this case, the lidar device may include three big cell modules having a horizontal FOV of 60 degrees including two big cell arrays having a horizontal FOV of 30 degrees.

Hereinafter, a reference point for measuring the distance of the lidar device will be described in detail.

The lidar device may include a plurality of big cell modules. The lidar device may output a laser beam to an object through a plurality of big cell modules. The lidar device may receive a laser beam reflected from an object through a plurality of big cell modules. The lidar device may form a FOV through a plurality of big cell modules.

When the lidar device includes a plurality of big cell modules, reference points for measuring a distance from the lidar device to an object may vary. For example, each reference point may exist for each of a plurality of big cell modules, and positions of each of the reference points may all be different. When the reference points vary, in determining the distance from the lidar device to the object, the calculated distance may vary according to the location of the big cell module even if the distance is the same.

In order to solve the above problem, when the lidar device includes a plurality of big cell modules, a fixed reference point that is a reference for calculating the distance may be determined, and the distance may be calculated based on the reference point.

In addition, the big cell module of the lidar device may include a plurality of big cell arrays. The big cell module may output a laser beam to an object through a plurality of big cell arrays. The big cell module may receive a laser beam from which a laser beam output from a plurality of big cell arrays is reflected from an object. The big cell module may form a FOV through a plurality of big cell arrays.

When the big cell module includes a plurality of big cell arrays, a reference point for measuring a distance from the lidar device to an object may be varied. For example, each reference point may exist for each of a plurality of big cell arrays, and positions of each of the reference points may all be different. When the reference points vary, in determining the distance from the lidar device to the object, the calculated distance may vary according to the location of the big cell array, even if the distance is the same.

As described above, a problem in that each reference point may exist for each of a plurality of big cell arrays, and the positions of each of the reference points are all different, may also apply to a plurality of big cell units. Each reference point may exist for each of the plurality of big cell units, and positions of each of the reference points may all be different. When the reference points vary, in determining the distance from the lidar device to the object, the calculated distance may vary according to the location of the big cell unit even if the distance is the same.

In order to solve the above problem, when the big cell module includes a plurality of big cell arrays, a fixed reference point that is a reference for calculating the distance may be determined, and the distance may be calculated based on the reference point. Alternatively, when the big cell array includes a plurality of big cell units, the distance may be calculated based on the reference point by determining a fixed reference point that is a reference for calculating the distance.

41 to 42 are diagrams illustrating a laser output unit according to an exemplary embodiment.

Referring to FIG. 41, the laser output unit 2900 according to an embodiment may include a plurality of big cell arrays. For example, it may include a first big cell array and a second big cell array.

The first big cell array may include a plurality of big cell units. For example, the first big cell array may include a first big cell unit 2901 and a second big cell unit 2902.

The second big cell array may include a plurality of big cell units. For example, the second big cell array may include a third big cell unit 2903 and a fourth big cell unit 2904.

The first big cell array and the second big cell array may be placed on the same substrate. The first big cell array and the second big cell array may be raised on the same PCB.

The first big cell array and the second big cell array may be the same. Alternatively, the second big cell array may be obtained by rotating the first big cell array by 180 degrees.

The first big cell unit 2901 may output a laser beam in a first direction. Also, the first big cell unit 2901 may output a laser beam having a divergence angle of the first angle.

The second big cell unit 2902 may output a laser beam in a second direction. Also, the first big cell unit 2901 may output a laser beam having a divergence angle of a second angle.

The third big cell unit 2903 may output a laser beam in a third direction. In addition, the third big cell unit 2903 may output a laser beam having a divergence angle of a third angle.

The fourth big cell unit 2904 may output a laser beam in a fourth direction. Also, the fourth big cell unit 2904 may output a laser beam having a divergence angle of a fourth angle.

Referring to FIG. 41, a center of a laser beam output from each big cell unit may be indicated by a solid line, and a divergence beam may be indicated by a dotted line.

The angle formed by the center of the laser beam output from the first big cell unit 2901 and the center of the laser beam output from the second big cell unit 2902 is less than the sum of half of the first angle and half of the second angle. I can. Alternatively, the angle formed by the center of the laser beam output from the first big cell unit 2901 and the center of the laser beam output from the second big cell unit 2902 may be less than half of the sum of the first angle and the second angle. have.

When the angle formed by the center of the laser beam output from the first big cell unit 2901 and the center of the laser beam output from the second big cell unit 2902 is greater than half of the sum of the first angle and the second angle, the A dead zone, which is an area to which the laser beam is not irradiated, may occur between the laser beam output from the first big cell unit 2901 and the laser beam output from the second big cell unit 2902.

When the dead zone is formed, since the laser is not irradiated to the object existing in the dead zone, the distance information of the object cannot be obtained. Accordingly, in order to eliminate the dead zone, the laser beam output from the first big cell unit 2901 and the laser beam output from the second big cell unit 2902 may come into contact with each other, or at least some of them may overlap.

For example, the first big cell unit 2901 may output a collimation beam in a first direction and a divergence beam in a second direction and a third direction. In addition, the second big cell unit 2902 may output a collimation beam in a fourth direction, and may output a divergence beam in the third and fifth directions. In addition, the third big cell unit 2903 may output a collimation beam in a sixth direction, and may output a divergence beam in the second and seventh directions.

Also, for example, the divergence beam of the first big cell unit 2901 and the divergence beam of the third big cell unit 2903 may be output in the same direction. In this case, the divergence beam of the first big cell unit 2901 and the divergence beam of the third big cell unit 2903 may be output in a direction perpendicular to the surface on which the laser output unit is disposed.

Referring to FIG. 42, the laser output unit 2950 according to an embodiment may include a plurality of big cell arrays. For example, it may include a first big cell array and a second big cell array.

In addition, the laser output unit 2950 according to an embodiment may include an optic for steering a laser beam output from a big cell array.

The first big cell array may include a plurality of big cell units. For example, the first big cell array may include a first big cell unit 2951 and a second big cell unit 2952.

The second big cell array may include a plurality of big cell units. For example, the second big cell array may include a third big cell unit 2953 and a fourth big cell unit 2954.

The optic may include a plurality of sub optics. For example, a first sub-optic 2961 for steering a laser beam output from the first big cell unit 2951 may be included. In addition, for example, a second sub-optic 2962 for steering a laser beam output from the second big cell unit 2952 may be included. In addition, for example, it may include a third sub-optic (2963) for steering the laser beam output from the third big cell unit (2953). In addition, for example, it may include a fourth sub-optic 2964 for steering the laser beam output from the fourth big cell unit 2954.

The first sub-optic 2961 may output a laser beam in a first direction. In addition, the first sub-optic 2961 may output a laser beam having a divergence angle of the first angle.

The second sub-optic 2962 may output a laser beam in a second direction. In addition, the second sub-optic 2962 may output a laser beam having a divergence angle of a second angle.

The third sub-optic 2963 may output a laser beam in a third direction. In addition, the third sub-optic 2963 may output a laser beam having a divergence angle of a third angle.

The fourth sub-optic 2964 may output a laser beam in a fourth direction. Also, the fourth sub-optic 2964 may output a laser beam having a divergence angle of a fourth angle.

Referring to FIG. 42, a center of a laser beam output from each big cell unit may be indicated by a solid line and a divergence beam may be indicated by a dotted line.

The center of the laser beam output from the first bixel unit 2901 and output through the first sub-optic 2961 and the laser beam output from the second bixel unit 2902 and through the second sub-optic 2962 The angle formed by the center may be less than the sum of half of the first angle and half of the second angle. Alternatively, the angle formed by the center of the laser beam output from the first big cell unit 2901 and the center of the laser beam output from the second big cell unit 2902 may be less than half of the sum of the first angle and the second angle. have.

The center of the laser beam output from the first bixel unit 2901 and output through the first sub-optic 2961 and the laser beam output from the second bixel unit 2902 and through the second sub-optic 2962 When the angle formed by the center is greater than half of the sum of the first and second angles, between the laser beam output from the first bixel unit 2901 and the laser beam output from the second bixel unit 2902 , Dead zone, which is an area where the laser beam is not irradiated, may occur.

When the dead zone is formed, since the laser is not irradiated to the object existing in the dead zone, the distance information of the object cannot be obtained. Accordingly, in order to eliminate the dead zone, the laser beam output from the first big cell unit 2901 and the laser beam output from the second big cell unit 2902 may come into contact with each other, or at least some of them may overlap.

For example, the first sub-optic 2961 may output a collimation beam in a first direction and a divergence beam in a second direction and a third direction. In addition, the second sub-optic 2962 may output a collimation beam in a fourth direction, and may output a divergence beam in the third and fifth directions. In addition, the third sub-optic 2963 may output a collimation beam in a sixth direction, and may output a divergence beam in the second and seventh directions.

Also, for example, the divergence beam of the first sub-optic 2961 and the divergence beam of the third sub-optic 2963 may be output in the same direction. In this case, the divergence beam of the first sub-optic 2961 and the divergence beam of the third sub-optic 2963 may be output in a direction perpendicular to the surface where the laser output unit is disposed.

43 is a diagram illustrating reference points for measuring distances between big cell modules according to an exemplary embodiment.

43 illustrates a big cell module in which big cell arrays included in the big cell module are arranged vertically, but is not limited thereto.

Referring to FIG. 43, a lidar device 2003 according to an embodiment may include a plurality of big cell modules 2350 and 2360. The lidar device 2003 may include a first big cell module 2350 and a second big cell module 2360.

The first big cell module 2350 may include a body 2301, a first surface 2302, and a first big cell array 2310. The first big cell array 2310 may be disposed on the first surface 2302 of the body 2301.

The second big cell module 2360 may include a body 2361, a second surface 2362 and a second big cell array 2320. The second big cell array 2320 may be disposed on the second surface 2362 of the body 2361.

According to an embodiment, it is perpendicular to the first surface 2302 on which the first big cell array 2310 of the first big cell module 2350 is disposed, and the rear side in the direction in which the first big cell array 2310 outputs a laser beam. There may be a first virtual line L1 extending to.

According to an embodiment, the first virtual line L1 may be a virtual line extending from a first point of the first big cell array 2310. For example, the first point may be a central point of the first big cell array 2310, but is not limited thereto. In addition, for example, the first point may be a point of the first big cell array 2310, for example, a point having constant coordinates with respect to the x-axis and y-axis with respect to the center point. For example, the first point may be a point having coordinates of (a,b) with respect to the x-axis and y-axis with respect to the center point of the first big cell array 2310.

In addition, according to an embodiment, the second big cell array 2320 of the second big cell module 2360 is perpendicular to the second surface 2362 on which the second big cell array 2320 is disposed, and the second big cell array 2320 is in a direction in which the laser beam is output. A second virtual line L2 extending rearward may exist.

The second virtual line L2 may be a virtual line extending from a second point of the second big cell array 2320. For example, the second point may be a central point of the second big cell array 2320. In addition, for example, the second point may be a point of the first big cell array 2320, for example, a point having constant coordinates with respect to the x-axis and y-axis with respect to the center point. For example, the second point may be a point having coordinates of (c,d) with respect to the x-axis and y-axis with respect to the center point of the second big cell array 2320.

When the first point and the second point have coordinates based on a central point of each big cell array, the coordinates of the first point and the coordinates of the second point may be the same. For example, in the coordinates of the first point (a,b) and the coordinates of the second point (c,d), a and c may be the same, and b and d may be the same.

The first virtual line L1 and the second virtual line L2 may intersect. For example, the first virtual line L1 and the second virtual line L2 may form an intersection. In this case, the intersection of the first virtual line L1 and the second virtual line L2 may be the reference point P.

The reference point P may be included in a surface shared by the first big cell module 2350 and the second big cell module 2360. In addition, the reference point P may be included in a corner shared by the first big cell module 2350 and the second big cell module 2360. In addition, the reference point P may be an intersection point where the first big cell module 2350 and the second big cell module 2360 meet.

The reference point P may be stored in advance in the controller of the lidar device.

Also, for example, a minimum distance R may be determined between the reference point P and the first big cell array 2310. Also, for example, a minimum distance may be determined between the reference point P and the second big cell array 2320.

In this case, the minimum distance R between the reference point P and the first big cell array 2310 may be the same as the minimum distance between the reference point P and the second big cell array 2320.

In this case, the minimum distance R between the reference point P and the first big cell array 2310 may be a minimum distance between the reference point P and the first surface 2302.

In this case, the minimum distance R between the reference point P and the second big cell array 2320 may be a minimum distance between the reference point P and the second surface 2362.

Also, for example, the minimum distance R between the reference point P and the first big cell array 2310 may be different from the minimum distance between the reference point P and the second big cell array 2320.

44 is a diagram illustrating reference points for measuring distances between big cell modules according to another embodiment.

44 illustrates a big cell module in which big cell arrays included in the big cell module are arranged left and right, but is not limited thereto.

Referring to FIG. 44, a lidar device 2004 according to an embodiment may include a plurality of big cell modules 2450 and 2460. The lidar device 2004 may include a first big cell module 2450 and a second big cell module 2460.

The first big cell module 2450 may include a body 2401, a first surface 2402, and a first big cell array 2410. The first big cell array 2410 may be disposed on the first surface 2402 of the body 2401.

The second big cell module 2460 may include a body 2461, a second surface 2462 and a second big cell array 2420. The second big cell array 2420 may be disposed on the second surface 2462 of the body 2461.

According to an embodiment, it is perpendicular to the first surface 2402 on which the first big cell array 2410 of the first big cell module 2450 is disposed, and the rear side in the direction in which the first big cell array 2410 outputs a laser beam. There may be a first virtual line L1 extending to.

According to an embodiment, the first virtual line L1 may be a virtual line extending from a first point of the first big cell array 2310. For example, the first point may be a central point of the first big cell array 2310, but is not limited thereto. In addition, for example, the first point may be a point of the first big cell array 2310, for example, a point having constant coordinates with respect to the x-axis and y-axis with respect to the center point. For example, the first point may be a point having coordinates of (a,b) with respect to the x-axis and y-axis with respect to the center point of the first big cell array 2310.

In addition, according to an embodiment, the second big cell array 2420 of the second big cell module 2450 is perpendicular to the second surface 2462 on which the second big cell array 2420 is disposed, and the second big cell array 2420 is in a direction in which the laser beam is output. A second virtual line L2 extending rearward may exist.

The second virtual line L2 may be a virtual line extending from a second point of the second big cell array 2320. For example, the second point may be a central point of the second big cell array 2320. In addition, for example, the second point may be a point of the first big cell array 2320, for example, a point having constant coordinates with respect to the x-axis and y-axis with respect to the center point. For example, the second point may be a point having coordinates of (c,d) with respect to the x-axis and y-axis with respect to the center point of the second big cell array 2320.

When the first point and the second point have coordinates based on a central point of each big cell array, the coordinates of the first point and the coordinates of the second point may be the same. For example, in the coordinates of the first point (a,b) and the coordinates of the second point (c,d), a and c may be the same, and b and d may be the same.

The first virtual line L1 and the second virtual line L2 may intersect. For example, the first virtual line L1 and the second virtual line L2 may form an intersection. In this case, the intersection of the first virtual line L1 and the second virtual line L2 may be the reference point P.

The reference point P may be included in a surface shared by the first big cell module 2450 and the second big cell module 2460. In addition, the reference point P may be included in a corner shared by the first big cell module 2450 and the second big cell module 2460. In addition, the reference point P may be an intersection point where the first big cell module 2450 and the second big cell module 2460 meet.

Also, for example, a minimum distance R may be determined between the reference point P and the first big cell array 2410. Also, for example, a minimum distance may be determined between the reference point P and the first big cell array 2410.

In this case, the minimum distance R between the reference point P and the first big cell array 2410 may be the same as the minimum distance between the reference point P and the first big cell array 2410.

In this case, the minimum distance R between the reference point P and the first big cell array 2410 may be a minimum distance between the reference point P and the first surface 2402.

In this case, the minimum distance R between the reference point P and the second big cell array 2420 may be a minimum distance between the reference point P and the second surface 2462.

45 to 47 are diagrams illustrating reference points for measuring distances between big cell modules according to another embodiment.

45 to 47 illustrate big cell modules in which big cell arrays included in the big cell module are arranged vertically, but are not limited thereto.

Referring to FIGS. 45 to 47, a lidar device 2003 according to an embodiment may include a plurality of big cell modules 2350, 2360, and 2370. The lidar device 2003 may include a first big cell module 2350, a second big cell module 2360, and a third big cell module 2370.

The first big cell module 2350 may include a body 2301, a first surface 2302, and a first big cell array 2310. The first big cell array 2310 may be disposed on the first surface 2302 of the body 2301.

The second big cell module 2360 may include a body 2361, a second surface 2362 and a second big cell array 2320. The second big cell array 2320 may be disposed on the second surface 2362 of the body 2361.

The third big cell module 2370 may include a body 2231, a third surface 2372, and a third big cell array 2330. The third big cell array 2330 may be disposed on the third surface 2372 of the body 2371.

According to an embodiment, it is perpendicular to the first surface 2302 on which the first big cell array 2310 of the first big cell module 2350 is disposed, and the rear side in the direction in which the first big cell array 2310 outputs a laser beam. There may be a first virtual line L1 extending to.

The first virtual line L1 may be a virtual line extending from a first point of the first big cell array 2310. For example, the first point may be a central point of the first big cell array 2310, but is not limited thereto. In addition, for example, the first point may be a point of the first big cell array 2310, for example, a point having constant coordinates with respect to the x-axis and y-axis with respect to the center point. For example, the first point may be a point having coordinates of (a,b) with respect to the x-axis and y-axis with respect to the center point of the first big cell array 2310.

In addition, according to an embodiment, the second big cell array 2320 of the second big cell module 2360 is perpendicular to the second surface 2362 on which the second big cell array 2320 is disposed, and the second big cell array 2320 is in a direction in which the laser beam is output. A second virtual line L2 extending rearward may exist.

The second virtual line L2 may be a virtual line extending from a second point of the second big cell array 2320. For example, the second point may be a central point of the second big cell array 2320. In addition, for example, the second point may be a point of the first big cell array 2320, for example, a point having constant coordinates with respect to the x-axis and y-axis with respect to the center point. For example, the second point may be a point having coordinates of (c,d) with respect to the x-axis and y-axis with respect to the center point of the second big cell array 2320.

In addition, according to an embodiment, a direction in which the third big cell array 2330 of the third big cell module 2370 is disposed is perpendicular to the third surface 2372 and the third big cell array 2330 outputs a laser beam. A third virtual line L3 extending rearward may exist.

The third virtual line L3 may be a virtual line extending from a third point of the third big cell array 2330. For example, the third point may be a central point of the third big cell array 2330. In addition, for example, the second point may be a point of the first big cell array 2330, for example, a point having constant coordinates with respect to the x-axis and y-axis with respect to the center point. For example, the third point may be a point having coordinates of (e,f) with respect to the x-axis and y-axis with respect to the center point of the third big cell array 2330.

When the first point, the second point, and the third point have coordinates based on the center point of each big cell array, the coordinates of the first point, the coordinates of the second point, and the coordinates of the third point are It can be the same. For example, in the coordinates of the first point (a,b), the coordinates of the second point (c,d), and the coordinates of the third point (e,f), a, c, e Is the same, and b, d, and f may be the same.

Referring to FIG. 45, a first virtual line L1, a second virtual line L2, and a third virtual line L3 may intersect. For example, the first virtual line L1, the second virtual line L2, and the third virtual line L3 may form an intersection. In this case, the intersection of the first virtual line L1, the second virtual line L2, and the third virtual line L3 may be the reference point P.

The reference point P may be included in a surface shared by the first big cell module 2350 and the second big cell module 2360. In addition, the reference point P may be included in a surface shared by the second big cell module 2360 and the third big cell module 2370.

In addition, the reference point P may be included in a corner shared by the first big cell module 2350 and the second big cell module 2360. In addition, the reference point P may be included in an edge shared by the second big cell module 2360 and the third big cell module 2370. In addition, the reference point P may be included in a corner shared by the first big cell module 2350 and the third big cell module 2370.

In addition, the reference point P may be an intersection point where the first big cell module 2350 and the second big cell module 2360 meet. In addition, the reference point P may be an intersection point where the second big cell module 2360 and the third big cell module 2370 meet. In addition, the reference point P may be an intersection point where the first big cell module 2350 and the third big cell module 2370 meet. In addition, the reference point P may be an intersection point where the first big cell module 2350, the second big cell module 2360, and the third big cell module 2370 meet.

Also, for example, a minimum distance R may be determined between the reference point P and the first big cell array 2310. Also, for example, a minimum distance may be determined between the reference point P and the second big cell array 2320. Also, for example, a minimum distance may be determined between the reference point P and the third big cell array 2330.

In this case, the minimum distance R between the reference point P and the first big cell array 2310 may be the same as the minimum distance between the reference point P and the second big cell array 2320. In addition, the minimum distance R between the reference point P and the first big cell array 2310 may be the same as the minimum distance between the reference point P and the third big cell array 2330. In addition, the minimum distance R between the reference point P and the second big cell array 2320 may be the same as the minimum distance between the reference point P and the third big cell array 2330.

In this case, the minimum distance R between the reference point P and the first big cell array 2310 may be a minimum distance between the reference point P and the first surface 2302.

In this case, the minimum distance R between the reference point P and the second big cell array 2320 may be a minimum distance between the reference point P and the second surface 2362.

In this case, the minimum distance R between the reference point P and the third big cell array 2330 may be a minimum distance between the reference point P and the third surface 2372.

According to another embodiment, the minimum distance R between the reference point P and the first big cell array 2310 may not be the same as the minimum distance between the reference point P and the second big cell array 2320. have. In addition, the minimum distance R between the reference point P and the first big cell array 2310 may not be the same as the minimum distance between the reference point P and the third big cell array 2330. In addition, the minimum distance R between the reference point P and the second big cell array 2320 may not be the same as the minimum distance between the reference point P and the third big cell array 2330.

The first virtual line L1, the second virtual line L2, and the third virtual line L3 may intersect. For example, the first virtual line L1 and the second virtual line L2 may form an intersection. Also, for example, the second virtual line L2 and the third virtual line L3 may form an intersection. Also, for example, the first virtual line L1 and the third virtual line L3 may form an intersection. In this case, an intersection point C of the first virtual line L1 and the second virtual line L2 may be formed.

According to an exemplary embodiment, the first virtual line L1, the second virtual line L2, and the third virtual line L3 may form one intersection point or several intersection points.

When the first imaginary line L1, the second imaginary line L2, and the third imaginary line L3 form a plurality of intersections, there may be a problem as to which of the plurality of intersections should be used as a reference point. .

When a plurality of intersection points are formed between a plurality of virtual lines, an intersection region capable of including all intersection points may be formed. The crossing region may be formed in a sphere shape, but is not limited thereto. The center of the intersection area may be taken as a reference point. Accordingly, even if multiple intersection points of virtual lines are formed, if included in the intersection area, the distance to the object can be calculated using the origin of the intersection area as a reference point.

Referring to FIG. 46, the intersection of the first virtual line L1 and the second virtual line L2 is C. The third virtual line L3 may be separated from the intersection point C. In this case, the minimum distance between the third virtual line L3 and the intersection point C may be D. In this case, a sphere including both the third virtual line L3 and the intersection point C may be formed. The diameter of the sphere may be D. In this case, the origin (center) of the sphere may be determined as the reference point (P).

Referring to FIG. 47, an intersection point of the first virtual line L1 and the second virtual line L2 may be a first intersection point C1. The intersection of the second virtual line L2 and the third virtual line L3 may be a second intersection C2. The intersection of the first virtual line L1 and the third virtual line L3 may be a third intersection C3.

According to an embodiment, the reference point P may be determined based on the first intersection C1, the second intersection C2, and the third intersection C3. In addition, a sphere including all of the first intersection point C1, the second intersection point C2, and the third intersection point C3 may be formed. The diameter of the sphere may be D. In this case, D may be the largest distance among the distances between the first intersection point C1, the second intersection point C2, and the third intersection point C3. In this case, the origin (center) of the sphere may be determined as the reference point (P).

For example, the distance between the first intersection point C1 and the second intersection point C2 may be obtained. Also, for example, the distance between the second intersection point C2 and the third intersection point C3 may be obtained. Also, for example, the distance between the first intersection point C1 and the third intersection point C3 may be obtained.

At this time, the distance between the first intersection (C1) and the second intersection (C2), the distance between the second intersection (C2) and the third intersection (C3), between the first intersection (C1) and the third intersection (C3) The largest value among the distances of can be determined as the diameter D of the sphere.

In this case, the reference point P may be located in the middle of the two intersection points having the largest distance between them. For example, when the distance between the first intersection point C1 and the second intersection point C2 is the largest, the reference point P will be a point located at the center of the first intersection point C1 and the second intersection point C2. I can.

According to an embodiment, the lidar device 2003 may calculate a distance from the lidar device to the object based on the reference point P, which is the origin of the sphere.

For example, the lidar device 2003 may calculate a distance from the first big cell array 2310 to an object. In addition, the lidar device 2003 may calculate a distance from the reference point P to the first big cell array 2310. In this case, the lidar device 2003 may determine a distance from the lidar device 2003 to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the first big cell array 2310 from the distance from the first big cell array 2310 to the object.

Also, for example, the lidar device 2003 may calculate a distance from the second big cell array 2320 to the object. In addition, the lidar device 2003 may calculate a distance from the reference point P to the second big cell array 2320. In this case, the lidar device 2003 may determine a distance from the lidar device 2003 to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a value obtained by adding a distance from the reference point P to the second big cell array 2320 from the distance from the second big cell array 2320 to the object.

Also, for example, the lidar device 2003 may calculate a distance from the third big cell array 2330 to the object. In addition, the lidar device 2003 may calculate a distance from the reference point P to the third big cell array 2330. In this case, the lidar device 2003 may determine a distance from the lidar device 2003 to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the third big cell array 2330 from the distance from the third big cell array 2330 to the object.

The above embodiment has been described based on the case of three big cell modules, but can be applied to the case of four, five, and the like.

48 to 50 are diagrams illustrating reference points for measuring distances between big cell modules according to another embodiment.

48 to 50 illustrate a big cell module in which big cell arrays included in the big cell module are arranged vertically, but are not limited thereto.

48 to 50, the lidar device 2004 according to an embodiment may include a plurality of big cell modules 2450, 2460, and 2470. The lidar device 2004 may include a first big cell module 2450, a second big cell module 2460, and a third big cell module 2470.

The first big cell module 2450 may include a body 2401, a first surface 2402, and a first big cell array 2410. The first big cell array 2410 may be disposed on the first surface 2402 of the body 2401.

The second big cell module 2460 may include a body 2461, a second surface 2462 and a second big cell array 2420. The second big cell array 2420 may be disposed on the second surface 2462 of the body 2461.

The third big cell module 2470 may include a body 2471, a third surface 2472 and a third big cell array 2430. The third big cell array 2430 may be disposed on the third surface 2472 of the body 2471.

According to an embodiment, it is perpendicular to the first surface 2402 on which the first big cell array 2410 of the first big cell module 2450 is disposed, and the rear side in the direction in which the first big cell array 2410 outputs a laser beam. There may be a first virtual line L1 extending to.

In addition, according to an embodiment, the second big cell array 2420 of the second big cell module 2460 is perpendicular to the second surface 2462 on which the second big cell array 2420 is disposed, and the second big cell array 2420 is in a direction in which the laser beam is output. A second virtual line L2 extending rearward may exist.

In addition, according to an embodiment, it is perpendicular to the third surface 2472 on which the third big cell array 2430 of the third big cell module 2470 is disposed, and in a direction in which the third big cell array 2430 outputs a laser beam. A third virtual line L3 extending rearward may exist.

Referring to FIG. 48, a first virtual line L1, a second virtual line L2, and a third virtual line L3 may intersect. For example, the first virtual line L1, the second virtual line L2, and the third virtual line L3 may form an intersection. In this case, the intersection of the first virtual line L1, the second virtual line L2, and the third virtual line L3 may be the reference point P.

The reference point P may be included in a surface shared by the first big cell module 2450 and the second big cell module 2460. In addition, the reference point P may be included in a surface shared by the second big cell module 2460 and the third big cell module 2470.

In addition, the reference point P may be included in a corner shared by the first big cell module 2450 and the second big cell module 2460. In addition, the reference point P may be included in an edge shared by the second big cell module 2460 and the third big cell module 2470. In addition, the reference point P may be included in a corner shared by the first big cell module 2450 and the third big cell module 2470.

In addition, the reference point P may be an intersection point where the first big cell module 2450 and the second big cell module 2460 meet. In addition, the reference point P may be an intersection point where the second big cell module 2460 and the third big cell module 2470 meet. In addition, the reference point P may be an intersection point where the first big cell module 2450 and the third big cell module 2470 meet. In addition, the reference point P may be an intersection point where the first big cell module 2450, the second big cell module 2460, and the third big cell module 2470 meet.

Also, for example, a minimum distance R may be determined between the reference point P and the first big cell array 2410. Also, for example, a minimum distance may be determined between the reference point P and the second big cell array 2420. Also, for example, a minimum distance may be determined between the reference point P and the third big cell array 2430.

In this case, the minimum distance R between the reference point P and the first big cell array 2410 may be the same as the minimum distance between the reference point P and the second big cell array 2420. In addition, the minimum distance R between the reference point P and the first big cell array 2410 may be the same as the minimum distance between the reference point P and the third big cell array 2430. In addition, the minimum distance R between the reference point P and the second big cell array 2420 may be the same as the minimum distance between the reference point P and the third big cell array 2430.

In this case, the minimum distance R between the reference point P and the first big cell array 2410 may be a minimum distance between the reference point P and the first surface 2402.

In this case, the minimum distance R between the reference point P and the second big cell array 2420 may be a minimum distance between the reference point P and the second surface 2462.

In this case, the minimum distance R between the reference point P and the third big cell array 2430 may be a minimum distance between the reference point P and the third surface 2472.

The first virtual line L1, the second virtual line L2, and the third virtual line L3 may intersect. For example, the first virtual line L1 and the second virtual line L2 may form an intersection. Also, for example, the second virtual line L2 and the third virtual line L3 may form an intersection. Also, for example, the first virtual line L1 and the third virtual line L3 may form an intersection. In this case, an intersection point C of the first virtual line L1 and the second virtual line L2 may be formed.

According to an exemplary embodiment, the first virtual line L1, the second virtual line L2, and the third virtual line L3 may form one intersection point or several intersection points.

When the first imaginary line L1, the second imaginary line L2, and the third imaginary line L3 form a plurality of intersections, there may be a problem as to which of the plurality of intersections should be used as a reference point. .

When a plurality of intersection points are formed between a plurality of virtual lines, an intersection region capable of including all intersection points may be formed. The crossing region may be formed in a sphere shape, but is not limited thereto. The center of the intersection area may be taken as a reference point. Accordingly, even if multiple intersection points of virtual lines are formed, if included in the intersection area, the distance to the object can be calculated using the origin of the intersection area as a reference point.

Referring to FIG. 49, the intersection point of the first virtual line L1 and the second virtual line L2 is C. The third virtual line L3 may be separated from the intersection point C. In this case, the minimum distance between the third virtual line L3 and the intersection point C may be D. In this case, a sphere including both the third virtual line L3 and the intersection point C may be formed. The diameter of the sphere may be D. In this case, the origin (center) of the sphere may be determined as the reference point (P).

Referring to FIG. 50, the intersection of the first virtual line L1 and the second virtual line L2 may be a first intersection C1. The intersection of the second virtual line L2 and the third virtual line L3 may be a second intersection C2. The intersection of the first virtual line L1 and the third virtual line L3 may be a third intersection C3.

According to an embodiment, the reference point P may be determined based on the first intersection C1, the second intersection C2, and the third intersection C3. In addition, a sphere including all of the first intersection point C1, the second intersection point C2, and the third intersection point C3 may be formed. The diameter of the sphere may be D. In this case, D may be the largest distance among the distances between the first intersection point C1, the second intersection point C2, and the third intersection point C3. In this case, the origin (center) of the sphere may be determined as the reference point (P).

For example, the distance between the first intersection point C1 and the second intersection point C2 may be obtained. Also, for example, the distance between the second intersection point C2 and the third intersection point C3 may be obtained. Also, for example, the distance between the first intersection point C1 and the third intersection point C3 may be obtained.

At this time, the distance between the first intersection (C1) and the second intersection (C2), the distance between the second intersection (C2) and the third intersection (C3), between the first intersection (C1) and the third intersection (C3) The largest value among the distances of can be determined as the diameter D of the sphere.

In this case, the reference point P may be located in the middle of the two intersection points having the largest distance between them. For example, when the distance between the first intersection point C1 and the second intersection point C2 is the largest, the reference point P will be a point located at the center of the first intersection point C1 and the second intersection point C2. I can.

According to an embodiment, the lidar device 2004 may calculate a distance from the lidar device to the object based on the reference point P, which is the origin of the sphere.

For example, the lidar device 2004 may calculate a distance from the first big cell array 2410 to an object. In addition, the lidar device 2004 may calculate a distance from the reference point P to the first big cell array 2410. In this case, the lidar device 2004 may determine a distance from the lidar device 2004 to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the first big cell array 2410 from the distance from the first big cell array 2410 to the object.

Also, for example, the lidar device 2004 may calculate a distance from the second big cell array 2420 to the object. In addition, the lidar device 2004 may calculate a distance from the reference point P to the second big cell array 2420. In this case, the lidar device 2004 may determine a distance from the lidar device 2004 to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the second big cell array 2420 from the distance from the second big cell array 2420 to the object.

Also, for example, the lidar device 2004 may calculate a distance from the third big cell array 2430 to the object. In addition, the lidar device 2004 may calculate a distance from the reference point P to the third big cell array 2430. In this case, the lidar device 2004 may determine a distance from the lidar device 2004 to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a value obtained by adding a distance from the reference point P to the third big cell array 2430 by the distance from the third big cell array 2430 to the object.

The above embodiment has been described based on the case of three big cell modules, but can be applied to the case of four, five, and the like.

Hereinafter, a reference point for measuring a distance based on a plurality of big cell arrays in a big cell module will be described in detail.

51 to 52 are diagrams illustrating a reference point for measuring a distance in a big cell module according to another embodiment.

51 to 52, the big cell module 2500 according to an embodiment may include a body 2501, a first surface 2502, and a laser output unit 2530. In addition, the laser output unit 2530 may include a first big cell array 2510 and a second big cell array 2520.

51 to 52 illustrate the big cell module 2500 in which the first big cell array 2510 and the second big cell array 2520 are arranged vertically, but are not limited thereto.

51 is a view showing a state of the big cell module 2500 viewed in the direction of an arrow.

Referring to FIG. 51, the big cell module 2500 may include a first big cell array 2510 and a second big cell array 2520.

According to an embodiment, the first big cell array 2510 of the big cell module 2500 is perpendicular to the first surface 2502 and extends rearward in the direction in which the first big cell array 2510 outputs a laser beam. A first virtual line L1 may be present.

The first virtual line L1 may be a virtual line extending from a first point of the first big cell array 2510. For example, the first point may be a central point of the first big cell array 2510, but is not limited thereto. In addition, for example, the first point may be a point of the first big cell array 2510, for example, a point having constant coordinates with respect to the x-axis and y-axis with respect to the center point. For example, the first point may be a point having coordinates of (a,b) with respect to the x-axis and y-axis with respect to the center point of the first big cell array 2510.

In addition, according to an embodiment, it is perpendicular to the first surface 2502 on which the second big cell 2520 of the big cell module 2500 is disposed, and extends backward in the direction in which the second big cell array 2520 outputs the laser beam. A second imaginary line L2 may be present.

The second virtual line L2 may be a virtual line extending from a second point of the second big cell array 2520. For example, the second point may be a central point of the second big cell array 2520. In addition, for example, the second point may be a point of the first big cell array 2520, for example, a point having constant coordinates with respect to the x-axis and the y-axis based on a central point. For example, the second point may be a point having coordinates of (c,d) with respect to the x-axis and y-axis with respect to the center point of the second big cell array 2520.

When the first point and the second point have coordinates based on a central point of each big cell array, the coordinates of the first point and the coordinates of the second point may be the same. For example, in the coordinates of the first point (a,b) and the coordinates of the second point (c,d), a and c may be the same, and b and d may be the same.

According to an embodiment, a first point A1 spaced apart from the first big cell array 2510 by a first interval, which is a predetermined value, may exist along the first virtual line L1.

In addition, according to an embodiment, there may be a second big cell array 2510 along the second virtual line L2 and a second point A2 spaced apart by a first interval that is a predetermined value.

The lidar device may determine the center point of the first point A1 and the second point A2 as the reference point P. In this case, the first point A1 and the second point A2 may be located on one axis with respect to the vertical axis of the big cell module 2500. In addition, the first point A1 and the second point A2 may have the same position value with respect to the horizontal axis of the big cell module 2500.

In this case, a distance from the reference point P to a point of the first big cell array 2510 and a distance from the reference point P to a point of the second big cell array 2520 may be the same. For example, the one point may be a center portion or a center of the first big cell array 2510. Alternatively, for example, the one point may be a center portion or a center of the second big cell array 2520.

According to an embodiment, the lidar device may calculate a distance from the lidar device to the object based on the reference point P.

For example, the lidar device may calculate a distance from the first big cell array 2510 to an object. In addition, the lidar device may calculate a distance from the reference point P to the first big cell array 2510. In this case, the lidar device may determine a distance from the lidar device to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the first big cell array 2510 from the distance from the first big cell array 2510 to the object.

Also, for example, the lidar device may calculate a distance from the second big cell array 2520 to the object. In addition, the lidar device may calculate a distance from the reference point P to the second big cell array 2520. In this case, the lidar device may determine a distance from the lidar device to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the second big cell array 2520 from the distance from the second big cell array 2520 to the object.

The above embodiment has been described based on the case where there are two big cell arrays in the big cell module, but it can also be applied to the case of three, four, five, and so on.

52 is a view showing a state of the big cell module 2500 viewed in the direction of an arrow.

According to an embodiment, the first big cell array 2510 of the big cell module 2500 is perpendicular to the first surface 2502 and extends rearward in the direction in which the first big cell array 2510 outputs a laser beam. A first virtual line L1 may be present.

The lidar device may determine a point spaced apart from the first big cell array 2510 along the first virtual line L1 by a first interval R that is a predetermined value as the reference point P. The present invention is not limited thereto, and the reference point P may be a point spaced apart from the second big cell array 2520 by a first interval R that is a predetermined value.

According to an embodiment, the lidar device may calculate a distance from the lidar device to the object based on the reference point P.

For example, the lidar device may calculate a distance from the first big cell array 2510 to an object. In addition, the lidar device may calculate a distance from the reference point P to the first big cell array 2510. In this case, the lidar device may determine a distance from the lidar device to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the first big cell array 2510 from the distance from the first big cell array 2510 to the object.

Also, for example, the lidar device may calculate a distance from the second big cell array 2520 to the object. In addition, the lidar device may calculate a distance from the reference point P to the second big cell array 2520. In this case, the lidar device may determine a distance from the lidar device to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the second big cell array 2520 from the distance from the second big cell array 2520 to the object.

In this case, the distance from the reference point P to the first big cell array 2510 may be a first interval R that is a predetermined value.

In addition, the distance from the reference point P to the second big cell array 2520 is based on the first interval and the angle θ formed by the first big cell array 2510, the second big cell array 2520, and the reference point P. It can be calculated on the basis of.

For example, a distance d from the reference point P to the second big cell array 2520 may be R/cosθ.

The above embodiment has been described based on the case where there are two big cell arrays in the big cell module, but it can also be applied to the case of three, four, five, and so on.

53 to 54 are diagrams illustrating a reference point for measuring a distance in a big cell module according to another embodiment.

53 to 54, the big cell module 2600 according to an embodiment may include a body 2601, a first surface 2602, and a laser output unit 2630. In addition, the laser output unit 2630 may include a first big cell array 2610 and a second big cell array 2620.

53 to 54 illustrate the big cell module 2600 in which the first big cell array 2610 and the second big cell array 2620 are disposed left and right, but are not limited thereto.

53 is a view showing a state of the big cell module 2600 viewed in the direction of an arrow.

Referring to FIG. 53, the big cell module 2600 may include a first big cell array 2610 and a second big cell array 2620.

According to an embodiment, it is perpendicular to the first surface 2602 on which the first big cell array 2610 of the big cell module 2600 is disposed, and extends backward in the direction in which the first big cell array 2610 outputs a laser beam. A first virtual line L1 may be present.

In addition, according to an embodiment, it is perpendicular to the first surface 2602 on which the second big cell 2620 of the big cell module 2600 is disposed, and the second big cell array 2620 extends backward in the direction in which the laser beam is output. A second imaginary line L2 may be present.

According to an embodiment, the first big cell array 2610 along the first virtual line L1 and the first point A1 spaced apart by a first interval, which is a predetermined value, may exist.

In addition, according to an embodiment, there may be a second big cell array 2610 along the second virtual line L2 and a second point A2 spaced apart by a first interval, which is a predetermined value.

The lidar device may determine the center point of the first point A1 and the second point A2 as the reference point P. In this case, the first point A1 and the second point A2 may be located on one axis with respect to the horizontal axis of the big cell module 2600. In addition, the first point A1 and the second point A2 may have the same position value with respect to the vertical axis of the big cell module 2600.

In this case, a distance from the reference point P to a point of the first big cell array 2610 and a distance from the reference point P to a point of the second big cell array 2620 may be the same. For example, the one point may be a center portion or a center of the first big cell array 2610. Alternatively, for example, the one point may be a center portion or a center of the second big cell array 2620.

According to an embodiment, the lidar device may calculate a distance from the lidar device to the object based on the reference point P.

For example, the lidar device may calculate a distance from the first big cell array 2610 to the object. In addition, the lidar device may calculate a distance from the reference point P to the first big cell array 2610. In this case, the lidar device may determine a distance from the lidar device to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the first big cell array 2610 from the distance from the first big cell array 2610 to the object.

Also, for example, the lidar device may calculate a distance from the second big cell array 2620 to the object. In addition, the lidar device may calculate a distance from the reference point P to the second big cell array 2620. In this case, the lidar device may determine a distance from the lidar device to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a value obtained by adding a distance from the reference point P to the second big cell array 2620 from the distance from the second big cell array 2620 to the object.

The above embodiment has been described based on the case where there are two big cell arrays in the big cell module, but it can also be applied to the case of three, four, five, and so on.

54 is a view showing a state of the big cell module 2500 viewed in the direction of an arrow.

According to an embodiment, it is perpendicular to the first surface 2602 on which the first big cell array 2610 of the big cell module 2600 is disposed, and extends backward in the direction in which the first big cell array 2610 outputs a laser beam. A first virtual line L1 may be present.

The lidar device may determine a point spaced apart from the first big cell array 2610 along the first virtual line L1 by a first interval R that is a predetermined value as the reference point P. The present invention is not limited thereto, and the reference point P may be a point spaced apart from the second big cell array 2620 by a first interval R that is a predetermined value.

According to an embodiment, the lidar device may calculate a distance from the lidar device to the object based on the reference point P.

For example, the lidar device may calculate a distance from the first big cell array 2610 to the object. In addition, the lidar device may calculate a distance from the reference point P to the first big cell array 2610. In this case, the lidar device may determine a distance from the lidar device to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a sum of a distance from the reference point P to the first big cell array 2610 from the distance from the first big cell array 2610 to the object.

Also, for example, the lidar device may calculate a distance from the second big cell array 2620 to the object. In addition, the lidar device may calculate a distance from the reference point P to the second big cell array 2620. In this case, the lidar device may determine a distance from the lidar device to the object as a distance from the reference point P to the object. The distance from the reference point P to the object may be a value obtained by adding a distance from the reference point P to the second big cell array 2620 from the distance from the second big cell array 2620 to the object.

In this case, the distance from the reference point P to the first big cell array 2610 may be a first interval R that is a predetermined value.

In addition, the distance from the reference point P to the second big cell array 2620 is determined by the first interval and the angle θ formed by the first big cell array 2610, the second big cell array 2620, and the reference point P. It can be calculated on the basis of.

For example, a distance d from the reference point P to the second big cell array 2620 may be R/cosθ.

The above embodiment has been described based on the case where there are two big cell arrays in the big cell module, but it can also be applied to the case of three, four, five, and so on.

55 is a diagram illustrating a view from above of a big cell array according to an embodiment.

Referring to FIG. 55, a big cell array may include a plurality of big cell units 2020. The plurality of big cell units 2020 may irradiate a laser beam toward the object 2010.

For the plurality of big cell units 2020, as shown in the table 2050, a steering angle may be determined, but is not limited thereto. For example, the plurality of big cell units 2020 may be in the form of a 5X5 matrix, but is not limited thereto. Also, for example, the steering angle of the plurality of big cell units 2020 may gradually increase in the row direction.

For example, the big cell unit of (1,1) may have a steering angle of 0 degrees. Also, for example, the big cell unit of (1,2) may have a steering angle of 1 degree. Also, for example, the big cell unit of (1,3) may have a steering angle of 2 degrees. Also, for example, the big cell unit of (1,4) may have a steering angle of 3 degrees. Also, for example, the Big Cell unit of (1,5) may have a steering angle of 4 degrees. Also, for example, the big cell unit of (2,1) may have a steering angle of 5 degrees. As the steering angle increases toward the row direction as described above, the Big Cell unit of (5,5) may have a steering angle of 24 degrees.

55 illustrates a laser beam irradiated when a plurality of big cell units 2020 have a steering angle according to the table 2050. When a big cell array has a plurality of big cell units, various reference points for distance measurement may exist for each big cell unit. The reference point may be included in the virtual plane 2030. When the reference points vary, in determining the distance from the lidar device to the object, the calculated distance may vary according to the location of the big cell unit even if the distance is the same.

In order to solve the above problem, when a big cell array includes a plurality of big cell units, a fixed reference point that is a reference for calculating a distance may be determined, and the distance may be calculated based on the reference point.

Or, in order to solve the above problem, when a big cell array includes a plurality of big cell units, a reference range that can include all of the reference points of each of the big cell units is set, and the origin of the reference range is a reference point used as a reference point for distance calculation. The distance can be calculated based on the reference point by setting as.

Referring to FIG. 55, when a laser beam irradiated from a plurality of big cell units 2020 is extended to the rear of the traveling direction, a virtual line reaching a virtual surface 2030 spaced apart from the big cell unit 2020 by a predetermined distance Can exist. The reference range 2040 may have a spherical shape having a minimum diameter D capable of including all of the plurality of virtual lines. The origin of the reference range 2040 may be determined as a reference point for distance measurement.

The distance from the lidar device to the object may be measured at the reference point. The distance from the lidar device to the object may be a sum of the distance from the reference point to the big cell unit 2020 and the distance from the big cell unit 2020 to the object. The distance from the reference point to the big cell unit 2020 is a predetermined value, and the distance from the big cell unit 2020 to the object may be calculated by the controller along the flight path of the laser beam output from the big cell unit 2020.

However, the diameter D of the reference range 2040 of FIG. 55 may be somewhat large, so when the origin of the reference range 2040 is used as a reference point, there may be an error with the reference point of each of the plurality of bixel units 2020. . A method for reducing an error between the origin of the reference range and the reference point of each big cell unit will be described in detail below.

56 is a diagram illustrating a view from above of a big cell array according to another embodiment.

Referring to FIG. 56, a big cell array may include a plurality of big cell units 2021. The plurality of big cell units 2021 may irradiate a laser beam toward the object 2011.

The plurality of big cell units 2021 may have a steering angle determined as shown in the table 2051, but is not limited thereto. For example, the plurality of big cell units 2021 may be in the form of a 5X5 matrix, but are not limited thereto. Also, for example, the steering angle of the plurality of big cell units 2021 may gradually increase in the column direction.

For example, the big cell unit of (1,1) may have a steering angle of 0 degrees. Also, for example, the big cell unit of (2,1) may have a steering angle of 1 degree. Also, for example, the big cell unit of (3,1) may have a steering angle of 2 degrees. Also, for example, the big cell unit of (4,1) may have a steering angle of 3 degrees. Also, for example, the big cell unit of (5,1) may have a steering angle of 4 degrees. Also, for example, the big cell unit of (1,2) may have a steering angle of 5 degrees. As the steering angle increases in the column direction as described above, the Big Cell unit of (5,5) may have a steering angle of 24 degrees.

56 illustrates a laser beam irradiated when a plurality of big cell units 2021 have a steering angle according to the table 2051. When a big cell array has a plurality of big cell units, various reference points for distance measurement may exist for each big cell unit. The reference point may be included in the virtual plane 2031. When the reference points vary, in determining the distance from the lidar device to the object, the calculated distance may vary according to the location of the big cell unit even if the distance is the same.

In order to solve the above problem, when a big cell array includes a plurality of big cell units, a fixed reference point that is a reference for calculating a distance may be determined, and the distance may be calculated based on the reference point.

Or, in order to solve the above problem, when a big cell array includes a plurality of big cell units, a reference range that can include all of the reference points of each of the big cell units is set, and the origin of the reference range is a reference point used as a reference point for distance calculation. The distance can be calculated based on the reference point by setting as.

Referring to FIG. 56, when a laser beam irradiated from a plurality of big cell units 2021 is extended to the rear of the traveling direction, a virtual line reaching a virtual surface 2031 separated by a predetermined distance from the big cell unit 2021 Can exist. The reference range 2041 may have a spherical shape having a minimum diameter D capable of including all of the plurality of virtual lines. The origin of the reference range 2041 may be determined as a reference point for distance measurement.

The distance from the lidar device to the object may be measured at the reference point. The distance from the lidar device to the object may be a sum of the distance from the reference point to the big cell unit 2021 and the distance from the big cell unit 2021 to the object. The distance from the reference point to the big cell unit 2021 is a predetermined value, and the distance from the big cell unit 2021 to the object may be calculated by the controller along the flight path of the laser beam output from the big cell unit 2021.

The diameter D of the reference range 2041 of FIG. 56 may be smaller than the diameter D of the reference range 2040 of FIG. 55. Therefore, an error between the origin of the reference range 2041 of FIG. 56 and the reference point of each bixel unit 2021 may be smaller than the error between the origin of the reference range 2040 of FIG. 55 and the reference point of each bixel unit 2020. Therefore, when considering the range of the reference points for the plurality of big cell units, it may be more advantageous to increase the steering angle of the plurality of big cell units in the column direction than in the case where it increases in the row direction.

57 to 58 are diagrams illustrating a LiDAR device according to an exemplary embodiment.

57 to 58, a lidar device 2700 according to an embodiment may include a plurality of big cell modules 2701, 2703, and 2705. The big cell module may include big cell arrays 2702, 2704, and 2706. The big cell array may output laser bundles 2710, 2720, and 2730.

The big cell arrays 2702, 2704, and 2706 according to an embodiment may be disposed outside the big cell modules 2701, 2703, and 2705. The big cell arrays 2702, 2704, 2706 arranged outside the big cell modules 2701, 2703, 2705 output laser bundles 2710, 2720, 2730 in the direction toward the outside of the big cell modules 2701, 2703, 2705 can do.

The lidar device 2700 according to an embodiment may include a first big cell module 2701, a second big cell module 2703, and a third big cell module 2705. The lidar device 2700 may include three big cell modules, but one, two, four, five, six, etc. cases are also possible.

The first big cell module 2701 according to an embodiment may include a first big cell array 2702. The first big cell array 2702 may output the first laser bundle 2710. The first big cell array 2702 may output the first laser bundle 2710 toward the object. The first laser bundle 2710 may form a vertical FOV and a horizontal FOV. The first laser bundle 2710 may be reflected from the object and sensed by the light receiving unit of the first big cell module 2701.

The second big cell module 2703 according to an embodiment may include a first big cell array 2704. The second big cell array 2704 may output the second laser bundle 2720. The second big cell array 2704 may output the second laser bundle 2720 toward the object. The second laser bundle 2720 may form a vertical FOV and a horizontal FOV. The second laser bundle 2720 may be reflected from the object and sensed by the light receiving unit of the second big cell module 2703.

The third big cell module 2705 according to an embodiment may include a third big cell array 2706. The third big cell array 2706 may output the third laser bundle 2730. The third big cell array 2706 may output the third laser bundle 2730 toward the object. The third laser bundle 2730 may form a vertical FOV and a horizontal FOV. The third laser bundle 2730 may be reflected from the object and sensed by the light receiving unit of the third big cell module 2705.

The lidar device 2700 according to an embodiment may form a dead zone 2740. The dead zone 2740 may be generated by parallel laser beams between the big cell modules. The dead zone 2740 may mean an area to which a laser beam is not irradiated.

For example, the first big cell module 2701 may output the first laser bundle 2710 by the first big cell array 2702. Also, for example, the second big cell module 2703 may output the second laser bundle 2720 by the second big cell array 2704. The outermost laser beam of the first laser bundle 2710 may be parallel to the outermost laser beam of the second laser bundle 2720. Since the outermost laser beam of the first laser bundle 2710 is parallel to the outermost laser beam of the second laser bundle 2720, a laser beam between the first and second bixel modules 2701 and 2703 A dead zone 2740 to which the beam is not irradiated may be formed.

Also, for example, the second big cell module 2703 may output the second laser bundle 2720 by the second big cell array 2704. Also, for example, the third big cell module 2705 may output the third laser bundle 2730 by the third big cell array 2706. The outermost laser beam of the second laser bundle 2720 may be parallel to the outermost laser beam of the third laser bundle 2730. Since the outermost laser beam of the second laser bundle 2720 is parallel to the outermost laser beam of the third laser bundle 2730, a laser beam between the second and third bixel modules 2703 and 2705 A dead zone 2740 to which the beam is not irradiated may be formed.

When the dead zone 2740 is formed, a laser beam is not irradiated to the dead zone 2740. Accordingly, the lidar device 2700 cannot detect an object located in the dead zone 2740.

In order to solve this problem, the following structure can be adopted.

Referring to FIG. 58, a lidar device 2700 according to an embodiment may include a plurality of big cell modules 2701, 2703, and 2705. The big cell module may include big cell arrays 2702, 2704, and 2706. The big cell array may output laser bundles 2710, 2720, and 2730.

The big cell arrays 2702, 2704, and 2706 according to an embodiment may be disposed outside the big cell modules 2701, 2703, and 2705. The big cell arrays 2702, 2704, 2706 arranged outside the big cell modules 2701, 2703, 2705 output laser bundles 2710, 2720, 2730 in the direction toward the outside of the big cell modules 2701, 2703, 2705 can do.

The lidar device 2700 according to an embodiment may include a first big cell module 2701, a second big cell module 2703, and a third big cell module 2705. The lidar device 2700 may include three big cell modules, but one, two, four, five, six, etc. cases are also possible.

The first big cell module 2701 according to an embodiment may include a first big cell array 2702. The first big cell array 2702 may output the first laser bundle 2710. The first big cell array 2702 may output the first laser bundle 2710 toward the object. The first laser bundle 2710 may form a vertical FOV and a horizontal FOV. The first laser bundle 2710 may be reflected from the object and sensed by the light receiving unit of the first big cell module 2701.

The second big cell module 2703 according to an embodiment may include a first big cell array 2704. The second big cell array 2704 may output the second laser bundle 2720. The second big cell array 2704 may output the second laser bundle 2720 toward the object. The second laser bundle 2720 may form a vertical FOV and a horizontal FOV. The second laser bundle 2720 may be reflected from the object and sensed by the light receiving unit of the second big cell module 2703.

The third big cell module 2705 according to an embodiment may include a third big cell array 2706. The third big cell array 2706 may output the third laser bundle 2730. The third big cell array 2706 may output the third laser bundle 2730 toward the object. The third laser bundle 2730 may form a vertical FOV and a horizontal FOV. The third laser bundle 2730 may be reflected from the object and sensed by the light receiving unit of the third big cell module 2705.

The outermost laser beams output from the big cell modules of the lidar device according to an embodiment may not be parallel to each other.

For example, the outermost laser beam of the first laser bundle 2710 may not be parallel to the outermost laser beam of the second laser bundle 2720. Since the outermost laser beam of the first laser bundle 2710 is not parallel to the outermost laser beam of the second laser bundle 2720, the first laser bundle 2710 and the second laser bundle 2720 overlap. Can be. Since the first laser bundle 2710 and the second laser bundle 2720 overlap, a dead zone in which the laser beam is not irradiated may not be formed between the first and second bixel modules 2701 and 2703. have.

Also, for example, the outermost laser beam of the second laser bundle 2720 may not be parallel to the outermost laser beam of the third laser bundle 2730. Since the outermost laser beam of the second laser bundle 2720 is not parallel to the outermost laser beam of the third laser bundle 2730, the second laser bundle 2720 and the third laser bundle 2730 overlap Can be. Since the second laser bundle 2720 and the third laser bundle 2730 overlap, a dead zone in which the laser beam is not irradiated may not be formed between the second big cell module 2703 and the third big cell module 2705. have.

59 to 60 are diagrams illustrating a LiDAR device according to another exemplary embodiment.

59 to 60, the lidar device 2800 according to an embodiment may include a plurality of big cell modules 2801, 2803, and 2805. The big cell module may include big cell arrays 2802, 2804, and 2806. The big cell array may output laser bundles 2810, 2820, and 2830.

Referring to FIG. 59, the big cell arrays 2802, 2804, and 2806 according to an embodiment may be disposed inside the big cell modules 2801, 2803, and 2805. The big cell arrays 2802, 2804, 2806 arranged inside the big cell modules 2801, 2803, 2805 output laser bundles 2810, 2820, 2830 in the direction toward the inside of the big cell modules 2801, 2803, 2805 can do.

In addition, the big cell arrays 2802, 2804, and 2806 according to an embodiment may be disposed inside the big cell modules 2801, 2803, and 2805 to output a laser beam in a direction in which the laser bundles 2810, 2820, and 2830 are spread. .

The lidar device 2800 according to an embodiment may include a first big cell module 2801, a second big cell module 2803, and a third big cell module 2805. The lidar device 2800 may include three big cell modules, but one, two, four, five, six, etc. cases are also possible.

The first big cell module 2801 according to an embodiment may include a first big cell array 2802. The first big cell array 2802 may output the first laser bundle 2810. The first big cell array 2802 may output the first laser bundle 2810 toward the object. The first laser bundle 2810 may form a vertical FOV and a horizontal FOV. The first laser bundle 2810 may be reflected from the object and sensed by the light receiving unit of the first big cell module 2801.

The second big cell module 2803 according to an embodiment may include a first big cell array 2804. The second big cell array 2804 may output the second laser bundle 2820. The second big cell array 2804 may output the second laser bundle 2820 toward the object. The second laser bundle 2820 may form a vertical FOV and a horizontal FOV. The second laser bundle 2820 may be reflected from the object and sensed by the light receiving unit of the second big cell module 2803.

The third big cell module 2805 according to an embodiment may include a third big cell array 2806. The third big cell array 2806 may output the third laser bundle 2830. The third big cell array 2806 may output the third laser bundle 2830 toward the object. The third laser bundle 2830 may form a vertical FOV and a horizontal FOV. The third laser bundle 2830 may be reflected from the object and sensed by the light receiving unit of the third big cell module 2805.

The lidar device 2800 according to an embodiment may not form a dead zone.

For example, the first laser bundle 2710 and the second laser bundle 2720 may overlap. Also, for example, the second laser bundle 2720 and the third laser bundle 2730 may overlap.

At this time, since the first laser bundle 2710 and the second laser bundle 2720 overlap, and the second laser bundle 2720 and the third laser bundle 2730 overlap, the lidar device 2800 This may not form an unirradiated dead zone.

Referring to FIG. 60, the big cell arrays 2802, 2804, and 2806 according to an embodiment may be disposed inside the big cell modules 2801, 2803, and 2805. The big cell arrays 2802, 2804, 2806 arranged inside the big cell modules 2801, 2803, 2805 output laser bundles 2810, 2820, 2830 in the direction toward the inside of the big cell modules 2801, 2803, 2805 can do.

In addition, the big cell arrays 2802, 2804, 2806 according to an embodiment may be disposed inside the big cell modules 2801, 2803, 2805 to output a laser beam in a direction in which the laser bundles 2810, 2820, 2830 are gathered. .

The first big cell module 2801 according to an embodiment may include a first big cell array 2802. The first big cell array 2802 may output the first laser bundle 2810. The first big cell array 2802 may output the first laser bundle 2810 toward the object. The first laser bundle 2810 may form a vertical FOV and a horizontal FOV. The first laser bundle 2810 may be reflected from the object and sensed by the light receiving unit of the first big cell module 2801.

The second big cell module 2803 according to an embodiment may include a first big cell array 2804. The second big cell array 2804 may output the second laser bundle 2820. The second big cell array 2804 may output the second laser bundle 2820 toward the object. The second laser bundle 2820 may form a vertical FOV and a horizontal FOV. The second laser bundle 2820 may be reflected from the object and sensed by the light receiving unit of the second big cell module 2803.

The third big cell module 2805 according to an embodiment may include a third big cell array 2806. The third big cell array 2806 may output the third laser bundle 2830. The third big cell array 2806 may output the third laser bundle 2830 toward the object. The third laser bundle 2830 may form a vertical FOV and a horizontal FOV. The third laser bundle 2830 may be reflected from the object and sensed by the light receiving unit of the third big cell module 2805.

The lidar device 2800 according to an embodiment may not form a dead zone.

For example, the first laser bundle 2710 and the second laser bundle 2720 may overlap. Also, for example, the second laser bundle 2720 and the third laser bundle 2730 may overlap.

At this time, since the first laser bundle 2710 and the second laser bundle 2720 overlap, and the second laser bundle 2720 and the third laser bundle 2730 overlap, the lidar device 2800 This may not form an unirradiated dead zone.

As described above, although the embodiments have been described by the limited embodiments and drawings, various modifications and variations are possible from the above description to those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as systems, structures, devices, circuits, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and those equivalent to the claims also fall within the scope of the claims to be described later.

2200: Big Cell module
2201: body
2202: first page
2210: first big cell array
2220: second big cell array
2230: laser output unit

Claims (32)

A laser output unit that irradiates a laser toward the object; And
And a laser light receiving unit configured to receive a laser reflected from the object and returned by the laser irradiated from the laser output unit,
The laser output unit is disposed on the first surface of the body,
The laser output unit includes a first big cell (VCSEL: Vertical Cavity Surface Emitting Laser) array and a second big cell array,
The first big cell array includes a first big cell unit that outputs a laser beam in a first direction and a second big cell unit that outputs a laser beam in a second direction,
The second big cell array includes a third big cell unit that outputs a laser beam in the first direction,
The first big cell unit and the second big cell unit are arranged with a first interval,
The distance between the first big cell unit and the third big cell unit is less than or equal to the first distance
Lida device.
The method of claim 1,
The first direction is perpendicular to the first surface
Lida device.
The method of claim 1,
The second big cell unit is adjacent to the first big cell unit.
Lida device.
The method of claim 1,
The third big cell unit is adjacent to the first big cell unit.
Lida device.
The method of claim 1,
The first big cell unit is disposed at the outermost side of the first big cell array,
The third big cell unit is disposed at the outermost side of the second big cell array.
Lida device.
The method of claim 1,
The laser output unit includes a plurality of optics,
The first of the plurality of optics collimates the laser beam,
The second optic among the plurality of optics steers the laser beam in one direction.
Lida device.
The method of claim 6,
The first optic is disposed in a direction in which a laser beam is output from a laser output element among the laser output units,
The second optic is disposed in a direction in which the laser beam is output from the first optic.
Lida device.
The method of claim 6,
The first big cell array includes a plurality of big cell emitters,
The first optic includes a plurality of sub optics,
A first big cell emitter among the plurality of big cell emitters and a first sub-optic among the plurality of sub-optics correspond to each other.
Lida device.
The method of claim 6,
The first big cell unit includes a plurality of big cell emitters,
The first optic includes a plurality of sub optics,
The first big cell unit and the first sub-optic among the plurality of sub-optics correspond to each other.
Lida device.
The method of claim 6,
The first big cell unit includes a plurality of big cell emitters,
The second optic includes a plurality of sub optics,
The first big cell unit and the first sub-optic among the plurality of sub-optics correspond to each other.
Lida device.
The method of claim 6,
The first optic is at least one of a lens, a microlens, a microlens array, and a metasurface.
Lida device.
The method of claim 6,
The second optic is at least one of a lens, a microlens, a microlens array, a prism, a microprism, a microprism array, and a metasurfa. Hana
Lida device.
The method of claim 1,
It includes a main body including a plurality of the bodies,
The horizontal FOV (horizontal field of view) of the main body is the sum of the horizontal FOVs of the plurality of first bodies.
Lida device.
The method of claim 1,
It includes a main body including a plurality of the bodies,
The horizontal FOV (horizontal field of view) of the main body is defined based on the horizontal FOV of the body, a steering angle and divergence of the laser beam output from the laser output unit.
Lida device.
A laser output unit that irradiates a laser toward the object; And
And a laser light receiving unit configured to receive a laser reflected from the object and returned by the laser irradiated from the laser output unit,
The laser output unit is disposed on the first surface of the body,
The laser output unit includes a first big cell (VCSEL: Vertical Cavity Surface Emitting Laser) array,
The laser output unit includes a first optic for collimating a laser beam output from the first big cell array and a second optic for steering a laser beam output from the first big cell array and the second big cell array,
The first big cell array includes a first big cell unit and a second big cell unit,
The first bixel unit outputs a laser having a divergence angle of a first angle, the second bixel unit outputs a laser having a divergence angle of a second angle,
The first sub-optic included in the second optic steers the laser beam output from the first vixel unit in a first direction,
The second sub-optic included in the second optic steers the laser beam output from the second bixel unit in a second direction,
The first direction and the second direction are formed so that an area not irradiated with the laser from the laser output unit is generated between the laser beam output from the first vixel unit and the laser beam output from the second vixel unit. The angle is less than half of the sum of the first angle and the second angle
Lida device.
The method of claim 15,
The first angle and the second angle are the same
Lida device.
The method of claim 15,
The second big cell unit is adjacent to the first big cell unit.
Lida device.
The method of claim 15,
The first optic is disposed in a direction in which a laser beam is output from a laser output element among the laser output units,
The second optic is disposed in a direction in which the laser beam is output from the first optic.
Lida device.
The method of claim 15,
The first big cell array includes a plurality of big cell emitters,
The first optic includes a plurality of sub optics,
A first big cell emitter among the plurality of big cell emitters and a third sub-optic among the plurality of sub-optics correspond to each other.
Lida device.
The method of claim 15,
The first big cell unit includes a plurality of big cell emitters,
The first optic includes a plurality of sub optics,
The first big cell unit and the third sub-optic among the plurality of sub-optics correspond to each other.
Lida device.
The method of claim 15,
The first big cell unit includes a plurality of big cell emitters,
The first big cell unit and the first sub-optic correspond to each other
Lida device.
The method of claim 15,
The first optic is at least one of a lens, a microlens, a microlens array, and a metasurface.
Lida device.
The method of claim 15,
The second optic is at least one of a lens, a microlens, a microlens array, a prism, a microprism, a microprism array, and a metasurfa. Hana
Lida device.
The method of claim 15,
It includes a main body including a plurality of the bodies,
The horizontal FOV (horizontal field of view) of the main body is the sum of the horizontal FOVs of the plurality of first bodies.
Lida device.
The method of claim 15,
The horizontal FOV (horizontal field of view) of the main body is defined based on the steering angle and divergence of the laser beam output from the laser output unit included in the body.
Lida device.
The method of claim 15,
The laser output unit includes a second big cell array,
The first optic collimates the laser beam output from the second big cell array, and the second optic steers the laser beam output from the second big cell array,
The second big cell array includes a third big cell unit that outputs a laser having a divergence angle of a third angle,
The third sub-optic included in the second optic steers the laser beam output from the third vixel unit in a third direction,
The first direction and the third direction are formed so that an area not irradiated with the laser from the laser output unit is generated between the laser beam output from the first vixel unit and the laser beam output from the third vixel unit. The angle is less than half of the sum of the first angle and the third angle
Lida device.
The method of claim 26,
The first direction and the third direction are symmetrical with respect to a second surface perpendicular to the first surface.
Lida device.
The method of claim 26,
The first big cell unit and the second big cell unit are arranged with a first interval,
The distance between the first big cell unit and the third big cell unit is less than or equal to the first distance
Lida device.
The method of claim 26,
The third big cell unit is adjacent to the first big cell unit.
Lida device.
The method of claim 26,
The first big cell unit is disposed at the outermost side of the first big cell array,
The third big cell unit is disposed at the outermost side of the second big cell array.
Lida device.
Including a laser output unit for irradiating a laser toward the object,
The laser output unit is disposed on the first surface of the body,
The laser output unit includes a first big cell (VCSEL: Vertical Cavity Surface Emitting Laser) array and a second big cell array,
The first big cell array includes a first big cell unit that outputs a laser beam in a first direction and a second big cell unit that outputs a laser beam in a second direction,
The second big cell array includes a third big cell unit that outputs a laser beam in the first direction,
The first big cell unit and the second big cell unit are arranged with a first interval,
The distance between the first big cell unit and the third big cell unit is less than or equal to the first distance
Laser output device.
Including a laser output unit for irradiating a laser toward the object,
The laser output unit is disposed on the first surface of the body,
The laser output unit includes a first big cell (VCSEL: Vertical Cavity Surface Emitting Laser) array,
The laser output unit includes a first optic for collimating a laser beam output from the first big cell array and a second optic for steering a laser beam output from the first big cell array and the second big cell array,
The first big cell array includes a first big cell unit and a second big cell unit,
The first bixel unit outputs a laser having a divergence angle of a first angle, the second bixel unit outputs a laser having a divergence angle of a second angle,
The first sub-optic included in the second optic steers the laser beam output from the first vixel unit in a first direction,
The second sub-optic included in the second optic steers the laser beam output from the second bixel unit in a second direction,
The first direction and the second direction are formed so that an area not irradiated with the laser from the laser output unit is generated between the laser beam output from the first vixel unit and the laser beam output from the second vixel unit. The angle is less than half of the sum of the first angle and the second angle
Laser output device.

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