KR20210027167A - A vcsel array and a lidar device employing thereof - Google Patents

Abstract

The present invention provides a VCSEL (vertical cavity surface emitting laser) array which can improve laser beam output efficiency. The VCSEL array comprises: a first sub-array including a plurality of VCSEL units disposed along a first axis; a first VCSEL unit including a first upper contact and a first lower contact, and included in the first sub-array; a second VCSEL unit including a second upper contact and a second lower contact, and included in the first sub-array; a first contact electrically connected to the first upper contact and the second lower contact; and a second contact electrically connected to the second upper contact and the first lower contact, wherein when a first voltage is applied to the first contact, and a second voltage smaller than the first voltage is applied to the second contact, the first VCSEL unit operates, when the second voltage is applied to the first contact, and the first voltage is applied to the second contact, the second VCSEL unit can operate.

Description

Big cell array and lidar device using the same {A VCSEL ARRAY AND A LIDAR DEVICE EMPLOYING THEREOF}

The present invention relates to a big cell (VCSEL: Vertical Cavity Surface Emitting Laser) array and a lidar device using the same, and more particularly, a big cell array with improved laser beam output efficiency of big cell units included in a big cell array, and a lid using the same It relates to the device.

VICSEL (Vertical Cavity Surface Emitting Laser) is a semiconductor laser diode that emits a laser beam in a direction perpendicular to the upper surface. The big cell can be used in the field of short-range optical communication, the field of lidar that detects a distance to an object using image sensing and a laser.

An object of the present invention relates to a big cell array capable of improving laser beam output efficiency.

An object of the present invention relates to a big cell array having a structure for efficient operation of big cell units.

An object of the present invention relates to a big cell array arranged to have an efficient yield within a wafer.

An object of the present invention is to provide a laser output device included in a solid-state LiDAR device.

Another object of the present invention is to provide a steering component used in a laser output device included in a solid-state LiDAR device.

Another object of the present invention is to provide a solid-state LiDAR device.

Another object of the present invention relates to a lidar device capable of improving the measurement distance without affecting human eye health.

Another object of the present invention relates to a laser output device capable of improving a measurement distance without affecting human eye health.

Another object of the present invention relates to a lidar device for minimizing an object that is not detected by minimizing an area where an output laser 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 big cell according to an embodiment includes a first DBR layer, a second DBR layer, an active layer disposed between the first DBR layer and the second DBR layer to output a laser beam, and a contact disposed on the first DBR layer. A region and a reflector disposed on the contact region, the reflector having a first surface facing the contact region, and the first surface reflecting a laser beam output through the contact region from the active layer I can make it.

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 includes a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) emitters, and the VICSEL emitter is disposed between a first DBR layer, a second DBR layer, the first DBR layer, and the second DBR layer. An active layer for outputting a laser beam, a contact area disposed on the first DBR layer, and a reflector disposed on the contact area, wherein the reflector has a first surface facing the contact area, and the The first surface may reflect a laser beam output from the active layer through the contact area.

A big cell array according to an embodiment includes a first sub-array including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units arranged along a first axis, a first upper contact, and a first lower contact, and the first A first big cell unit including a first big cell unit, a second upper contact, and a second lower contact included in 1 sub-array, and the second big cell unit included in the first sub-array, the first upper contact, and the second lower contact, and the electrical connection. A first contact connected to each other, and a second contact electrically connected to the second upper contact and the first lower contact, wherein a first voltage is applied to the first contact, and the first contact is applied to the second contact. When a second voltage less than the first voltage is applied, the first big cell unit is operated, the second voltage is applied to the first contact, and the first voltage is applied to the second contact, the second voltage is applied to the second contact. 2 Bigcell units can operate.

The big cell array according to an embodiment includes a first sub-array including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units disposed along a first axis, a first upper distributed bragg reflector (DBR), and a first lower DBR. And a first big cell unit, a second upper DBR, and a second lower DBR included in the first sub-array, and a second big cell unit included in the first sub-array, the first upper DBR, and the first 2 A first contact electrically connected to an upper DBR, and a second contact electrically connected to the first lower DBR and the second lower DBR, wherein the first upper DBR and the second lower DBR are P-type Doped with, the second upper DBR and the first lower DBR are doped with an N-type, a first voltage is applied to the first contact, and a second voltage smaller than the first voltage is applied to the second contact In this case, when the first big cell unit is operated, the second voltage is applied to the first contact, and the first voltage is applied to the second contact, the second big cell unit may be operated.

A big cell array according to an embodiment includes a first sub-array including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units disposed along a first axis, a first Distributed Bragg Reflector (DBR), and a second DBR, , Including a first big cell unit, a third DBR and a fourth DBR included in the first sub-array, and the second big cell unit included in the first sub-array, the first DBR and the third DBR and electrically A first contact connected, and a second contact electrically connected to the second DBR and the fourth DBR, wherein the first DBR and the fourth DBR are doped with a first property, and the second DBR and The third DBR is doped with a second property different from the first property, the reflectance of the second DBR is greater than that of the first DBR, the reflectance of the fourth DBR is greater than that of the third DBR, When a first voltage is applied to the first contact and a second voltage smaller than the first voltage is applied to the second contact, the first big cell unit is operated, and the second voltage is applied to the first contact. When applied and the first voltage is applied to the second contact, the second big cell unit may operate.

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 includes a first sub-array, a first upper contact, and a first lower contact including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units disposed along a first axis, and included in the first sub-array. A first contact including a first big cell unit, a second upper contact, and a second lower contact, and electrically connected to a second big cell unit included in the first sub-array, the first upper contact, and the second lower contact , And a second contact electrically connected to the second upper contact and the first lower contact, wherein a first voltage is applied to the first contact, and a second voltage is smaller than the first voltage to the second contact. When a voltage is applied, the first big cell unit is operated, the second voltage is applied to the first contact, and the first voltage is applied to the second contact, the second big cell unit is operated. I can.

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 includes a first sub-array including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units disposed along a first axis, a first upper Distributed Bragg Reflector (DBR), and a first lower DBR, and the first Including a first big cell unit, a second upper DBR and a second lower DBR included in the sub-array, and the second big cell unit included in the first sub-array, the first upper DBR, and the second upper DBR electrically A first contact to be connected, and a second contact electrically connected to the first lower DBR and the second lower DBR, wherein the first upper DBR and the second lower DBR are doped in a P-type, and the first 2 When the upper DBR and the first lower DBR are doped with an N-type, a first voltage is applied to the first contact, and a second voltage smaller than the first voltage is applied to the second contact, the first When the big cell unit operates, the second voltage is applied to the first contact, and the first voltage is applied to the second contact, the second big cell unit may operate.

The big cell array according to another embodiment includes a first sub-array including a first big cell (VCSEL: Vertical Cavity Surface Emitting Laser) unit and a second big cell unit arranged along a first axis, and a common connected to the first sub-array. A contact, a first contact electrically connected to one end of the common contact, a first resistance indicating a resistance between one end of the first contact and the first big cell unit, and between the first big cell unit and the second big cell unit And a second contact electrically connected to the other end of the common contact so that the combined resistance of the second resistor representing the resistance of is reduced, and the first bixel unit comprises one end of the common contact than the second bixel unit. It is adjacent, and the second big cell unit may be adjacent to the other end of the common contact than the first big cell unit.

The big cell array according to another embodiment includes a first sub-array including a first big cell (VCSEL: Vertical Cavity Surface Emitting Laser) unit and a second big cell unit arranged along a first axis, and a common connected to the first sub-array. A contact, a first contact electrically connected to one end of the common contact, and the other end of the common contact so that a difference between the first combined resistance of the first big cell unit and the second combined resistance of the second big cell unit is reduced. And a second contact electrically connected to, wherein the first combined resistance is a first resistor representing a resistance between one end of the common contact and the first big cell unit, and the other end of the first big cell unit and the common contact. Is a combined resistance of a second resistance indicating a resistance between, and the second combined resistance is a third resistance indicating a resistance between one end of the common contact and the second big cell unit, and another between the second big cell unit and the common contact. It may be a composite resistance of the fourth resistor representing the resistance between one end.

A lidar device according to another embodiment includes a laser output unit for irradiating a laser toward an object, and a laser light receiving unit for receiving a laser reflected from the laser output unit and returned to the object, and the laser The output unit includes a first sub-array including a first VCSEL (Vertical Cavity Surface Emitting Laser) unit and a second vic-cell unit disposed along a first axis, a common contact connected to the first sub-array, and the common contact. A first contact electrically connected to one end, a first resistance indicating resistance between one end of the first contact and the first vixel unit, and a second resistance indicating resistance between the first vixel unit and the second vixel unit And a second contact electrically connected to the other end of the common contact so that the combined resistance of the resistance is reduced, wherein the first big cell unit is closer to one end of the common contact than the second big cell unit, and the second The big cell unit may be adjacent to the other end of the common contact than the first big cell unit.

A lidar device according to another embodiment includes a laser output unit for irradiating a laser toward an object, and a laser light receiving unit for receiving a laser reflected from the laser output unit and returned to the object, and the laser The output unit includes a first sub-array including a first VCSEL (Vertical Cavity Surface Emitting Laser) unit and a second vic-cell unit disposed along a first axis, a common contact connected to the first sub-array, and the common contact. A first contact electrically connected to one end, and a first contact electrically connected to the other end of the common contact to reduce a difference between the first combined resistance of the first big cell unit and the second combined resistance of the second big cell unit. 2 contacts, wherein the first combined resistance is a first resistance indicating a resistance between one end of the common contact and the first big cell unit, and a first resistance indicating a resistance between the first big cell unit and the other end of the common contact. 2 is a combined resistance of resistors, and the second combined resistance is a third resistor representing a resistance between one end of the common contact and the second big cell unit and a resistance between the second bixell unit and the other end of the common contact. It may be a composite resistance of the fourth resistor.

The laser output device according to an embodiment includes a first big cell unit including a first big cell emitter and a second big cell emitter, and a second big cell unit including a third big cell emitter and a fourth big cell emitter. An array, a micro lens array for collimating the laser output from the big cell array, and a prism array for steering the collimated laser from the micro lens array, wherein the micro lens array corresponds to the first big cell emitter The first microlens element disposed in the same manner, the second microlens element disposed in correspondence with the second vixel emitter, the third microlens element disposed in correspondence with the third vixel emitter, and the fourth vixel emitter. And a fourth microlens element arranged in correspondence, wherein the prism array is arranged in correspondence with the first vixel unit, and a first prism element for steering a laser output from the first vixel unit at a first angle, and the A second prism element disposed in correspondence with the second big cell unit and for steering the laser output from the second big cell unit at a second angle, wherein the first big cell unit and the second big cell unit operate independently of each other. The first and second big cell emitters share a first N-contact and a first P-contact, and the third and fourth big cell emitters share a second N-contact and a second P-contact, The first angle and the second angle may be different.

를 가지며, 상기 프리즘 어레이는 상기 제1 레이저를 스티어링 하기 위한 제1 프리즘 엘리먼트를 포함하되, 상기 제1 프리즘 엘리먼트의 굴절률이 n 이며, 상기 제1 프리즘 엘리먼트의 경사각이

인 경우 상기 제1 프리즘 엘리먼트의 경사각은

를 만족하도록 형성될 수 있다.The laser output device according to an embodiment includes a big cell array including a first big cell emitter for outputting a laser, a micro lens array for collimating a laser output from the big cell array, and a laser collimated from the micro lens array. Including a prism array for steering, wherein the micro lens array includes a first micro lens element for collimating the first laser output from the first big cell emitter, and collimation from the first micro lens element The first laser is a first divergence angle

And the prism array includes a first prism element for steering the first laser, the refractive index of the first prism element is n, and the inclination angle of the first prism element is

In the case of, the inclination angle of the first prism element is

It can be formed to satisfy.

The laser output device according to an embodiment includes a big cell array including a first big cell unit including a first big cell emitter and a second big cell emitter, a micro lens array for collimating a laser output from the big cell array, and the Including a prism array for steering the collimated laser from the micro lens array, wherein the micro lens array is disposed corresponding to the first micro lens element and the second big cell emitter disposed in correspondence with the first big cell emitter And a second micro lens element, wherein the micro lens array is disposed to correspond to the first big cell unit, and includes a first micro lens unit including the first micro lens element and the second micro lens element, , The prism array is disposed to correspond to the first big cell unit and includes a first prism element for steering the laser output from the first big cell unit at a predetermined angle, wherein the diameter of the first big cell unit is the first It is smaller than the diameter of one micro lens unit, and the diameter of the first micro lens unit may be smaller than the length of one side of the first prism element.

In the lidar apparatus according to an embodiment, a laser output unit for outputting a laser, a detector unit for receiving a reflected laser when a laser output from the laser output unit is reflected from an object, and the laser output unit, and the detector unit are operated. And a control unit for acquiring a distance to the object based on the laser received from the detector unit, wherein the laser output unit includes a first vixel unit including a first vixel emitter and a second vixel emitter, and A big cell array including a second big cell unit including a third big cell emitter and a fourth big cell emitter, a collimation component for collimating the laser output from the big cell array, and a laser collimated from the collimation component. Including a steering component for steering, wherein the first and second big cell emitters share a first N-contact and a first P-contact in order to operate the first big cell unit and the second big cell unit independently of each other, , The third and fourth big cell emitters share a second N-contact and a second P-contact, and the control unit includes the first N-contact and the first N-contact so that a laser is irradiated in a first direction at a first time point. The laser output unit is operated by energizing the P-contact, and the laser output unit is operated by energizing the second N-contact and the second P-contact so that the laser is irradiated in a direction different from the first direction at a second time point. I can make it.

The lidar device according to an embodiment includes a laser output unit including a plurality of laser output elements for outputting a laser, and a detector unit for receiving the reflected laser when the laser output from the laser output unit is reflected at one point. , The laser output unit includes a first laser output element and a second laser output element, and the first laser output from the first laser output element and the second laser output from the second laser output element are the lidar device Are output to each have a first light density and a second light density at a point spaced apart by a first distance from the first laser output element and the first laser output element according to a distance between the first laser output element and the second laser output element. When a distance at which the laser and the second laser overlap from the lidar device is determined, and the first laser and the second laser overlap at a point spaced apart from the lidar device by a second distance, the first laser The distance between the output element and the second laser output element is that the optical density of the area where the first and second lasers overlap at the second distance becomes less than or equal to the first optical density, and the distance from the lidar device is increased. The larger the size of the area where the first laser and the second laser overlap, the greater the size of the area where the first laser and the second laser overlap at a distance of 100m from the lidar device, and the first laser at a distance of 100m. It is set to be 80% or more of the irradiation area of, and the second distance may be longer than the first distance.

The laser output device according to an embodiment includes a first VCSEL unit including at least one VCSEL Emitter (Vertical Cavity surface Emitting Laser Emitter), at least one VCSEL emitter, 1 A second bixel unit for irradiating a second laser at a steering angle different from the steering angle of the first laser output from the bixel unit, including at least one bixel emitter, the steering angle of the second laser and It is different and includes a third vixel unit that irradiates a third laser at the same steering angle as the steering angle of the first laser, at least one vixel emitter, but is different from the steering angles of the first and third lasers, A fourth big cell unit that irradiates a fourth laser at a steering angle equal to a steering angle of the second laser, and a control unit that controls the operation of the first, second, third, and fourth big cell units, wherein the control unit comprises: The first and third big cell units are operated to output the first and third lasers at a first time point, but the second and fourth big cell units are turned off, and the second time point is different from the first time point. And operating the second and fourth big cell units to output a fourth laser, turning off the first and third big cell units, and allowing the first and third lasers to overlap at a predetermined distance or more from the laser output device. The first and third big cell units are spaced apart from a first distance or more, and the second and fourth big cell units overlap a second distance or more so that the second and fourth lasers overlap at a predetermined distance or more from the laser output device. The first and second big cell units may be spaced apart from each other, and the first and second big cell units may be spaced apart from each other by a third distance or less, and the first and second distances may be greater than the third distance.

The laser output device according to another embodiment includes a first VCSEL unit including at least one VCSEL Emitter (Vertical Cavity surface Emitting Laser Emitter), at least one VCSEL emitter, wherein the A second vixel unit that irradiates a second laser at a steering angle different from a steering angle of the first laser output from the first vixel unit, including at least one vixel emitter, the steering angle of the second laser It is different from and includes a third vixel unit that irradiates a third laser at the same steering angle as the steering angle of the first laser, at least one vixel emitter, but is different from the steering angles of the first and third lasers, , A fourth big cell unit for irradiating a fourth laser at a steering angle equal to a steering angle of the second laser, and a control unit for controlling the operation of the first, second, third and fourth big cell units, wherein the control unit Operates the first and third big cell units to output the first and third lasers at a first time point, turns off the second and fourth big cell units, and turns off the second time point at a second time point different from the first time point. Operate the second and fourth big cell units to output 2 and 4 lasers, but turn off the first and third big cell units, and the first and second big cell units are in a first big cell array (VCSEL Array). The third and fourth big cell units are included in a second big cell array (VCSEL Array), and the first and third lasers are overlapped at a predetermined distance or more, but as the distance from the laser output device increases, the An area where the first and third lasers overlap increases, and the second and fourth lasers overlap at a predetermined distance or more, but as the distance from the laser output device increases, the second and fourth lasers overlap. The first and second big cell arrays are increased so that They can be spaced apart on the same plane.

The lidar device according to another embodiment includes a first VCSEL unit including at least one VCSEL emitter (Vertical Cavity surface Emitting Laser Emitter), at least one VCSEL emitter, wherein the A second vixel unit that irradiates a second laser at a steering angle different from a steering angle of the first laser output from the first vixel unit, including at least one vixel emitter, the steering angle of the second laser It is different from and includes a third vixel unit that irradiates a third laser at the same steering angle as the steering angle of the first laser, at least one vixel emitter, but is different from the steering angles of the first and third lasers, , A fourth big cell unit that irradiates a fourth laser at a steering angle equal to a steering angle of the second laser, and a detector configured to receive the reflected laser when at least some of the first to fourth lasers are reflected from the object And a control unit for controlling the operation of the first, second, third and fourth big cell units, and obtaining distance information on the object using a laser reflected from the object, wherein the control unit is 1 The first vixel unit is operated to output a laser, the second vixel unit is operated to output the second laser at a second time point different from the first time point, and the first object is operated at the first time point. When distance information is not obtained, the control unit operates the first and third big cell units to output the first and third lasers at a third time point, and obtains distance information for a second object at the second time point. In one case, the controller may operate the second big cell unit to output the second laser at a fourth time point.

A lidar that acquires distance information from an object using lasers output from a plurality of VCSEL units including at least one VCSEL Emitter (Vertical Cavity Surface Emitting Laser Emitter) according to an embodiment. The method of obtaining distance information of the device includes operating a first vixel unit at a first point in time to output a first laser, and operating a second vixel unit at a second point in time different from the first point in time to operate at an angle different from the first laser. Outputting a second laser by operating the first vixel unit and the third vixel unit at a third point of time different from the first and second points of time, and the third laser being irradiated at the same angle as the first laser, and the Outputting a first laser, obtaining distance information between the first object and the lidar device when the first and third lasers irradiated at the third time point are reflected from a first object, the first Operating the second bixel unit at a fourth time point different from the first to third time points to output the second laser, and when the second laser irradiated at the fourth time point is reflected from a second object, the second Including the step of obtaining distance information between the object and the lidar device, wherein the distance value of the distance information from the first object obtained based on the first and third lasers output at the third time point is the fourth It may be greater than the distance value of the distance information from the second object obtained based on the second laser output at the viewpoint.

An autonomous vehicle according to an embodiment includes a lidar device for measuring a distance between a vehicle body and an object, wherein the lidar device includes at least one VCSEL Emitter (Vertical Cavity Surface Emitting Laser Emitter). Including a first vixel unit, including at least one vixel emitter, irradiating a second laser at a steering angle different from the steering angle of the first laser output from the first vixel unit A third vixel unit including a second vixel unit, at least one vixel emitter, which is different from a steering angle of the second laser and irradiates a third laser at the same steering angle as the steering angle of the first laser, at least A fourth bixel unit including at least one bixel emitter, which is different from a steering angle of the first and third lasers and irradiates a fourth laser at the same steering angle as the steering angle of the second laser, and the first, And a control unit for controlling the operation of the second, third and fourth big cell units, wherein the control unit operates the first and third big cell units to output the first and third lasers at a first time point, Turn off the second and fourth big cell units, and operate the second and fourth big cell units to output the second and fourth lasers at a second time point different from the first time point, wherein the first and third big cell units Can be turned off.

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 the present invention, a big cell array capable of improving laser beam output efficiency may be provided.

According to the present invention, a big cell array having a structure for efficient operation of big cell units can be provided.

According to the present invention, a big cell array arranged to have an efficient yield within a wafer can be provided.

According to the present invention, a laser output device included in a solid-state LiDAR device may be provided.

According to the present invention, a steering component used in a laser output device included in a solid-state LiDAR device may be provided.

According to the present invention, a solid-state LiDAR device may be provided.

According to the present invention, a lidar device capable of improving a measurement distance without affecting human eye health may be provided.

According to the present invention, a laser output device capable of improving a measurement distance without affecting human eye health can be provided.

According to the present invention, a lidar device for minimizing an undetected object by minimizing an area not irradiated with a laser may be provided.

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

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.
61 is a diagram illustrating a cross-sectional view of a big cell emitter according to an embodiment.
62 is a diagram illustrating a big cell emitter according to another embodiment.
63 is a diagram illustrating a cross-sectional view of a big cell emitter according to another embodiment.
64 is a diagram illustrating a cross-sectional view of a big cell emitter according to another embodiment.
65 is a diagram illustrating an upper metal contact and a reflector according to an exemplary embodiment.
66 is a diagram illustrating a cross-sectional view of a big cell emitter according to another embodiment.
67 is a diagram illustrating an upper metal contact and a reflector according to another exemplary embodiment.
68 is a diagram illustrating a cross-sectional view of a big cell emitter according to another embodiment.
69 is a diagram illustrating an upper metal contact and a reflector according to another embodiment.
70 is a diagram illustrating a cross-sectional view of a bottom-emitting big cell emitter according to an embodiment.
71 is a diagram illustrating a cross-sectional view of a bottom-emitting big cell emitter according to another embodiment.
72 is a diagram for describing a big cell array according to an embodiment.
73 is a diagram for describing a big cell array according to another embodiment.
74 to 77 are diagrams for explaining resistance of a big cell unit according to an embodiment.
78 to 81 are diagrams for explaining resistance of a big cell unit according to another exemplary embodiment.
82 is a diagram illustrating a big cell array viewed from one direction.
83 is a diagram illustrating a big cell array viewed from another direction.
84 is a diagram for describing a big cell array according to another embodiment.
85 is a view showing a big cell array according to another embodiment viewed from one direction.
86 is a diagram for describing a big cell array according to an embodiment.
87 is a diagram for describing a big cell array according to another embodiment.
88 is a diagram illustrating a connection state and a cross-sectional view of a big cell array according to an embodiment.
89 is a diagram illustrating a connection state and a cross-sectional view of a big cell array according to another embodiment.
90 is a circuit diagram showing a big cell array according to an embodiment.
91 to 97 are diagrams illustrating various embodiments of a big cell array.
98 is a diagram illustrating an operation flowchart of a big cell array according to an embodiment.
99 is a diagram illustrating an operation sequence of a big cell array according to an embodiment.
100 is a view showing a wafer including a big cell array according to an embodiment.
101 is a diagram illustrating a layout of a wafer and a big cell array according to an embodiment.
102 is a diagram illustrating a layout of a wafer and a big cell array according to another embodiment.
103 to 105 are diagrams for describing a measurement distance of a LiDAR device according to an exemplary embodiment.
106 is a diagram for describing eye-safety of a lidar device.
107 and 108 are diagrams for explaining divergence of a laser according to an exemplary embodiment.
109 is a diagram for describing a divergence angle using a profile of a laser according to an exemplary embodiment.
110 and 111 are diagrams for describing a laser output unit including a plurality of laser output devices according to an exemplary embodiment.
112 is a diagram for describing an overlap distance according to divergence of a laser according to an exemplary embodiment.
113 is a view for explaining the overlap distance of the laser according to the distance between the laser output elements.
114 is a graph representing a correlation between a distance between laser output elements and an overlap distance for each divergence angle.
115 is a diagram for describing an eye-safety standard.
116 is a diagram for describing a reference distance and an overlap distance of a laser output unit according to an exemplary embodiment.
117 is a graph representing a correlation between the optical density of the laser output from the laser output element and the distance from the laser output element for each divergence angle.
118 is a diagram for describing a reference distance and an overlap distance of a laser output unit according to an exemplary embodiment.
119 is a diagram for describing an improved measurement distance of a LiDAR device according to an exemplary embodiment.
120 is a diagram for describing a laser output unit according to an exemplary embodiment.
121 is a diagram for describing a laser output unit according to an exemplary embodiment.
122 is a diagram for describing a laser output unit according to an exemplary embodiment.
123 is a diagram for describing an arrangement relationship of a laser output unit according to an exemplary embodiment.
124 is a diagram for describing an arrangement relationship of a laser output unit according to another exemplary embodiment.
125 is a diagram of a laser having a divergence angle less than a predetermined angle and a laser output unit outputting the same, according to an exemplary embodiment.
FIG. 126 is a diagram for describing a distance between lasers in FIG. 125.
127 is a diagram of a laser having a divergence angle greater than or equal to a predetermined angle and a laser output unit outputting the same according to an embodiment.
FIG. 128 is a diagram for describing a distance between lasers in FIG. 127.
129 is a diagram for describing a laser output unit according to an exemplary embodiment.
130 is a diagram for describing a laser output unit according to an exemplary embodiment.
131 is a diagram for describing a laser output unit according to an exemplary embodiment.
132 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.
133 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.
134 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.
135 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.
136 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.
137 is a diagram for describing a laser output unit according to an exemplary embodiment.
138 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.
139 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.
140 is a diagram for describing a steering component according to an exemplary embodiment.
141 is a diagram for describing a steering component according to an exemplary embodiment.
142 is a diagram for describing a steering component according to an embodiment.
143 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.
144 is a diagram for describing a configuration of a laser output unit according to an 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.

According to an embodiment, a first DBR layer, a second DBR layer, an active layer disposed between the first DBR layer and the second DBR layer to output a laser beam, and a contact area disposed on the first DBR layer And a reflector disposed on the contact area, wherein the reflector has a first surface facing the contact area, and the first surface reflects a laser beam output through the contact area from the active layer. A big cell that can be provided can be provided.

Here, the contact area and the reflector may abut on the first surface.

Here, the area of the first surface may be equal to or smaller than the area of the contact area.

Here, the length of the reflector may be equal to or less than the length of the contact area.

Here, the reflector may include a conductive material.

Here, the reflector may include silver (Ag) or aluminum (Al).

Here, the first surface may include a curved surface.

Here, the contact region may include titanium (Ti), chromium (Cr), or nickel (Ni).

Here, the reflectivity of the reflector may be greater than that of the contact area.

Here, the thickness of the contact region may be 2 nm or less.

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 A VICSEL (Vertical Cavity Surface Emitting Laser) emitter is included, and the VICSEL emitter is disposed between a first DBR layer, a second DBR layer, the first DBR layer, and the second DBR layer to provide a laser beam. An active layer that outputs, a contact area disposed on the first DBR layer, and a reflector disposed on the contact area, wherein the reflector has a first surface facing the contact area, and the first surface A lidar device capable of reflecting a laser beam output from the active layer through the contact area may be provided.

According to an embodiment, a first sub-array including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units disposed along a first axis, a first upper contact, and a first lower contact, and the first sub Includes a first big cell unit, a second upper contact, and a second lower contact included in the array, and is electrically connected to the second big cell unit, the first upper contact, and the second lower contact included in the first sub-array A first contact and a second contact electrically connected to the second upper contact and the first lower contact, wherein a first voltage is applied to the first contact, and the first voltage is applied to the second contact When a smaller second voltage is applied, the first big cell unit is operated, the second voltage is applied to the first contact, and the first voltage is applied to the second contact, the second big cell A big cell array in which the unit operates may be provided.

Here, the first upper contact and the second lower contact may be the same metal layer.

Here, the second upper contact and the first lower contact may be the same metal layer.

Here, the first voltage may be a positive voltage based on the reference voltage, and the second voltage may be a negative voltage based on the reference voltage.

Here, a first wire electrically connected to the first contact and a second wire electrically connected to the second contact may be included.

Here, a third big cell unit including a third upper contact and a third lower contact, a third big cell unit included in the first sub-array, a fourth upper contact, and a fourth lower contact, and a third included in the first sub-array. 4 a big cell unit, and a third contact electrically connected to the third upper contact and the fourth lower contact, the second contact being electrically connected to the fourth upper contact and the third lower contact, When a third voltage is applied to the second contact and a fourth voltage greater than the third voltage is applied to the third contact, the third big cell unit operates, and the fourth voltage is applied to the second contact. When applied and the third voltage is applied to the third contact, the fourth big cell unit may operate.

Here, a third big cell unit including the first sub-array and a second sub-array disposed along a second axis different from the first axis, a third upper contact, and a third lower contact, and included in the second sub-array , A fourth big cell unit including a fourth upper contact and a fourth lower contact, and included in the second sub-array, and a third contact electrically connected to the third lower contact and the fourth upper contact, and , The first contact is electrically connected to the third upper contact and the fourth lower contact, a third voltage is applied to the first contact, and a fourth voltage greater than the third voltage is applied to the third contact. When applied, when the fourth big cell unit is operated, the fourth voltage is applied to the first contact, and the third voltage is applied to the third contact, the third big cell unit may be operated. .

According to an embodiment, a first sub-array including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units disposed along a first axis, a first upper Distributed Bragg Reflector (DBR), and a first lower DBR, and , A first big cell unit included in the first sub-array, a second upper DBR, and a second lower DBR, and a second big cell unit included in the first sub-array, the first upper DBR, and the second upper part A first contact electrically connected to the DBR, and a second contact electrically connected to the first lower DBR and the second lower DBR, and the first upper DBR and the second lower DBR are doped with a P-type The second upper DBR and the first lower DBR are doped with an N-type, a first voltage is applied to the first contact, and a second voltage smaller than the first voltage is applied to the second contact. , When the first big cell unit is operated, the second voltage is applied to the first contact, and the first voltage is applied to the second contact, a big cell array in which the second big cell unit operates is provided. I can.

Here, the first voltage may be a positive voltage based on the reference voltage, and the second voltage may be a negative voltage based on the reference voltage.

Here, a common contact electrically connected to the first lower contact and the second lower contact may be included, and the second contact may be electrically connected to the first lower contact and the second lower contact through the common contact. have.

Here, a first wire electrically connected to the first contact and a second wire electrically connected to the second contact may be included.

Here, a third big cell unit including the first sub-array and a second sub-array disposed along a second axis different from the first axis, a third upper DBR, and a third lower DBR, and included in the second sub-array , A fourth upper DBR and a fourth lower DBR, and included in the second sub-array A big cell unit, and a third contact electrically connected to the third lower DBR and the fourth lower DBR, wherein the third upper DBR and the fourth lower DBR are doped with a P-type, and the fourth upper DBR And the third lower DBR is doped with an N-type, the first contact is electrically connected to the third upper DBR and the fourth upper DBR, a third voltage is applied to the first contact, and the third When a fourth voltage greater than the third voltage is applied to a contact, the fourth big cell unit is operated, the fourth voltage is applied to the first contact, and the third voltage is applied to the third contact. In this case, the third big cell unit may operate.

Here, it may include a third wire electrically connected to the third contact.

According to an embodiment, a first sub-array including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units disposed along a first axis, a first Distributed Bragg Reflector (DBR), and a second DBR, the Including a first big cell unit, a third DBR, and a fourth DBR included in the first sub-array, and the second big cell unit included in the first sub-array, the first DBR and the third DBR are electrically connected A first contact and a second contact electrically connected to the second DBR and the fourth DBR, wherein the first DBR and the fourth DBR are doped with a first property, and the second DBR and the second contact 3 DBR is doped with a second property different from the first property, the reflectance of the second DBR is greater than that of the first DBR, the reflectance of the fourth DBR is greater than that of the third DBR, When a first voltage is applied to one contact and a second voltage smaller than the first voltage is applied to the second contact, the first big cell unit is operated, and the second voltage is applied to the first contact, When the first voltage is applied to the second contact, a big cell array in which the second big cell unit operates may be provided.

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, the laser output unit, the first A first sub-array including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units disposed along one axis, a first vixel including a first upper contact and a first lower contact, and included in the first sub-array A second big cell unit including a unit, a second upper contact and a second lower contact, and included in the first sub-array, a first contact electrically connected to the first upper contact and the second lower contact, and the A second upper contact and a second contact electrically connected to the first lower contact, wherein a first voltage is applied to the first contact, and a second voltage smaller than the first voltage is applied to the second contact In this case, when the first big cell unit is operated, the second voltage is applied to the first contact, and the first voltage is applied to the second contact, the second big cell unit is operated. Can be provided.

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, the laser output unit, the first A first sub-array including a plurality of VICSEL (Vertical Cavity Surface Emitting Laser) units disposed along one axis, a first upper DBR (Distributed Bragg Reflector) and a first lower DBR, and the first sub-array A first big cell unit that includes a first big cell unit, a second upper DBR, and a second lower DBR included, and is electrically connected to the second big cell unit included in the first sub-array, the first upper DBR, and the second upper DBR. 1 contact and a second contact electrically connected to the first lower DBR and the second lower DBR, wherein the first upper DBR and the second lower DBR are P-type doped, and the second upper DBR And when the first lower DBR is doped with an N-type, a first voltage is applied to the first contact, and a second voltage smaller than the first voltage is applied to the second contact, the first big cell unit is In operation, when the second voltage is applied to the first contact and the first voltage is applied to the second contact, a lidar device in which the second big cell unit operates may be provided.

According to another embodiment, a first sub-array including a first vixel (Vertical Cavity Surface Emitting Laser) unit and a second vixel unit disposed along a first axis, a common contact connected to the first sub-array, A first contact electrically connected to one end of the common contact, a first resistance representing a resistance between one end of the first contact and the first vixel unit, and a resistance between the first vixel unit and the second vixel unit And a second contact electrically connected to the other end of the common contact, so that the combined resistance of the second resistor of is reduced, and the first bixel unit is adjacent to one end of the common contact than the second bixel unit. The second big cell unit may be provided with a big cell array adjacent to the other end of the common contact than the first big cell unit.

Here, the same voltage may be applied to the first contact and the second contact.

Here, a first wire connecting the common contact and the first contact, and a second wire connecting the common contact and the second contact may be included.

Here, the first resistance may include the resistance of the first wire.

Here, the second resistance may include the resistance of the second wire.

Here, a second sub-array including the first big cell unit and a third big cell unit disposed along a second axis different from the first axis, a third contact disposed adjacent to one end of the second sub-array, and the A fourth contact disposed adjacent to the other end of the second sub-array, the first big cell unit is electrically connected to the third contact, and the third big cell unit is electrically connected to the fourth contact Can be.

Here, the same voltage may be applied to the third contact and the fourth contact.

Here, one of a negative voltage and a positive voltage may be applied to the first contact and the second contact, and the other may be applied to the third contact and the fourth contact.

Here, a third sub-array including the third and fourth big-cell units disposed along the first axis, a fifth contact disposed adjacent to one end of the third sub-array, and the third sub-array And a sixth contact disposed adjacent to the other end, the third big cell unit is electrically connected to the fifth contact, the fourth big cell unit is electrically connected to the sixth contact, and In order to operate the first big cell unit and not to operate the third big cell unit, a voltage is applied to the first contact, the second contact, the third contact, and the fourth contact, and the fifth contact and the fourth contact 6 No voltage may be applied to the contact.

According to another embodiment, a first sub-array including a first vixel (Vertical Cavity Surface Emitting Laser) unit and a second vixel unit disposed along a first axis, a common contact connected to the first sub-array, A first contact electrically connected to one end of the common contact, and the other end of the common contact so that the difference between the first combined resistance of the first big cell unit and the second combined resistance of the second big cell unit is reduced. And a second contact connected to each other, wherein the first combined resistance is a first resistance representing a resistance between one end of the common contact and the first big cell unit, and a first resistance between the first bixel unit and the other end of the common contact. A combined resistance of a second resistor representing a resistance, and the second combined resistance is a third resistor representing a resistance between one end of the common contact and the second big cell unit, and between the second bixel unit and the other end of the common contact. A big cell array may be provided, which is a composite resistance of the fourth resistor representing the resistance of.

Here, the first big cell unit may be closer to one end of the common contact than the second big cell unit, and the second big cell unit may be closer to the other end of the common contact than the first big cell unit.

Here, the same voltage may be applied to the first contact and the second contact.

Here, a first wire connecting the common contact and the first contact, and a second wire connecting the common contact and the second contact may be included.

Here, the first resistance may include the resistance of the first wire.

Here, the fourth resistance may include the resistance of the second wire.

Here, a second sub-array including the first vixel unit and the third vixel unit disposed along a second axis different from the first axis, a third contact disposed adjacent to one end of the second sub-array, and And a fourth contact disposed adjacent to the other end of the second sub-array, the first big cell unit is electrically connected to the third contact, and the third big cell unit is electrically connected to the fourth contact May be connected.

Here, the same voltage may be applied to the third contact and the fourth contact.

Here, one of a voltage equal to or higher than a reference voltage and a voltage equal to or lower than the reference voltage may be applied to the first contact and the second contact, and the other may be applied to the third contact and the fourth contact.

Here, a third sub-array including the third and fourth big-cell units disposed along the first axis, a fifth contact disposed adjacent to one end of the third sub-array, and the third sub-array And a sixth contact disposed adjacent to the other end, the third big cell unit is electrically connected to the fifth contact, the fourth big cell unit is electrically connected to the sixth contact, and In order to operate the first big cell unit and not to operate the third big cell unit, a voltage is applied to the first contact, the second contact, the third contact, and the fourth contact, and the fifth contact and the fourth contact 6 No voltage may be applied to the contact.

According to another 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, A first sub-array including a first vixel (Vertical Cavity Surface Emitting Laser) unit and a second vixel unit disposed along a first axis, a common contact connected to the first sub-array, and an electrical at one end of the common contact. Synthesis of a first contact connected to each other, a first resistance representing a resistance between one end of the first contact and the first big cell unit, and a second resistance representing a resistance between the first big cell unit and the second big cell unit And a second contact electrically connected to the other end of the common contact so that resistance is reduced, the first big cell unit is closer to one end of the common contact than the second big cell unit, and the second big cell unit is A lidar device adjacent to the other end of the common contact than the first big cell unit may be provided.

According to another 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, A first sub-array including a first vixel (Vertical Cavity Surface Emitting Laser) unit and a second vixel unit disposed along a first axis, a common contact connected to the first sub-array, and an electrical at one end of the common contact. And a second contact electrically connected to the other end of the common contact so that a difference between the first combined resistance of the first big cell unit and the second combined resistance of the second big cell unit is reduced. Including, the first combined resistance is a first resistance representing a resistance between one end of the common contact and the first big cell unit, and a second resistance representing a resistance between the first bixel unit and the other end of the common contact. A combined resistance, wherein the second combined resistance is a third resistance indicating a resistance between one end of the common contact and the second big cell unit, and a fourth resistance indicating a resistance between the second big cell unit and the other end of the common contact A lidar device that is a composite resistor of may be provided.

According to an embodiment, as a laser output device used in a lidar device that measures a distance using a laser, a first big cell emitter and a third big cell emitter including a first big cell emitter and a second big cell emitter, and A big cell array including a second big cell unit including a fourth big cell emitter, a micro lens array for collimating the laser output from the big cell array, and a prism array for steering a laser collimated from the micro lens array. Including, wherein the micro lens array corresponds to a first micro lens element disposed corresponding to the first big cell emitter, a second micro lens element disposed corresponding to the second big cell emitter, and the third big cell emitter. And a third microlens element disposed corresponding to the third microlens element and a fourth microlens element disposed corresponding to the fourth big cell emitter, wherein the prism array is disposed corresponding to the first big cell unit and output from the first big cell unit A first prism element for steering the resulting laser at a first angle and a second prism element disposed corresponding to the second vixel unit and for steering the laser output from the second vixel unit at a second angle, In order for the first big cell unit and the second big cell unit to operate independently of each other, the first and second big cell emitters share a first N-contact and a first P-contact, and the third and fourth big cell emitters The laser may share a second N-contact and a second P-contact, and the first angle and the second angle may be different laser output devices.

Here, the first N-contact and the second N-contact may be electrically connected to each other, but the first P-contact and the second P-contact may not be electrically connected to each other.

Here, the first P-contact and the second P-contact may be electrically connected to each other, but the first N-contact and the second N-contact may not be electrically connected to each other.

Here, the diameter of the first microlens element may be larger than the diameter of the first vixel emitter, but may be set based on a distance between the first vixel emitter and the second vixel emitter.

Here, the first N-contact and the first P-contact are energized so that the laser is output from the first big cell unit at a first time point, and the laser is turned off from the second big cell unit at a second time different from the first time point. It may further include a controller that controls the operation of the big cell array so that the second N-contact and the second P-contact are energized to be output.

Here, the direction of the laser irradiated from the laser output device at the first time point and the direction of the laser irradiated from the laser output device at the second time point may be different from each other.

를 가지며, 상기 프리즘 어레이는 상기 제1 레이저를 스티어링 하기 위한 제1 프리즘 엘리먼트를 포함하되, 상기 제1 프리즘 엘리먼트의 굴절률이 n 이며, 상기 제1 프리즘 엘리먼트의 경사각이

인 경우 상기 제1 프리즘 엘리먼트의 경사각은

를 만족하도록 형성되는 레이저 출력 장치가 제공될 수 있다.According to another embodiment, as a laser output device used in a lidar device that measures a distance using a laser, a big cell array including a first big cell emitter for outputting a laser, and a laser output from the big cell array. A micro lens array for collimating and a prism array for steering a laser collimated from the micro lens array, wherein the micro lens array is a first for collimating the first laser output from the first big cell emitter. Including 1 micro lens element, the first laser collimated from the first micro lens element is a first divergence angle

And the prism array includes a first prism element for steering the first laser, the refractive index of the first prism element is n, and the inclination angle of the first prism element is

In the case of, the inclination angle of the first prism element is

A laser output device may be provided that is formed to satisfy.

Here, when the first laser is steered at a first angle with respect to the normal of the prism array through the first prism element, the reflectance of the first laser reflected through the first prism element is 10% or less. The first angle may be set to 25 degrees or less.

Here, the big cell array includes a second big cell emitter for outputting a laser, and the micro lens array includes a second micro lens element for collimating the second laser output from the second big cell emitter. , The first prism element may be disposed to steer the first laser and the second laser at the same angle.

를 가지며, 상기 제2 프리즘 엘리먼트의 굴절률이 m 이며, 상기 제2 프리즘 엘리먼트의 경사각이

인 경우 상기 제2 프리즘 엘리먼트의 경사각은

를 만족하도록 배치되며 상기 제1 및 제2 레이저의 조사 방향과 상기 제3 레이저의 조사 방향이 서로 상이할 수 있다.Here, the big cell array includes a third big cell emitter for outputting a laser, and the micro lens array includes a third micro lens element for collimating the third laser output from the third big cell emitter, , The prism array includes a second prism element for steering the third laser, wherein the third laser collimated from the third microlens element has a second divergence angle

Has, the refractive index of the second prism element is m, and the inclination angle of the second prism element is

In the case of, the inclination angle of the second prism element is

It is disposed to satisfy and the irradiation directions of the first and second lasers and the irradiation directions of the third laser may be different from each other.

According to another embodiment, a laser output device used in a lidar device that measures a distance using a laser, comprising: a big cell array including a first big cell emitter and a first big cell unit including a second big cell emitter , A microlens array for collimating the laser output from the big cell array, and a prism array for steering the collimated laser from the micro lens array, wherein the micro lens array corresponds to the first big cell emitter. A first micro lens element disposed and a second micro lens element disposed corresponding to the second vixel emitter, wherein the micro lens array is disposed corresponding to the first vixel unit, and the first micro lens element And a first micro-lens unit including the second micro-lens element, wherein the prism array is disposed to correspond to the first vixel unit and is configured to steer the laser output from the first vixel unit at a predetermined angle. Including a first prism element, wherein the diameter of the first big cell unit is smaller than the diameter of the first micro lens unit, the diameter of the first micro lens unit is smaller than the length of one side of the first prism element An apparatus may be provided.

Here, the diameter of the first microlens element may be larger than the diameter of the first vixel emitter, but may be set to correspond to a distance between the first vixel emitter and the second vixel emitter.

Here, the diameter of the first microlens element may be set to be less than or equal to a sum of the diameter of the first vixel emitter and the distance between the first vixel emitter and the second vixel emitter.

Here, the big cell array includes a second big cell unit including a third big cell emitter, the micro lens array includes a third micro lens element disposed in correspondence with the third big cell emitter, and the micro lens The array includes the third microlens element, and includes a second microlens unit disposed in correspondence with the second vixel unit, and the prism array is disposed in correspondence with the second vixel unit, and the second vixel unit And a second prism element for steering the laser output from the laser at a predetermined angle, wherein the distance between the first vixel unit and the second vixel unit is a distance between the first microlens unit and the second microlens unit Is greater than, and a distance between the first micro lens unit and the second micro lens unit may be greater than a distance between the first prism element and the second prism element.

According to another embodiment, as a lidar device measuring a distance using a laser, a laser output unit for outputting a laser, and receiving a reflected laser when a laser output from the laser output unit is reflected from an object. A detector unit, the laser output unit, and a control unit controlling an operation of the detector unit, and acquiring a distance to the object based on the laser received from the detector unit, wherein the laser output unit 2 A big cell array including a first big cell unit including a big cell emitter and a second big cell unit including a third big cell emitter and a fourth big cell emitter, and collimation for collimating the laser output from the big cell array And a steering component for steering a component and a laser collimated from the collimation component, wherein the first and second bixel emitters are configured to operate independently of each other so that the first and second bixel units are operated independently from each other. The N-contact and the first P-contact are shared, the third and fourth big cell emitters share the second N-contact and the second P-contact, and the controller is The first N-contact and the first P-contact are energized to be irradiated to operate the laser output unit, and at a second time point, the second N-contact and the second N-contact and the second 2 A lidar device for operating the laser output unit by energizing the P-contact may be provided.

Here, the collimation component corresponds to a first microlens element disposed in correspondence with the first vixel emitter, a second microlens element disposed in correspondence with the second vixel emitter, and the third vixel emitter. A third microlens element disposed and a fourth microlens element disposed corresponding to the fourth vixel emitter, wherein a diameter of the first microlens element is greater than a diameter of the first vixel emitter, but the first It may be set based on a distance between the big cell emitter and the second big cell emitter.

Here, the collimation component includes a first micro lens unit disposed in correspondence with the first vixel unit and a second micro lens unit disposed in correspondence with the second vixel unit, and the diameter of the first micro lens unit Is greater than a diameter of the first big cell unit, and a distance between the first micro lens unit and the second micro lens unit may be smaller than a distance between the first big cell unit and the second big cell unit.

Here, the first N-contact and the second N-contact may be the same, but the first P-contact and the second P-contact may be different from each other.

Here, the first P-contact and the second P-contact may be the same, but the first N-contact and the second N-contact may be different from each other.

를 가지도록 콜리메이션 되며, 상기 스티어링 컴포넌트는 상기 제1 레이저를 스티어링하기 위한 제1 프리즘 엘리먼트를 포함하되, 상기 제1 프리즘 엘리먼트의 굴절률이 n 이며, 상기 제1 프리즘 엘리먼트의 경사각이

인 경우 상기 제1 프리즘 엘리먼트의 경사각은

를 만족하도록 형성될 수 있다.Here, the first laser output from the first big cell emitter is a first divergence angle through the collimation component.

And the steering component includes a first prism element for steering the first laser, wherein the refractive index of the first prism element is n, and the inclination angle of the first prism element is

In the case of, the inclination angle of the first prism element is

It can be formed to satisfy.

Here, when the first laser is steered at a first angle with respect to the normal of the prism array through the first prism element, the reflectance of the first laser reflected through the first prism element is 10% or less. The first angle may be set to 25 degrees or less.

According to an embodiment, a lidar device that measures a distance using a laser, wherein a laser output unit including a plurality of laser output elements that output a laser, and a laser output from the laser output unit are reflected at a point A detector unit receiving the reflected laser, wherein the laser output unit includes a first laser output device and a second laser output device, and the first laser and the second laser output device are output from the first laser output device. The output second laser is output to have a first light density and a second light density, respectively, at a point spaced apart from the lidar device by a first distance, and the first laser output element and the second laser The distance at which the first laser and the second laser overlap from the lidar device is determined according to the distance between the output devices, and the first laser and the second laser are separated by a second distance from the lidar device. When overlapping at a point, the distance between the first laser output element and the second laser output element is less than the first optical density in the area where the first and second lasers overlap at the second distance. , As the distance from the lidar device increases, the size of an area where the first laser and the second laser overlap increases, and an area where the first laser and the second laser overlap at a distance of 100m from the lidar device. The size of is set to be 80% or more of the irradiation area of the first laser at a distance of 100m, and the second distance may be provided with a lidar device that is farther than the first distance.

Here, the first optical density may be a reference optical density that does not affect human eye health.

Here, the first distance may be a reference distance for calculating the safety level.

Here, the plurality of laser output devices may be a VCSEL unit including a plurality of VCSEL emitters.

Here, between the first and second laser output elements so that the size of the area where the first laser and the second laser overlap is at least 90% of the size of the irradiation area of the first laser at a distance of 200m from the lidar device. The distance of can be set.

Here, the lidar device includes a control unit for controlling the operation of the first laser output device and the second laser output device, and measuring a distance to the one point, the control unit at a first time point. When a laser output element is operated to output the first laser toward the one point, and the distance to the one point cannot be measured using the first laser output at the first point in time, the first Controls to output the first and second lasers toward the one point by operating the first and second laser output elements at a second point of view different from the point of view, and using the first laser output at the first point of view Thus, when the distance to the one point is measured, the first laser output device may be operated at a third point of time different from the first point of time to output the first laser toward the one point.

Here, the laser output unit further includes a third laser output element and a fourth laser output element, and the third laser output from the third laser output element and the fourth laser output from the fourth laser output element are the la It is output to have a third and fourth optical density at a point spaced apart from the device by the first distance, and the first, second, and third lasers are at a point spaced apart by a third distance from the lidar device. When overlapping, the distance between the first, second, and third laser output elements is such that the optical density of the area where the first, second, and third lasers overlap at the third distance is equal to or less than the first optical density. Is set, and when the first, second, third and fourth lasers overlap at a point spaced apart from the lidar device by a fourth distance, between the first, second, third and fourth laser output elements The distance of may be set such that the optical density of an area where the first, second, third, and fourth lasers overlap at the fourth distance is equal to or less than the first optical density.

Here, the first optical density may be a reference optical density that does not affect human eye health.

Here, the lidar device controls the operation of the first, second, third, and fourth laser output devices, and includes a control unit for measuring a distance to the one point, and the control unit 1 When a laser output element is operated to output the first laser toward the one point, and when the distance to the one point cannot be measured using the first laser output at the first point in time, the first Control to output the first and second lasers toward the one point by operating the first and second laser output elements at a second point of time different from the first point of view, and the first laser output at the first point of time When the distance to the one point is measured using, the first laser output element is operated at a third point of time different from the first point of time to output the first laser toward the one point, and the second When the distance to the one point cannot be measured using the first and second lasers output at a point in time, the first, second, and third laser output elements are operated at a fourth point of time different from the second point of time. Control to output the first, second, and third lasers toward the one point, and when the distance to the one point is measured using the first and second lasers output at the second point of time, The first and second laser output devices may be operated at a fifth point of time different from the second point of time to output the first and second lasers toward the one point.

According to another embodiment, as a laser output device used in a lidar device for measuring a distance using a laser, a first bixel unit including at least one VICSEL emitter (Vertical Cavity surface Emitting Laser Emitter) (VCSEL Unit), a second vixel unit including at least one vixel emitter, irradiating a second laser at a steering angle different from a steering angle of the first laser output from the first vixel unit, at least Including at least one bixel emitter, a third bixel unit different from the steering angle of the second laser and irradiating a third laser at the same steering angle as the steering angle of the first laser, at least one bixel emitter Including, but different from the steering angle of the first and third laser, the fourth big cell unit irradiating the fourth laser at the same steering angle as the steering angle of the second laser, and the first, second, third and And a control unit for controlling an operation of a fourth big cell unit, wherein the control unit operates the first and third big cell units to output the first and third lasers at a first time point, wherein the second and fourth big cell units Turn off the unit and operate the second and fourth big cell units to output the second and fourth lasers at a second time point different from the first time point, but turn off the first and third big cell units, and The first and third bixel units are spaced apart from the first distance or more so that the first and third lasers overlap at a predetermined distance or more from the laser output device, and the second and fourth lasers are disposed at a predetermined distance from the laser output device. The second and fourth big cell units are spaced apart from each other by a second distance or more so that they overlap above, and the first and second big cell units are spaced apart from each other by a third distance or less to be disposed adjacent to each other, and the first and The second distance is the laser power greater than the third distance A device may be provided.

Here, the first distance and the second distance may be different from each other.

Here, the first to fourth big cell units may be arranged so that the first and third lasers and the second and fourth lasers overlap each other by 10 cm or more from the laser output device.

Here, the first to fourth big cell units may be included in one big cell array (VCSEL Array).

Here, the first distance may be set so that the size of the area where the first and third lasers overlap is 80% or more of the size of the irradiation area of the first laser at a distance of 100m from the laser output device.

Here, the second distance may be set so that the size of the area where the second and fourth lasers overlap is 80% or more of the size of the irradiation area of the second laser at a distance of 100m from the laser output device.

According to another embodiment, as a laser output device used in a lidar device for measuring a distance using a laser, a first vixel including at least one vixel emitter (Vertical Cavity surface Emitting Laser Emitter) A second vixel unit including at least one vixel emitter and irradiating a second laser at a steering angle different from a steering angle of the first laser output from the first vixel unit, A third vixel unit including at least one or more vixel emitters, which is different from a steering angle of the second laser and irradiates a third laser at the same steering angle as the steering angle of the first laser, at least one vixel emitter Including, but different from the steering angles of the first and third lasers, the fourth big cell unit irradiating the fourth laser at the same steering angle as the steering angle of the second laser, and the first, second, and third And a control unit for controlling an operation of a fourth big cell unit, wherein the control unit operates the first and third big cell units to output the first and third lasers at a first time point, Turn off the big cell unit and operate the second and fourth big cell units to output the second and fourth lasers at a second time point different from the first time point, but turn off the first and third big cell units, and the The first and second big cell units are included in a first big cell array (VCSEL Array), the third and fourth big cell units are included in a second big cell array (VCSEL Array), and the first and third lasers are constant. Overlapping at a distance greater than or equal to the distance from the laser output device, the area where the first and third lasers overlap increases, and the second and fourth lasers overlap at a predetermined distance or more, and the laser output device The further the distance from the second and fourth A laser output device in which the first and second big cell arrays are spaced apart on the same plane may be provided so that the area where the laser overlaps is increased.

Here, a location of the first big cell unit in the first big cell array may correspond to a location of the third big cell unit in the second big cell array.

Here, a location of the first big cell unit in the first big cell array may be different from a location of the third big cell unit in the second big cell array.

Here, the first big cell array and the second big cell array may be located on the same substrate.

Here, the first big cell array and the second big cell array include first and second steering components, and the shapes of the first and second steering components may be the same.

Here, the size of the area where the first and third lasers overlap may be 80% or more of the size of the irradiation area of the first laser at a distance of 100m from the laser output device.

Here, the size of the area where the second and fourth lasers overlap may be 80% or more of the size of the irradiation area of the second laser at a distance of 100m from the laser output device.

According to another embodiment, as a lidar device for measuring a distance using a laser, a first VCSEL unit including at least one VCSEL Emitter (Vertical Cavity Surface Emitting Laser Emitter), A second vixel unit that includes at least one vixel emitter, and irradiates a second laser at a steering angle different from a steering angle of the first laser output from the first vixel unit, at least one vixel emitter Including, but different from the steering angle of the second laser, a third vixel unit for irradiating a third laser at the same steering angle as the steering angle of the first laser, including at least one vixel emitter, wherein the first A fourth bixel unit that is different from the steering angles of the first and third lasers and irradiates the fourth laser at the same steering angle as the steering angle of the second laser, and at least some of the first to fourth lasers from the object A detector unit that receives the reflected laser when reflected, and a control unit that controls the operation of the first, second, third, and fourth big cell units, and obtains distance information about the object by using the laser reflected from the object. However, the control unit operates the first big cell unit to output the first laser at a first time point, and operates the second big cell unit to output the second laser at a second time different from the first time point, When the distance information of the first object is not obtained at the first time point, the controller operates the first and third big cell units to output the first and third lasers at a third time point, and the second When the distance information on the second object is obtained at a viewpoint, the controller may provide a lidar device that operates the second big cell unit to output the second laser at a fourth viewpoint.

Here, the first and third big cell units are disposed to be spaced apart from a second distance or more so that the first and third lasers overlap at a first distance or more from the laser output device, and the second and fourth lasers are the laser The second and fourth big cell units may be disposed to be spaced apart from the output device by a third distance or more to overlap the first distance or more.

Here, the first distance may be a reference distance for calculating the safety level.

Here, the size of the area where the first laser and the third laser overlap is 80% or more of the size of the irradiation area of the first laser at a distance of 100m from the lidar device, and the first laser and the third The size of the area where the laser overlaps may be 90% or more of the size of the irradiation area of the first laser at a distance of 200m from the lidar device.

According to another embodiment, distance information with respect to an object is obtained using lasers output from a plurality of VCSEL units including at least one VCSEL Emitter (Vertical Cavity Surface Emitting Laser Emitter). A method of obtaining distance information of a lidar device, comprising: operating a first vixel unit at a first time point to output a first laser, and operating a second vixel unit at a second time point different from the first time point to output the first Outputting a second laser at an angle different from that of the laser, by operating the first and third vixel units at a third time different from the first and second time points to be irradiated at the same angle as the first laser. 3 outputting a laser and the first laser, obtaining distance information between the first object and the lidar device when the first and third lasers irradiated at the third time point are reflected from a first object The step of outputting the second laser by operating the second big cell unit at a fourth time point different from the first to third time points, and the second laser irradiated at the fourth time point is reflected from a second object. In the case of a case, including obtaining distance information between the second object and the lidar device, the distance value of distance information between the first object and the first object obtained based on the first and third lasers output at the third time point A method of obtaining distance information greater than a distance value of distance information to a second object obtained based on the second laser output at the fourth viewpoint may be provided.

According to another embodiment, an autonomous vehicle capable of autonomously driving by detecting an object around a vehicle and using the same, includes a lidar device for measuring a distance between the vehicle body and the object, wherein the lidar device A first VCSEL unit including at least one VCSEL emitter (Vertical Cavity surface Emitting Laser Emitter), including at least one biccel emitter, but a first laser output from the first viccel unit A second vixel unit that irradiates a second laser at a steering angle different from the steering angle of, but includes at least one vixel emitter, different from the steering angle of the second laser, and steering of the first laser A third vixel unit that irradiates a third laser at a steering angle equal to the angle, including at least one vixel emitter, different from the steering angle of the first and third lasers, and the same as the steering angle of the second laser. A fourth big cell unit that irradiates a fourth laser at a steering angle, and a control unit that controls the operation of the first, second, third, and fourth big cell units, wherein the control unit includes the first and the first 3 Operate the first and third big cell units to output a laser, turn off the second and fourth big cell units, and output the second and fourth lasers at a second time different from the first time point. An autonomous vehicle may be provided that operates the 2nd and 4th big cell units and turns off the first and third big cell units.

Here, the first and third big cell units are spaced apart from a first distance or more so that the first and third lasers overlap at a predetermined distance or more from the laser output device, and the second and fourth lasers output the laser. The second and fourth big cell units are spaced apart from each other by a second distance or more so that they overlap at a certain distance or more from the device, and the first and second big cell units are spaced apart from each other by a third distance or less so as to be disposed adjacent to each other, The first and second distances may be greater than the third distance.

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

The lidar device is a device for detecting a distance to an object and a location 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 may be expressed in a spherical coordinate system (r, θ, φ). 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.

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.

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 have. 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 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.

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.

Hereinafter, a big cell emitter will be described in an embodiment of the present application.

61 is a diagram illustrating a cross-sectional view of a big cell emitter according to an embodiment. The big cell emitter of FIG. 61 may be the same as the big cell emitter of FIG. 3. 61 may show a cross-sectional view of the big cell emitter of FIG. 3.

Referring to FIG. 61, a big cell 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, lower Distributed Bragg reflector), a substrate 50, and an oxidation region 70 may be included.

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

Since the contents of the big cell emitter 110 may overlap with the contents of the big cell emitter of FIG. 3, detailed information will be omitted.

62 is a diagram illustrating a big cell emitter according to another embodiment.

Referring to FIG. 62, a big cell emitter 3000 according to an embodiment includes an upper metal contact 3010, an upper DBR layer 3020, an upper Distributed Bragg reflector, and a lower DBR layer 3030, a lower Distributed Bragg reflector, active. The layer 3040 may include a quantum well, a substrate 3050, a lower metal contact 3060, and a reflector 3070.

The big cell emitter 3000 according to an embodiment may emit a laser beam vertically from the top surface. For example, the big cell emitter 3000 may emit a laser beam vertically from the surface of the upper metal contact 3010. Also, for example, the big cell emitter 3000 may emit a laser beam perpendicular to the active layer 3040.

The big cell emitter 3000 according to an embodiment may emit laser beams of various wavelengths. For example, the big cell emitter 3000 may emit a laser beam having a wavelength of 905 nm. Also, for example, the big cell emitter 3000 may emit a laser beam having a wavelength of 1550 nm.

In addition, in the big cell emitter 3000 according to an exemplary embodiment, the output wavelength may be changed by the surrounding environment. For example, as the temperature of the surrounding environment increases, the output wavelength of the big cell emitter 3000 may increase. Alternatively, for example, as the temperature of the surrounding environment of the big cell emitter 3000 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 big cell emitter 3000 may be expressed as a big cell in the description of the present invention.

The big cell unit may include a plurality of big cell emitters 3000. In addition, the big cell array may include a plurality of big cell units.

According to an embodiment, the big cell emitter 3000 may include an upper DBR layer 3020 and a lower DBR layer 3030.

The upper DBR layer 3020 may be expressed as an upper DBR layer, an upper DBR layer, an upper reflective layer, a reflective layer, or a first reflective layer in the description of the present invention, but is not limited thereto.

According to an embodiment, the upper DBR layer 3020 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 big cell emitter 3000.

In addition, according to an embodiment, the upper DBR layer 3020 may be doped with p-type or n-type. For example, when the upper DBR layer 3020 is doped with a p-type, the lower DBR layer 3030 is doped with an n-type. Also, for example, when the upper DBR layer 3020 is doped with n-type, the lower DBR layer 3030 is doped with p-type.

The lower DBR layer 3030 may be expressed as a lower DBR layer, a lower DBR layer, a lower reflective layer, a reflective layer, or a second reflective layer in the description of the present invention, but is not limited thereto.

According to an embodiment, the lower DBR layer 3030 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 big cell emitter 3000.

Further, according to an embodiment, the lower DBR layer 3030 may be doped with p-type or n-type. For example, when the lower DBR layer 3030 is doped with a p-type, the upper DBR layer 3020 is doped with an n-type. Also, for example, when the lower DBR layer 3030 is doped with n-type, the upper DBR layer 3020 is doped with p-type.

According to an embodiment, the big cell emitter 3000 may include an active layer 3040.

The active layer 3040 may be expressed as an active layer, an active layer, an active layer, or an active layer in the description of the present invention, but is not limited thereto.

According to an embodiment, the active layer 3040 may be disposed between the upper DBR layer 3020 and the lower DBR layer 3030.

According to an embodiment, the active layer 3040 may include a plurality of quantum wells generating a laser beam. In addition, the active layer 3040 may emit a laser beam.

Also, according to an embodiment, the active layer 3040 may include an oxidation region. Alternatively, the oxidized region may be located on the active layer 3040.

In this case, the oxidized region may have insulating properties. The oxidized region may limit the flow of electricity or the oxidized region may not have electricity.

Also, the oxidized region may exist at the edge of the active layer 3040. For example, the oxidized region may not be disposed in the central portion of the active layer 3040. In this case, the oxidized region is not disposed at the center portion of the active layer 3040 but at the edge thereof, so that the laser beam emitted from the active layer 3040 may be emitted to the center portion. In addition, photons in the active layer 3040 may be collected at a central portion by the oxidation region and a laser beam may be emitted to the central portion of the active layer 3040.

In this case, the oxidation region may serve as an aperture of the big cell emitter 3000. Specifically, since the oxidized region has insulating properties, the laser beam generated from the active layer 3040 may be emitted only in a portion other than the oxidized region.

According to an embodiment, the big cell emitter 3000 may include a metal contact for electrical connection with an external power source or the like. For example, the big cell emitter 3000 may include an upper metal contact 2010 and a lower metal contact 3060.

In addition, according to an embodiment, the big cell emitter 3000 may be electrically connected to the upper DBR layer 3020 and the lower DBR layer 3030 through a metal contact.

For example, when the upper DBR layer 3020 is doped with a p-type and the lower DBR layer 3030 is doped with an n-type, p-type power is supplied to the upper metal contact 3010 and the upper DBR layer 3020 and It is electrically connected, and n-type power is supplied to the lower metal contact 3060 to be electrically connected to the lower DBR layer 3030.

In addition, for example, when the upper DBR layer 3020 is doped with n-type and the lower DBR layer 3030 is doped with p-type, n-type power is supplied to the upper metal contact 3010 and the upper DBR layer 3020 And the p-type power is supplied to the lower metal contact 3060 to be electrically connected to the lower DBR layer 3030.

The upper metal contact 3010 and the lower metal contact 3060 may be formed of titanium (Ti), chromium (Cr) nickel (Ni), or a combination thereof, but are not limited thereto.

For example, when the upper metal contact 3010 or the lower metal contact 3060 is made of titanium, the reflectance of the upper metal contact 3010 or the lower metal contact 3060 may be 54.6%, but is not limited thereto.

Also, for example, when the upper metal contact 3010 or the lower metal contact 3060 is made of chromium, the reflectance of the upper metal contact 3010 or the lower metal contact 3060 may be 57.5%, but is not limited thereto. .

Also, for example, when the upper metal contact 3010 or the lower metal contact 3060 is made of nickel, the reflectance of the upper metal contact 3010 or the lower metal contact 3060 may be 70.5%, but is not limited thereto. .

According to an embodiment, the thickness of the upper metal contact 3010 may be 2 nm or less, but is not limited thereto.

In addition, the big cell emitter 3000 may include a reflector 3070. For example, the big cell emitter 3000 may include a reflector 3070 disposed on the upper metal contact 3010.

According to an embodiment, the reflector 3070 may reflect a laser beam output from the upper metal contact 3010. For example, the reflector 3070 may reflect the laser beam output from the upper metal contact 3010 back to the upper metal contact 3010. In addition, for example, the reflector 3070 may reflect a laser beam output from the active layer 3040 and absorbed by the upper metal contact 3010 through the upper DBR layer 3020. Therefore, the reflector 3070 reflects the laser beam absorbed by the upper metal contact 3010 of the big cell emitter 3000 to improve the light output efficiency of the big cell emitter 3000.

In addition, according to an embodiment, the reflector 3070 may have a first surface facing the upper metal contact 3010. The first surface may be adjacent to or spaced apart from the upper metal contact 3010.

The first surface of the reflector 3070 may be a flat surface, a curved surface, or an inclined surface having an inclination.

For example, when the first surface of the reflector 3070 is a flat surface, the reflector 3070 and the upper metal contact 3010 may share the first surface and be adjacent to each other, but is not limited thereto.

In addition, for example, when the first surface of the reflector 3070 is a curved surface, the first surface may be curved toward the central portion of the big cell emitter 3000, but is not limited thereto.

In addition, for example, when the first surface of the reflector 3070 is an inclined surface having an inclination, the first surface may be inclined toward the central portion of the big cell emitter 3000, but is not limited thereto.

According to an embodiment, the reflector 3070 may be made of silver (Ag), aluminum (Al), or a combination thereof, but is not limited thereto.

For example, when the reflector 3070 is made of silver, the reflectance of the reflector 3070 may be 99%, but is not limited thereto.

In addition, for example, when the reflector 3070 is made of aluminum, the reflectance of the reflector 3070 may be 90.7%, but is not limited thereto.

According to an embodiment, the reflectivity of the reflector 3070 may be greater than that of the upper metal contact 3010. For example, the reflectance of the first surface of the reflector 3070 may be greater than that of the upper metal contact 3010.

For example, the reflectance of the upper metal contact 3010 is 54.6% (Ti), 57.5% (Cr) or 70.5% (Ni), and the reflectance of the reflector 3070 is 99% (Ag) or 90.7% (Al) Subsequently, the reflectance of the reflector 3070 may be greater than that of the upper metal contact 3010, but is not limited thereto.

In addition, for example, when the upper metal contact 3010 is made of titanium, the thickness of the upper metal contact 3010 is 2 nm or less, and the reflector 3070 is made of silver, the reflector 3070 for light having a wavelength of 940 nm The reflectance of may be 90% or more, but is not limited thereto.

63 is a diagram illustrating a cross-sectional view of a big cell emitter according to another embodiment.

Referring to FIG. 63, a big cell emitter 3000 according to an embodiment includes an upper metal contact 3010, an upper DBR layer 3020, an upper Distributed Bragg reflector, and a lower DBR layer 3030, a lower Distributed Bragg reflector. The layer 3040 may include a quantum well, an oxidation region 3045, a substrate 3050, a lower metal contact 3060, and a reflector 3070.

According to an embodiment, the reflector 3070 of the big cell emitter 3000 may include a first surface 3075 facing the upper metal contact 3010. In this case, the first surface 3075 may have a flat shape or may include a curved surface.

According to an embodiment, the reflector 3070 of the big cell emitter 3000 may reflect light emitted from the upper metal contact 3010 again. For example, the ripple letter 3070 may reflect light from the active layer 3040 in the direction of the upper metal contact 3010 to the active layer 3040 again. The light reflected by the reflector 3070 may be reflected back from the upper DBR layer or the lower DBR layer and emitted to the outside through an opening existing between the upper metal contacts 3010.

The reflector 3070 may reflect light emitted from the upper metal contact 3010 again, thereby increasing the laser beam emission efficiency of the big cell emitter 3000. The reflector 3070 may reflect light emitted from the upper metal contact 3010 again, thereby increasing the amount of light output through the opening of the big cell emitter 3000.

According to an embodiment, the reflector 3070 of the big cell emitter 3000 may include a first surface 3075 in contact with the upper metal contact 3010. At this time, if the length of the first surface 3075 is longer than the length of the upper metal contact 3010, the first surface 3075 can reduce the area and output efficiency of the laser beam output from the active layer 3040. , The length of the first surface 3075 may be equal to or less than the length of the upper metal contact 3010.

In addition, according to an embodiment, the first surface 3075 of the reflector 3070 of the big cell emitter 3000 may not directly reflect the laser beam output from the active layer 3040. When directly reflecting the laser beam output from the active layer 3040, the first surface 3075 can reduce the area and output efficiency of the laser beam output from the active layer 3040, the active layer 3040 The laser beam output from) may not be directly incident on the first surface 3075.

64 is a diagram illustrating a cross-sectional view of a big cell emitter according to another embodiment.

Referring to FIG. 64, a big cell emitter 3300 according to an embodiment includes an upper metal contact 3310, an upper DBR layer 3320, an upper Distributed Bragg reflector, and a lower DBR layer 3330, a lower Distributed Bragg reflector. The layer 3340 may include a quantum well, an oxidation region 3345, a substrate 3350, a lower metal contact 3360, and reflectors 3370 and 3380 reflectors.

Upper metal contact 3310, upper DBR layer 3320, upper Distributed Bragg reflector, lower DBR layer 3330, lower Distributed Bragg reflector, active layer 3340, quantum well, oxidation region 3345, substrate (3350, substrate), a lower metal contact 3360, and a reflector 3370 are described in the upper metal contact 3010, upper DBR layer 3020, upper Distributed Bragg reflector, and lower DBR layer 3030 of FIG. , lower Distributed Bragg reflector), active layer (3040, quantum well), oxidation region (3045, oxidation region), substrate (3050, substrate), lower metal contact (3060) and reflector (3070, reflector). Because of this, detailed descriptions are omitted.

The big cell emitter 3300 may include a plurality of reflectors. For example, the big cell emitter 3300 may include a first reflector 3370 and a second reflector 3380.

The first reflector 3370 may have a first surface 3375 facing the upper metal contact 3310. The first surface 3375 may be adjacent to or spaced apart from the upper metal contact 3310.

The second reflector 3380 may have a second surface 3385 facing the first reflector 3370. The second surface 3386 may be adjacent to or spaced apart from the first reflector 3370.

The first surface 3375 of the first reflector 3370 and the second surface 3375 of the second reflector 3380 may be flat, curved, or inclined.

The first surface 3375 and the second surface 3385 may be overlapped with the first surface 3075 of the big cell emitter 3000, and detailed information will be omitted.

65 is a diagram illustrating an upper metal contact and a reflector according to an exemplary embodiment.

Referring to FIG. 65, the reflector 3070 may include a first surface 3075 facing the upper metal contact 3010. Depending on the shape of the first surface, the number and degree of reflection of photons in the DBR layer may vary.

According to an embodiment, the first surface 3075 may reflect a laser beam absorbed by the upper metal contact 3010. In addition, the first surface 3075 may reflect the laser beam output through the upper metal contact 3010.

For example, the first surface 3075 may reflect a laser beam perpendicularly incident on the first surface 3075 through the upper metal contact 3010 to the first surface 3075 again.

In addition, for example, the first surface 3075 may reflect a laser beam incident on the first surface 3075 through the upper metal contact 3010 with an incidence angle θ to have a reflection angle θ again.

66 is a diagram illustrating a cross-sectional view of a big cell emitter according to another embodiment.

Referring to FIG. 66, a big cell emitter 3100 according to another embodiment includes an upper metal contact 3110, an upper DBR layer 3120, an upper Distributed Bragg reflector, a lower DBR layer 3130, a lower Distributed Bragg reflector, An active layer 3140 (quantum well), an oxidation region 3145, a substrate 3150, a lower metal contact 3160, and a reflector 3170 may be included.

Since the upper metal contact 3110 of the big cell emitter 3100 may be the same as the upper metal contact 3010 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

Since the upper DBR layer 3120 of the big cell emitter 3100 may be the same as the upper DBR layer 3020 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

Since the lower DBR layer 3130 of the big cell emitter 3100 may be the same as the lower DBR layer 3030 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

Since the active layer 3140 of the big cell emitter 3100 may be the same as the active layer 3040 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

Since the oxidized region 3145 of the big cell emitter 3100 may be the same as the oxidized region 3045 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

The substrate 3150 of the big cell emitter 3100 may be the same as the substrate 3050 of the big cell emitter 3000 shown in FIG.

Since the lower metal contact 3160 of the big cell emitter 3100 may be the same as the lower metal contact 3060 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

Since the reflector 3170 of the big cell emitter 3100 may be the same as the reflector 3070 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

According to an embodiment, the reflector 3170 of the big cell emitter 3100 may include a first surface 3175 facing the upper metal contact 3110. In this case, the first surface 3175 may be a curved surface.

According to an embodiment, when the length of the reflector 3170 of the big cell emitter 3100 is longer than the length of the upper metal contact 3110, the reflector 3170 is the area and output of the laser beam output from the active layer 3140. Since efficiency can be reduced, the length of the reflector 3170 may be equal to or less than the length of the upper metal contact 3110.

In addition, according to an embodiment, the first surface 3175 of the reflector 3170 of the big cell emitter 3100 may not directly reflect the laser beam output from the active layer 3140. When the laser beam output from the active layer 3140 is directly reflected, the first surface 3175 can reduce the area and output efficiency of the laser beam output from the active layer 3140, so the active layer 3140 The laser beam output from) may not be directly incident on the first surface 3175.

67 is a diagram illustrating an upper metal contact and a reflector according to another exemplary embodiment.

Referring to FIG. 67, the reflector 3170 may include a first surface 3175 facing the upper metal contact 3110.

According to an embodiment, the first surface 3175 may reflect a laser beam absorbed by the upper metal contact 3110. Also, the first surface 3175 may reflect the laser beam output through the upper metal contact 3110.

At this time, since the first surface 3175 has a curved shape, the laser beam incident on the first surface 3175 through the upper metal contact 3110 is formed by the first surface 3175 of the BIXEL emitter 3110. It can be reflected in a direction towards the central part. Since the laser beam reflected by the first surface 3175 is directed toward the central portion of the big cell emitter 3110, light loss of the big cell emitter 3110 can be reduced and light output efficiency can be improved.

68 is a diagram illustrating a cross-sectional view of a big cell emitter according to another embodiment.

Referring to FIG. 68, a big cell emitter 3200 according to another embodiment includes an upper metal contact 3210, an upper DBR layer 3220, an upper Distributed Bragg reflector, and a lower DBR layer 3230, a lower Distributed Bragg reflector. , An active layer 3240, a quantum well, an oxidation region 3245, a substrate 3250, a lower metal contact 3260, and a reflector 3270.

Since the upper metal contact 3210 of the big cell emitter 3200 may be the same as the upper metal contact 3010 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

Since the upper DBR layer 3220 of the big cell emitter 3200 may be the same as the upper DBR layer 3020 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

Since the lower DBR layer 3230 of the big cell emitter 3200 may be the same as the lower DBR layer 3030 of the big cell emitter 3000 of FIG. 62, detailed descriptions will be omitted.

Since the active layer 3240 of the big cell emitter 3200 may be the same as the active layer 3040 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

Since the oxidized region 3245 of the big cell emitter 3200 may be the same as the oxidized region 3045 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

The substrate 3250 of the big cell emitter 3200 may be the same as the substrate 3050 of the big cell emitter 3000 of FIG.

Since the lower metal contact 3260 of the big cell emitter 3200 may be the same as the lower metal contact 3060 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

Since the reflector 3270 of the big cell emitter 3200 may be the same as the reflector 3070 of the big cell emitter 3000 of FIG. 62, a detailed description will be omitted.

According to an embodiment, the reflector 3270 of the big cell emitter 3200 may include a first surface 3275 facing the upper metal contact 3210. In this case, the first surface 3275 may be an inclined surface having an inclination.

According to an embodiment, when the length of the reflector 3270 of the big cell emitter 3200 is longer than the length of the upper metal contact 3210, the reflector 3270 is the area and output of the laser beam output from the active layer 3240. Since efficiency can be reduced, the length of the reflector 3270 may be equal to or less than the length of the upper metal contact 3210.

In addition, according to an embodiment, the first surface 3275 of the reflector 3270 of the big cell emitter 3200 may not directly reflect the laser beam output from the active layer 3240. When the laser beam output from the active layer 3240 is directly reflected, the first surface 3275 can reduce the area and output efficiency of the laser beam output from the active layer 3240 The laser beam output from) may not be directly incident on the first surface 3275.

69 is a diagram illustrating an upper metal contact and a reflector according to another embodiment.

Referring to FIG. 69, the reflector 3270 may include a first surface 3275 facing the upper metal contact 3210.

According to an embodiment, the first surface 3275 may reflect a laser beam absorbed by the upper metal contact 3210. Also, the first surface 3275 may reflect the laser beam output through the upper metal contact 3210.

At this time, since the first surface 3275 is an inclined surface having an inclination, the laser beam incident on the first surface 3275 through the upper metal contact 3210 is the bixel emitter 3210 by the first surface 3275 It can be reflected in a direction toward the central part of the. Since the laser beam reflected by the first surface 3275 is directed toward the central portion of the big cell emitter 3210, light loss of the big cell emitter 3210 can be reduced and light output efficiency can be improved.

70 is a diagram illustrating a cross-sectional view of a bottom-emitting big cell emitter according to an embodiment.

Referring to FIG. 70, a bottom-emitting big cell emitter 3400 according to an embodiment includes a first metal contact 3410, a first DBR layer 3420, an oxide region 3430, and an active layer. 3440, a second DBR layer 3450, a substrate 3460, and a second metal contact 3470 may be included.

In addition, the big cell emitter 3400 according to an embodiment may emit a laser beam vertically from the lower surface. For example, the big cell emitter 3400 may emit a laser beam in a direction perpendicular to the surface of the second metal contact 3470. Also, for example, the big cell emitter 3400 may emit a laser beam perpendicular to the active layer 3440.

The big cell emitter 3400 according to an embodiment may include a first DBR layer 3420 and a second DBR layer 3430.

The description of the first DBR layer 3420 and the second DBR layer 3430 may overlap with the description of the upper DBR layer 20 and the lower DBR layer 30 of the bigcell emitter 110 of FIG. 3. , Detailed description is omitted.

The first DBR layer 3420 according to an embodiment may be doped with a p-type, and the second DBR layer 3450 may be doped with an n-type. Alternatively, the first DBR layer 3420 may be doped with an n-type, and the second DBR layer 3450 may be doped with a p-type.

In this case, the first metal contact 3410 may be a p-type metal, and the second metal contact 3470 may be an n-type metal. Alternatively, the first metal contact 3410 may be an n-type metal, and the second metal contact 3470 may be a p-type metal.

The description of the oxidized region 3430, the active layer 3440, and the substrate 3460 may overlap with the description of the oxidized region, the active layer 40, and the substrate 50 of the BIXEL emitter 110 of FIG. 3. Yes, detailed description is omitted.

71 is a diagram illustrating a cross-sectional view of a bottom-emitting big cell emitter according to another embodiment.

Referring to FIG. 71, a bottom-emitting big cell emitter 3500 according to another embodiment includes a first metal contact 3510, a first DBR layer 3520, an oxide region 3530, an active layer 3540, and A second DBR layer 3550, a substrate 3560, a second metal contact 3570, and a reflector 3580 may be included.

In addition, the big cell emitter 3500 according to an embodiment may emit a laser beam vertically from the lower surface. For example, the big cell emitter 3500 may emit a laser beam in a direction perpendicular to the surface of the second metal contact 3570. Also, for example, the big cell emitter 3500 may emit a laser beam perpendicular to the active layer 3540.

The first metal contact 3510, the first DBR layer 3520, the oxide region 3530, the active layer 3540, the second DBR layer 3550, the substrate 3560, and the second metal contact 3570. The description is a first metal contact 3410, a first DBR layer 3420, an oxide region 3430, an active layer 3440, a second DBR layer 3450, a substrate 3460, and a second metal contact in FIG. 70. Since the description of (3470) may be duplicated, a detailed description will be omitted.

According to an embodiment, the reflector 3580 of the big cell emitter 3500 may include a first surface 3085 facing the second metal contact 3580. In this case, the first surface 3585 may have a flat shape or may include a curved surface.

According to an embodiment, the reflector 3580 of the big cell emitter 3500 may reflect light emitted from the second metal contact 3570 again. For example, the ripple letter 3580 may reflect light from the active layer 3540 in the direction of the second metal contact 3570 to the active layer 3540 again. The light reflected by the reflector 3580 may be reflected back from the first DBR layer or the second DBR layer and emitted to the outside through an opening existing between the second metal contacts 3570.

The reflector 3580 may reflect light emitted from the second metal contact 3570 again, thereby increasing the laser beam emission efficiency of the big cell emitter 3500. The reflector 3580 may reflect light emitted from the second metal contact 3570 again, thereby increasing the amount of light output through the opening of the big cell emitter 3500.

According to an embodiment, the reflector 3580 of the big cell emitter 3500 may include a first surface 3585 in contact with the second metal contact 3570. At this time, if the length of the first surface 3585 is longer than the length of the second metal contact 3570, the first surface 3585 can reduce the area and output efficiency of the laser beam output from the active layer 3540. Therefore, the length of the first surface 3585 may be equal to or less than the length of the second metal contact 3570.

In addition, according to an embodiment, the first surface 3585 of the reflector 3570 of the big cell emitter 3500 may not directly reflect the laser beam output from the active layer 3540. When the laser beam output from the active layer 3540 is directly reflected, since the first surface 3585 can reduce the area and output efficiency of the laser beam output from the active layer 3540, the active layer 3540 The laser beam output from) may not be directly incident on the first surface 3585.

Hereinafter, a big cell array according to an embodiment of the present application will be described.

72 is a diagram for describing a big cell array according to an embodiment.

Referring to FIG. 72, a big cell array 4100 according to an embodiment may include a plurality of big cell units 4110.

The big cell array 4100 may be a 2D array. The plurality of big cell units 4110 may be arranged in two dimensions. For example, the plurality of big cell units 4110 may be arranged based on a first axis, and may be arranged along a second axis different from the first axis. For example, the plurality of big cell units 4110 may be arranged along the x-axis and along the y-axis to represent a matrix form.

72 illustrates only a big cell array having a 4 X 4 matrix shape, but the shape of the big cell array is not limited thereto. For example, a big cell array is 5 X 5, 6 X 6, 7 X 7, 8 X 8, 9 X 9, 10 X 10, 11 X 11, 12 X 12, 13 X 13, 14 X 14, 15 X 15 , 16 X 16, etc. may be in the form of a matrix. Or, for example, the big cell array may be in the form of an N X M matrix. The shape of the big cell array is not limited to the number described, and may be a matrix type composed of other numbers.

Also, for example, the plurality of big cell units 4110 may be arranged along an x-axis, and may be arranged along a second axis forming an angle of 90 degrees or less with the x-axis. In this case, the plurality of big cell arrays 4100 may have a rhombic shape or a trapezoid shape. In addition, the plurality of big cell arrays 4100 may have a honeycomb shape.

The big cell unit 4110 may include a plurality of big cell emitters. For example, the big cell unit 4110 may include 300 to 400 big cell emitters. For example, the big cell unit 4110 may include a plurality of big cell emitters arranged in a circular structure, a matrix structure, a rhombus structure, a trapezoid structure, or a honeycomb structure.

The big cell array 4100 according to an embodiment may include a plurality of contacts 4120, 4125, 4130, and 4135. For example, the big cell array 4100 may include first contacts 4120 and 4125 disposed adjacent to both ends of the big cell array arranged along the first axis. Also, for example, the big cell array 4100 may include second contacts 4130 and 4135 disposed adjacent to both ends of the big cell array arranged along the second axis.

As another example, the big cell array 4100 includes first contacts 4120 disposed adjacent to one end of the big cell array arranged along the first axis and second contacts 4125 disposed adjacent to the other end. Can include. In addition, for example, the big cell array 4100 includes third contacts 4130 disposed adjacent to one end of the big cell array arranged along the second axis and fourth contacts 4135 disposed adjacent to the other end. Can include.

The plurality of contacts 4120, 4125, 4130, and 4135 according to an embodiment may include a conductive material. For example, the plurality of contacts 4120, 4125, 4130, and 4135 may include metal.

The plurality of contacts 4120, 4125, 4130, and 4135 according to an embodiment may be electrically connected to the plurality of big cell units 4110. In this case, the plurality of contacts 4120, 4125, 4130, and 4135 may supply power to the plurality of big cell units 4110.

According to an embodiment, the plurality of contacts 4120, 4125, 4130, and 4135 may supply a p-type voltage or an n-type voltage to the plurality of big cell units 4110. For example, the p-type voltage may be a voltage supplied from the (+) terminal of the voltage source, and the n-type voltage may be a voltage supplied from the (-) terminal of the voltage source. Also, for example, the p-type voltage is generally a voltage applied to the p-doped material, and the n-type voltage may be a voltage generally applied to the n-doped material.

For example, the first contacts 4120 and 4125 arranged at both ends of the big cell array arranged along the first axis may be connected to the lower metal contacts 60 of the plurality of big cell units 4110. In this case, an n-type voltage may be applied to the lower metal contact 60 of the big cell unit 4110 through the first contacts 4120 and 4125.

Also, for example, the second contacts 4130 and 4135 arranged at both ends of the big cell array arranged along the second axis may be connected to the upper metal contact 10 of the plurality of big cell units 4110. In this case, a p-type voltage may be applied to the upper metal contact 10 of the big cell unit 4110 through the second contacts 4120 and 4125. In this case, a voltage greater than or equal to the reference voltage may be applied to the upper metal contact 10 of the big cell unit 4110 through the second contacts 4120 and 4125.

For another example, the first contacts 4120 and 4125 arranged at both ends of the big cell array arranged along the first axis may be connected to the upper metal contact 10 of the plurality of big cell units 4110. In this case, a p-type voltage may be applied to the upper metal contact 10 of the big cell unit 4110 through the first contacts 4120 and 4125. In this case, a voltage greater than or equal to the reference voltage may be applied to the upper metal contact 10 of the big cell unit 4110 through the first contacts 4120 and 4125.

In addition, for another example, the second contacts 4130 and 4135 arranged at both ends of the big cell array arranged along the second axis may be connected to the lower metal contacts 60 of the plurality of big cell units 4110. In this case, an n-type voltage may be applied to the lower metal contact 60 of the big cell unit 4110 through the second contacts 4120 and 4125. In this case, a voltage less than or equal to the reference voltage may be applied to the lower metal contact 60 of the big cell unit 4110 through the second contacts 4120 and 4125.

The big cell array 4110 according to an embodiment may include a plurality of wires 4140 and 4150. The plurality of wires 4140 and 4150 may include a conductive material. For example, the plurality of wires 4140 and 4150 may include metal.

A plurality of wires 4140 according to an embodiment may connect a plurality of big cell units 4110 arranged along the first axis to each other or electrically connect the big cell unit 4110 and the first contacts 4120 and 4125 to each other. I can. In addition, the plurality of wires 4150 may connect the plurality of big cell units 4110 arranged along the second axis to each other or electrically connect the big cell unit 4110 and the second contacts 4130 and 4135 to each other.

Referring to FIG. 72, a plurality of big cell units 4110 included in the big cell array 4110 may operate individually. The plurality of big cell units 4110 included in the big cell array 4110 may be independently operated regardless of whether other big cell units are operated.

For example, in order to operate the big cell unit in the first row and the first column, an n-type voltage is applied to a contact disposed in the first row among the first contacts 4120 and 4125, and an n-type voltage is applied to the contact disposed in the first row among the second contacts 4130 and 4135. A p-type voltage can be applied to the contact.

For example, in order to operate the big cell unit in the first row and the first column, a voltage equal to or lower than the reference voltage is applied to a contact arranged in the first row among the first contacts 4120 and 4125, and a voltage lower than the reference voltage is applied to the first column of the second contacts 4130 and 4135. A voltage greater than or equal to the reference voltage may be applied to the disposed contacts.

In addition, for example, in order to operate the Big Cell unit in the first row and the second column, an n-type voltage is applied to a contact disposed in the first row among the first contacts 4120 and 4125, and in the second column among the second contacts 4130 and 4135. A p-type voltage can be applied to the contact.

In addition, for example, in order to operate the big cell unit in the first row and the second column, a voltage equal to or less than the reference voltage is applied to the contact arranged in the first row among the first contacts 4120 and 4125, and two of the second contacts 4130 and 4135 are applied. A voltage greater than or equal to the reference voltage may be applied to the contacts arranged in the column.

Also, for example, in order to operate all four big cell units arranged in one row, an n-type voltage is applied to a contact arranged in one row among the first contacts 4120 and 4125, and the second contacts 4130 and 4135 are applied. A p-type voltage can be applied to all.

In addition, for example, in order to operate all four big cell units arranged in one row, a voltage equal to or lower than the reference voltage is applied to the contacts arranged in the first row among the first contacts 4120 and 4125, and the second contacts 4130, 4135) A voltage higher than the reference voltage can be applied to all.

In addition, for example, in order to operate the big cell unit in the 2nd row and 2nd column and the bigcell unit in the 3rd row and 4th column, an n-type voltage is applied to the contacts arranged in rows 2 and 3 of the first contacts 4120 and 4125, and the second contact Among them 4130 and 4135, a p-type voltage may be applied to the contacts arranged in the 2nd and 4th columns.

In addition, for example, in order to operate the big cell units in the 2nd row and 2nd column and the bigcell unit in the 3rd row and 4th column, a voltage below the reference voltage is applied to the contacts arranged in the 2nd and 3rd rows of the first contacts 4120 and 4125. A voltage greater than or equal to the reference voltage may be applied to the contacts arranged in the 2nd and 4th columns among the 2 contacts 4130 and 4135.

In addition, for example, in order to operate all the big cell units 4110 included in the big cell array 4100, an n-type voltage is applied to all of the first contacts 4120 and 4125, and all of the second contacts 4130 and 4135 are applied. A p-type voltage can be applied.

In addition, for example, in order to operate all the big cell units 4110 included in the big cell array 4100, a voltage equal to or less than the reference voltage is applied to all of the first contacts 4120 and 4125, and the second contacts 4130 and 4135 A voltage higher than the reference voltage can be applied to all.

73 is a diagram for describing a big cell array according to another embodiment.

Referring to FIG. 73, a big cell array 4200 according to another embodiment may include a plurality of big cell units 4210.

Since the description of the plurality of big cell units 4210 may overlap with the description of the plurality of big cell units 4110 described with reference to FIG. 72, detailed descriptions will be omitted.

Since the description of the plurality of contacts 4220, 4225, 4230, and 4235 may overlap with the description of the plurality of contacts 4120, 4125, 4130, and 4135 described with reference to FIG. 72, a detailed description will be omitted. .

The description of the plurality of wires 4240 and 4250 may be duplicated with the description of the plurality of wires 4140 and 4150 described with reference to FIG. 72, and a detailed description thereof will be omitted.

The big cell array 4200 according to an embodiment may include a common contact 4260. The common contact 4260 may include a conductive material. For example, the common contact 4260 may include a metal.

The common contact 4260 according to an embodiment may be electrically connected to a plurality of big cell units 4210 arranged along the first axis. For example, the common contact 4260 may be electrically connected through the plurality of big cell units 4210 arranged along the first axis and the lower metal contact 60. Also, for example, the common contact 4260 may be electrically connected through a plurality of big cell units 4210 arranged along the first axis and the upper metal contact 10.

The common contact 4260 according to an embodiment may have a resistance. In this case, as the length from one reference point to one end of the common contact 4260 increases, the resistance may increase.

For example, the resistance from the first reference point, which is the center of the big cell unit in row 1 and column 1, to the left end of the common contact 4260 in row 1, is the common contact in row 1 from the second reference point, which is the center of the big cell unit in row 1 and 2 columns. It may be less than the resistance to the left end of (4260).

In addition, for example, the resistance from the first reference point, which is the center of the big cell unit in the first row and the first column, to the left end of the common contact 4260, in the first row is common to the first row from the third reference point, which is the center of the big cell unit in the first row and three columns. It may be smaller than the resistance to the left end of the contact 4260.

Also, for example, the resistance from the first reference point, which is the center of the big cell unit in the first row and the first column, to the left end of the common contact 4260, in the first row, is common to the first row from the fourth reference point, which is the center of the big cell unit in the first row and fourth columns. It may be smaller than the resistance to the left end of the contact 4260.

At this time, when the common contact 4260 supplies power only from the left end of the common contact 4260 and the neighboring first contact 4225 through the wire 4240, the resistance between the plurality of big cell units in one row The difference may not be uniform.

When the resistances between the big cell units are different from each other or the difference is not uniform, the intensity of the laser beam output between the big cell units may be different. When the laser beam output intensity between the big cell units is different, an uneven beam profile may be formed in the big cell array.

In addition, when the laser beam output intensity of the big cell units is different, the maximum measurement distance of each big cell unit is different, so that the performance of the lidar device using the big cell array may be degraded.

In order to solve the above problem, the first contacts 4220 and 4225 may be disposed at both ends of the plurality of big cell units 4210 arranged along the first axis rather than at one end. By disposing the first contacts 4220 and 4225 at both ends of the plurality of big cell units 4210, it is possible to reduce a difference in resistance between the big cell units.

The difference in resistance between the big cell units will be described below.

74 to 77 are diagrams for explaining resistance of a big cell unit according to an embodiment. Specifically, FIGS. 74 to 77 illustrate a case in which a contact adjacent to one end of both ends of the big cell array is disposed.

74 is a diagram illustrating a big cell array 4010 according to an embodiment. The big cell array 4010 according to an embodiment includes a plurality of big cell units 4011, contacts 4012, wires 4013, and common contacts 4014. In this case, the big cell array 4010 includes a contact 4012 adjacent to one end of both ends of the big cell array.

The big cell array 4010 according to an embodiment may operate the big cell unit 4011 by supplying power to the plurality of big cell units 4011 through the contact 4012. In this case, the resistance generated from the common contact 4014 electrically connected to the contact 4012 of each big cell unit 4011 may be different for each big cell unit.

Referring to FIG. 74, a first row of big cell units may have a first central point C1. The resistance of the first center point C1 is the combined resistance of the resistance from one end of the common contact 4014 to the edge of the bixel unit in the first row and the resistance from the edge of the bixel unit in the first row to the first central point C1. Can be.

According to an embodiment, the resistance from one end of the common contact 4014 to the edge of the first row big cell unit may be R1. In addition, the resistance from the edge of the big cell unit in the first row to the first central point C1 may be R2. Accordingly, the resistance of the first central point C1 may be a combined resistance of R1 and R2. For example, the resistance of the first central point C1 may be R1+R2.

For example, if the length from one end of the common contact 4014 to the edge of the first row big cell unit and the length from the edge of the first row big cell unit to the first center point C1 are the same, R1 may be the same as R2. have. Accordingly, the resistance of the first central point C1 may be 2*R1 or 2*R2.

75 is a diagram illustrating a big cell array 4010 according to an embodiment.

Referring to FIG. 75, two rows of big cell units may have a second central point C2. The resistance of the second center point C2 can be a resistance from one end of the common contact 4014 to the edge of the bixell unit in the second row and the combined resistance from the edge of the bixel unit in the second row to the second center point C2. have.

According to an embodiment, the resistance from one end of the common contact 4014 to the edge of the two-row big cell unit may be R1. In addition, the resistance from the edge of the two rows of big cell units to the second center point C2 may be R2. Accordingly, the resistance of the second central point C2 may be a combined resistance of R1 and R2. For example, the resistance of the second central point C2 may be R1+R2.

For example, the length from one end of the common contact 4014 to the edge of the bixel unit in the first row, the length from the edge of the bixel unit in the first row to the first center point C1, the length between each bixel unit, and the second row If the length from the edge of the big cell unit to the second central point C2 is the same, R1 may be 4 times R2. Accordingly, the resistance of the second central point C2 may be (5/4)*R1 or 5*R2.

76 is a diagram illustrating a big cell array 4010 according to an embodiment.

Referring to FIG. 76, three rows of big cell units may have a third central point C3. The resistance of the third center point C3 is the combined resistance of the resistance from one end of the common contact 4014 to the edge of the three-column bixel unit and the resistance from the edge of the three-column bixel unit to the third center point C3. Can be.

According to an embodiment, the resistance from one end of the common contact 4014 to the edge of the three-row big cell unit may be R1. Also, the resistance from the edge of the 3rd row of the big cell unit to the third central point C3 may be R2. Accordingly, the resistance of the third central point C3 may be a combined resistance of R1 and R2. For example, the resistance of the third central point C3 may be R1+R2.

For example, the length from one end of the common contact 4014 to the edge of the bixel unit in the first row, the length from the edge of the bixel unit in the first row to the first center point C1, the length between each bixel unit, and the third row If the length from the edge of the big cell unit to the third central point C3 is the same, R1 may be 7 times R2. Accordingly, the resistance of the third central point C3 may be (8/7)*R1 or 8*R2.

77 is a diagram illustrating a big cell array 4010 according to an embodiment.

Referring to FIG. 77, the four rows of big cell units may have a fourth central point C4. The resistance of the fourth center point C4 is the combined resistance of the resistance from one end of the common contact 4014 to the edge of the 4th row of the big cell unit and the resistance from the edge of the 4th row of the bigcell unit to the fourth center point C4. Can be.

According to an embodiment, the resistance from one end of the common contact 4014 to the edge of the four-row big cell unit may be R1. Further, the resistance from the edge of the 4th row of the big cell unit to the fourth center point C4 may be R2. Accordingly, the resistance of the fourth central point C4 may be a combined resistance of R1 and R2. For example, the resistance of the fourth central point C4 may be R1+R2.

For example, the length from one end of the common contact 4014 to the edge of the bixel unit in the first row, the length from the edge of the bixel unit in the first row to the first center point C1, the length between each bixel unit, and the fourth row If the length from the edge of the big cell unit to the fourth central point C4 is the same, R1 may be 10 times R2. Accordingly, the resistance of the third central point C3 may be (11/10)*R1 or 11*R2.

As described with reference to FIGS. 74 to 77, the resistance of the big cell unit may increase as the distance from the contact 4012 increases.

Since the big cell unit in column 1 is located closer to the contact 4012 than the big cell units in the same row, the big cell unit in column 1 may have less resistance than the big cell units in the same row. For example, the resistance of the big cell unit in row 1 may be 2*R2.

Since the second row of big cell units is located farther from the contact 4012 than the first row of big cell units, the second row of big cell units may have a greater resistance than the first row of big cell units. For example, the resistance of the two rows of big cell units may be 5*R2.

Since the big cell units in the third row are located farther from the contact 4012 than the big cell units in the first row and the second row, the big cell unit in the third row may have a greater resistance than the big cell units in the first row and the second row. For example, the resistance of the three-column big cell units may be 8*R2.

Since the 4th row big cell units are located farther from the contact 4012 than the 1st row, 2nd row, and 3rd row bigcell units, the 4th row bigcell units may have higher resistance than the 1st row, 2nd row, and 3rd row bigcell units. For example, the resistance of the 4th row big cell unit may be 11*R2.

Since the resistance of the bixel units by one end of the common contact 4014 is different, each bixel unit may output a laser beam of a different intensity. The greater the difference in resistance between the big cell units, the greater the difference in the intensity of the laser beam may be. If the difference in the intensity of the laser beam increases, the beam profile of the big cell array becomes unbalanced, and the measurement distance of the lidar device using the big cell array may change for each big cell unit.

According to an embodiment, a difference in resistance between the big cell units in the first row and the big cell units in the second row may be 3*R2. In addition, the difference in resistance between the big cell unit in column 1 and the big cell unit in column 3 may be 6*R2, and the difference in resistance between the big cell unit in column 1 and the big cell unit in column 4 may be 9*R2.

In this case, the difference (9*R2) between the resistance of the big cell unit in the first row and the resistance of the big cell unit in the fourth column (9*R2) may be larger than the difference (3*R2) between the resistance of the big cell unit in the first row and the resistance of the big cell unit in the second row.

At this time, the difference between the intensity of the laser beam output from the bixel unit in the first row and the laser beam output from the bixel unit in the fourth row is the intensity of the laser beam output from the bixel unit in the first row and the laser beam output from the bixel unit in the second row. It can be greater than the difference in intensity.

When the difference in the intensity of the laser beam of the big cell units is out of a certain range, the beam profile of the big cell array becomes non-uniform, and the measurement distance of the lidar device using the big cell array may be limited. To solve this problem, contacts 4012 may be disposed at both ends of the common contact 4014 to electrically connect the common contact 4014 and the plurality of big cell units 4011. A method of applying a voltage to both ends of the common contact 4014 will be described below.

78 to 81 are diagrams for explaining resistance of a big cell unit according to another exemplary embodiment. Specifically, FIGS. 78 to 81 illustrate a case in which contacts adjacent to both ends of a big cell array are arranged.

78 is a diagram illustrating a big cell array 4020 according to another embodiment. The big cell array 4020 according to an embodiment may include a plurality of big cell units 4021, a contact 4022, a wire 4023, and a common contact 4024. In this case, the big cell array 4020 may include a contact 4022 adjacent to one end of both ends of the big cell array.

The big cell array 4020 according to an embodiment may operate the big cell unit 4021 by supplying power to the plurality of big cell units 4021 through contacts 4022 and 4025 disposed at both ends. In this case, the resistance generated from the common contact 4024 electrically connected to the contacts 4022 and 4025 of each big cell unit 4021 may be different for each big cell unit.

Referring to FIG. 78, the big cell units in row 1 may have a fifth central point C5. The resistance of the fifth central point C5 may be a combined resistance of a resistance of the first sub-contact 4022 and a resistance of the second sub-contact 4025. For example, the resistance of the fifth central point C5 may be a resistance obtained by connecting a resistance of the first sub-contact 4022 and a resistance of the second sub-contact 4025 in parallel.

According to an embodiment, the resistance from one end of the common contact 4014 to the edge of the first row big cell unit may be R1. In addition, the resistance from the edge of the big cell unit in the first row to the fifth center point C5 may be R2. Further, the resistance from the edge of the big cell unit in the first row to the other end of the common contact 4024 may be R3.

Accordingly, the resistance of the fifth central point C5 may be a combined resistance of R1, R2, and R3. For example, the resistance of the fifth central point C5 may be (R1+R2)*(R2+R3)/(R1+2*R2+R3).

For example, if the length from one end of the common contact 4014 to the edge of the first row big cell unit and the length from the edge of the first row big cell unit to the fifth center point C5 are the same, R1 may be the same as R2. have. In addition, if the length to the fifth central point C5, the length between each vixel unit, and the length from the edge of the vixel unit to one end or the other end of the common contact 4014 are the same, R3 is 10 of R1 or R2. It can be a ship. Accordingly, the resistance of the fifth central point C5 may be (22/13)*R2.

79 is a diagram illustrating a big cell array 4020 according to another embodiment.

Referring to FIG. 79, two rows of big cell units may have a sixth central point C6. The resistance of the sixth central point C6 may be a combined resistance of a resistance of the first sub-contact 4022 and a resistance of the second sub-contact 4025. For example, the resistance of the sixth center point C6 may be a resistance obtained by connecting a resistance of the first sub-contact 4022 and a resistance of the second sub-contact 4025 in parallel.

According to an embodiment, the resistance from one end of the common contact 4014 to the edge of the two-row big cell unit may be R1. In addition, the resistance from the edge of the two rows of big cell units to the sixth center point C6 may be R2. Further, the resistance from the edge of the two rows of big cell units to the other end of the common contact 4024 may be R3.

Accordingly, the resistance of the sixth center point C6 may be a combined resistance of R1, R2, and R3. For example, the resistance of the sixth central point C6 may be (R1+R2)*(R2+R3)/(R1+2*R2+R3).

For example, if the length from one end of the common contact 4014 to the edge of the first row big cell unit and the length from the edge of the first row big cell unit to the sixth center point C6 are the same, R1 may be 4 times R2. have. In addition, if the length to the sixth central point C6, the length between each vixel unit, and the length from the edge of the vixel unit to one end or the other end of the common contact 4014 are the same, R3 may be 7 times R2. have. Accordingly, the resistance of the sixth center point C6 may be (40/13)*R2.

80 is a diagram illustrating a big cell array 4020 according to another embodiment.

Referring to FIG. 80, three rows of big cell units may have a seventh central point C7. The resistance of the seventh center point C7 may be a combined resistance of a resistance of the first sub-contact 4022 and a resistance of the second sub-contact 4025. For example, the resistance of the seventh center point C7 may be a resistance obtained by connecting a resistance of the first sub-contact 4022 and a resistance of the second sub-contact 4025 in parallel.

According to an embodiment, the resistance from one end of the common contact 4014 to the edge of the three-row big cell unit may be R1. In addition, the resistance from the edge of the three-row big cell unit to the seventh center point C7 may be R2. Further, the resistance from the edge of the three-row big cell unit to the other end of the common contact 4024 may be R3.

Accordingly, the resistance of the seventh center point C7 may be a combined resistance of R1, R2, and R3. For example, the resistance of the seventh center point C7 may be (R1+R2)*(R2+R3)/(R1+2*R2+R3).

For example, if the length from one end of the common contact 4014 to the edge of the 3rd row big cell unit and the length from the edge of the 3rd row big cell unit to the 7th center point C7 are the same, R1 may be 7 times R2. have. In addition, if the length to the seventh center point C7, the length between each vixel unit, and the length from the edge of the vixel unit to one end or the other end of the common contact 4014 are the same, R3 may be 4 times R2. have. Accordingly, the resistance of the seventh center point C7 may be (40/13)*R2.

81 is a diagram illustrating a big cell array 4020 according to another embodiment.

Referring to FIG. 81, the four rows of big cell units may have an eighth center point C8. The resistance of the eighth center point C8 may be a combined resistance of a resistance of the first sub-contact 4022 and a resistance of the second sub-contact 4025. For example, the resistance of the eighth center point C8 may be a resistance obtained by connecting the resistance of the first sub-contact 4022 and the resistance of the second sub-contact 4025 in parallel.

According to an embodiment, the resistance from one end of the common contact 4014 to the edge of the four-row big cell unit may be R1. In addition, the resistance from the edge of the 4th row of the big cell unit to the eighth center point C8 may be R2. Further, the resistance from the edge of the four rows of big cell units to the other end of the common contact 4024 may be R3.

Accordingly, the resistance of the eighth center point C8 may be a combined resistance of R1, R2, and R3. For example, the resistance of the eighth center point C8 may be (R1+R2)*(R2+R3)/(R1+2*R2+R3).

For example, if the length from one end of the common contact 4014 to the edge of the 4th row big cell unit and the length from the edge of the 4th row big cell unit to the 8th center point C8 are the same, R1 may be 10 times R2. have. In addition, if the length to the eighth center point C8, the length between each vixel unit, and the length from the edge of the vixel unit to one end or the other end of the common contact 4014 are the same, R3 may be the same as R2. have. Accordingly, the resistance of the eighth center point C8 may be (22/13)*R2.

The difference in resistance between the big cell units of FIGS. 78 to 81 may be smaller than the difference in resistance between the big cell units of FIGS. 74 to 77.

According to an embodiment, the resistance of the first center point C1 of the first row big cell unit of FIGS. 74 to 77 is 2*R2, the resistance of the second center point C2 of the second row big cell unit is 5*R2, The resistance of the third center point C3 of the third row big cell unit may be 8*R2, and the resistance of the fourth center point C4 of the fourth row big cell unit may be 11*R2.

In this case, when the difference in resistance between the big cell units is the largest, it may be 9*R2, which is the difference in resistance between the first row big cell unit and the fourth row big cell unit.

According to another embodiment, the resistance of the fifth center point (C5) of the first row big cell unit of FIGS. 78 to 81 is (22/13) * R2, the resistance of the sixth center point (C6) of the second row big cell unit Silver (40/13)*R2, the resistance of the 7th center point (C7) of the 3rd row big cell unit is (40/13)*R2, the resistance of the 8th center point (C8) of the 4th row bigcell unit is (22/ 13) * may be R2.

At this time, when the difference in resistance between the big cell units is the largest, the resistance difference between the 1st row big cell unit and the 2nd row big cell unit, the resistance difference between the 1st row big cell unit and the 3rd row big cell unit, the 2nd row big cell unit and the 4th row big cell unit It may be (18/13)*R2, which is the difference in resistance between the 3rd row big cell unit and the 4th row big cell unit.

Accordingly, the big cell array of FIGS. 78 to 81 may have a smaller difference in resistance between the big cell units than the big cell array of FIGS. 74 to 77. For example, the largest difference in resistance between the big cell units 4011 included in the big cell array 4010 of FIGS. 74 to 77 is 9*R2, whereas the big cell array 4020 of FIGS. 78 to 81 ) May be (18/13)*R2 smaller than 9*R2 when the difference in resistance between the big cell units 4021 included in) is the largest.

Also, for example, when the difference in resistance between the big cell units 4011 included in the big cell array 4010 of FIGS. 74 to 77 is the smallest, it is 3*R2, whereas the big cell array of FIGS. The largest difference in resistance between the big cell units 4021 included in 4020) may be (18/13)*R2 less than 3*R2.

When a voltage is supplied to the big cell units by placing contacts at both ends of a common contact connected to a lower metal contact of the big cell units included in the big cell array, the difference in resistance of the big cell units may be reduced.

When a voltage is supplied to the big cell units by placing contacts at both ends of a common contact connected to a lower metal contact of the big cell units included in the big cell array, the difference in the intensity of the laser beam output from the big cell units may be reduced.

When voltage is supplied to the big cell units by arranging the contact only at one end of the common contact connected to the lower metal of the big cell units, the big cell unit disposed close to the contact has a relatively small resistance and thus can output a relatively high intensity laser beam.

On the other hand, the big cell unit disposed far from the contact has a relatively large resistance and can output a laser beam of relatively small intensity. A method of supplying voltage to the big cell units by arranging the contact only at one end of the common contact may cause severe unevenness in laser beam output of the big cell units included in the big cell array.

However, in the case of supplying voltage to the big cell units by placing contacts at both ends of the common contact connected to the lower metal of the big cell units, the contact between the big cell units is more than the case of supplying the voltage to the big cell units by placing the contact only at one end of the common contact. The difference in resistance can be reduced.

By reducing the difference in resistance between the big cell units, it is possible to reduce the difference in the intensity of each laser beam output from the big cell units. By reducing the difference in the intensity of each laser beam output from the big cell units, the maximum measurement distance of the lidar device using the big cell array may not be relatively limited.

82 is a diagram illustrating a big cell array viewed from one direction. The one direction may be an x-axis direction or a y-axis direction.

Referring to FIG. 82, a big cell array 4300 may include a plurality of big cell units 4301, 4302, and 4303, contacts 4370 and 4380, and wires 4391 and 4392.

The big cell array 4300 may include a plurality of big cell units 4301, 4302, and 4303. 82 shows a big cell array 4300 including three big cell units 4301, 4302, 4303, but is not limited thereto, and the big cell array 4300 includes 1, 2, 4, 5, 6, 7, 8 , 9, 10, 11, 12, etc. may include a single or a plurality of big cell units. The big cell array 4300 is not limited to the number described as an example, and may include a different number of big cell units.

The plurality of big cell units 4301, 4302, and 4303 may include a plurality of big cell emitters. 82 illustrates a big cell unit including one big cell emitter for convenience of expression, but is not limited thereto, and the big cell units 4301, 4302, 4303 are 1, 2, 3, 4, 5, 6, 7, 8 , 9, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 200, 300, 400, 500, etc. may include singular or plural Big Cell emitters. The big cell units 4301, 4302, and 4303 are not limited to the number described as an example, and may include a different number of big cell emitters.

The big cell units 4301, 4302, and 4303 include an upper metal contact 4310, an upper DBR layer 4320, a lower DBR layer 4330, an active layer or an active layer 4340, a substrate 4350, and a lower metal contact 4360. ) Can be included.

For the upper metal contact 4310, the upper DBR layer 4320, the lower DBR layer 4330, the active layer or active layer 4340, the substrate 4350 and the lower metal contact 4360, It is described in detail in the description, so a detailed description will be omitted.

The big cell array 4300 may include a plurality of contacts 4370 and 4380. At least a portion of the first contact 4370 may be in contact with the lower metal contact 4360 of the big cell units 4301, 4302, and 4303. At least a portion of the first contact 4370 may contact the lower metal contact 4360 to supply power to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360.

For example, the first contact 4370 may supply an n-type voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360. For example, the first contact 4370 may supply a voltage less than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360.

Also, for example, the first contact 4370 may supply a p-type voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360. Also, for example, the first contact 4370 may supply a voltage greater than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360.

The second contact 4380 may be electrically connected to the upper metal contact 4310 of the big cell units 4301, 4302, and 4303. For example, the second contact 4380 may be electrically connected to the upper metal contact 4310 of the big cell units 4301, 4302, and 4303 through wires 4391 and 4392.

For example, the second contact 4380 may supply a p-type voltage to the big cell units 4301, 4302, and 4303 through the wires 4391 and 4392 and the upper metal contact 4310. For example, the second contact 4380 may supply a voltage greater than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the wires 4391 and 4392 and the upper metal contact 4310.

Also, for example, the second contact 4380 may supply an n-type voltage to the big cell units 4301, 4302, and 4303 through the wires 4391 and 4392 and the upper metal contact 4310.

In addition, for example, the second contact 4380 may supply a voltage equal to or less than the reference voltage to the big cell units 4301, 4302, and 4303 through the wires 4391 and 4392 and the upper metal contact 4310.

83 is a diagram showing a big cell array viewed from another direction. The one direction may be a y-axis direction or an x-axis direction. Also, the one direction may be a direction different from the direction viewed in FIG. 82. For example, it may be a direction forming 90 degrees to the direction viewed in FIG. 82.

According to an embodiment, the big cell units 4301, 4302, and 4303 may be electrically connected to each other. For example, the upper metal contacts 4310 of the big cell units 4301, 4302, and 4303 may be electrically connected to each other. Also, for example, the lower metal contacts 4360 of the big cell units 4301, 4302, and 4303 may be electrically connected to each other.

In this case, the upper metal contacts 4310 of the big cell units 4301, 4302, and 4303 may be electrically connected to each other through wires 4391 and 4392. In this case, the lower metal contacts 4360 of the big cell units 4301, 4302, and 4303 may be electrically connected to each other through the first contact 4370.

The big cell array 4300 of FIG. 82 may have a shape as viewed from a direction in which the side of the contact 4225 is the front side of the big cell array 4200 of FIG. 73. When the big cell array 4300 is viewed from one direction, the big cell units 4301 in one row, the big cell units 4302 in the second row, and the big cell units 4303 in the third row may appear as shown in FIG. 82.

In the big cell units 4301 in one row, each of the lower metal contacts 4360 are electrically connected to each other through a first contact 4370. The 2nd row of big cell units 4302 and the 3rd row of bigcell units 4303 may also have lower metal contacts 4360 electrically connected to each other through a first contact 4370.

According to an embodiment, the first contact 4370 may supply an n-type voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360. For example, the first contact 4370 may supply a voltage less than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360.

According to another embodiment, the first contact 4370 may supply a p-type voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360. For example, the first contact 4370 may supply a voltage greater than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360.

Also, when the big cell array 4300 is viewed from one direction, a plurality of big cell units may form one row. For example, the big cell unit 4301 in row 1, the big cell unit 4302 in row 2, and the big cell unit 4303 in row 3 may be arranged along one axis to form one column.

Each of the upper metal contacts 4310 may be electrically connected to each other through wires 4391 and 4392 in the plurality of big cell units 4301, 4302, and 4303 constituting one row.

For example, of the plurality of big cell units in the first row, the big cell unit 4301 in the first row and the big cell unit 4302 in the second row may be electrically connected to each other through a wire 4390. In addition, for example, of the plurality of big cell units in the first column, the big cell unit 4302 in the second row and the big cell unit 4303 in the third row may be electrically connected to each other through a wire 4390.

For example, of the plurality of big cell units in the first column, the big cell unit 4301 in the first row and the big cell unit 4303 in the third row may be connected to the second contact 4380 through a wire 4319.

According to an embodiment, the second contact 4380 may supply a p-type voltage to the big cell units 4301, 4302, and 4303 through the upper metal contact 4310. For example, the second contact 4380 may supply a voltage greater than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the upper metal contact 4310.

According to another embodiment, the second contact 4380 may supply an n-type voltage to the big cell units 4301, 4302, and 4303 through the upper metal contact 4310. For example, the second contact 4380 may supply a voltage less than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the upper metal contact 4310.

The big cell array 4300 of FIG. 83 may have a shape as viewed from the direction in which the side of the contact 4235 is the front side of the big cell array 4200 of FIG. 73. When the big cell array 4300 is viewed from another direction, one row of big cell units 4304, two rows of big cell units 4305, and third row of big cell units 4306 may appear as shown in FIG. 83.

In the first row of the big cell units 4304, each of the upper metal contacts 4360 may be electrically connected to each other through a second contact 4380. The two rows of big cell units 4305 and the third row of big cell units 4306 may also have upper metal contacts 4310 electrically connected to each other through a second contact 4380.

For example, the big cell units arranged in different rows among the plurality of big cell units in one column may be electrically connected to each other through a wire 4390. In addition, for example, of the plurality of big cell units in a row, big cell units disposed adjacent to the second contact 4380 may be connected to the second contact 4380 through a wire 4390.

According to an embodiment, the second contact 4380 may supply a p-type voltage to the big cell units 4301, 4302, and 4303 through the upper metal contact 4310. For example, according to an embodiment, the second contact 4380 may supply a voltage greater than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the upper metal contact 4310.

According to another embodiment, the second contact 4380 may supply an n-type voltage to the big cell units 4301, 4302, and 4303 through the upper metal contact 4310. For example, the second contact 4380 may supply a voltage less than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the upper metal contact 4310.

In addition, when the big cell array 4300 is viewed from another direction, a plurality of big cell units may form one row. For example, the big cell unit 4304 in the first column, the big cell unit 4305 in the second column, and the big cell unit 4306 in the third row may be arranged along one axis to form one row.

Each of the lower metal contacts 4360 may be electrically connected to each other through a first contact 4370 in the plurality of big cell units 4304, 4305, and 4306 constituting one row. For example, among a plurality of big cell units in a row, the big cell unit 4304 in the first row, the big cell unit 4305 in the second row, and the big cell unit 4306 in the third row may be electrically connected to each other through the first contact 4370. have.

According to an embodiment, the first contact 4370 may supply an n-type voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360. For example, the first contact 4370 may supply a voltage less than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360.

According to another embodiment, the first contact 4370 may supply a p-type voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360. For example, the first contact 4370 may supply a voltage greater than or equal to the reference voltage to the big cell units 4301, 4302, and 4303 through the lower metal contact 4360.

84 is a diagram for describing a big cell array according to another embodiment. 84 may be a plan view of a part of a big cell array viewed from above.

Referring to FIG. 84, a big cell array 4030 according to an embodiment may include a plurality of big cell units 4031, a contact 4032, a common contact 4034, and a wire 4035.

Unlike the big cell array 4020 of FIGS. 78 to 81, the big cell array 4030 may have additional wires connected to the central portions of the big cell units 4031. For example, a wire may be additionally connected to the common contact 4034 at the central portion.

By adding a wire connection to the central portion of the big cell units 4031, the resistance due to the common contact 4034 of the big cell units may be the same or a difference thereof may be reduced.

For example, since the resistance received from one end of the common contact 4034 by the big cell unit in row 1 is R, and the resistance received from the other end is 2R, the total resistance received by the big cell unit in row 1 from the common contact is (2/3)R. I can.

In addition, for example, since the resistance received from one end of the common contact 4034 is 2R, and the resistance received from the other end of the two rows of big cell units is R, the total resistance received by the two rows of big cell units from the common contact is (2/3)R. Can be

Accordingly, the total resistance received from the common contact by the big cell unit in the first row and the total resistance received by the big cell unit in the second row from the common contact may be equal to (2/3)R.

Also, for example, since the resistance received from one end of the common contact 4034 is R, and the resistance received from the other end of the three-column big cell units is 2R, the total resistance received by the three-column big cell units from the common contact is (2/3)R. Can be

Also, for example, since the resistance received from one end of the common contact 4034 is 2R, and the resistance received from the other end of the 4th row of the big cell unit is R, the total resistance received by the 4th row of the big cell unit from the common contact is (2/3)R Can be

Accordingly, the total resistance received by the three-column big cell units from the common contact and the total resistance received by the four-column big cell units from the common contact may be equal to (2/3)R. In addition, the total resistance received from the common contact of the big cell unit in column 1, the big cell unit in column 2, the big cell unit in column 3, and the big cell unit in column 4 may be equal to (2/3)R.

85 is a diagram illustrating a big cell array according to another embodiment viewed from one direction. FIG. 85 may be a front view of the big cell array of FIG. 84 as viewed from the front.

Referring to FIG. 85, a big cell array 4800 may include a plurality of big cell units, a common contact 4870, a substrate 4875, a contact 7780, and a wire 4891.

According to an embodiment, some big cell units included in the big cell array 4800 may share a common contact 4870 and a substrate 4875. In addition, some or all of the big cell units included in the big cell array may share the contact 4880. The big cell units may be electrically connected to the common contact 4870 through a lower metal contact.

According to an embodiment, unlike the big cell array 4300 of FIG. 82, the big cell array 4800 may additionally include a wire connection at a central portion of the big cell units. For example, an additional wire connection may be made to the common contact 4870 at the central portion of the big cell units.

By adding a wire connection to the common contact 4870 at the central part of the big cell units, the resistance due to the common contact 4870 of the big cell units may be the same or a difference thereof may be reduced.

86 is a diagram for describing a big cell array according to an embodiment.

Referring to FIG. 86, a big cell array 4400 may include a plurality of big cell units 4410 and 4415, a plurality of contacts 4420 and 4430, and a plurality of wires 4440 and 4450.

The contents of the plurality of big cell units 4410 and 4415, the plurality of contacts 4420, 4425, 4430, 4435, and the plurality of wires 4440 and 4450 are described in detail in FIG. Detailed description is omitted.

The big cell array 4400 according to an embodiment may include a plurality of a pair of big cell units, a couple big cell unit, or a pair big cell unit 4410 and 4415.

The pair big cell units 4410 and 4415 according to an embodiment may be arranged in two dimensions. For example, the plurality of pair big cell units 4410 and 4415 may be arranged based on a first axis, and may be arranged along a second axis different from the first axis. For example, the plurality of pair big cell units 4410 and 4415 may be arranged along an x-axis and a y-axis to represent a matrix form.

86 illustrates only a big cell array having a 4 X 4 matrix shape, but the shape of the big cell array is not limited thereto. For example, a big cell array is 5 X 5, 6 X 6, 7 X 7, 8 X 8, 9 X 9, 10 X 10, 11 X 11, 12 X 12, 13 X 13, 14 X 14, 15 X 15 , 16 X 16, etc. may be in the form of a matrix. The shape of the big cell array is not limited to the number described, and may be a matrix type composed of other numbers.

Also, for example, the plurality of pair big cell units 4410 and 4415 may be arranged along an x-axis, and may be arranged along a second axis forming an angle of 90 degrees or less with the x-axis. In this case, the plurality of big cell arrays 4100 may have a rhombic shape or a trapezoid shape. In addition, the plurality of big cell arrays 4100 may have a honeycomb shape.

The big cell array 4400 according to an embodiment may include a plurality of contacts 4420, 4425, 4430, and 4435. For example, the big cell array 4400 may include first contacts 4420 and 4425 disposed adjacent to both ends of the big cell array arranged along the first axis. Also, for example, the big cell array 4400 may include second contacts 4430 and 4435 disposed adjacent to both ends of the big cell array arranged along the second axis.

Each of the big cell units 4410 and 4415 included in the pair big cell unit according to an embodiment may share the second contacts 4430 and 4435. For example, each of the big cell units 4410 and 4415 included in the pair big cell unit may be electrically connected to the second contacts 4430 and 4435 at the same time.

The big cell array 4400 according to an embodiment may receive power through a plurality of contacts 4420, 4425, 4430, and 4435.

For example, the first contacts 4420 and 4425 arranged at both ends of the big cell array arranged along the first axis may be connected to the lower metal contacts 60 of the plurality of pair big cell units 4410 and 4415. In this case, an n-type voltage may be applied to the lower metal contacts 60 of the pair big cell units 4410 and 4415 through the first contacts 4420 and 4425.

In addition, for example, the second contacts 4430 and 4435 arranged at both ends of the big cell array arranged along the second axis may be connected to the upper metal contact 10 of the plurality of pair big cell units 4410 and 4415. . In this case, a p-type voltage may be applied to the upper metal contact 10 of the pair big cell units 4410 and 4415 through the second contacts 4430 and 4435. For example, a voltage greater than or equal to the reference voltage may be applied to the upper metal contact 10 of the pair big cell units 4410 and 4415 through the second contacts 4430 and 4435.

For another example, the first contacts 4420 and 4425 arranged at both ends of the big cell array arranged along the first axis may be connected to the upper metal contacts 60 of the plurality of pair big cell units 4410 and 4415. . In this case, a p-type voltage may be applied to the upper metal contact 60 of the pair big cell units 4410 and 4415 through the first contacts 4420 and 4425. For example, a voltage greater than or equal to the reference voltage may be applied to the upper metal contact 60 of the pair big cell units 4410 and 4415 through the first contacts 4420 and 4425.

In addition, for another example, the second contacts 4430 and 4435 arranged at both ends of the big cell array arranged along the second axis may be connected to the lower metal contacts 10 of the plurality of pair big cell units 4410 and 4415. have. In this case, an n-type voltage may be applied to the lower metal contact 10 of the pair big cell units 4410 and 4415 through the second contacts 4430 and 4435. For example, a voltage less than or equal to the reference voltage may be applied to the lower metal contact 10 of the pair big cell units 4410 and 4415 through the second contacts 4430 and 4435.

A plurality of wires 4440 and 4450 according to an embodiment may connect a plurality of pair vixel units 4410 and 4415 arranged along the first axis to each other, or the pair vixel units 4410 and 4415 and a first contact 4420 , 4430) can be electrically connected. In addition, a plurality of wires (4440, 4450) connects a plurality of pair vixel units (4410, 4415) arranged along the second axis to each other, or a pair of vixel units (4410, 4415) and second contacts (4430, 4435). Can be electrically connected.

Referring to FIG. 86, a plurality of pair big cell units 4410 and 4415 included in the big cell array 4400 may operate individually. The plurality of pair big cell units 4410 and 4415 included in the big cell array 4400 may be independently operated regardless of whether or not other pair big cell units are operated.

For example, in order to operate the paired big cell unit in the first row and the first column, an n-type voltage is applied to the contacts arranged in the first row among the first contacts 4420 and 4425, and the contacts arranged in the first column among the second contacts 4420 and 4435. P-type voltage can be applied to

For example, in order to operate the paired big cell unit in the first row and the first column, a voltage less than the reference voltage is placed on the contacts arranged in the first row among the first contacts 4420 and 4425, and the voltage below the reference voltage is placed in the first column among the second contacts 4430 and 4435. A voltage greater than or equal to the reference voltage may be applied to the contact.

In addition, for example, in order to operate the pair big cell unit in the first row and the second column, an n-type voltage is applied to the contacts disposed in the first row among the first contacts 4420 and 4425, and the second contact disposed in the second row among the second contacts 4420 and 4435. A p-type voltage can be applied to the contact.

In addition, for example, in order to operate the paired big cell unit in the first row and the second column, a voltage equal to or less than the reference voltage is applied to the contacts arranged in the first row among the first contacts 4420 and 4425, and to the second row among the second contacts 4430 and 4435. A voltage greater than or equal to the reference voltage may be applied to the disposed contacts.

In addition, for example, in order to operate all four pair big cell units arranged in one row, an n-type voltage is applied to the contacts arranged in the first row among the first contacts 4420 and 4425, and all of the second contacts 4430 and 4435 are applied. P-type voltage can be applied to

In addition, for example, in order to operate all four pair big cell units arranged in one row, a voltage equal to or less than the reference voltage is applied to the contacts arranged in the first row among the first contacts 4420 and 4425, and the second contacts 4430 and 4435 are applied. ) A voltage higher than the reference voltage can be applied to all.

In addition, for example, in order to operate a pair bixel unit in 2 rows and 2 columns and a bixel unit in 3 rows and 4 columns, n-type voltage is applied to the contacts arranged in rows 2 and 3 of the first contacts 4420 and 4425, and the second contact Of (4430, 4435), a p-type voltage may be applied to the contacts arranged in rows 2 and 4.

In addition, for example, in order to operate a pair bixel unit in 2 rows and 2 columns and a bixel unit in 3 rows and 4 columns, a voltage equal to or less than the reference voltage is applied to the contacts arranged in rows 2 and 3 of the first contacts 4420 and 4425. A voltage greater than or equal to the reference voltage may be applied to the contacts arranged in rows 2 and 4 of the 2 contacts 4430 and 4435.

In addition, for example, in order to operate all the pair big cell units 4410 and 4415 included in the big cell array 4400, an n-type voltage is applied to all of the first contacts 4420 and 4425, and both of the second contacts 4430 and 4435. P-type voltage can be applied to

In addition, for example, in order to operate all the pair big cell units 4410 and 4415 included in the big cell array 4400, a voltage equal to or less than the reference voltage is applied to all of the first contacts 4420 and 4425, and the second contacts 4430 and 4435 are applied. ) A voltage higher than the reference voltage can be applied to all.

The plurality of big cell units 4410 and 4415 included in the pair big cell unit may operate individually. The plurality of big cell units 4410 and 4415 included in the pair big cell unit may be independently operated regardless of whether other big cell units are operated.

For example, the big cell unit 4410 may operate and the other big cell unit 4415 may not operate. Also, for example, the big cell unit 4410 may not operate and the other big cell unit 4415 may operate.

According to an embodiment, the directions of diodes of the big cell units included in the pair big cell unit may be opposite.

For example, one big cell unit 4410 included in the pair big cell unit may include a forward diode, and the other big cell unit 4415 may include a reverse diode.

Also, for example, one big cell unit 4410 included in the pair big cell unit may include a reverse diode, and the other big cell unit 4415 may include a forward diode.

According to an embodiment, any one big cell unit 4410 among a plurality of big cell units included in the pair big cell unit may include a forward diode.

For example, the big cell unit 4410 may include a big cell emitter that is a plurality of forward diodes.

Also, for example, the big cell unit 4410 may include a big cell emitter of 300 to 400 forward diodes. In this case, the big cell unit 4410 may include only a forward diode, but is not limited thereto.

According to an embodiment, the other big cell unit 4415 among a plurality of big cell units included in the pair big cell unit may include a reverse diode.

For example, the big cell unit 4415 may include a big cell emitter that is a plurality of reverse diodes.

Also, for example, the big cell unit 4415 may include a big cell emitter of 300 to 400 reverse diodes. In this case, the big cell unit 4415 may include only a reverse diode, but is not limited thereto.

According to an embodiment, any one of a plurality of big cell units included in the pair big cell unit may include a first upper DBR layer and a first lower DBR layer. In addition, the other big cell unit among the plurality of big cell units included in the pair big cell unit may include a second upper DBR layer and a second lower DBR layer.

In this case, the properties of the first upper DBR layer and the second upper DBR layer may be different, and the properties of the first lower DBR layer and the second lower DBR layer may be different. For example, the first upper DBR layer and the second lower DBR layer may be doped with P-type, and the second upper DBR layer and the first lower DBR layer may be doped with N-type.

However, the properties of the first upper DBR layer and the second upper DBR layer may be the same. For example, the first big cell unit and the second big cell unit may include the same big cell emitter.

87 is a diagram for describing a big cell array according to another embodiment.

Referring to FIG. 87, a big cell array 4500 according to another embodiment may include a plurality of pair big cell units 4510 and 4515.

Since the description of the plurality of pair big cell units 4510 and 4515 may overlap with the description of the plurality of pair big cell units 4410 and 4415 described with reference to FIG. 86, detailed descriptions will be omitted.

Since the description of the plurality of contacts 4520, 4525, 4530, and 4535 may overlap with the description of the plurality of contacts 4420, 4425, 4430, and 4435 described with reference to FIG. 86, a detailed description will be omitted. .

Since the description of the plurality of wires 4440 and 4550 may overlap with the description of the plurality of wires 4440 and 4450 described with reference to FIG. 86, detailed descriptions will be omitted.

The big cell array 4500 according to an embodiment may include a common contact 4560. The common contact 4560 may include a conductive material. For example, the common contact 4560 may include a metal.

Each of the big cell units 4510 and 4515 included in the pair big cell unit according to an embodiment may share the second contact 4530 and 4535. For example, each of the big cell units 4510 and 4515 included in the pair big cell unit may be electrically connected to the second contacts 4530 and 4535 at the same time.

The common contact 4560 according to an embodiment may be electrically connected to the plurality of pair big cell units 4510 and 4515 arranged along the first axis.

For example, the common contact 4560 may be electrically connected through the plurality of pair big cell units 4510 and 4515 arranged along the first axis and the lower metal contact 60.

In addition, for example, the common contact 4560 may be electrically connected to the plurality of pair vixel units 4510 and 4515 arranged along the first axis and the upper metal contact 10.

The big cell array 4500 according to an embodiment may receive power through a plurality of contacts 4520, 4525, 4530, and 4535.

For example, the first contacts 4520 and 4525 arranged at both ends of the big cell array arranged along the first axis may be connected to the lower metal contacts 60 of the plurality of pair big cell units. In this case, an n-type voltage may be applied to the lower metal contact 60 of the pair big cell unit through the first contacts 4520 and 4525.

Also, for example, the second contacts 4530 and 4535 arranged at both ends of the big cell array arranged along the second axis may be connected to the upper metal contacts 10 of the plurality of pair big cell units.

In this case, a p-type voltage may be applied to the upper metal contact 10 of the pair big cell unit through the second contacts 4530 and 4535. For example, a voltage greater than or equal to the reference voltage may be applied to the upper metal contact 10 of the pair big cell unit through the second contacts 4530 and 4535.

For another example, the first contacts 4520 and 4525 arranged at both ends of the big cell array arranged along the first axis may be connected to the upper metal contacts 60 of the plurality of pair big cell units.

In this case, a p-type voltage may be applied to the upper metal contact 60 of the pair big cell unit through the first contacts 4520 and 4525. For example, a voltage greater than or equal to the reference voltage may be applied to the upper metal contact 60 of the pair big cell unit through the first contacts 4520 and 4525.

In addition, for another example, the second contacts 4530 and 4535 arranged at both ends of the big cell array arranged along the second axis may be connected to the lower metal contacts 10 of the plurality of pair big cell units.

In this case, an n-type voltage may be applied to the lower metal contact 10 of the pair big cell unit through the second contacts 4530 and 4535. For example, a voltage less than or equal to the reference voltage may be applied to the lower metal contact 10 of the pair big cell unit through the second contacts 4530 and 4535.

Referring to FIG. 87, a plurality of pair big cell units included in the big cell array 4500 may operate individually. A plurality of pair big cell units included in the big cell array 4500 may each independently operate regardless of whether or not other pair big cell units are operated.

Individual operations of the plurality of pair big cell units may overlap with the description of FIG. 86, and thus detailed descriptions will be omitted.

A plurality of big cell units included in the pair big cell unit may operate individually. A plurality of big cell units included in the pair big cell unit may be independently operated regardless of whether other big cell units are operated.

For example, the big cell unit 4510 may operate and the other big cell unit 4515 may not operate. In addition, for example, the big cell unit 4510 may not operate and the other big cell unit 4515 may operate.

According to an embodiment, the directions of diodes of the big cell units included in the pair big cell unit may be opposite.

For example, one big cell unit 4510 included in the pair big cell unit may include a forward diode, and the other big cell unit 4515 may include a reverse diode.

In addition, in another expression, a circuit may be configured so that any one big cell unit 4410 included in the pair big cell unit serves as a forward diode, and the other big cell unit 4415 serves as a reverse diode. Circuits can be configured to perform.

In addition, here, the forward diode may mean a big cell unit through which current flows in one direction, and the reverse diode may mean a big cell unit through which current flows in the reverse direction of the one direction.

Also, for example, one big cell unit 4510 included in the pair big cell unit may include a reverse diode, and the other big cell unit 4515 may include a forward diode.

According to an embodiment, any one big cell unit 4510 among a plurality of big cell units included in the pair big cell unit may include a forward diode.

For example, the big cell unit 4510 may include a big cell emitter that is a plurality of forward diodes.

Also, for example, the big cell unit 4510 may include a big cell emitter of 300 to 400 forward diodes. In this case, the big cell unit 4510 may include only a forward diode, but is not limited thereto.

According to an embodiment, the DBR layer of one big cell unit 4510 included in the pair big cell unit and the DBR layer of the other big cell unit 4515 may be different.

For example, the upper DBR layer of any one big cell unit 4510 included in the pair big cell unit may be a P-DBR layer, and the lower DBR layer may be an N-DBR layer. In this case, the upper DBR layer of the other big cell unit 4515 included in the pair big cell unit may be an N-DBR layer, and the lower DBR layer may be a P-DBR layer. That is, the positions of the N-DBR and P-DBR of the big cell units included in the pair big cell unit may be opposite.

According to an embodiment, the other big cell unit 4515 among a plurality of big cell units included in the pair big cell unit may include a reverse diode.

For example, the big cell unit 4515 may include a big cell emitter that is a plurality of reverse diodes.

Also, for example, the big cell unit 4515 may include a big cell emitter of 300 to 400 reverse diodes. In this case, the big cell unit 4515 may include only a reverse diode, but is not limited thereto.

88 is a diagram illustrating a connection state and a cross-sectional view of a big cell array according to an embodiment.

According to an embodiment, the big cell units 4510 and 4515 included in the big cell array may share a substrate. For example, the big cell units 4510 and 4515 may share GaAs.

Referring to FIG. 88, a big cell array may include a plurality of pair big cell units. The pair big cell unit may include a plurality of big cell units. For example, the pair big cell unit may include one big cell unit 4510 and another big cell unit 4515.

According to an embodiment, a plurality of pair of big cell units may be electrically connected through a common contact 4560 arranged along the first axis. In addition, the big cell units 4510 and 4515 included in the pair big cell unit may be electrically connected through a common contact 4560 arranged along the first axis.

According to an embodiment, the plurality of pair big cell units may be electrically connected through second contacts 4530 and 4535 arranged along a second axis and a wire (not shown). In addition, the big cell units 4510 and 4515 included in the pair big cell unit may be electrically connected through second contacts 4530 and 4535 arranged along the second axis.

A p-type voltage may be applied to the common contact 4560 and the second contacts 4530 and 4535 or an n-type voltage may be applied. For example, an n-type voltage may be applied to the common contact 4560 and a p-type voltage may be applied to the second contacts 4530 and 4535.

Also, for example, a p-type voltage may be applied to the common contact 4560 and an n-type voltage may be applied to the second contacts 4530 and 4535. The present invention is not limited thereto, and a p-type voltage or an n-type voltage may be applied to both the common contact 4560 and the second contacts 4530 and 4535.

A voltage greater than or equal to the reference voltage may be applied to the common contact 4560 and the second contacts 4530 and 4535, or a voltage less than or equal to the reference voltage may be applied. For example, a voltage less than or equal to the reference voltage may be applied to the common contact 4560 and a voltage greater than or equal to the reference voltage may be applied to the second contacts 4530 and 4535.

Also, for example, a voltage equal to or higher than the reference voltage may be applied to the common contact 4560 and a voltage equal to or lower than the reference voltage may be applied to the second contacts 4530 and 4535. The present invention is not limited thereto, and a voltage equal to or higher than the reference voltage or lower than the reference voltage may be applied to both the common contact 4560 and the second contacts 4530 and 4535.

According to an embodiment, a diode direction of one big cell unit 4510 included in the pair big cell unit and the other big cell unit 4515 may be opposite. For example, one big cell unit 4510 may include a forward diode, and the other big cell unit 4515 may include a reverse diode.

According to an embodiment, a connection between an upper metal contact and a lower metal contact between one big cell unit 4510 included in the pair big cell unit and the other big cell unit 4515 may be opposite.

For example, an upper metal contact 4511 electrically connected to an upper DBR layer of one big cell unit 4510 is a lower metal contact 4517 electrically connected to a lower DBR layer of another big cell unit 4515. ) And can be electrically connected.

In addition, the lower metal contact 4512 electrically connected to the lower DBR layer of one big cell unit 4510 is the upper metal contact 4516 electrically connected to the upper DBR layer of the other big cell unit 4515 Can be electrically connected.

In this case, the lower metal contact 4512 of one big cell unit 4510 and the upper metal contact 4516 of the other big cell unit 4515 may be electrically connected to the common contact 4560.

In this case, the upper metal contact 4511 of one big cell unit 4510 and the lower metal contact 4517 of the other big cell unit 4515 may be electrically connected to the second contacts 4530 and 4535.

However, the present invention is not limited thereto, and the lower metal contact 4512 of one big cell unit 4510 and the upper metal contact 4516 of the other big cell unit 4515 are electrically connected to the second contacts 4530 and 4535. In addition, the upper metal contact 4511 of one big cell unit 4510 and the lower metal contact 4517 of the other big cell unit 4515 may be electrically connected to the common contact 4560.

In addition, according to an embodiment, the upper metal contact 4511 of the first big cell unit and the lower metal contact 4517 of the second big cell unit may be made of the same metal layer. In addition, the lower metal contact 4512 of the first big cell unit and the upper metal contact 4516 of the second big cell unit may be made of another same metal layer.

At this time, when a current or voltage is applied to the upper metal contact 4511 of the first big cell unit, the lower metal contact 4517 of the second big cell unit is the same metal layer as the lower metal contact 4517 of the second big cell unit. Even current or voltage may flow.

In addition, at this time, when a current or voltage is applied to the lower metal contact 4512 of the first big cell unit, the upper metal contact 4516 of the second big cell unit is the same metal layer as the upper metal contact 4516 of the second big cell unit. ) Can also flow current or voltage.

In this case, when a first voltage is applied to the upper metal contact 4511 of the first big cell unit and a second voltage smaller than the first voltage is applied to the lower metal contact 4512 of the first big cell unit, the first big cell The current flow of the unit flows from the upper metal contact 4511 to the lower metal contact 4512, so that the first big cell unit can operate.

However, when a first voltage is applied to the upper metal contact 4511 of the first big cell unit and a second voltage smaller than the first voltage is applied to the lower metal contact 4512 of the first big cell unit, the second big cell Since the current flow of the unit flows from the lower metal contact 4517 to the upper metal contact 4516, the second big cell unit may not operate.

In this case, when a third voltage is applied to the upper metal contact 4511 of the first big cell unit and a fourth voltage greater than the third voltage is applied to the lower metal contact 4512 of the first big cell unit, the first Since the current flow of the big cell unit flows from the upper metal contact 4511 to the lower metal contact 4512, the first big cell unit may not operate.

However, when a third voltage is applied to the upper metal contact 4511 of the first big cell unit and a fourth voltage larger than the third voltage is applied to the lower metal contact 4512 of the first big cell unit, the second big cell The current flow of the unit flows from the upper metal contact 4516 to the lower metal contact 4517, so that the second big cell unit can operate.

89 is a diagram illustrating a connection state and a cross-sectional view of a big cell array according to another embodiment.

According to an embodiment, the big cell units 4533 and 4534 may include an upper DBR layer, a lower DBR layer, MQW (Multi Quantum Wells), a metal, and a substrate.

For example, the upper DBR layer of the big cell units 4533 and 4534 may be doped with P-type, and the lower DBR layer may be doped with N-type. Alternatively, for example, the upper DBR layer of the big cell units 4533 and 4534 may be doped with N-type, and the lower DBR layer may be doped with P-type.

According to an embodiment, the big cell units 4533 and 4534 included in the big cell array may share a substrate. For example, the big cell units 4533 and 4534 may share GaAs.

According to another embodiment, the big cell units 4533 and 4534 included in the big cell array may partially share a substrate. For example, N big cell units included in the big cell array may share a substrate.

According to an embodiment, the big cell emitters included in the big cell units 4533 and 4534 may include an upper DBR layer and a lower DBR layer.

For example, the big cell emitter may include a P-DBR layer on the top and an N-DBR layer on the bottom. Or, for example, the big cell emitter may include an N-DBR layer on the top and a P-DBR layer on the bottom.

Referring to FIG. 89(a), a big cell array according to another embodiment may include a plurality of big cell units 4533, a first contact 4531, a second contact 4561, and a wire.

According to another embodiment, the first contact 4531 may be electrically connected to lower contacts of the plurality of big cell units 4533. For example, the first contact 4531 may be electrically connected to the N-Metal of the plurality of big cell units 4533.

For example, the first contact 4531 may be an n-type doped metal or a general metal. An n-type voltage may be applied to the first contact 4531.

According to another embodiment, the second contact 4561 may be electrically connected to upper contacts of the plurality of big cell units 4533. For example, the second contact 4561 and the plurality of big cell units 4533 may be electrically connected through wires. Also, for example, the second contact 4561 may be electrically connected to the P-Metal of the plurality of big cell units 4533.

For example, the second contact 4561 may be a p-type doped metal or a general metal. A p-type voltage or a voltage greater than or equal to the reference voltage may be applied to the second contact 4561.

Referring to FIG. 89(b), a big cell array according to another embodiment may include a plurality of big cell units 4532, a first contact 4352, a second contact 4562, and a wire.

According to another embodiment, the first contact 4352 may be electrically connected to a lower contact of a big cell unit arranged in an odd row among the big cell units included in the big cell array. For example, the first contact 4352 may be electrically connected to the N-Metal of the big cell units arranged in odd rows. In this case, the lower contacts of the big cell units arranged in the even row may not be electrically connected to the first contact 4352.

In addition, the first contact 4352 may be electrically connected to an upper contact of a big cell unit arranged in an even row among big cell units included in the big cell array. For example, the first contact 4352 may be electrically connected to the P-Metal of the big cell units arranged in the even row. In this case, the first contact 4352 may be electrically connected to the upper contact of the big cell unit arranged in the even row through a wire.

According to another embodiment, the second contact 4562 may be electrically connected to a lower contact of a big cell unit arranged in an even row among the big cell units included in the big cell array. For example, the second contact 4562 may be electrically connected to the N-Metal of the big cell units arranged in the even numbered row. In this case, the lower contacts of the big cell units arranged in odd rows may not be electrically connected to the second contacts 4562.

In addition, the second contact 4562 may be electrically connected to an upper contact of the big cell units arranged in odd rows among the big cell units included in the big cell array. For example, the second contact 4562 may be electrically connected to the P-Metal of the big cell units arranged in odd rows. In this case, the second contacts 4562 may be electrically connected to upper contacts of the big cell units arranged in odd rows through wires.

According to another embodiment, a p-type voltage or an n-type voltage may be applied to the first contact 4352 and the second contact 4562. For example, a voltage equal to or higher than a reference voltage or a voltage equal to or lower than the reference voltage may be applied to the first contact 4352 and the second contact 4562.

For example, when an n-type voltage is applied to the first contact 4352 and a p-type voltage is applied to the second contact 4562, the big cell units arranged in odd columns among the big cell units included in the big cell array operate. , Big cell units arranged in even-numbered columns may not operate.

For example, when a voltage less than or equal to the reference voltage is applied to the first contact 4352 and a voltage greater than or equal to the reference voltage is applied to the second contact 4622, the big cell units arranged in odd columns among the big cell units included in the big cell array. May operate, and the big cell units arranged in even-numbered columns may not operate.

In addition, for example, when a p-type voltage is applied to the first contact 4352 and an n-type voltage is applied to the second contact 4562, the Bigcell units arranged in even rows among the Bigcell units included in the Bigcell array operate. And, the big cell units arranged in odd-numbered rows may not operate.

In addition, for example, when a voltage equal to or higher than the reference voltage is applied to the first contact 4352 and a voltage less than the reference voltage is applied to the second contact 4562, the big cells arranged in even rows among the big cell units included in the big cell array. The unit may operate, and the big cell units arranged in odd-numbered rows may not operate.

As described above, in the big cell array shown in FIG. 89(b), the big cell unit operating according to the current or voltage applied to the first contact 4352 and the second contact 4622 may vary.

In addition, the big cell array shown in FIG. 89(b) can reduce the number of contacts compared to the big cell array shown in FIG. 89(a).

For example, the number of contacts of the big cell array shown in FIG. 89(a) is four first contacts 4531 and two of the second contacts 4561, whereas contacts of the big cell array shown in FIG. 89(b) The number of may be two first contacts 4352 and two second contacts 4562. By reducing the number of contacts, it is possible to reduce the cost of the big cell array process.

However, the connection state of the big cell array of FIG. 88 may reduce the number of wires compared to FIGS. 89A and 89B.

For example, the big cell array of FIG. 88 may include four wires when wires are connected to each of two first contacts 4560 and two second contacts 4530 and 4535.

In addition, for example, since the big cell array of FIG. 89 connects four wires to the first contacts 4531 and 4532 and connects four wires to the second contacts 4561 and 4562, a total of eight wires may be required. .

Accordingly, the number of wires required for the big cell array of FIG. 88 may be less than the number of wires required for the big cell array of FIG. 89. In terms of process simplification and cost, reducing the number of wires can be important. As with the big cell array of FIG. 88, when the upper metal contact and the lower metal contact of the big cell units are made of the same metal layer, the number of wires can be reduced.

90 is a circuit diagram showing a big cell array according to an embodiment.

Referring to FIG. 90, the big cell array 4600 may include a plurality of pair big cell units 4610 and 4620. The pair big cell unit may include a plurality of big cell units 4610 and 4620. For example, the pair big cell unit may include a big cell unit including a forward diode and a big cell unit including a reverse diode.

FIG. 90 illustrates a case where the number of diodes included in the big cell unit is one for convenience, but is not limited thereto, and the big cell unit may include a plurality of diodes. For example, the big cell unit may include 300 to 400 diodes.

According to an embodiment, one big cell unit 4610 among units included in the pair big cell unit may include a forward diode, and the other big cell unit 4620 may include a reverse diode. For example, the diode directions of the big cell units included in the pair big cell unit may be opposite.

According to an embodiment, a cathode of the big cell unit 4610 including a forward diode and an anode of the big cell unit 4620 including a reverse diode may be electrically connected. In addition, the anode of the big cell unit 4610 including the forward diode and the cathode of the big cell unit 4620 including the reverse diode may be electrically connected.

At this time, the cathode of the big cell unit 4610 including the forward diode and the anode of the big cell unit 4620 including the reverse diode are connected to the first contacts 4520 and 4525 arranged in the X-axis direction. I can. In addition, the anode of the big cell unit 4610 including the forward diode and the cathode of the big cell unit 4620 including the reverse diode may be connected to the second contacts 4530 and 4535 arranged in the Y-axis direction.

Alternatively, the cathode of the big cell unit 4610 including the forward diode and the anode of the big cell unit 4620 including the reverse diode may be connected to the second contacts 4530 and 4535 arranged in the Y-axis direction. have. In addition, the anode of the big cell unit 4610 including the forward diode and the cathode of the big cell unit 4620 including the reverse diode may be connected to the first contacts 4520 and 4525 arranged in the X-axis direction.

According to an embodiment, an n-type voltage may be applied to the first contacts X1, X2, X3, and X4, and a p-type voltage may be applied to the second contacts Y1, Y2, Y3, and Y4. For example, a voltage less than or equal to the reference voltage may be applied to the first contacts X1, X2, X3, and X4, and a voltage greater than or equal to the reference voltage may be applied to the second contacts Y1, Y2, Y3, and Y4. In this case, only one big cell unit 4610 among the pair big cell units may operate, and the other big cell units 4620 may not operate.

In addition, according to an embodiment, a p-type voltage may be applied to the first contacts X1, X2, X3, and X4, and an n-type voltage may be applied to the second contacts Y1, Y2, Y3, and Y4. For example, a voltage greater than or equal to the reference voltage may be applied to the first contacts X1, X2, X3, and X4, and a voltage less than or equal to the reference voltage may be applied to the second contacts Y1, Y2, Y3, and Y4. In this case, only one big cell unit 4620 of the pair big cell units may operate, and the other big cell units 4610 may not operate.

Since the diode directions of the big cell units 4610 and 4620 included in the pair big cell unit are opposite, when one of the big cell units operates, the other may not operate.

As described above, when a plurality of big cell units are grouped into a pair big cell unit and connected to the first contact and the second contact, the number and size of contacts and wires can be reduced compared to the case of operating by connecting each of the big cell units to the contact.

In addition, since each big cell unit can be operated according to the voltage applied to the first contact and the second contact, convenience of operation can be derived.

In addition, since the big cell units 4610 and 4620 included in the pair big cell unit cannot operate at the same time, it is possible to compensate for the vulnerability of the temperature increase of the big cell array due to heat generation of the big cell unit. For example, a temperature increase rate may be lower when only one big cell unit 4610 or 4620 is operated than when all the big cell units 4610 and 4620 included in the pair big cell unit are operated.

Since the temperature increase of the big cell array leads to a change in the wavelength output from the big cell, and the change in the wavelength can be related to the measurement distance, the operation method of the pair big cell unit that can reduce the temperature rise of the present invention is a big advantage in the field of LiDAR Can be

91 to 97 are diagrams illustrating various embodiments of a big cell array.

As shown in FIG. 91, according to an embodiment, an n-type voltage may be applied to the first contacts X1, X2, X3, and X4 of the big cell array. Also, a p-type voltage may be applied to the second contacts Y1, Y2, Y3, and Y4 of the big cell array.

For example, a voltage less than or equal to the reference voltage is applied to the first contacts (X1, X2, X3, X4) of the big cell array, and the voltage greater than or equal to the reference voltage is applied to the second contacts (Y1, Y2, Y3, Y4) of the big cell array. Can be authorized.

In this case, only one of the pair big cell units can operate. For example, only a big cell unit to which a correct voltage is applied to the big cell unit operates, and a big cell unit to which an incorrect voltage is applied cannot operate.

Referring to FIG. 91, only big cell units indicated by dotted lines can operate. The big cell units included in the big cell array may operate in a column unit.

As shown in FIG. 92, according to an embodiment, a p-type voltage may be applied to the first contacts X1, X2, X3, and X4 of the big cell array. Also, an n-type voltage may be applied to the second contacts Y1, Y2, Y3, and Y4 of the big cell array.

For example, a voltage higher than the reference voltage is applied to the first contacts (X1, X2, X3, X4) of the big cell array, and the voltage lower than the reference voltage is applied to the second contacts (Y1, Y2, Y3, Y4) of the big cell array. Can be authorized.

Referring to FIG. 92, only big cell units indicated by a dotted line may operate. The big cell units included in the big cell array may operate in a column unit different from that of FIG. 90.

As shown in FIG. 93, according to an embodiment, an n-type voltage may be applied to X1 and X3 of the first contacts of the big cell array, and a p-type voltage may be applied to X2 and X4. Also, a p-type voltage may be applied to the second contacts Y1, Y2, Y3, and Y4 of the big cell array.

For example, a voltage less than the reference voltage is applied to X1 and X3 among the first contacts of the big cell array, a voltage higher than the reference voltage is applied to X2 and X4, and the second contacts (Y1, Y2, Y3, Y4) of the big cell array are applied. ) May be applied with a voltage greater than or equal to the reference voltage.

In this case, only one of the pair big cell units can operate. For example, only a big cell unit to which a correct voltage is applied to the big cell unit operates, and a big cell unit to which an incorrect voltage is applied cannot operate.

Alternatively, all of the big cell units included in the pair big cell units may not operate. For example, if an incorrect voltage is applied to all of the big cell units included in the pair big cell unit, all of the big cell units cannot operate.

Referring to FIG. 93, only big cell units indicated by a dotted line may operate. The big cell units included in the big cell array may operate in a row unit.

As shown in FIG. 94, according to an embodiment, an n-type voltage may be applied to X1, X2, and X3 of the first contacts of the big cell array, and a p-type voltage may be applied to X4. Also, of the second contacts of the big cell array, an n-type voltage may be applied to Y1 and Y4, and a p-type voltage may be applied to Y2 and Y3.

For example, a voltage less than or equal to the reference voltage is applied to X1, X2, and X3 among the first contacts of the big cell array, a voltage higher than or equal to the reference voltage is applied to X4, and the second contact of the big cell array is less than or equal to the reference voltage. A voltage of may be applied, and a voltage greater than or equal to the reference voltage may be applied to Y2 and Y3.

Referring to FIG. 94, only big cell units indicated by a dotted line may operate. The big cell units included in the big cell array can operate individually in addition to the row unit or the column unit.

As shown in FIG. 95, according to an embodiment, an n-type voltage may be applied to X1 and X3 of the first contacts of the big cell array, and a p-type voltage may be applied to X2 and X4. In addition, an n-type voltage may be applied to Y1 and Y3 of the second contacts of the big cell array, and a p-type voltage may be applied to Y2 and Y4.

For example, a voltage less than the reference voltage is applied to X1 and X3 among the first contacts of the big cell array, a voltage higher than the reference voltage is applied to X2 and X4, and the reference voltage or less to Y1 and Y3 of the second contacts of the big cell array. A voltage of may be applied, and a voltage greater than or equal to the reference voltage may be applied to Y2 and Y4.

Referring to FIG. 95, only big cell units indicated by a dotted line may operate. The big cell units included in the big cell array can operate individually in addition to the row unit or the column unit.

As shown in FIG. 96, according to an embodiment, the n-type voltage may be applied only to X2 among the first contacts of the big cell array. In addition, the p-type voltage may be applied only to Y3 among the second contacts of the big cell array.

For example, a voltage less than or equal to the reference voltage may be applied only to X2 of the first contact of the big cell array, and a voltage greater than or equal to the reference voltage may be applied to only Y3 of the second contact of the big cell array.

Referring to FIG. 96, only the big cell unit indicated by the dotted line can operate. Only one of the big cell units included in the big cell array may individually operate.

As shown in FIG. 97, according to an embodiment, an n-type voltage may be applied to X1 and a p-type voltage may be applied to X4 among the first contacts of the big cell array. In addition, of the second contacts of the big cell array, a p-type voltage may be applied to Y1 and an n-type voltage may be applied to Y4.

For example, a voltage equal to or lower than the reference voltage is applied to X1 of the first contact of the big cell array, a voltage equal to or higher than the reference voltage is applied to X4, and a voltage equal to or higher than the reference voltage is applied to Y1 of the second contacts of the big cell array, and Y4 A voltage less than or equal to the reference voltage may be applied to.

Referring to FIG. 97, big cell units indicated by dotted lines may operate. The big cell units included in the big cell array may operate individually by one big cell unit in addition to the row unit or the column unit.

98 is a diagram illustrating an operation flowchart of a big cell array according to an embodiment.

Referring to FIG. 98, the operation of the big cell array may include applying a current to the first contact (S4100) and applying a current to the second contact (S4200 ).

According to an embodiment, the step (S4100) of applying a current to the first contact of the big cell array may be performed. Thereafter, an operation S4200 of applying a current to the second contact of the big cell array may be performed. By applying current to the first contact and the second contact, the big cell unit included in the big cell array can be operated.

According to another embodiment, the step of applying a current to the second contact of the big cell array (S4200) may be performed first. Thereafter, an operation S4100 of applying a current to the first contact of the big cell array may be performed.

99 is a diagram illustrating an operation sequence of a big cell array according to an embodiment.

Referring to FIG. 99, the big cell array 4580 according to an embodiment may include a 4X4 big cell unit 4570, but is not limited thereto, and such as 5X5, 6X6, 7X7, 8X8, 12X12, 24X24, 64X64, etc. A big cell unit 4570 may be included.

Referring to FIG. 99(a), the big cell array 4580 according to an embodiment may operate according to an operation sequence according to a number described in the big cell unit 4570.

For example, a big cell unit of one row and one column may operate first. Then, the big cell unit of 3 rows and 3 columns can operate second. Then, the big cell unit in the first row and three columns can operate for the third time. Then, the big cell unit in the 3rd row and 1st column can be operated for the fourth time. Then, the big cell unit in the 1st row and 4th column may operate fifth. Then, the big cell unit in the 3rd row and 2nd column can operate sixth. Then, the big cell unit in the first row and the second column can operate seventh. Then, the big cell unit in the 3rd row and 4th column can operate as an eighth. Then, the big cell unit in the 2nd row and 1st column may operate as the ninth. Then, the big cell unit of 4 rows and 3 columns may operate as the tenth. Then, the big cell unit in the 2nd row and 3rd column may operate as the eleventh. Then, the big cell unit of 4 rows and 1 column may operate as the twelfth. Then, the big cell unit in the 2nd row and 4th column can operate as a thirteenth. Then, the big cell unit of 4 rows and 2 columns may operate as the 14th. Then, the big cell unit in the 2nd row and 2nd column can be operated for the fifteenth time. Then, the big cell unit of 4 rows and 4 columns can operate 16th.

Referring to FIG. 99(b), the big cell array 4580 according to another embodiment may operate according to an operation sequence according to a number described in the big cell unit 4570.

For example, a big cell unit of one row and one column may operate first. Then, the big cell unit in the first row and the second column can operate second. Then, the big cell unit in the 3rd row and 1st column can operate for the third time. Then, the big cell unit of 3 rows and 3 columns can be operated for the fourth time. Then, the big cell unit of 2 rows and 2 columns may operate fifth. Then, the big cell unit in the 2nd row and 4th column can operate sixth. Then, the big cell unit in the 4th row and 2nd column can operate as the seventh. Then, the big cell unit of 4 rows and 4 columns can operate as an eighth. Then, the big cell unit in the first row and the second column can operate as the ninth. Then, the big cell unit in the 1st row and 4th column may operate as the tenth. Then, the big cell unit in the 3rd row and 2nd column may operate as the eleventh. Then, the big cell unit in the 3rd row and 4th column can operate as the twelfth. Then, the big cell unit in the 2nd row and 1st column can operate as a thirteenth. Then, the big cell unit in the 2nd row and 3rd column may operate as the 14th. Then, the big cell unit in the 4th row and 1st column can operate 15th. Then, the big cell unit of 4 rows and 3 columns can operate 16th.

When the big cell units 4570 included in the big cell array 4580 follow the sequence shown in FIG. 98, the temperature increase of the big cell array 4580 can be minimized. When the second big cell unit adjacent to the first big cell unit operates after the first big cell unit operates, the temperature increase due to the operation of the first big cell unit is added to the effect of the temperature increase due to the operation of the second big cell unit. The temperature of the array 4580 may increase.

However, after the first big cell unit operates, if the third big cell unit that is not adjacent to the first big cell unit operates, the temperature increase due to the operation of the third big cell unit increases due to the temperature increase due to the operation of the first big cell unit. The influence may be less than the influence of the temperature increase due to the operation of the second big cell unit.

Therefore, after the first big cell unit operates, the temperature of the big cell array 4580 when the third big cell unit that is not adjacent to the first big cell unit operates, rather than when the second big cell unit adjacent to the first big cell unit operates. The rise can be reduced.

The operation of the big cell array 4580 is not limited to the operation sequence illustrated in FIG. 99, and may follow another sequence of operating the big cell unit that is not adjacent to the big cell unit operated immediately before.

100 is a view showing a wafer including a big cell array according to an embodiment.

Referring to FIG. 100, a wafer 4700 may include a big cell array 4720. Although the shape of the wafer 4700 is illustrated in a circular shape in FIG. 100, the shape of the wafer 4700 is not limited thereto, and may be formed in a polygonal shape or other shape. In FIG. 100, the shape of the big cell array 4720 is shown in a polygonal shape, but the shape of the big cell array 4720 is not limited thereto, and may be circular or other shapes.

According to an embodiment, the wafer 4700 may be divided into a first area 4710 that is an area that does not include the big cell array 4720 and a second area that includes the big cell array 4720.

Since the first region 4710 does not include the big cell array 4720, it may be cut by a sawing process to reduce the size. However, the first area 4710 may be used as a contact area for the big cell array 4720 without cutting the first area 4710.

For example, a contact for supplying power to the big cell array 4720 may be disposed in the first area 4710. In addition, for example, a big cell array of a different shape than the polygonal big cell array 4720 may be additionally disposed in the first area 4710.

For example, another big cell array that emits a wavelength different from the wavelength of the laser beam emitted from the big cell array 4720 may be additionally disposed in the first region 4710.

In addition, for example, another big cell array that emits a laser beam having a divergence angle different from the divergence angle of the laser beam emitted from the big cell array 4720 may be additionally disposed in the first region 4710.

101 is a diagram illustrating a layout of a wafer and a big cell array according to an embodiment.

Referring to FIG. 101, a big cell array 4720 may be disposed in a wafer 4700. The wafer 4700 may include an available area 4716 and an unavailable area 4718.

According to an embodiment, the usable area 4716 may be inside the usable boundary 4715. The usable area 4716 may be a region in which a semiconductor disposed inside a wafer can operate.

According to an embodiment, the unavailable area 4718 may be an area between the available boundary 4715 and the edge 4717 of the wafer 4700. The unavailable region 4718 may be a region having a low probability of operating a semiconductor disposed therein. Alternatively, the unavailable region 4718 may be a region having a non-uniform doping concentration.

When the big cell array 4720 is disposed in the unavailable area 4718, the big cell array 4720 may not operate. Particularly, when the active area 4923, which is an area in which the big cell emitters are arranged, of the big cell array 4720 is included in the unavailable area 4718, the big cell emitters may not output a laser beam.

However, when the big cell array 4720 is disposed only in the usable area 4716, the area utilization of the wafer 4700 may be low.

For example, an area of the big cell array 4720 in which big cell emitters are not disposed may be included in the unavailable area 4718.

That is, the big cell array 4720 may not be disposed only in the available area 4716, but may be disposed in both the available area 4716 and the unavailable area 4718.

102 is a diagram illustrating a layout of a wafer and a big cell array according to another embodiment.

Referring to FIG. 102, the big cell array 4720 is not disposed only in the available area 4716, but may be disposed in both the available area 4716 and the unavailable area 4718.

According to an embodiment, the big cell array 4720 may include an edge 4721, an active area 4923 including a big cell emitter, and an inactive area 4725 not including a big cell emitter. In this case, a metal contact or passivation may be included in the non-active region 4725.

According to an embodiment, in order to improve the area utilization of the wafer, the big cell array 4720 may also be disposed in the unavailable area 4718.

For example, a portion of the inactive area 4725 and the edge 4241 of the big cell array 4720 may be included in the unavailable area 4718. In this case, the active area 4923 of the big cell array 4720 may not be included in the unavailable area 4718. In this case, the boundary of the active area 4923 of the big cell array 4720 may contact the boundary between the available area 4716 and the unavailable area 4718.

Part of the inactive area 4725 and the edge 4721 of the big cell array 4720 are included in the unavailable area 4718, so that the active area 4725 of the big cell array 4720 occupies the available area 4716. The rate can be increased. Alternatively, the number of big cell emitters that may be disposed in the usable area 4716 may increase.

103 to 105 are diagrams for describing a measurement distance of a LiDAR device according to an exemplary embodiment.

Referring to FIG. 103, the lidar device according to an embodiment may irradiate a laser toward a first object 5010, a second object 5020, and a third object 5030. In this case, the lidar device 5000 is directed toward the first, second, and third objects 5010, 5020, and 5030, respectively, with a first laser 5011, a second laser 5021, and a third laser 5031. ) Can be investigated. For example, the lidar device 5000 may simultaneously irradiate each of the first, second, and third lasers 5011, 5021, and 5031, and independently irradiate at least one or more lasers.

In addition, the lidar device 5000 acquires the reflected first laser 5012 when the first laser 5011 irradiated toward the first object 5010 is reflected from the first object 5010 can do. In this case, the lidar device 5000 may measure a distance from the lidar device 5000 to the first object 5010 based on the light-receiving time of the reflected first laser 5012. For example, the lidar device 5000 is based on the time when the first laser 5011 is output and the time when the reflected first laser 5012 is acquired, the first laser device 5000 from the lidar device 5000 1 The distance to the object 5010 may be measured, but is not limited thereto.

In addition, the lidar device 5000 acquires the reflected second laser 5022 when the second laser 5021 irradiated toward the second object 5020 is reflected from the second object 5020 can do. In this case, the lidar device 5000 may measure a distance from the lidar device 5000 to the second object 5020 based on the light-receiving time of the reflected second laser 5022. For example, the lidar device 5000 is based on a time when the second laser 5021 is output and a time when the reflected second laser 5022 is acquired, the second laser device 5000 from the lidar device 5000 2 The distance to the object 5020 may be measured, but is not limited thereto.

In addition, the lidar device 5000 acquires the reflected third laser 5032 when the third laser 5031 irradiated toward the third object 5030 is reflected from the third object 5030 can do. In this case, the lidar device 5000 may measure a distance from the lidar device 5000 to the third object 5030 based on the light-receiving time of the reflected third laser 5032. For example, the lidar device 5000 is based on the time when the third laser 5031 is output and the time when the reflected third laser 5032 is acquired, 3 The distance to the object 5030 may be measured, but is not limited thereto.

Also, a distance from the lidar device 5000 to the second object 5020 may be longer than a distance from the lidar device 5000 to the first object 5010. In this case, when the intensity of the first laser 5011 and the second laser 5021 is the same, the intensity of the first laser 5012 reflected from the first object 5010 is from the second object 5020 It may be larger than the reflected second laser 5022. Accordingly, the magnitude of the signal related to the first object 5010 obtained by the lidar device 5000 may be greater than the magnitude of the signal associated with the second object 5020 obtained by the lidar device 5000 have.

Also, a distance from the lidar device 5000 to the third object 5030 may be longer than a distance from the lidar device 5000 to the second object 5020. In this case, when the intensity of the second laser 5021 and the third laser 5031 are the same, the intensity of the second laser 5022 reflected from the second object 5020 is from the third object 5030 It may be larger than the reflected third laser 5032. Accordingly, the magnitude of the signal related to the second object 5020 obtained by the lidar device 5000 may be greater than the magnitude of the signal associated with the third object 5030 obtained by the lidar device 5000 have.

Accordingly, the intensity of the signal acquired by the lidar device 5000 may be related to the distance to the object reflecting the laser. For example, as the distance from the lidar device 5000 to an object increases, the magnitude of the signal obtained from the lidar device 5000 may decrease, and as the distance to the object increases, the lidar The size of the signal acquired by the device 5000 may increase, but is not limited thereto.

In addition, the magnitude of a signal related to the third object 5030 obtained by the lidar device 5000 may be smaller than the magnitude of a signal required for measuring a distance to the third object 5030. In this case, the meaning of being smaller than the size of the signal required for distance measurement may mean that the absolute signal size is smaller, it may mean that it is smaller than the size of the reference signal for distance measurement, or the size of the signal compared to noise It may mean that it is small enough not to be, but is not limited thereto.

As a result, when the magnitude of the signal related to the third object 5030 acquired by the lidar device 5000 is smaller than the signal required for distance measurement, the lidar device 5000 You may not be able to measure the distance.

Referring to FIG. 104, the lidar device according to an embodiment may irradiate a laser toward a fourth object 5040 and a fifth object 5050. In this case, the lidar device 5000 may irradiate the fourth laser 5041 and the fifth laser 5051 toward the fourth and fifth objects 5040 and 5050, respectively. For example, the lidar device 5000 may simultaneously irradiate each of the fourth and fifth lasers 5041 and 5051, and independently irradiate at least one or more lasers.

In addition, as described above, the lidar device 5000 can measure the distance to the fourth and fifth objects 5040 and 5050 using the fourth and fifth lasers 5041 and 5051. Details will be omitted.

Further, the fourth object 5040 and the fifth object 5050 may be objects located at the same distance from the lidar device 5000 but having different reflectances. For example, the reflectance of the fourth object 5040 may be higher than that of the fifth object 5050, but is not limited thereto. In addition, reflectance of the fourth and fifth objects 5040 and 5050 may be determined based on each color, material incident angle, etc., but is not limited thereto.

When the reflectance of the fourth object 5040 is higher than that of the fifth object 5050, the size of the fourth laser 5042 reflected from the fourth object 5040 by the fourth laser 5041 is The fifth laser 5051 may be larger than the size of the fifth laser 5052 reflected from the fifth object 5050. Accordingly, the magnitude of the signal related to the fourth object 5040 obtained by the lidar device 5000 may be greater than the magnitude of the signal associated with the fifth object 5050 obtained by the lidar device 5000 have.

Accordingly, the intensity of the signal acquired by the lidar device 5000 may be related to the reflectance of the object reflecting the laser. For example, as the reflectance of the object decreases, the size of the signal acquired from the lidar device 5000 may decrease, and as the reflectance of the object increases, the size of the signal acquired from the lidar device 5000 May increase, but is not limited thereto.

In addition, the magnitude of a signal related to the fifth object 5050 obtained by the lidar device 5000 may be smaller than the magnitude of a signal required for measuring a distance to the fifth object 5050. In this case, the meaning of being smaller than the size of the signal required for distance measurement may mean that the absolute signal size is smaller, it may mean that it is smaller than the size of the reference signal for distance measurement, or the size of the signal compared to noise It may mean that it is not small enough, but is not limited thereto.

As a result, when the magnitude of the signal related to the third object 5050 acquired by the lidar device 5000 is smaller than the signal required for distance measurement, the lidar device 5000 You may not be able to measure the distance.

Referring to FIG. 105, the lidar device according to an embodiment may irradiate a laser toward the sixth object 5060 and the seventh object 5070. In this case, the lidar device 5000 may irradiate the sixth laser 5061 and the seventh laser 5071 toward the sixth and seventh objects 5060 and 5070, respectively. For example, the lidar device 5000 may simultaneously irradiate each of the sixth and seventh lasers 5061 and 5071, and independently irradiate at least one laser.

In addition, the sixth and seventh lasers 5061 and 5071 may be irradiated with different intensities. For example, the intensity of the seventh laser 5071 may be greater than that of the sixth laser 5061, but is not limited thereto.

In addition, the sixth and seventh lasers 5061 and 5071 may be irradiated in one frame or in different frames. For example, the sixth laser 5061 may be irradiated in a first frame, the seventh laser 5071 may be irradiated in a second frame different from the first frame, or at a first point in time of the first frame The sixth laser 5061 may be irradiated, and the seventh laser 5071 may be irradiated at a second point in time of the first frame.

In addition, as shown in FIG. 105, the magnitude of the signal related to the sixth object 5060 acquired by the lidar device 5000 may be smaller than the magnitude of the signal required for measuring the distance to the sixth object 5060. I can. The reason that the magnitude of the signal related to the sixth object 5060 acquired by the lidar device 5000 is smaller than the signal required for distance measurement is from the lidar device 5000 as described above. 6 This may be because the distance to the object 5060 is long, and it may be because the reflectance of the sixth object 5060 is low, but is not limited thereto.

In addition, conditions such as distance and reflectance of the seventh object 5070 may be substantially the same as those of the sixth object 5060. For example, the seventh object 5070 may be spaced apart by the same distance as the distance from the lidar device 5000 to the sixth object 5060, and the reflectance of the seventh object 5070 is The reflectance of the sixth object 5060 may be substantially the same.

However, the seventh laser 5071 irradiated toward the seventh object 5070 may be greater than the intensity of the sixth laser 5061 irradiated toward the sixth object 5060. In this case, the magnitude of the signal related to the seventh object 5070 acquired by the lidar device 5000 may be larger than the magnitude of the signal required for measuring the distance to the seventh object 5070.

Therefore, the intensity of the signal acquired by the lidar device 5000 may be related to the intensity of the output laser. For example, as the intensity of the laser output from the lidar device 5000 increases, the intensity of a signal acquired under the same conditions (reflectance, etc.) may increase, and this may satisfy a condition of improving the measurement distance.

As a result, the magnitude of the signal related to the sixth object 5060 acquired by the lidar device 5000 is smaller than the magnitude of the signal required for distance measurement, but the magnitude of the signal related to the seventh object 5070 is distance It may be larger than the size of the signal required for measurement.

Accordingly, the lidar device 5000 may not measure the distance to the sixth object 5060, but may measure the distance to the seventh object 5070.

As a result, the intensity of the laser output from the lidar device 5000 may need to be increased in order to improve the measurement distance and improve accuracy in various surrounding situations of the lidar device 5000, but is not limited thereto.

106 is a diagram for describing eye-safety of a lidar device.

Referring to FIG. 106, the lidar device according to an embodiment may scan a surrounding environment using a laser.

Specifically, the lidar device 5000 according to an embodiment may irradiate the laser 5081 toward the surrounding environment. At this time, the irradiation direction of the laser 5081 may be continuously changed. For example, the lidar device 5000 may irradiate a first laser toward a first point, and may irradiate a second laser toward a second point. In this case, the first and second lasers may be irradiated at the same time, or independently irradiated at different times.

In addition, the lidar device 5000 according to an embodiment may generate a scan point using the irradiated laser. In this case, the scan point may be generated by including the distance to the point where the laser is irradiated and the point where the laser is reflected.

In addition, the lidar device 5000 according to an exemplary embodiment may form a field of view (FOV) using the irradiated laser. For example, if the laser is irradiated in the range of -60 degrees to +60 degrees in the horizontal direction and the laser is irradiated in the range of -30 degrees to +30 degrees in the vertical direction, the vertical viewing angle (FOV(V)) is 60 degrees and the horizontal Viewing angle (FOV(H)) 120 degrees can be formed. Accordingly, in this case, the lidar device 5000 may detect an object existing in a range of 120 degrees in a horizontal direction and a range of 60 degrees in a vertical direction from the lidar device 5000 or measure a distance to the object.

In this case, in an environment in which the lidar device 5000 is installed, a person 5082 may exist within the viewing angle of the lidar device 5000. In this case, at least a part of the laser output from the lidar device 5000 may be irradiated to the eyes of the person 5082, and the intensity of the laser 5081 may affect the eyes of the person 5082. I can.

Accordingly, the laser 5081 output from the lidar device 5000 may have to satisfy an eye-safety condition in order not to affect the eye health of the person 5082.

Eventually, the lidar device 5000 may have to increase the intensity of the output laser 5081 in order to improve the measurement distance and accuracy. However, in order not to affect the eye health of the person 5082, the intensity is less than a certain intensity. It may be necessary to irradiate the laser 5082.

Therefore, it may be necessary to design the laser output unit to satisfy the eye-safety condition but to improve the measurement distance, and hereinafter, a laser output unit to satisfy the eye-safety condition but to improve the measurement distance will be described.

107 and 108 are diagrams for explaining divergence of a laser according to an exemplary embodiment.

107 and 108, the laser output unit 5100 according to an embodiment may output a laser 5110. In this case, the laser 5110 output from the laser output unit 5100 may be diffused and irradiated at a predetermined angle or more. For example, the laser 5110 may be output in a direction larger than the size 5111 parallel to the first output laser. Specifically, as the laser 5110 is diffused and irradiated at a certain angle or more, the spot size of the laser 5110 will be larger by the diffuse size 5112 than the size 5111 parallel to the first laser output at a certain distance. I can.

In addition, the spot size of the laser 5110 output from the laser output unit 5100 may change according to a distance. For example, at a first distance, the laser 5110 may have a size of a first spot 5120, and at a second distance farther than the first distance, the laser 5110 may have a size of a second spot 5130. I can. In this case, as shown in FIG. 109, the size of the second spot 5130 may be larger than the size of the first spot 5120 due to the divergence angle of the laser 5110.

In addition, the optical density of the laser 5110 output from the laser output unit 5100 may vary according to a distance. For example, at the first distance, the laser 5110 may have a first optical density according to the first spot 5120, and at the second distance, the laser may have a second light density according to the second spot 5130. It can have optical density. In this case, the first optical density may be greater than the second optical density, which is due to the divergence angle of the laser 5110 where the size of the second spot 5130 at the second distance is the first spot at the first distance. This may be because it is larger than (5120) but must contain the same energy.

Accordingly, when the laser 5110 output from the laser output unit 5100 is diffused with a divergence angle, as the distance increases, the spot size of the laser 5110 may increase and the light density may decrease.

109 is a diagram for describing a divergence angle using a profile of a laser according to an exemplary embodiment.

Referring to FIG. 109, a profile of a laser according to an embodiment may be formed in a Gaussian shape. However, the present invention is not limited thereto, and the profile of the laser may be formed in various shapes such as non-Gaussian and top hat.

In addition, the divergence angle of the laser according to an exemplary embodiment may be determined based on the profile and intensity of the laser. For example, when the profile of the laser is formed in a Gaussian shape, the divergence angle of the laser may be a point from which the center intensity of the laser becomes a reference intensity.

In this case, the reference intensity may be an intensity of 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80&, 90% or 100% of the center intensity of the laser, but is limited thereto. It doesn't work.

In addition, the reference intensity may be an intensity equal to 1/e2 of the laser center intensity, but is not limited thereto.

Therefore, hereinafter, for convenience of description, a laser within a divergence angle may be referred to as a laser. For example, referring to FIG. 109, a laser having a center intensity of a laser greater than or equal to a reference intensity within a divergence angle may be referred to as a laser.

110 and 111 are diagrams for describing a laser output unit including a plurality of laser output devices according to an exemplary embodiment.

Referring to FIG. 110, the laser output unit 5200 according to an embodiment may include a first laser output device 5210 and a second laser output device 5220. In this case, the first and second laser output devices 5210 and 5220 may include a Vertical Cavity Surface Emitting Laser (VCSEL), and may include a VCSEL unit including a plurality of VCSELs, but are not limited thereto. In addition, the first and second laser output devices 5210 and 5220 may include a VCSEL array including a VCSEL unit including a plurality of VCSELs, but are not limited thereto.

In addition, when the laser output devices include a VCSEL unit or a VCSEL array, parameters such as intensity and density of lasers output from the laser output devices are average of lasers output from the VCSEL emitter included in the VCSEL unit or VCSEL array. It may mean a value, but is not limited thereto.

In addition, the first laser output device 5210 may output a first laser 5211, and the second laser output device 5220 may output a second laser 5221. In this case, each of the first and second lasers 5211 and 5221 may have a divergence angle.

In addition, the spot size of the first laser 5211 and the second laser 5221 may increase as a distance from the laser output unit increases.

In addition, the first laser 5211 and the second laser 5221 may overlap after a predetermined distance from the laser output unit. In this case, the overlap may mean that some of the first and second lasers 5211 and 5221 are irradiated to the same area in space. For example, referring to FIG. 111, a spot 5212 of the first laser 5211 at a first distance may not overlap with a spot 5222 of the second laser 5221 at the first distance. , At a second distance farther than the first distance, the spot 5213 of the first laser 5211 may overlap with the spot 5223 of the second laser 5221 at the second distance.

In addition, the optical density of the first laser 5211 and the second laser 5221 may decrease as a distance from the laser output unit increases. For example, the optical density of the spot 5212 of the first laser 5211 at the first distance may be greater than the optical density of the spot 5213 of the first laser 5211 at the second distance.

In addition, the first laser 5211 and the second laser 5221 may be simultaneously output. In this case, when the first laser 5211 and the second laser 5221 are simultaneously output, the first and second lasers 5211 and 5221 may overlap after a predetermined distance from the laser output unit.

In addition, when the first and second lasers 5211 and 52221 are simultaneously output and overlapped, the optical density of an area where the first and second lasers 5211 and 5221 overlap may be increased. For example, at the second distance, the optical density in the area 5230 where the spot 5223 of the first laser 5211 and the spot 5223 of the second laser 5221 overlap each other is the first and It can be increased by the overlap of the second laser (5211,5221).

In addition, when the first and second lasers 5211,5221 have the same optical density within the spot, the light of the area 5230 where the first and second lasers 5211,5221 overlap at the second distance. The density may have an optical density that is twice that of a region where the first and second lasers 5211 and 5221 do not overlap.

Accordingly, the intensity of the laser in the region where the first and second lasers 5211 and 5221 overlap may be greater than the intensity of the laser in the region where the first and second lasers 5211 and 5221 do not overlap, When the laser output unit 5200 is attached to a lidar device, the measurement distance in the area where the first and second lasers 5211 and 5221 overlap is not overlapped with the first and second lasers 5211 and 5221. It may be larger than the measuring distance in the area that does not exist.

112 is a diagram for describing an overlap distance according to divergence of a laser according to an exemplary embodiment.

Referring to FIG. 112, a first laser output unit 5300 according to an embodiment may include a first laser output element 5310 and a second laser output element 5320, and a second laser output unit 5400 ) May include a third laser output device 5410 and a fourth laser output device 5420. In this case, since each laser output device may be a variety of laser output devices such as VCSEL, detailed description will be omitted.

In addition, the first laser output element 5310 and the second laser output element 5320 included in the first laser output unit 5300 include a first laser 5311 and a second laser 5321. Each can be output to have a divergence angle. For example, the first and second laser output devices 5310 and 5320 may output each of the first and second lasers 5311 and 5321 to have a divergence angle of 1.2 degrees, but are not limited thereto.

In addition, the third laser output element 5410 and the fourth laser output element 5420 included in the second laser output unit 5400 include a third laser 5411 and a fourth laser 5241 as the second Each can be output to have a divergence angle. For example, the third and fourth laser output devices 5410 and 5420 may output each of the first and second lasers 5411 and 5241 to have a divergence angle of 1.8 degrees, but are not limited thereto.

Further, the second divergence angle of the third and fourth lasers 5411 and 5241 may be set to be greater than the first divergence angle of the first and second lasers 5311 and 5321, but is not limited thereto.

Further, the first and second laser output elements 5310 and 5320 may be spaced apart by a first distance, and the third and fourth laser output elements 5410 and 5420 may be spaced apart by a second distance. Can be. In this case, the first distance and the second distance may be the same, but are not limited thereto and may be different.

In addition, when the separation distance between the laser output elements included in the laser output unit is the same, the overlapped distance between the lasers may be changed according to the divergence angle of the laser output from the laser output element. More specifically, as the divergence angle of the laser output from the laser output device increases, the overlapped distance between the lasers may decrease.

For example, as shown in FIG. 112, when the first distance and the second distance are the same, and the first divergence angle is smaller than the second divergence angle, the first and second lasers 5311, A distance 5330 at which the 5321 overlaps may be longer than a distance 5430 at which the third and fourth lasers 5411 and 5241 overlap.

More specifically, when the first and second laser output elements 5310 and 5320 are spaced 1cm apart from each other, and the first divergence angle of the first and second lasers 5311 and 5321 is 1.2 degrees, the first The distance 5330 at which the first and second lasers 5311 and 5321 overlap may be about 47cm.

In addition, when the third and fourth laser output elements 5410 and 5420 are spaced 1 cm apart from each other, and the second divergence angle of the third and fourth lasers 5411 and 5241 is 1.8 degrees, the third and The distance 5430 at which the fourth lasers 5411 and 5241 overlap may be about 31 cm.

113 is a view for explaining the overlap distance of the laser according to the distance between the laser output elements.

Referring to FIG. 113, a first laser output unit 5500 according to an embodiment may include a first laser output element 5510 and a second laser output element 5520, and a second laser output unit 5600. ) May include a third laser output device 5610 and a fourth laser output device 5620. In this case, since each laser output device may be a variety of laser output devices such as VCSEL, detailed description will be omitted.

In addition, the first laser output element 5510 and the second laser output element 5520 included in the first laser output unit 5500 include a first laser 5511 and a second laser 5521. Each can be output to have a divergence angle. For example, the first and second laser output devices 5510 and 5520 may output such that the first and second lasers 5511 and 5521 each have a divergence angle of 1.2 degrees, but are not limited thereto.

In addition, the third laser output element 5610 and the fourth laser output element 5620 included in the second laser output unit 5600 include a third laser 5611 and a fourth laser 5621 Each can be output to have a divergence angle. For example, the third and fourth laser output devices 5610 and 5620 may output each of the first and second lasers 5611 and 5621 to have a divergence angle of 1.2 degrees, but are not limited thereto.

Further, the first divergence angle and the second divergence angle may be set to be the same, but are not limited thereto.

In addition, the first and second laser output elements 5510 and 5520 may be arranged spaced apart by a first distance, and the third and fourth laser output elements 5610 and 5620 are arranged spaced apart by a second distance. Can be. In this case, the first distance and the second distance may be different, but are not limited thereto and may be the same.

In addition, when the divergence angle of the laser output from the laser output element included in the laser output unit is the same, the overlapped distance between the lasers may be changed according to the separation distance between the laser output elements. More specifically, as the separation distance between laser output elements increases, the overlap distance between lasers may increase.

For example, as shown in FIG. 113, the first divergence angle and the second divergence angle are the same, and the distance 5640 between the third and fourth laser output elements 5610 and 5620 is the second divergence angle. When it is greater than the distance 5540 between the first and second laser output elements 5510 and 5520, the distance 5430 at which the third and fourth lasers 5611,5621 overlap is the first and second lasers ( 5511,5521) may be longer than the overlapping distance 5530.

More specifically, when the first and second laser output elements 5510 and 5520 are spaced 1cm apart from each other, and the first divergence angle of the first and second lasers 5511 and 5521 is 1.2 degrees, the first And the distance 5530 at which the second lasers 5511 and 5521 overlap may be about 47cm.

In addition, when the third and fourth laser output elements 5610 and 5620 are 2 cm apart from each other, and the second divergence angle of the third and fourth lasers 5610 and 5620 is 1.2 degrees, the third and The distance 5630 at which the fourth lasers 5611 and 5621 overlap may be about 94 cm.

Accordingly, when the above-described through FIGS. 112 and 113 are summarized, the distance at which the lasers output from the plurality of laser output elements overlap is the separation distance between the plurality of laser output elements and the distance between the plurality of laser output elements. It can be seen that it is related to the divergence angle of the laser.

두 개의 레이저 출력부에서 출력되는 레이저들이 오버랩 되는 거리를 D로 하였을 때, 하기와 같은 수학식을 만족할 수 있다.That is, the distance between the two laser output elements is d, and the divergence angle of each laser output from the two laser output elements is determined.

When D is a distance at which the lasers output from the two laser output units overlap, the following equation may be satisfied.

Consequently, the distance (d) between the laser output devices for one divergence angle and the distance (D) at which the lasers overlap may have a linear relationship, which may be expressed through the graph of FIG. 114.

114 is a graph representing a correlation between a distance between laser output elements and an overlap distance for each divergence angle.

Accordingly, when referring to FIG. 114 and the above equation, a desired overlap distance can be designed by adjusting the divergence angle and the distance between the laser output elements.

115 is a diagram for describing an eye-safety standard.

As described above with reference to FIG. 106, a criterion that does not affect human eye health due to the laser irradiated from the lidar device may be prepared.

In order not to affect the human eye health due to the laser irradiated from the lidar device, it should be designed so that it does not affect the human eye even if the human eye is located at the minimum distance accessible to humans in the use situation of the lidar device. There is a need.

In addition, there is a need to design so that the light energy received by the human eye does not affect the human eye health.

Therefore, when the light energy passing through the reference area at the reference distance does not affect human eye health, the laser may not affect human eye health in the use situation of the lidar device.

For example, the amount of light energy received within the reference area 5160 that can correspond to the size of the human eye at a point separated by the reference distance 5150 from the laser output unit 5100 does not affect the human eye health. In this case, the laser may not affect human eye health under the use of the LiDAR device.

More specifically, when the laser energy received within a circular area having a diameter of 7 mm at a point 10 cm away from the laser output unit 5100 does not affect human eye health, the laser is May not affect your eye health. However, the reference distance 5150 and the reference area 5160 may vary depending on the installation location and environment of the lidar device.

116 is a diagram for describing a reference distance and an overlap distance of a laser output unit according to an exemplary embodiment.

Referring to FIG. 116, the laser output unit 5700 according to an embodiment may include a first laser output element 5710 and a second laser output element 5720, in which case, each laser output element is Various laser output devices, such as VCSEL, have been described above, and detailed descriptions thereof will be omitted.

In addition, the first laser output device 5710 may output a first laser 5711, and the first laser 5711 may have a first divergence angle.

In addition, the second laser output element 5720 may output a second laser 5721, and the second laser 5721 may have a second divergence angle.

In this case, the first and second divergence angles may be the same, but are not limited thereto and may be different.

In addition, the first and second lasers 5711 and 5721 may have first and second optical densities at a first distance 5730. In this case, the first distance 5730 may be a reference distance for eye-safety.

In addition, the first and second laser output devices 5710 and 5720 may each independently output a laser. For example, after a predetermined time elapses after the first laser output element 5710 outputs the first laser 5711, the second laser output element 5720 may output the second laser 5721. I can.

In addition, the first and second optical densities at the first distance 5730 of the first and second lasers 5711 and 5721 may be optical densities that do not affect human eye health.

Accordingly, when the first laser 5711 has a first optical density that does not affect human eye health at the first distance 5730, the first distance 5730 of the first laser 5711 Since the optical density at a longer distance becomes less than the first optical density, it may not affect human eye health.

In addition, when the second laser 5721 has a second optical density that does not affect human eye health at the first distance 5730, the first distance 5730 of the second laser 5721 Since the optical density at a longer distance becomes less than the second optical density, it may not affect human eye health.

In addition, the first and second laser output devices 5710 and 5720 may output a laser at the same time. For example, the first and second laser output devices 5710 and 5720 may simultaneously output the first and second lasers 5711 and 5721.

In this case, as a portion of the first and second lasers 5711 and 5721 overlap, the optical density in the overlapped region may increase, so that a measurement distance using the laser may be improved.

However, each of the first and second lasers 5711 and 5721 may not affect human eye health. However, as the first and second lasers 5711 and 5721 overlap, light in the overlapped area Increased density can affect human eye health.

For example, each of the first and second lasers 5711 and 5721 has an optical density that does not affect human eye health at the first distance 5730, but the first and second lasers ( When the distance at which the 5711 and 5721 overlaps are less than or equal to the first distance 5730 as shown in FIG. 38, the optical density in the overlapping area may increase, thereby affecting human eye health.

Accordingly, as shown in FIG. 116, a distance 5740 at which the first and second lasers 5711 and 5721 overlap may be greater than or equal to the first distance 5730.

In addition, a distance 5740 at which the first and second lasers 5711 and 5721 overlap is a separation distance between the first and second laser output devices 5710 and 5720 and the first and second lasers 5711 It has been described in detail with reference to FIGS. 110 to 113 that it can be designed using the divergence angle of ,5721), and a detailed description will be omitted.

117 is a graph representing a correlation between the optical density of the laser output from the laser output element and the distance from the laser output element for each divergence angle.

Referring to FIG. 117, the X-axis of the graph may indicate a distance from the laser output device, and the Y-axis may indicate optical density. More specifically, the Y-axis of the graph may represent the optical density in percent by making the optical density at the reference distance 100%.

In addition, referring to the graph, a correlation between the optical density of the laser and the distance from the laser output device for each divergence angle can be known.

More specifically, as the divergence angle increases, the degree of decrease in the optical density may be greater as the distance from the laser output device increases. For example, in the case of a laser having a divergence angle of 0.7 degrees, it may be necessary to output a laser having an optical density of 400% or more in order to have an optical density of 100% from the reference distance, but in the case of a laser having a divergence angle of 0.2 degrees In order to have an optical density of 100%, it may be necessary to output a laser having an optical density of 200% or less.

In addition, a distance having an optical density of 50% may be different depending on the divergence angle of the laser. For example, a distance at which the optical density of a laser having a divergence angle of 0.7 degrees becomes 50% may be closer than a distance at which the optical density of a laser having a divergence angle of 0.2 degrees becomes 50%.

Accordingly, a distance that becomes 50% of the optical density of the reference distance can be determined according to the divergence angle.

In addition, when a plurality of laser output devices are used, a distance at which the optical density is 50% compared to the optical density at the reference distance may be important. For example, when each laser output from a plurality of laser output devices overlaps, the optical density of the overlapping area increases, but the distance at which the respective lasers overlap is the optical density of each laser at the reference distance. When the optical density is less than 50% compared to the optical density, the increased optical density of the overlapping area may not exceed the optical density at the reference distance. Accordingly, in this case, the increased optical density of the overlapping area may not affect human eye health.

Therefore, by using this, it is possible to design a laser output unit that improves the measurement distance without affecting human eye health, and details will be described later.

118 is a diagram for describing a reference distance and an overlap distance of a laser output unit according to an exemplary embodiment.

Referring to FIG. 118, the laser output unit 5700 according to an embodiment may include a first laser output element 5750 and a second laser output element 5760, wherein each laser output element is Various laser output devices, such as VCSEL, have been described above, and detailed descriptions thereof will be omitted.

In addition, the first laser output device 5750 may output a first laser 5751, and the first laser 5751 may have a first divergence angle.

In addition, the second laser output element 5760 may output a second laser 571, and the second laser 571 may have a second divergence angle.

In this case, the first and second divergence angles may be the same, but are not limited thereto and may be different.

In addition, the first and second lasers 5751,5761 may have first and second optical densities at a first distance 5770. In this case, the first distance 5700 may be a reference distance for eye-safety.

In addition, the first and second optical densities of the first and second lasers 5751,5761 at the first distance 5700 may be optical densities that do not affect human eye health.

In addition, the first and second lasers 5751,5761 may have third and fourth optical densities at a second distance 5780. In this case, the third and fourth optical densities may be 50% of each of the first and second optical densities, but are not limited thereto.

In addition, the first and second lasers 5751,5761 have an optical density greater than the third and fourth optical densities below the second distance 5780, and the first and second laser beams above the second distance 5780 It may have an optical density smaller than the third and fourth optical densities.

In addition, at least a portion of the first and second lasers 5751 and 5761 may overlap at a third distance 5790.

Therefore, when the optical density at the first distance 5700 is the maximum optical density that does not affect the human eye, the third distance 5790 where the first and second lasers 571,5761 overlap. Unlike shown in FIG.118, when the second distance 5780 or less, the optical density of the area where the first and second lasers 571,5761 overlap exceeds the maximum optical density that does not affect the human eye. can do.

However, as shown in FIG. 118, when the third distance 5790 at which the first and second lasers 571,5761 overlap is equal to or greater than the second distance 5780, the first and second lasers 5751, The optical density of the area where 5761) overlaps may be less than or equal to the maximum optical density that does not affect the human eye.

Therefore, as described above, the first and second laser output units 5750 and 5760 so that the distance 5790 at which the first and second lasers 5751,5761 overlap is equal to or greater than the second distance 5780. When designing the separation distance between the distances and the divergence angles of the first and second lasers 5751,5761, it is possible to expand a measurable distance in an overlapping area while satisfying the eye-safety criteria.

119 is a diagram for describing an improved measurement distance of a LiDAR device according to an exemplary embodiment.

The lidar device according to an embodiment may include a laser output unit, and the laser output unit may include a first laser output device and a second laser output device. In addition, the first and second laser output devices may output first and second lasers, respectively.

In this case, the first laser and the second laser may form a laser spot according to a distance, and the laser spot may form an irradiation area of the lidar device. For example, when the first laser is output, the lidar device may form an irradiation area corresponding to a spot area according to a distance of the first laser.

In addition, since it has been described above that the measurable distance of the lidar device can be proportional to the optical density of the lasers, a detailed description will be omitted.

Further, referring to FIG. 119, the first laser and the second laser may form a first irradiation area 572 and a second irradiation area 5762 at a first distance, respectively, and a third radiation area at a second distance. An irradiation area 553 and a fourth irradiation area 563 may be formed. At this time, for convenience of explanation, the irradiation regions 572 and 572 are shown in a square shape, but are not limited thereto, and the irradiation regions 572 have a shape corresponding to the spot shape of the irradiated laser, such as a circle or an ellipse. ,5762) can be formed.

In addition, the first distance may be a distance at which the first and second lasers do not overlap, and the second distance may be a distance at which the first and second lasers overlap. For example, the first distance may be a distance of 10 cm from the laser output unit, and the second distance may be a distance of 200 m from the laser output unit, but is not limited thereto.

In addition, the first and second lasers may be output so as not to affect human eye health. For example, when the first distance is a reference distance for determining eye-safety, the optical density at the first distance of the first and second lasers is an optical density that does not affect human eye health. I can.

In addition, the first and second lasers may have a first optical density and a second optical density at the second distance, respectively. In this case, the first and second optical densities may vary according to the output intensity, divergence, and the second distance value of the first and second lasers.

In addition, when the first and second lasers are simultaneously irradiated, a region where the first and second lasers overlap at the second distance may have a third optical density. In this case, the third optical density may be greater than the first and second optical densities. For example, when the first and second optical densities are the same, the third optical density may be twice the first and second optical densities.

Accordingly, a measurement distance of the lidar device may be improved in an area where the first and second lasers overlap. For example, when the first optical density of the first laser at the second distance is an optical density that does not generate a reference signal for measuring a distance in the lidar device, only the first laser is used in the lidar device. When irradiated, distance information on an object located at the second distance may not be obtained. However, if the third optical density at the second distance is an optical density capable of generating a reference signal for measuring a distance in the lidar device, the first and second lasers may be simultaneously irradiated by the lidar device. In this case, the lidar device may obtain distance information for an object positioned at the second distance in an area where the first and second lasers overlap.

In addition, when the third laser is output from the third laser output device to have the third optical density at the second distance, the output intensity of the third laser may be greater than the output intensity of the first and second lasers. have. Accordingly, the third laser may have an optical density that affects human eye health at the first distance.

However, as described above, when simultaneously outputting the first and second lasers from the first and second laser output devices to form an overlap region having the third optical density at the second distance, the first And each of the second lasers has an optical density that does not affect human eye health at the first distance, and has the third optical density in an overlapping area at the second distance, so that the first and second lasers are output. The lidar device including the device may improve a measurement distance in at least some areas without affecting human eye health.

In addition, an area where the first and second lasers overlap may increase as a distance from the laser output unit increases. For example, if the distance between the centers of the laser is 1 cm, and the divergence angles of the first and second lasers are 1.2 degrees, the size of the irradiated area at 200 m of the first and second lasers is 4 m * 4 m, respectively. And, the overlapping area may be 99.5% of the total irradiation area of the first and second lasers.

Accordingly, as the ratio of the overlapping area increases, as described above, the first laser and the second laser can be viewed as one laser, and accordingly, the measurement distance of the lidar device can be improved.

In addition, when the irradiation area of the laser is assumed to have a rectangular shape, the ratio of the overlapping area to the total irradiation area according to the distance can be expressed as follows.

라 하는 경우D is the distance from the laser output, d is the distance between the laser output elements, and the divergence angle of the laser is

If

*

You can satisfy your consciousness.

However, it is not limited thereto, and the irradiation area of the laser may have various shapes, but it has been described above that the ratio of the overlapping area may increase as the distance from the laser output unit increases. Accordingly, the lidar device The measuring distance of can be improved.

*

120 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 120, a laser output unit 5800 according to an embodiment includes a first laser output element 5810, a second laser output element 5820, a third laser output element 5830, and a fourth laser output element. 5840, and the first, second, third, and fourth laser output elements 5810, 5820, 5830, and 5840 respectively include first, second, third, and fourth lasers 5811, 5821,5831,5841) can be output. In addition, each of the laser output devices may include a collimation component and a steering component. For example, the laser output unit may include a first layer including the laser output elements, a second layer including the collimation component, and a third layer including the steering component, but is not limited thereto.

In addition, the first to fourth lasers may each have first to fourth divergence angles, and the first to fourth divergence angles may be the same, but are not limited thereto and may be different from each other, and at least some The divergence angles of may be equal to each other.

In addition, the first to fourth lasers may each have a first to fourth steering angle, and the first to fourth steering angles may be the same, but are not limited thereto, and may be different from each other, at least Some steering angles may be the same. For example, as shown in FIG. 120, the first and second steering angles are the same, and the third and fourth steering angles are the same, but the first and third steering angles are different from each other. can do.

In addition, the lidar device including the laser output unit 5800 may form a field of view (FOV) using a plurality of steering angles. For example, from the laser output unit 5800 including the first and third laser output elements 5810 and 5830, 25 laser output elements are respectively output with different steering angles, and between each laser When the steering angle of is 1.2 degrees apart in the vertical direction, the lidar device may form a viewing angle (FOV(V)) of 30 degrees in the vertical direction, but is not limited thereto.

In addition, the laser output unit 5800 is the second laser output having the same steering angle as the first laser output element 5810 in order to improve the measurement distance of the lidar device including the laser output unit 5800 Device 5820 may be included. That is, when the first steering angle and the second steering angle are the same, the first laser 5811 and the second laser 581 may be irradiated in the same direction.

In addition, when the first and second lasers 5811,5821 are irradiated in the same direction, they may overlap each other by diffusion according to the first and second divergence angles, as described above with reference to FIGS. 110 to 119. have.

In addition, the lidar device including the first and second laser output devices 5810 and 5820 may operate the first and second laser output devices 5810 and 5820 at the same time. In this case, the first And a measurement distance in an area where the second lasers 5811 and 5821 overlap may be improved. For example, when operating the first and second laser output elements 5810 and 5820 at the same time, the lidar device is located at a distance not measured from each of the first and second lasers 5811,5821 The distance to the object can be measured.

Further, as illustrated in FIG. 120, the first and second laser output devices 5810 and 5820 may be disposed adjacent to the laser output unit 5800. In this case, the distance between the first and second laser output devices 5810 and 5820 may be set such that a distance at which the first and second lasers 5811 and 5821 overlap is greater than a reference distance for eye-safety. . For example, the distance between the first and second laser output elements 5810 and 5820 is at the distance at which the first and second lasers 5811 and 5821 overlap, and the optical density of the overlapping area is at the reference distance. It may be set so as not to exceed the optical density of each of the first and second lasers of, but is not limited thereto.

In addition, the laser output unit 5800 is the fourth laser output having the same steering angle as the third laser output element 5830 in order to improve the measurement distance of the lidar device including the laser output unit 5800 It may include an element 5840. That is, when the third steering angle and the fourth steering angle are the same, the third laser 5831 and the fourth laser 5843 may be irradiated in the same direction.

In addition, when the third and fourth lasers 5831 and 5841 are irradiated in the same direction, they may overlap each other by diffusion according to the third and fourth divergence angles as described above with reference to FIGS. 110 to 119. have.

In addition, the lidar device including the third and fourth laser output elements 5830 and 5840 may operate the third and fourth laser output elements 5830 and 5840 at the same time. In this case, the first And a measurement distance in an area where the second lasers 5831 and 5841 overlap may be improved. For example, when operating the third and fourth laser output elements 5830 and 5840 at the same time, the lidar device is located at a distance that is not measured from each of the third and fourth lasers 5831 and 5841. The distance to the object can be measured.

Further, as shown in FIG. 120, the third and fourth laser output elements 5830 and 5840 may be disposed adjacent to the laser output unit 5800. In this case, the distance between the first and second laser output devices 5830 and 5840 may be set such that a distance at which the third and fourth lasers 5831 and 5843 overlap is greater than a reference distance for eye-safety. . For example, the distance between the third and fourth laser output elements 5830 and 5840 is at the distance at which the third and fourth lasers 5831 and 5843 overlap, and the optical density of the overlapped area is at the reference distance. It may be set so as not to exceed the optical density of each of the third and fourth lasers 5831 and 5841 of, but is not limited thereto.

In addition, the first and second laser output elements 5810 and 5820 and the third and fourth laser output elements 5830 and 5840 may simultaneously output a laser, but may output a laser at different times. . For example, the first to fourth lasers (5811,5821,5831,5841) may be simultaneously output from the first to fourth laser output devices (5810,5820,5830,5840), and the first and After outputting the first and second lasers (5811,5821) from the second laser output elements (5810,5820), the third and fourth lasers ( 5831,5841) may be output, but is not limited thereto.

In addition, a difference between the first and third steering angles may be smaller than the first and third divergence angles so that the first laser 5811 and the third laser 5831 overlap each other. In this case, when the first and third lasers 5811 and 5831 are simultaneously output, the optical density may increase in an area where the first and third lasers 5811 and 5831 overlap each other.

In this case, a size of an area where the first and second lasers 5811 and 5821 overlap may be larger than a size of an area where the first and third lasers 5811 and 5831 overlap.

In addition, a difference between the first and third steering angles may be greater than the first and third divergence angles so that the first laser 5811 and the third laser 5831 do not overlap each other. In this case, even when the first and third lasers 5811 and 5831 are simultaneously output, a region where the first and third lasers 5811 and 5831 overlap each other may not be formed.

Further, although not shown in FIG. 120, the distance between the first laser output element 5810 and the third laser output element 5830 is the first laser output element 5810 and the second laser output element 5820. ) May be closer than the distance between them, and even in this case, the area where the first and second lasers 5811,5821 overlap may be larger than the area where the first and third lasers 5811 and 5831 overlap. .

121 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 121, a laser output unit 5850 according to an embodiment includes a first laser output element 5860, a second laser output element 5870, a third laser output element 5880, and a fourth laser output element. (5890), and the first, second, third, and fourth laser output elements 5860, 5870, 5880, and 5890 each include first, second, third, and fourth lasers 5881, respectively. 5827,5881,5891) can be output. In addition, each of the laser output devices may include a collimation component and a steering component. For example, the laser output unit may include a first layer including the laser output elements, a second layer including the collimation component, and a third layer including the steering component, but is not limited thereto.

In addition, since the above-described contents may be applied to the first to fourth laser output devices 5860, 5870, 5880, and 5890, detailed contents thereof will be omitted.

As illustrated in FIG. 121, the first and second laser output elements 5860 and 5870 may be disposed so as not to be adjacent to the laser output unit 5850. In this case, the distance between the first and second laser output devices 5860 and 5870 may be set such that a distance at which the first and second lasers 5861 and 5870 overlap is greater than a reference distance for eye-safety. . For example, the distance between the first and second laser output elements 5860 and 5870 is at the distance at which the first and second lasers 5861 and 5870 overlap, and the optical density of the overlapped area is at the reference distance. It may be set so as not to exceed the optical density of each of the first and second lasers of, but is not limited thereto.

Further, as shown in FIG. 120, the third and fourth laser output elements 5880 and 5890 may be disposed so as not to be adjacent to the laser output unit 5850. In this case, the distance between the first and second laser output devices 5880 and 5890 may be set such that a distance at which the third and fourth lasers 581 and 5897 overlap is greater than a reference distance for eye-safety. . For example, the distance between the third and fourth laser output elements 5880 and 5890 is at the distance at which the third and fourth lasers 5881 and 5890 overlap, and the optical density of the overlapping area is at the reference distance. It may be set so as not to exceed the optical density of each of the third and fourth lasers 581 and 5891 of, but is not limited thereto.

Further, as illustrated in FIG. 120, a distance between the first and second laser output elements 5860 and 5870 may be different from a distance between the third and fourth laser output elements 5880 and 5890. For example, the distance between the first and second laser output devices 5860 and 5870 may be smaller than the distance between the third and fourth laser output devices 5880 and 5870, but is not limited thereto.

In addition, as the distance between the first and second laser output elements 5860 and 5870 and the distance between the third and fourth laser output elements 5880 and 5890 are different, the first and second lasers ( A distance at which the 5861 and 5871 overlaps may be different from a distance at which the third and fourth lasers 5881 and 5891 overlap. For example, when the distance between the first and second laser output elements 5860 and 5870 is smaller than the distance between the third and fourth laser output elements 5880 and 5890, the first and second lasers A distance at which the 5861 and 5871 overlaps may be smaller than a distance at which the third and fourth lasers 5881 and 5891 overlap.

In addition, as the distances between the first and second laser output elements 5860 and 5870 and the distances between the third and fourth laser output elements 5880 and 5890 are different, the first and second lasers at the same distance 2 An area in which the lasers 5881 and 5871 overlap may be different from an area in which the third and fourth lasers 5881 and 5891 overlap. For example, when the distance between the first and second laser output elements (5860, 5870) is smaller than the distance between the third and fourth laser output elements (5880, 5870), the first and second at the same distance An area where the second lasers 5881 and 5871 overlap may be larger than an area where the third and fourth lasers 5881 and 5891 overlap.

In addition, the first and second laser output devices 5860 and 5870 and the third and fourth laser output devices 5880 and 5890 may simultaneously output a laser, but may output a laser at different times. . For example, the first to fourth lasers (5861,5871,5881,5891) may be simultaneously output from the first to fourth laser output devices (5860,5870,5880,5890), and the first and After outputting the first and second lasers (5861,5871) from the second laser output elements (5860,5870), the third and fourth lasers ( 5881,5891) may be output, but is not limited thereto.

In addition, a difference between the first and third steering angles may be smaller than the first and third divergence angles so that the first laser 5881 and the third laser 581 overlap each other. In this case, when the first and third lasers 5881,5881 are simultaneously output, the optical density may increase in an area where the first and third lasers 5881,5881 overlap each other.

Also, in this case, a size of an area where the first and second lasers 5881 and 5871 overlap may be larger than a size of an area where the first and third lasers 5881 and 5871 overlap.

In addition, a difference between the first and third steering angles may be greater than the first and third divergence angles so that the first laser 5881 and the third laser 5881 do not overlap each other. In this case, even when the first and third lasers 5881,5881 are simultaneously output, a region where the first and third lasers 5881,5881 overlap each other may not be formed.

Further, although not shown in FIG. 121, the distance between the first laser output element 5860 and the third laser output element 5880 is the first laser output element 5860 and the second laser output element 58670. ) May be closer than the distance between them, and even in this case, an area where the first and second lasers 5881,5871 overlap may be larger than an area where the first and third lasers 5881,5881 overlap. .

122 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 122, a laser output unit 5900 according to an embodiment includes a first laser output element 5901, a second laser output element 5902, a third laser output element 593, and a fourth laser output element. (5904), the first, second, third, and fourth laser output elements (5901,5902,5903,5904), respectively, the first, second, third and fourth lasers (5911, 5912,5913,5914) can be output. In addition, each of the laser output devices may include a collimation component and a steering component. For example, the laser output unit may include a first layer including the laser output elements, a second layer including the collimation component, and a third layer including the steering component, but is not limited thereto.

In addition, the first to fourth lasers may each have first to fourth divergence angles, and the first to fourth divergence angles may be the same, but are not limited thereto and may be different from each other, and at least some The divergence angles of may be equal to each other.

In addition, the first to fourth lasers may each have a first to fourth steering angle, and the first to fourth steering angles may be the same, but are not limited thereto, and may be different from each other, at least Some steering angles may be the same. For example, as shown in FIG. 122, the first, second, third, and fourth steering angles may be the same.

In addition, the laser output unit 5900 has the same steering angle as the first laser output element 5901 in order to improve the measurement distance of the lidar device including the laser output unit 5900. It may include third and fourth laser output devices 5902,5903,5904. That is, by using the second, third and fourth laser output elements 5902,5903,5904 having the same second, third and fourth steering angles as the first steering angle, the first laser 5911 and the The second, third, and fourth lasers 5912, 5913, and 5914 may be overlapped, and the measurement distance of the lidar device may be improved by using the overlapped area.

In addition, the first to fourth laser output elements (5901,5902,5903,5904) may simultaneously output a laser, may output a laser at different times, and at least two or more laser output elements may simultaneously output a laser. You can also print it out.

In addition, when two of the first to fourth laser output devices (5901,5902,5903.5904) operate to simultaneously output a laser, the laser output from the two laser output devices that operate simultaneously The relationship between the two laser output devices for improving the measurement distance of the lidar device without affecting health has been described above, and a detailed description thereof will be omitted.

In addition, in order to describe a case in which three of the first to fourth laser output devices (5901,5902,5903,5904) operate to simultaneously output lasers, the first, second, and third laser outputs are provided for convenience. Although a description will be made using the elements 5901, 5902, and 5903, it is not limited thereto, and it may be sufficiently understood that it may be applied to other laser output elements.

The first, second and third lasers 5911,5912,5913 output from the first, second and third laser output elements 5901,5902,5903 are first, It may have second and third optical densities. In this case, the first distance 5920 may be a reference distance for eye-safety, and the first, second, and third optical densities may be optical densities that do not affect human eye health.

Accordingly, the first, second, and third lasers 5911, 5912, and 5913 may not affect human eye health, respectively.

In addition, the first, second, and third lasers 5911, 5912, 5913 output from the first, second, and third laser output devices 591,5902,5903 are the second distance 5930. It may have 5th, 6th, and 7th optical densities. In this case, the second distance 5930 may be a distance at which the first and second lasers 5911 and 5912 overlap each other, and the second and third lasers 5912 and 5913 overlap each other. However, the second distance is a 2-1 distance at which the first and second lasers 5911 and 5912 overlap each other and a 2-2 distance at which the second and third lasers 5912 and 5913 overlap each other. Although it may be included, it may be described as a second distance 5930 for convenience of description.

Accordingly, in order not to affect human eye health, the sum of the fifth and sixth optical densities may be less than or equal to the first or second optical density, and the sum of the sixth and seventh optical densities is the second or It may be less than or equal to the third optical density. In this case, the sum of the light densities may be a linear sum operation, but is not limited thereto, and may mean the light density of an overlapping area.

For example, when the first, second, and third optical densities are the same and have a maximum optical density that does not affect the human eye, the fifth, sixth, and seventh optical densities are the first optical density. It may be 50% or less of the density, in this case, the sum of the fifth and sixth optical densities may be less than or equal to the first optical density, and the sum of the sixth and seventh optical densities is less than or equal to the first optical density. However, it is not limited thereto.

In addition, the first, second and third lasers 5911,5912,5913 output from the first, second and third laser output elements 5901,5902,5903 are at a third distance (not shown). It may have ninth, tenth, and eleventh optical densities. In this case, the third distance (not shown) may be a distance at which the first and third lasers 5911 and 5913 overlap each other. That is, the third distance (not shown) may mean a distance at which all of the first, second, and third lasers 5911, 5912, and 5913 overlap.

Accordingly, the sum of the ninth, tenth, and eleventh optical densities may be less than or equal to the first, second, or third optical densities so as not to affect human eye health. In this case, the sum of the light densities may be a linear sum operation, but is not limited thereto, and may mean the light density of an overlapping area.

For example, when the first, second, and third optical densities are the same and have a maximum optical density that does not affect the human eye, the ninth, tenth, and eleventh optical densities are the first optical density. The density may be less than 1/3 of the density, and in this case, the sum of the ninth, tenth, and eleventh light densities may be less than or equal to the first light density, but is not limited thereto.

In addition, it can be sufficiently understood from the above descriptions that the divergence angle of the laser and the spacing between the laser output elements can be adjusted in order to output a laser that satisfies the above-described optical density condition.

In addition, the first to fourth laser output devices (5901,5902,5903,5904) are all operated, but the laser output from a plurality of laser output devices operating at the same time does not affect the human eye health and the lidar device. The relationship between the first to fourth laser output elements 591,5902,5903,5904 for improving the measurement distance of

The first, second, third and fourth lasers 5911,5912,5913,5914 output from the first, second, third, and fourth laser output elements (5901,5902,5903,5904) are The first distance 5920 may have first, second, third, and fourth optical densities. In this case, the first distance 5920 may be a reference distance for eye-safety, and the first, second, third and fourth optical densities may be optical densities that do not affect human eye health. have.

In addition, since the relationship between the second distance 5930 and the third distance (not shown) has been described above, a detailed description will be omitted. However, the third distance is a distance at which the first and third lasers 5911 and 5913 overlap, and the 3-1 distance at which all of the first, second and third lasers 5911, 5912 and 5913 overlap, and A distance at which the second and fourth lasers 5912 and 5914 overlap, and may include a 3-2 distance at which all of the second, third and fourth lasers 5912, 5913 and 5914 overlap, and the Distance 3-1 and distance 3-2 may be different from each other. In addition, the second distance is a 2-1 distance at which the first and second lasers 5911 and 5912 overlap each other, a 2-2 distance at which the second and third lasers 5912 and 5913 overlap each other, and The third and fourth lasers 5913 and 5914 may include a 2-3rd distance overlapping each other, and the 2-1 distance, the 2-2 distance, and the 2-3rd distance may be different from each other. .

The first, second, third and fourth lasers 5911,5912,5913,5914 output from the first, second, third, and fourth laser output elements (5901,5902,5903,5904) are It may have 13th, 14th, 15th, and 16th optical densities at the fourth distance (not shown). At this time, the fourth distance (not shown) is a distance at which the first and fourth lasers 5911 and 5914 overlap each other, and all of the first to fourth lasers 5911, 5912, 5913 and 5914 overlap each other. It can mean the distance to be.

Accordingly, the sum of the 13th, 14th, 15th, and 16th optical densities may be less than or equal to the first, second, third, or fourth optical densities so as not to affect human eye health. In this case, the sum of the light densities may be a linear sum operation, but is not limited thereto, and may mean the light density of an overlapping area.

For example, when the first, second, third, and fourth optical densities are the same and the maximum optical density does not affect the human eye, the 13th, 14th, 15th and 16th light The density may be 1/4 or less of the first optical density, and in this case, the sum of the 13th, 14th, 15th, and 16th optical densities may be less than or equal to the first optical density, but is not limited thereto.

In addition, it can be sufficiently understood from the above descriptions that the divergence angle of the laser and the spacing between the laser output elements can be adjusted in order to output a laser that satisfies the above-described optical density condition.

In addition, when the first to fourth laser output devices (5901,5902,5903,5904) are designed to simultaneously output lasers, the first to fourth laser output devices (5901,5902,5903,5904) It can be operated to output the laser at the same time, but at least one laser output element can be operated to output the laser.

For example, two laser output elements output a laser than one of the first to fourth laser output elements 5901,5902,5903,5904 outputs a laser. The measurement distance can be improved, and three laser output elements output a laser rather than two laser output elements output a laser, and the measurement distance of a lidar device can be improved, and three laser output elements output a laser. It is possible to improve the measurement distance of the LiDAR device by outputting the laser from the four laser output elements rather than outputting the laser.

Accordingly, at least some of the plurality of laser output devices may be operated according to the distance to the point measured by the lidar device.

For example, when the first laser output device 5901 fails to obtain a distance to an object using the first laser after the first laser output element 5901 outputs the first laser, 2 The laser output devices may be operated so that the laser output devices 5901 and 5902 output the first and second lasers 5911 and 5912, and the first and second lasers 5911 and 5912 may be used to communicate with the object. If the distance of is not obtained, the first, second, and third laser output elements (5901,5902,5903) for the same area simultaneously use the first, second, and third lasers (5911,5912,5913). The laser output devices may be operated to output, and when the distance to the object is not obtained using the first, second, and third lasers 5911, 5912, and 5913, the first, second, and second lasers for the same area , The third and fourth laser output elements (5901,5902,5903,5904) operate the laser output elements to simultaneously output the first, second, third and fourth lasers (5911,5912,5913,5914) I can make it.

In addition, the first, second, third, and fourth laser output elements 5901, 5902, 5903, and 5904 may be disposed to have the same separation distance from each other. For example, FIG. 123 is a diagram for explaining an arrangement relationship of a laser output unit according to an embodiment, and as shown in FIG. 123, a distance between the first and second laser output elements 5901 and 5902 and the The distances between the second and third laser output devices 5902 and 5903 and the distances between the third and fourth laser output devices 5903 and 5904 may be the same.

In addition, the first, second, third, and fourth laser output elements 5901,5902,5903,5904 may be disposed to have different separation distances from each other. For example, FIG. 124 is a diagram for explaining an arrangement relationship of a laser output unit according to another exemplary embodiment, and as shown in FIG. 124, a distance between the first and second laser output elements 5901 and 5902 and A distance between the second and third laser output elements 5902 and 5903 and a distance between the third and fourth laser output elements 593 and 5904 may be different from each other. More specifically, the distance between the third and fourth laser output elements 593,5904 is smaller than the distance between the second and third laser output elements 5902,5903, and the first and second laser output elements It may be greater than the distance between (5901,5902), but is not limited thereto.

FIG. 125 is a diagram illustrating a laser having a divergence angle of less than a predetermined angle and a laser output unit outputting the same according to an exemplary embodiment, and FIG. 126 is a view for explaining a distance between lasers according to FIG. 125.

125 and 126, the laser output unit according to an embodiment may include a first laser output device 5950 and a second laser output device 5955, and the first and second laser output devices ( The 5950 and 5955 may output the first and second lasers 5951 and 5956, respectively. In addition, each of the laser output devices may include a collimation component and a steering component. For example, the laser output unit may include a first layer including the laser output elements, a second layer including the collimation component, and a third layer including the steering component, but is not limited thereto.

In addition, the first and second lasers 5951 and 5956 may have first and second divergence angles, respectively, and the first and second divergence angles may be the same, but are not limited thereto and may be different from each other. May be.

In addition, the first and second lasers 5951 and 5956 may have first and second steering angles, respectively, and the first and second steering angles may be different from each other.

In this case, as illustrated in FIG. 125, the first and second divergence angles may be smaller than a difference between the first and second steering angles.

Accordingly, when the first and second divergence angles are smaller than the difference between the first and second steering angles, the distance 5960 between the first laser 5951 and the second laser 5956 is the laser output unit Can increase as the distance from.

More specifically, referring to FIG. 126, a distance 5961 between the first and second lasers 5959 and 5956 at a first distance from the laser output unit is the first distance at a second distance farther than the first distance. It may be closer than the distance 5966 between the first and second lasers 5951 and 5956. For example, when the first and second divergence angles are 0 degrees and the difference between the first and second steering angles is 1.2 degrees, the first and second lasers 5951 are at a distance of about 10 m from the laser output unit. The distance between the ,5956) may be about 21 cm, and the distance between the first and second lasers 5951,5956 at a distance of about 100 m from the laser output unit may be about 2.1 m, but is not limited thereto. Does not.

In addition, as described above, if the distance 5960 between the first and second lasers 5951 and 5956 increases as the distance from the laser output unit increases, the area not irradiated with the laser may increase according to the distance. Accordingly, an area in which the lidar device including the laser output unit does not detect an object may increase.

Accordingly, it may be necessary that the laser output from the laser output unit included in the lidar device be designed to have a divergence angle of a certain or more.

FIG. 127 is a diagram illustrating a laser having a divergence angle greater than or equal to a predetermined angle and a laser output unit outputting the same according to an exemplary embodiment, and FIG. 128 is a diagram for explaining a distance between lasers according to FIG. 127.

127 and 128, the laser output unit according to an embodiment may include a first laser output device 5970 and a second laser output device 5975, and the first and second laser output devices ( The 5970 and 5975 may output the first and second lasers 5971 and 5976, respectively. In addition, each of the laser output devices may include a collimation component and a steering component. For example, the laser output unit may include a first layer including the laser output elements, a second layer including the collimation component, and a third layer including the steering component, but is not limited thereto.

In addition, the first and second lasers 5971 and 5976 may have first and second divergence angles, respectively, and the first and second divergence angles may be the same, but are not limited thereto and may be different from each other. May be.

In addition, the first and second lasers 5971 and 5976 may have first and second steering angles, respectively, and the first and second steering angles may be different from each other.

In this case, as illustrated in FIG. 127, the first and second divergence angles may be equal to or greater than the difference between the first and second steering angles.

Accordingly, when the first and second divergence angles are the same as the difference between the first and second steering angles, the distance 5980 between the first laser 5971 and the second laser 5976 is the laser output unit. It can be constant as the distance from

More specifically, although not shown, a distance 5981 between the first and second lasers 5971 and 5976 at a first distance from the laser output unit is the first at a second distance farther than the first distance. And the distance between the second lasers (5971, 5976) may be the same as (5972). For example, the first and second divergence angles are 1.2 degrees, the difference between the first and second steering angles is 1.2 degrees, and the distance between the first and second laser output elements 5970 and 5975 is In the case of 1 mm, the distance between the first and second lasers 5951,5956 at a distance of about 10 m from the laser output unit may be about 1 mm, and the first and second lasers at a distance of about 100 m from the laser output unit The distance between the 2 lasers 5951 and 5956 may also be about 1 mm, but is not limited thereto.

In addition, when the first and second divergence angles are greater than the difference between the first and second steering angles, the distance 5980 between the first laser 5971 and the second laser 5976 is the laser output unit. It may decrease as the distance from

More specifically, referring to FIG. 128, a distance 5981 between the first and second lasers 5971 and 5976 at a first distance from the laser output unit is the first distance at a second distance farther than the first distance. It may be further than the distance 5972 between the first and second lasers 5971 and 5976. For example, the first and second divergence angles are 1.3 degrees, the difference between the first and second steering angles is 1.2 degrees, and the distance between the first and second laser output elements 5970 and 5975 is In the case of 1 cm, the distance between the first and second lasers 5951,5956 at a distance of about 10 m from the laser output unit may be about 0.2 cm, and the first and second lasers at a distance of about 100 m from the laser output unit The second lasers 5951 and 5956 may be overlapped.

In addition, as described above, when the distance 5980 between the first and second lasers 5971 and 5976 is the same or decreases as the distance from the laser output unit increases, the area where the laser is not irradiated according to the distance This may decrease, and accordingly, a region in which an object cannot be detected in a lidar device including the laser output unit may decrease.

Therefore, in order to reduce objects that are not detected by the lidar device including the laser output unit, the laser output from the laser output unit may be designed to have a divergence angle of a predetermined or more, and more specifically, the first and second divergences. The angle may be designed to be equal to or greater than the difference between the first and second steering angles, or the sum of 1/2 of the first divergence angle and 1/2 of the second divergence angle is the first and second divergence angles. 2 It may be designed to be equal to or greater than the difference in the steering angle, but is not limited thereto.

Hereinafter, a laser output unit according to an embodiment of the present application will be described.

However, for convenience of explanation, it will be described using a VCSEL, but it is obvious that other laser output devices other than the VCSEL may be used.

129 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 129, the laser output unit 6000 according to an embodiment may include at least some of a VCSEL array 6010, a collimation component 6020, and a steering component 6030, but is not limited thereto.

In this case, the VCSEL array 6010 may include at least one or more VCSEL emitters, and may include at least one or more VCSEL units composed of at least one or more VCSEL emitters.

In addition, the VCSEL array 6010 may output a laser. For example, a laser may be output from a VCSEL emitter included in the VCSEL array 6010, and a laser may be output from a VCSEL unit including at least one VCSEL emitter, but is not limited thereto.

In addition, the collimation component 6020 may collimate the laser output from the VCSEL array 6010.

More specifically, the collimation component 6020 may collimate a laser output from a VCSEL emitter included in the VCSEL array 6010, but is not limited thereto, and a VCSEL unit included in the VCSEL array 6010 It is also possible to collimate the laser output from.

In this case, the divergence angle of the laser output from the VCSEL array 6010 may be reduced.

For example, the laser output from the VCSEL emitter included in the VCSEL array 6010 is collimated from the collimation component 6020, and accordingly, the laser output from the VCSEL emitter included in the VCSEL array 6010 The divergence angle may be reduced to 1.2 degrees or less, but is not limited thereto.

In addition, for example, the laser output from the VCSEL unit included in the VCSEL array 6010 is collimated from the collimation component 6020, and accordingly, output from the VCSEL unit included in the VCSEL array 6010 The divergence angle of the laser may be reduced to 1.2 degrees or less, but is not limited thereto.

In addition, the reduced divergence angles are 0 degrees, 0.1 degrees, 0.2 degrees, 0.3 degrees, 0.4 degrees, 0.5 degrees, 0.6 degrees, 0.7 degrees, 0.8 degrees, 0.9 degrees, 1.0 degrees, 1.2 degrees, 1.3 degrees, 1.4 degrees, and 1.5 degrees. It may be a variety of angles such as degrees, 1.6 degrees, 1.7 degrees, 1.8 degrees, 1.9 degrees, and 2.0 degrees, but is not limited thereto.

Also, the collimation component 6020 may be implemented as an array.

For example, the collimation component 6020 may include at least one or more collimation elements, and may be implemented in a form in which the at least one or more collimation elements are arranged in an array, but is not limited thereto.

In addition, for example, the collimation component 6020 may include at least one or more collimation units including at least one or more collimation elements, and the at least one or more collimation units are arranged in an array. It may be, but is not limited thereto.

In addition, the collimation component 6020 may be formed to correspond to the VCSEL array 6010.

For example, the collimation component 6020 may be arranged in an array to correspond to the VCSEL array 6010, but is not limited thereto.

Also, for example, the collimation component 6020 may include a collimation element corresponding to a VCSEL emitter included in the VCSEL array 6010, but is not limited thereto.

Also, for example, the collimation component 6020 may include a collimation unit corresponding to a VCSEL unit included in the VCSEL array 6010, but is not limited thereto.

Also, for example, the collimation component 6020 may include a collimation element corresponding to a VCSEL unit included in the VCSEL array 6010, but is not limited thereto.

In addition, the steering component 6030 may steer the laser collimated from the collimation component 6020.

For example, when a laser output from a VCSEL emitter included in the VCSEL array 6010 is collimated from the collimation component 6020, the steering component 6030 is output from the VCSEL emitter and the collimation component The laser collimated from 6020 may be steered at a predetermined angle, but is not limited thereto.

In addition, for example, when the laser output from the VCSEL emitter included in the VCSEL array 6010 is collimated from the collimation component 6020, the steering component 6030 is a VCSEL unit including the VCSEL emitter. The lasers output from and collimated from the collimation component 6020 may be steered at a predetermined angle, but the present invention is not limited thereto.

In addition, for example, when the laser output from the VCSEL unit included in the VCSEL array 6010 is collimated from the collimation component 6020, the steering component 6030 is output from the VCSEL unit and The laser collimated from the alignment component 6020 may be steered at a predetermined angle, but is not limited thereto.

In addition, the predetermined angle to be steered is 0 degrees, 1 degree, 2 degrees, 3 degrees, 4 degrees, 5 degrees, 6 degrees, 7 degrees, 8 degrees, 9 degrees, 10 degrees, 20 degrees, 30 degrees, 40 degrees, Various angles such as 50 degrees, 60 degrees, 70 degrees, 80 degrees, 90 degrees, 100 degrees, 110 degrees, 120 degrees, 130 degrees, 140 degrees, 150 degrees, 160 degrees, 170 degrees, 180 degrees, etc. Not limited.

Also, the steering component 6030 may be implemented as an array.

For example, the steering component 6030 may include at least one or more steering elements, and may be implemented in a form in which the at least one or more steering elements are arranged in an array, but is not limited thereto.

In addition, for example, the steering component 6030 may include at least one or more steering units including at least one or more steering elements, and may be implemented in a form in which the at least one or more steering units are arranged in an array. It is not limited to this.

In addition, the steering component 6030 may be formed to correspond to the VCSEL array 6010.

For example, the steering component 6030 may be arranged in an array to correspond to the VCSEL array 6010, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering element corresponding to a VCSEL emitter included in the VCSEL array 6010, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering unit corresponding to a VCSEL unit included in the VCSEL array 6010, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering element corresponding to a VCSEL unit included in the VCSEL array 6010, but is not limited thereto.

Also, the steering component 6030 may be formed corresponding to the collimation component 6020.

For example, the steering component 6030 may be arranged in an array to correspond to the collimation component 6020, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering element corresponding to the collimation element, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering element corresponding to the collimation unit, but is not limited thereto.

Also, for example, the steering component 6030 may include a steering unit corresponding to the collimation unit, but is not limited thereto.

In addition, the steering component 6030 may steer the laser output from the VCSEL array 6010 in various directions.

For example, the steering component 6030 may steer the first laser 6001 in the first direction, the second laser 6002 may be steered in the second direction, and the third laser 6003 may be You can steer in the third direction.

In this case, as shown in FIG. 129, the first laser 6001 may be a laser output from the upper right portion of the VCSEL array 6010, and the second laser 6002 is the VCSEL array 6010 ), and the third laser 6003 may be a laser output from a lower right portion of the VCSEL array 6010, but is not limited thereto.

In addition, as shown in FIG.129, the first direction in which the first laser 6001 is steered may mean a direction in the upper right of the field of view (FOV), and the second laser 6002 is steered. The second direction may mean a right direction of the field of view (FOV), and the third direction in which the third laser 6003 is steered may mean a direction to the lower right of the field of view (FOV), but is not limited thereto. .

In addition, as illustrated in FIG. 129, the laser output unit 6000 may be formed to correspond to a position at which the laser is output and a direction in which the laser is steered.

In addition, as illustrated in FIG. 129, when the laser output unit 6000 is formed to correspond to the position of the laser to be output and the direction in which the laser is steered, the laser output unit 6000 is formed with an extension line of the laser to be steered. It can have a focus area.

In addition, the focus area may be used as an origin for distance measurement.

130 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 130, the laser output unit 6050 according to an embodiment may include at least some of a VCSEL array 6060, a collimation component 6070, and a steering component 6080, but is not limited thereto.

In this case, since the above-described contents may be applied to the VCSEL array 6050, the collimation component 6070, and the steering component 6080, a redundant description will be omitted.

Meanwhile, the steering component 6080 may steer the laser output from the VCSEL array 6060 in various directions.

For example, the steering component 6080 may steer the first laser 6051 in the first direction, the second laser 6052 may be steered in the second direction, and the third laser 6053 may be You can steer in the third direction.

In this case, as shown in FIG. 130, the first laser 6051 may be a laser output from an upper portion of the VCSEL array 6060, and the second laser 6052 is the VCSEL array 6060. The laser may be output from the central portion of the, and the third laser 6053 may be a laser output from the lower portion of the VCSEL array 6060, but is not limited thereto.

In addition, as shown in FIG. 130, the first direction in which the first laser 6051 is steered may mean a downward direction of the field of view (FOV), and the second direction in which the second laser 6052 is steered. The second direction may refer to a center direction of the viewing angle (FOV), and the third direction in which the third laser (6053) is steered may refer to an upward direction of the viewing angle (FOV), but is not limited thereto.

In addition, as shown in FIG. 130, the laser output unit 6050 may be formed such that a position at which the laser is output and a direction in which the laser is steered are opposite.

In addition, as shown in FIG. 130, when the laser output unit 6050 is formed so that the position of the laser to be output and the direction in which the laser is steered are opposite to each other, the laser output unit 6050 is a focus area in which the steering laser is collected. Can have.

In addition, the focus area may be used as an origin for distance measurement.

131 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 131, the laser output unit 6100 according to an embodiment may include at least some of a VCSEL array 6110, a collimation component 6120, and a steering component 6130, but is not limited thereto.

In this case, since the above-described contents may be applied to the VCSEL array 6110, the collimation component 6120, and the steering component 6130, redundant descriptions will be omitted.

Meanwhile, the VCSEL array 6110 may operate only a part of at least one or more VCSEL emitters included in the VCSEL array 6110.

For example, the VCSEL array 6110 may operate according to a predetermined group, and more specifically, the VCSEL emitters included in the VCSEL array 6110 may operate individually, and include at least one VCSEL emitter. The VCSEl unit may operate as one group, but is not limited thereto.

In addition, the VCSEL array 6110 may operate at different times for each predetermined group, and more specifically, the second VCSEL emitter operates after the first VCSEL emitter among VCSEL emitters included in the VCSEL array 6110 operates. The second VCSEL unit may be operated, or after the first VCSEL unit among the VCSEL units included in the VCSEL array 6110 operates, but is not limited thereto.

For example, as shown in FIG. 131, a first laser 6101 may be output at a first time point, and a second laser 6102 may be output at a second time point, and at this time, the first laser Reference numeral 6101 may be a laser output from a first VCSEL emitter or a first VCSEL unit, and the second laser 6102 may be a laser output from a second VCSEL emitter or a second VCSEL unit, but is not limited thereto. .

In addition, the steering component 6130 may steer the laser output from the VCSEL array 6110 in various directions.

For example, the steering component 6130 may steer the first laser 6101 in the first direction and the second laser 6102 in the second direction.

* Also, as shown in FIG. 131, the first laser 6101 may be a laser output from a first group positioned at the upper right portion of the VCSEL array 6110, and the second laser 6102 May be a laser output from the second group positioned at the lower right portion of the VCSEL array 6110, but is not limited thereto.

In addition, the first and second groups may mean one VCSEL emitter, and may mean a VCSEL unit including at least one VCSEL emitter, but are not limited thereto.

In addition, as shown in FIG. 131, the timing at which the first laser 6101 and the second laser 6102 are output may be different. For example, the first laser 6101 may be output from the first group at a first time point, and the second laser 6102 may be output from the second group at a second time point. It doesn't work.

In addition, the irradiation direction of the laser output from the laser output unit 6100 may change over time. For example, the first laser 6101 output at the first viewpoint may be irradiated in the upper right direction of the viewing angle, and the second laser 6102 output at the second viewpoint may be irradiated in the lower right direction of the viewing angle. have.

Therefore, designing the laser output unit 6100 so that the irradiation direction changes over time can extend the scannable range without mechanical driving, which is a lidar device in which the laser output unit 6100 is disposed. Can be implemented as a solid-state-LiDAR device.

Hereinafter, the configuration of the laser output unit according to an embodiment of the present application will be described in detail. However, for convenience of explanation, the laser output array may be described as a VCSEL array, and the collimation component may be described as a micro lens, but the present invention is not limited thereto, and various laser output arrays and collimation components may be used.

132 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 132, the laser output unit 6200 according to an embodiment may include a VCSEL array 6210 and a collimation component 6220, but is not limited thereto.

In this case, the VCSEL array 6210 may include at least one or more VCSEL emitters. For example, the VCSEL array 6210 may include a first VCSEL emitter 6211.

In addition, the collimation component 6220 may include a micro lens array, and the micro lens array may include at least one micro lens element, and at least one micro lens element. It may include a micro lens unit.

Also, referring to (a) of FIG. 132, the collimation component 6220 may collimate the laser output from the VCSEL array 6210. However, since the above-described contents may be applied, the overlapping description will be omitted.

Further, referring to (a) of FIG. 132, the collimation component 6220 may be formed to correspond to the VCSEL array 6210. For example, the micro lens element included in the collimation component 6220 may be formed to correspond to the VCSEL emitter included in the VCSEL array 6210, but is not limited thereto.

In addition, in order to increase the collimation efficiency of the collimation component 6220, the VCSEL array 6210 and the collimation component 6220 may be arranged in a predetermined relationship.

Therefore, hereinafter, the arrangement relationship between the VCSEL array 6210 and the collimation component 6220 will be described in more detail.

Referring to (b) of FIG. 132, the first VCSEL emitter 6211 included in the VCSEL array 6210 may be formed to have a first diameter 6230, and in this case, the first diameter ( 6230 denotes the size of the first VCSEL emitter 6211, and may be for expressing the size of the first VCSEL emitter 6211, such as the length and diameter of one side, in one dimension.

In addition, referring to (b) of FIG. 132, the first VCSEL emitter 6211 and the second VCSEL emitter 6212 included in the VCSEL array 6210 may be arranged to have a first interval 6250. In this case, the first interval 6250 may be for expressing a distance between the first VCSEL emitter 6211 and the second VCSEL emitter 6212 in one dimension.

In addition, referring to (b) of FIG. 132, the first microlens element 621 included in the collimation component 6220 may be formed to have a second diameter 6240, and in this case, the first microlens element 6220 may be formed to have a second diameter 6240. 2 The diameter 6240 refers to the size of the first microlens element 6221, and may be for expressing the size of the first microlens element 6221, such as the length and diameter of one side, in one dimension.

In addition, referring to (b) of FIG. 132, the first microlens element 6221 corresponds to the first VCSEL emitter 6211 in order to collimate the laser output from the first VCSEL emitter 6211. Can be placed.

Further, referring to (b) of FIG. 132, in order to increase collimation efficiency, the second diameter 6240 of the first microlens element 6221 is the first of the first VCSEL emitter 6211 It may be larger than the diameter 6230. For example, the first diameter 6230 of the first VCSEL emitter 6211 may be 14 μm, and the second diameter 6240 of the first micro lens element 6221 may be 140 μm, but is not limited thereto. Does not.

Further, referring to (b) of FIG. 132, in order to increase collimation efficiency, the second diameter 6240 of the first microlens element 6221 may correspond to the first gap 6250. . For example, the first gap 6250 may be 140 μm, and the second diameter 6240 may be 140 μm, but is not limited thereto.

Further, referring to (b) of FIG. 132, in order to increase collimation efficiency, the first interval 6250 may be larger than the first diameter 6230 of the first VCSEL emitter 6211. For example, the first diameter 6230 of the first VCSEL emitter 6211 may be 14 μm, and the first gap 6250 may be 140 μm, but is not limited thereto.

Further, referring to (b) of FIG. 132, in order to increase collimation efficiency and reduce thermal density, the first interval 6250 is the first diameter 6230 of the first VCSEL emitter 6211 It can be larger than a certain amount. For example, the first gap 6250 may be 5 times or more larger than the first diameter 6230 of the first VCSEL emitter 6211, but is not limited thereto.

133 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 133, the laser output unit 6300 according to an embodiment may include a VCSEL array 6310 and a collimation component 6320, but is not limited thereto.

In this case, the VCSEL array 6310 may include at least one or more VCSEL emitters. For example, the VCSEL array 6310 includes a first VCSEL emitter 6311, a second VCSEL emitter 6312, and a third It may include a VCSEL emitter 6313.

In addition, the collimation component 6320 may include a micro lens array, and the micro lens array may include at least one micro lens element, and at least one micro lens element. It may include a micro lens unit.

Also, referring to (a) of FIG. 133, the collimation component 6320 may collimate the laser output from the VCSEL array 6310. However, since the above-described contents may be applied, the overlapping description will be omitted.

Further, referring to (a) of FIG. 133, the collimation component 6320 may be formed to correspond to the VCSEL array 6210. For example, the micro lens element included in the collimation component 6320 may be formed to correspond to the VCSEL unit included in the VCSEL array 6310, but is not limited thereto.

In addition, in order to increase the collimation efficiency of the collimation component 6320, the VCSEL array 6310 and the collimation component 6320 may be arranged in a predetermined relationship.

Therefore, hereinafter, the arrangement relationship between the VCSEL array 6310 and the collimation component 6320 will be described in more detail.

Referring to (b) of FIG. 133, the first VCSEL emitter 6311 included in the VCSEL array 6310 may be formed to have a first diameter 6330, and in this case, the first diameter ( 6330 denotes the size of the first VCSEL emitter 6311, and may be for expressing the size of the first VCSEL emitter 6311 in one dimension, such as the length and diameter of one side.

In addition, referring to (b) of FIG.133, including the first VCSEL emitter 6311, the second VCSEL emitter 6312, and the third VCSEL emitter 6313 included in the VCSEL array 6310 The first VCSEL unit may be formed to have a second diameter 6350, in which case, the second diameter 6350 means the size of the first VCSEL unit, and the first VCSEL unit It may be for expressing the size of 1 VCSEL unit in one dimension.

In addition, referring to (b) of FIG. 133, the first microlens element 6321 included in the collimation component 6320 may be formed to have a third diameter 6240. In this case, the 3 The diameter 6340 means the size of the first microlens element 6321, and may be for expressing the size of the first microlens element 6321 in one dimension, such as the length and diameter of one side.

Further, referring to (b) of FIG. 133, the first micro lens element 6321 may be disposed to correspond to the first VCSEL unit in order to collimate the laser output from the first VCSEL unit.

Further, referring to (b) of FIG. 133, in order to increase collimation efficiency, the third diameter 6340 of the first microlens element 6321 is the second diameter 6350 of the first VCSEL unit Can be greater than For example, the second diameter 6350 of the first VCSEL unit may be 1.3 mm, and the third diameter 6340 of the first micro lens element 6321 may be 1.4 mm, but is not limited thereto. .

134 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 134, the laser output unit 6400 according to an embodiment may include a VCSEL array 6410 and a collimation component 6420, but is not limited thereto.

In this case, the VCSEL array 6410 may include at least one or more VCSEL emitters. For example, the VCSEL array 6410 includes a first VCSEL emitter 6411, a second VCSEL emitter 6412, and a third It may include a VCSEL emitter (6413).

In addition, the VCSEL array 6410 may include a VCSEL unit including at least one VCSEL emitter, for example, the first VCSEL emitter 6411, the second VCSEL emitter 6412, and the third It may include a first VCSEL unit including a VCSEL emitter 6413.

In addition, the collimation component 6420 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component ( The 6420 may include a first micro lens element 6421, a second micro lens element 6422, and a third micro lens element 6423.

In addition, the collimation component 6420 may include a micro lens unit including at least one micro lens element, for example, the first micro lens element 6421 and the second micro lens element 6422 And a first micro lens unit including a third micro lens element 6423.

Also, referring to FIG. 134, the collimation component 6420 may collimate a laser output from the VCSEL array 6410. However, since the above-described contents may be applied, duplicate descriptions will be omitted.

Also, referring to FIG. 134, a laser output from the VCSEL array 6410 and collimated through the collimation component 6420 may have a divergence angle of a predetermined angle or more. For example, a laser output from the VCSEL array 6410 and collimated through the collimation component 6420 may have a divergence angle of 1.2 degrees, but is not limited thereto.

Further, referring to FIG. 134, at least one or more lasers output from at least one or more VCSEL emitters included in the VCSEL unit may form one beam profile. For example, the first, second, and third lasers output from the first, second, and third VCSEL emitters 6411, 6412, 6413 are the first, second, and third microlens elements 6421, 6422 and 6423) may be collimated, and one beam profile may be formed, but is not limited thereto.

In addition, referring to FIG. 134, at least two or more lasers output from at least two or more VCSEL emitters included in the VCSEL unit may at least partially overlap, and one beam profile may be formed based on the overlapped regions. For example, the first, second, and third lasers may be collimated to have a predetermined divergence angle through the first, second, and third microlens elements 6421, 6422 and 6423, and the divergence At least part of the overlap may be made due to the angle, and one beam profile may be formed based on the overlapped area, but the present invention is not limited thereto.

135 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 135, the laser output unit 6500 according to an embodiment may include a VCSEL array 6510, a collimation component 6520, and a steering component 6530, but is not limited thereto.

In this case, the VCSEL array 6510 may include at least one or more VCSEL emitters. For example, the VCSEL array 6510 includes a first VCSEL emitter 6511, a second VCSEL emitter 6512, and a third It may include a VCSEL emitter (6513).

In addition, the VCSEL array 6510 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 6510 includes a first VCSEL unit including a first VCSEL emitter 6511, a second VCSEL unit including a second VCSEL emitter 6512, and a third VCSEL emitter 6513. It may include a third VCSEL unit.

In addition, the collimation component 6520 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 6520 may include a first micro lens element 6251, a second micro lens element 6252, and a third micro lens element 6523.

In addition, the collimation component 6520 may include a micro lens unit including at least one micro lens element. For example, the collimation component 6520 includes a first micro lens unit including the first micro lens element 6251, a second micro lens unit including the second micro lens element 6252, and the second micro lens unit 6520. A third micro lens unit including 3 micro lens elements 6523 may be included.

In addition, the steering component 6530 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 6530 may include a first prism element 6531, a second prism element 6532, and a third prism element 6533.

Also, referring to (a) of FIG. 135, the collimation component 6520 may collimate the laser output from the VCSEL array 6510. However, since the above-described contents may be applied, the overlapping description will be omitted.

Also, referring to (a) of FIG. 135, the steering component 6530 may be output from the VCSEL array 6510 to steer the collimated laser through the collimation component 6520. However, since the above-described contents may be applied, the overlapping description will be omitted.

Also, referring to (a) of FIG. 135, the steering component 6530 may steer a laser output from a VCSEL emitter included in the VCSEL array 6510. For example, the first prism element 6531 included in the steering component 6530 may steer the laser output from the first VCSEL emitter, but is not limited thereto.

Also, referring to (a) of FIG. 135, the steering component 6530 may steer the laser output from the VCSEL unit included in the VCSEL array 6510. For example, the first prism element 6531 included in the steering component 6530 may steer the laser output from the first VCSEL unit including the first VCSEL emitter 6511, but is not limited thereto. Does not.

Also, referring to (a) of FIG. 135, the steering component 6530 may steer a laser group including at least one laser output from the VCSEL unit included in the VCSEL array 6510 at the same angle. . For example, the first prism element 6531 included in the steering component 6530 includes a first laser group 6541 output from a first VCSEL unit including the first VCSEL emitter 6511. Steering can be performed at an angle, but is not limited thereto.

Also, referring to (a) of FIG. 135, the steering component 6530 may steer at least two or more laser groups output from at least two or more VCSEL units included in the VCSEL array 6510 at different angles. . For example, the first prism element 6531 steers the first laser group 641 output from the first VCSEL unit including the first VCSEL emitter 6511 at a first angle, and the second prism The element 6532 steers the second laser group 6542 output from the second VCSEL unit including the second VCSEL emitter 6512 at a second angle, and the third prism element 6533 is the third The third laser group 6543 output from the third VCSEL unit including the VCSEL emitter 6513 may be steered at a third angle, but is not limited thereto.

In addition, since the above-described information may be applied to the arrangement relationship between the VCSEL array 6510 and the collimation component 6520, a redundant description will be omitted.

Meanwhile, in order to increase the steering efficiency of the steering component 6530, the VCSEL array 6510, the collimation component 6520, and the steering component 6530 may be arranged to have a predetermined relationship.

Therefore, hereinafter, the arrangement of the VCSEL array 6510, the collimation component 6520, and the steering component 6530 will be described in more detail.

Referring to (b) of FIG. 135, the first VCSEL unit including the first VCSEL emitter 6511 included in the VCSEL array 6510 may be formed to have a first diameter 6550, In this case, the first diameter 6550 refers to the size of the first VCSEL unit, and may be for expressing the size of the first VCSEL unit, such as the length and diameter of one side, in one dimension.

Also, referring to (b) of FIG. 135, the first micro lens unit including the first micro lens element 6251 included in the collimation component 6520 is formed to have a second diameter 6560 In this case, the second diameter 6560 means the size of the first microlens unit, and is for expressing the size of the first microlens unit, such as the length and diameter of one side, in one dimension. I can.

Further, referring to (b) of FIG. 135, the first prism element 6531 included in the steering component 6530 may be formed to have a third diameter 6570, in which case the third The diameter 6570 refers to the size of the first prism element 6531, and may be for expressing the size of the first prism element 6531, such as the length and diameter of one side, in one dimension.

Also, referring to (b) of FIG. 135, the first prism element 6531 may be disposed to correspond to the first VCSEL unit in order to steer the first laser group output from the first VCSEL unit.

Further, referring to (b) of FIG. 135, in order to increase steering efficiency, the third diameter 6570 of the first prism element 6531 is larger than the first diameter 6550 of the first VCSEL unit. I can. For example, the first diameter 6550 of the first VCSEL unit may be 1.3 mm, and the third diameter 6570 of the first prism element 6531 may be 1.4 mm, but is not limited thereto.

Also, referring to (b) of FIG. 135, the first prism element 6531 is output from the first VCSEL unit to steer the first laser group collimated through the first microlens unit. It may be disposed to correspond to the first micro lens unit.

Further, referring to FIG. 135B, in order to increase steering efficiency, the third diameter 6570 of the first prism element 6531 is greater than the second diameter 6560 of the first microlens unit. Can be greater than or equal to For example, the second diameter 6560 of the first micro lens unit may be 1.4 mm, and the third diameter 6570 of the first prism element 6531 may be 1.41 mm, but is not limited thereto. .

136 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 136, the laser output unit 6600 according to an embodiment may include a VCSEL array 6610, a collimation component 6620, and a steering component 6630, but is not limited thereto.

In this case, the VCSEL array 6610 may include at least one or more VCSEL emitters. For example, the VCSEL array 6610 includes a first VCSEL emitter 6611, a second VCSEL emitter 6612, and a third VCSEL emitter. It may include a VCSEL emitter (6613).

In addition, the VCSEL array 6610 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 6610 includes a first VCSEL unit including a first VCSEL emitter 6611, a second VCSEL unit including a second VCSEL emitter 6612, and a third VCSEL emitter 6613. It may include a third VCSEL unit.

Further, the collimation component 6620 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 6620 may include a first micro lens element 6621, a second micro lens element 6622, and a third micro lens element 6623.

In addition, the collimation component 6620 may include a micro lens unit including at least one micro lens element. For example, the collimation component 6620 includes a first micro lens unit including the first micro lens element 6621, a second micro lens unit including the second micro lens element 6622, and the second A third micro lens unit including 3 micro lens elements 6623 may be included.

In addition, the steering component 6630 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 6630 may include a first prism element 6633, a second prism element 6632, and a third prism element 6633.

In addition, the steering component 6630 may include a prism unit including at least one prism element. For example, the steering component 6630 may include a first prism unit including the first prism element 6631, a second prism unit including the second prism element 6632, and the third prism element 6633. It may include a third prism unit including ).

Further, referring to (a) of FIG. 136, the collimation component 6620 may collimate the laser output from the VCSEL array 6610. However, since the above-described contents may be applied, the overlapping description will be omitted.

Further, referring to (a) of FIG. 136, the steering component 6630 may be output from the VCSEL array 6610 to steer the collimated laser through the collimation component 6620. However, since the above-described contents may be applied, the overlapping description will be omitted.

Further, referring to (a) of FIG. 136, the steering component 6530 may steer a laser output from a VCSEL emitter included in the VCSEL array 6610. For example, the first prism element 663 included in the steering component 6630 may steer the laser output from the first VCSEL emitter, but is not limited thereto.

Further, referring to (a) of FIG. 136, the steering component 6630 may steer the laser output from the VCSEL unit included in the VCSEL array 6610. For example, the first prism unit including the first prism element (6631) included in the steering component (6630) is a laser output from the first VCSEL unit including the first VCSEL emitter (6611) It can be steered, but is not limited thereto.

Further, referring to (a) of FIG. 136, the steering component 6630 may steer a laser group including at least one laser output from the VCSEL unit included in the VCSEL array 6610 at the same angle. . For example, the first prism unit including the first prism element (6631) included in the steering component (6630) is the first VCSEL unit that includes the first VCSEL emitter (6611). 1 The laser group 6641 may be steered at the first angle, but is not limited thereto.

Further, referring to (a) of FIG. 136, the steering component 6630 may steer at least two or more laser groups output from at least two or more VCSEL units included in the VCSEL array 6610 at different angles. . For example, the first prism unit including the first prism element (6631) includes the first laser group (6641) output from the first VCSEL unit including the first VCSEL emitter (6611). Steering at a first angle, the second prism unit including the second prism element (6632) is a second laser group (6642) output from the second VCSEL unit including the second VCSEL emitter (6612) Steering at a second angle, the third prism unit including the third prism element (6633) is a third laser group (6643) output from the third VCSEL unit including the third VCSEL emitter (6613) ) Can be steered at a third angle, but is not limited thereto.

In addition, since the above-described information may be applied to the arrangement relationship between the VCSEL array 6610 and the collimation component 6620, a redundant description will be omitted.

Meanwhile, in order to increase the steering efficiency of the steering component 6630, the VCSEL array 6610, the collimation component 6620, and the steering component 6630 may be arranged to have a predetermined relationship.

Therefore, hereinafter, the arrangement of the VCSEL array 6610, the collimation component 6620, and the steering component 6630 will be described in more detail.

Referring to (b) of FIG. 136, the first VCSEL emitter 6611 included in the VCSEL array 6610 may be formed to have a first diameter 6650, and in this case, the first diameter ( 6650 denotes the size of the first VCSEL emitter 6611, and may be for expressing the size of the first VCSEL unit, such as the length and diameter of one side, in one dimension.

In addition, referring to (b) of FIG. 136, the first microlens element 6621 included in the collimation component 6620 may be formed to have a second diameter 6660, in which case, The second diameter 6660 means the size of the first microlens element 6621, and may be for expressing the size of the first microlens element 6621 in one dimension, such as a length and a diameter of one side. have.

In addition, referring to (b) of FIG. 136, the first prism element 663 included in the steering component 6630 may be formed to have a third diameter 6670, and in this case, the third The diameter 6670 refers to the size of the first prism element 6631, and may be for expressing the size of the first prism element 663, such as the length and diameter of one side, in one dimension.

Further, referring to (b) of FIG. 136, the first prism element 663 is disposed to correspond to the first VCSEL emitter 6611 in order to steer the laser output from the first VCSEL emitter 6611. I can.

Further, referring to (b) of FIG. 136, in order to increase steering efficiency, the third diameter 6670 of the first prism element 6631 is the first diameter 6650 of the first VCSEL emitter 6611 Can be greater than ). For example, the first diameter 6650 of the first VCSEL emitter 6611 may be 14 μm, and the third diameter 6670 of the first prism element 6670 may be 140 μm, but is not limited thereto. .

In addition, referring to (b) of FIG. 136, the first prism element 6631 is output from the first VCSEL emitter 6611 to steer the collimated laser through the first microlens element 6261. For this purpose, it may be disposed to correspond to the first micro lens element 6261.

Further, referring to (b) of FIG. 136, in order to increase steering efficiency, the third diameter 6670 of the first prism element 663 is the second diameter of the first microlens element 6621 ( 6660). For example, the second diameter 6660 of the first microlens element 6621 may be 140 μm, and the third diameter 6670 of the first prism element 663 may be 141 μm, but is not limited thereto. Does not.

137 is a diagram for describing a laser output unit according to an exemplary embodiment.

Referring to FIG. 137, the laser output unit 6700 according to an embodiment may include a VCSEL array 6730.

In this case, the VCSEL array 6730 may include at least one or more VCSEL emitters, for example, the VCSEL array 6730 may include a first VCSEL emitter 6711 and a second VCSEL emitter 6712. However, it is not limited thereto.

In addition, the VCSEL array 6730 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 6730 includes a first VCSEL unit 6721 including the first VCSEL emitter 6711 and a second VCSEL unit 6722 including the second VCSEL emitter 6712 It can be, but is not limited thereto.

In addition, at least one or more VCSEL emitters included in the VCSEL array 6730 may operate independently and output lasers independently. For example, the first VCSEL emitter 6711 and the second VCSEL emitter 6712 included in the VCSEL array 6730 may operate independently of each other to independently output a laser, but are not limited thereto.

In addition, at least one or more VCSEL units included in the VCSEL array 6730 may operate independently and output lasers independently. For example, the first VCSEL unit 6721 and the second VCSEL unit 6722 included in the VCSEL array 6730 may operate independently of each other to independently output a laser, but are not limited thereto.

In addition, individual VCSEL emitters included in the VCSEL unit are connected to each other to operate, so that lasers can be output at the same time. For example, at least one VCSEL emitter excluding the first VCSEL emitter 6711 and the first VCSEL emitter 6711 included in the first VCSEL unit 6721 are connected to each other to operate, and simultaneously output a laser. It can be, but is not limited thereto.

In addition, lasers output from individual VCSEL emitters included in the VCSEL unit may form a laser group. For example, the laser output from at least one VCSEL emitter excluding the first VCSEL emitter 6711 and the first VCSEL emitter 6711 included in the first VCSEL unit 6721 forms a first laser group. The laser output from at least one VCSEL emitter excluding the second VCSEL emitter 6712 and the second VCSEL emitter 6712 included in the second VCSEL unit 6721 forms a second laser group. It can be, but is not limited thereto.

In addition, in order to increase the output efficiency, collimation efficiency, and steering efficiency of the laser output unit 6700, the spacing between the VCSEL units included in the VCSEL array 6730 is the spacing between the VCSEL emitters included in the VCSEL unit. Can be greater than For example, the distance between the first VCSEL unit 6721 and the second VCSEL unit 6722 may be larger than the distance between adjacent VCSEL emitters included in the first VCSEL unit 6721, but limited thereto. It doesn't work.

In addition, as described above, when the interval between VCSEL units is larger than the interval between adjacent VCSEL emitters, the VCSEL array 6730, the collimation component, and the steering component may have a predetermined arrangement relationship, and this will be described in detail below. I will do it.

138 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 138, the laser output unit 6800 according to an embodiment may include a VCSEL array 6810 and a collimation component 6820, but is not limited thereto.

In this case, the VCSEL array 6810 may include at least one VCSEL emitter. For example, the VCSEL array 6810 may include a first VCSEL emitter 6811, a second VCSEL emitter 6812, and a third VCSEL emitter 6813.

In addition, the VCSEL array 6810 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 6810 includes a first VCSEL unit including the first VCSEL emitter 6811 and the second VCSEL emitter 6812 and a second VCSEL including the third VCSEL emitter 6813 May contain units.

In addition, the collimation component 6820 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 6820 may include a first micro lens element 6821, a second micro lens element 6822, and a third micro lens element 6822.

In addition, the collimation component 6820 may include a micro lens unit including at least one micro lens element. For example, the collimation component 6820 includes a first micro lens unit and a third micro lens element 6822 including the first micro lens element 6821 and the second micro lens element 6822 It may include a second micro lens unit.

In addition, referring to FIG. 138, the first VCSEL emitter 6811 and the second VCSEL emitter 6812 may be disposed to have a first gap 6830, in which case, the first gap 6830 May be for expressing a distance between the first VCSEL emitter 6811 and the second VCSEL emitter 6812 in one dimension.

In addition, referring to FIG. 138, the first VCSEL unit may be formed to have a first diameter 6840, in which case, the first diameter 6840 means the size of the first VCSEL unit. , May be for expressing the size of the first VCSEL unit, such as the length and diameter of one side, in one dimension.

In addition, referring to FIG. 138, the first VCSEL unit and the second VCSEL unit may be disposed to have a second interval 6850, in which case, the second interval 6850 is the first VCSEL unit. It may be for expressing the distance between the and the second VCSEL unit in one dimension.

Further, referring to FIG. 138, the first microlens unit may be formed to have a second diameter 6860, in which case, the second diameter 6860 means the size of the first microlens unit. As a result, the size of the first microlens unit, such as the length and diameter of one side, may be expressed in one dimension.

Further, referring to FIG. 138, the first microlens unit and the second microlens unit may be disposed to have a third spacing 6870, and in this case, the third spacing 6870 is the first microlens unit. The distance between the micro lens unit and the second micro lens unit may be expressed in one dimension.

Further, referring to FIG. 138, in order to reduce interference between lasers output from different VCSEL units, the second interval 6850 may be greater than or equal to the first interval 6830.

Further, referring to FIG. 138, in order to increase collimation efficiency, the second interval 6850 may be greater than or equal to the third interval 6870.

Further, referring to FIG. 138, in order to increase the collimation efficiency of lasers output from different VCSEL units, the third interval 6870 may be greater than or equal to the first interval 6830.

Further, referring to FIG. 138, in order to reduce the size of the laser output unit 6800, the second interval 6850 may be smaller than or equal to the first diameter 6840.

Further, referring to FIG. 138, in order to reduce the size of the laser output unit 6800, the third interval 6870 may be smaller than or equal to the second diameter 6860.

139 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 139, the laser output unit 6900 according to an embodiment may include a VCSEL array 6910, a collimation component 6920, and a steering component 6930, but is not limited thereto.

In this case, the VCSEL array 6910 may include a first VCSEL emitter 6911, a second VCSEL emitter 6912 and a third VCSEL emitter 6913, and the first and second VCSEL emitters 6911, The first VCSEL unit including 6912) and the second VCSEL unit including the third VCSEL emitter 6913 may be included, and the above-described information may be applied, so a redundant description will be omitted.

In addition, the collimation component 6920 may include a first micro lens element 6921, a second micro lens element 6922, and a third micro lens element 6923, and the first and second micro lenses A first micro lens unit including elements 6921 and 6922, and a second micro lens unit including the third micro lens element 6923 may be included. The description will be omitted.

In addition, the steering component 6930 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 6930 may include a first prism element 6931 and a second prism element 6932.

In addition, a first gap 6930 that is a gap between the first VCSEL emitter 6911 and the second VCSEL emitter 6912, a first diameter 6940 that is a diameter of the first VCSEL unit, and the first VCSEL unit And a second gap 6950 that is a gap between the second VCSEL unit, a second diameter 6960 that is a diameter of the first micro lens unit, and a third gap that is a gap between the first and second micro lens units ( 6970) may be applied to the above description, and therefore, a redundant description will be omitted.

Meanwhile, the first prism element 6931 may be formed to have a third diameter 6980, in which case, the third diameter 6980 means the size of the first prism element 6931. , It may be for expressing the size of the first prism element 6931 in one dimension, such as the length and diameter of one side.

In addition, the first prism element 6931 and the second prism element 6932 may be disposed to have a fourth gap 6990, in which case, the fourth gap 6990 is the first prism element It may be for expressing the distance between the second prism element 6931 and the second prism element 6932 in one dimension.

Further, referring to FIG. 139, in order to increase steering efficiency, the second interval 6950 may be greater than or equal to the fourth interval 6990.

Further, referring to FIG. 139, in order to increase the steering efficiency of the collimated laser, the third interval 6970 may be greater than or equal to the fourth interval 6990.

Further, referring to FIG. 139, in order to reduce the size of the laser output unit 6900, the fourth interval 6990 may be smaller than or equal to the first diameter 6940.

Further, referring to FIG. 139, in order to reduce the size of the laser output unit 6900, the fourth interval 6990 may be smaller than or equal to the second diameter 6960.

Further, referring to FIG. 139, in order to reduce the size of the laser output unit 6900, the fourth interval 6990 may be smaller than or equal to the third diameter 6980.

Further, referring to FIG. 139, in order to increase collimation and steering efficiency, the first diameter 6940 may be smaller than or equal to the second diameter 6960, and the second diameter 6960 is the third It may be less than or equal to diameter 6980.

Further, referring to FIG. 139, the distances between the prism elements may be different from each other, but the present invention is not limited thereto.

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

Referring to FIG. 140, the steering component 7000 according to an embodiment may include a prism.

)를 가지고 형성될 수 있으나, 이에 한정되지 않는다.In addition, the prism has a first angle (

) May be formed, but is not limited thereto.

In addition, the prism may acquire the laser 7001 and steer the acquired laser 7001 at a predetermined angle.

)로 입사될 수 있다.In addition, the laser 7001 obtained from the prism has a second angle (

).

)는 상기 제1 각도(

)와 동일 할 수 있다.At this time, the second angle (

) Is the first angle (

) Can be the same.

)로 스티어링 될 수 있다.In addition, the laser 7001 is at a third angle (

) Can be steered.

)는 굴절의 법칙에 의해 결정될 수 있다.At this time, the third angle (

) Can be determined by the law of refraction.

)는 아래의 수학식 1에 의해 결정될 수 있다.More specifically, when the refractive index of the prism is n2 and the refractive index of air is n3, the third angle (

) May be determined by Equation 1 below.

Equation 1

)는 아래의 수학식 2를 만족할 수 있다.In addition, the first angle (

) May satisfy Equation 2 below.

Equation 2

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

Referring to FIG. 141, the steering component 7010 according to an embodiment may include a prism.

)를 가지고 형성될 수 있으나, 이에 한정되지 않는다.In addition, the prism has a first angle (

) May be formed, but is not limited thereto.

In addition, the prism may acquire the laser 70101 and steer the acquired laser 70101 at a predetermined angle.

)를 가질 수 있으나, 이에 한정되지 않는다.In addition, the laser 7011 has a constant divergence angle (

), but is not limited thereto.

)에 의해 상기 레이저(7011)의 적어도 일부는 제3 각도(

)로 상기 프리즘의 일면에 입사될 수 있으며, 상기 레이저(7011)의 적어도 다른 일부는 제4 각도(

)로 상기 프리즘의 일면에 입사될 수 있으나, 이에 한정되지 않는다.In addition, the laser 7011 obtained from the prism may be incident on one surface of the prism at a second angle, and the divergence angle (

) By at least a part of the laser 7011 is at a third angle (

) May be incident on one surface of the prism, and at least another part of the laser 7011 may have a fourth angle (

) May be incident on one surface of the prism, but is not limited thereto.

)는

가 될 수 있다.At this time, the third angle (

) Is

Can be.

)는

가 될 수 있다.*In addition, the fourth angle (

) Is

Can be.

)로 스티어링 될 수 있다.In addition, at least a portion of the laser 7011 is at a fifth angle from the normal to one surface of the prism (

) Can be steered.

)는 굴절의 법칙에 의해 결정될 수 있다.At this time, the fifth angle (

) Can be determined by the law of refraction.

)는 아래의 수학식 3에 의해 결정될 수 있다.More specifically, when the refractive index of the prism is n2 and the refractive index of air is n3, the fifth angle (

) May be determined by Equation 3 below.

Equation 3

)는 아래의 수학식 4를 만족할 수 있다.In addition, the steering laser is irradiated to the outside, and the first angle (

) May satisfy Equation 4 below.

Equation 4

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

Referring to FIG. 142, the steering component 7020 according to an embodiment may include a prism.

In this case, the prism may acquire the laser 7021 and steer the acquired laser 7021 at a predetermined angle.

In addition, when the laser 7021 passes through the interface, at least a portion of the laser 7021 may be reflected.

For example, the degree of reflection of the S-polarized portion of the laser 7021 may be determined according to Equation 5, and the degree of reflection of the P-polarized portion of the laser 7021 may be determined according to Equation 6.

Equation 5

Equation 6

는 입사각을 의미할 수 있으며, 레이저가 굴절률이 n1인 매질로부터 굴절률이 n2인 매질로 진행하는 경우, n은 n2/n1을 의미할 수 있다.At this time,

May mean an incidence angle, and when the laser proceeds from a medium having a refractive index of n1 to a medium having a refractive index of n2, n may mean n2/n1.

In addition, as shown in FIG. 142, the laser 7021 steered through the prism may pass through at least two interfaces.

)이고 프리즘의 굴절률이 n1인 경우 상기 제1 계면에서의 반사 정도는 수학식 7 및 수학식 8에 의해 결정될 수 있다.The first interface may mean an interface incident on the prism from air, and the angle incident on the prism is a first angle (

) And the refractive index of the prism is n1, the degree of reflection at the first interface may be determined by Equations 7 and 8.

Equation 7

Equation 8

)이고, 프리즘의 굴절률이 n1인 경우, 상기 제2 계면에서의 반사 정도는 수학식 9 및 수학식 10에 의해 결정될 수 있다.In addition, the second interface may mean an interface incident on the air from the prism, and the angle incident on the air is a second angle (

), and when the refractive index of the prism is n1, the degree of reflection at the second interface may be determined by Equations 9 and 10.

Equation 9

Equation 10

)는 상기 프리즘의 굴절률을 n1이라 하는 경우 수학식 11에 의해 결정될 수 있다.In addition, a third angle (

) May be determined by Equation 11 when the refractive index of the prism is n1.

Equation 11

)와 반사율 사이의 관계를 도출해 낼 수 있다.Therefore, when the above contents are summarized, the third angle (

) And reflectance.

)와 반사율 사이의 관계를 그래프로 나타낸 도면이다.Figure 142 (b) shows the third angle (

It is a graph showing the relationship between) and reflectance.

)가 15도 이하인 경우 반사율이 5% 미만일 수 있으나, 이에 한정되지 않는다.Referring to Figure 142 (b), the prism according to an embodiment is the third angle (

When) is 15 degrees or less, the reflectance may be less than 5%, but is not limited thereto.

)는 반사율이 5% 미만이 되는 15도 이하가 될 수 있으며, 반사율이 10% 미만이 되는 25도 이하가 될 수 있으나, 이에 한정되지 않는다.Therefore, in order to increase the steering efficiency and irradiate the laser under the condition that the reflectance is minimized, the third angle (

) May be 15 degrees or less, where the reflectivity is less than 5%, and may be 25 degrees or less, where the reflectance is less than 10%, but is not limited thereto.

143 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 143, the laser output unit 7100 according to an embodiment may include a VCSEL array 7110, a collimation component 7120, and a steering component 7130, but is not limited thereto.

In this case, the VCSEL array 7110 may include at least one or more VCSEL emitters. For example, the VCSEL array 7110 includes a first VCSEL emitter 7111, a second VCSEL emitter 7112, and a third It may include a VCSEL emitter (7113).

In addition, the VCSEL array 7110 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 7110 includes a first VCSEL unit including a first VCSEL emitter 7111, a second VCSEL unit including a second VCSEL emitter 7112, and a third VCSEL emitter 7113 It may include a third VCSEL unit.

In addition, the collimation component 7120 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 7120 may include a first micro lens element 7121, a second micro lens element 7122, and a third micro lens element 7123.

In addition, the collimation component 7120 may include a micro lens unit including at least one micro lens element. For example, the collimation component 7120 includes a first micro lens unit including the first micro lens element 7121, a second micro lens unit including the second micro lens element 7122, and the second micro lens unit 7120. A third micro lens unit including 3 micro lens elements 7123 may be included.

In addition, the steering component 7130 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 7130 may include a first prism element 7131, a second prism element 7132, and a third prism element 7133.

In addition, the collimation component 7120 may collimate the laser output from the VCSEL array 7110. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, the steering component 7130 may be output from the VCSEL array 7110 and steer the collimated laser through the collimation component 7120. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, each VCSEL emitter included in the VCSEL array 7110 may be connected to an independent electrical contact in order to be independently controlled. For example, the first VCSEL emitter 7111 may be connected to a first contact 7141 and a second contact 7151, and the second VCSEL emitter 7112 may be a third contact 7142 and a fourth contact. The third VCSEL emitter 7113 may be connected to the fifth contact 7143 and the sixth contact 7153, but is not limited thereto.

In addition, the first, third, and fifth contacts 7141,7142,7143 may mean a P-contact, and the second, fourth, and sixth contacts 7151,7152,7153 are N-contacts. It may mean, but is not limited thereto.

In addition, each VCSEL emitter included in the VCSEL array 7110 may operate at different times. For example, the first VCSEL emitter 7111 may be operated through the first contact 7141 and the second contact 7151 at a first time point to output a first laser, and at a second time point, the first VCSEL emitter 7111 may be operated. The second VCSEL emitter 7112 may be operated through the third contact 7142 and the fourth contact 7152 to output a second laser. 6 The third VCSEL emitter 7113 may be operated through the contact 7153 to output a third laser, but is not limited thereto.

144 is a diagram for describing a configuration of a laser output unit according to an exemplary embodiment.

Referring to FIG. 144, the laser output unit 7200 according to an embodiment may include a VCSEL array 7210, a collimation component 7220, and a steering component 7230, but is not limited thereto.

In this case, the VCSEL array 7210 may include at least one or more VCSEL emitters. For example, the VCSEL array 7210 includes a first VCSEL emitter 7211, a second VCSEL emitter 7212, and a third It may include a VCSEL emitter (7213).

In addition, the VCSEL array 7210 may include a VCSEL unit including at least one VCSEL emitter. For example, the VCSEL array 7210 includes a first VCSEL unit including a first VCSEL emitter 7211, a second VCSEL unit including a second VCSEL emitter 7212, and a third VCSEL emitter 7213. It may include a third VCSEL unit.

In addition, the collimation component 7220 may include a micro lens array, and the micro lens array may include at least one or more micro lens elements. For example, the collimation component 7220 may include a first micro lens element 7201, a second micro lens element 7222 and a third micro lens element 7223.

In addition, the collimation component 7220 may include a micro lens unit including at least one micro lens element. For example, the collimation component 7220 includes a first microlens unit including the first microlens element 7221, a second microlens unit including the second microlens element 7222, and the second microlens unit 7220. A third micro lens unit including 3 micro lens elements 7223 may be included.

In addition, the steering component 7230 may include a prism array, and the prism array may include at least one prism element. For example, the steering component 7230 may include a first prism element 7231, a second prism element 7232, and a third prism element 7233.

In addition, the collimation component 7220 may collimate the laser output from the VCSEL array 7210. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, the steering component 7230 may be output from the VCSEL array 7210 and steer the collimated laser through the collimation component 7220. However, since the above-described contents may be applied, the overlapping description will be omitted.

In addition, each VCSEL unit included in the VCSEL array 7210 may be connected to an independent electrical contact in order to be independently controlled. For example, the first VCSEL emitter 7211 may be connected to a first contact 7241 and a second contact 7251, and the second VCSEL emitter 7212 may be a third contact 7242 and a fourth contact. The third VCSEL emitter 7213 may be connected to the fifth contact 7242 and the sixth contact 7253, but is not limited thereto.

In addition, each VCSEL unit included in the VCSEL array 7210 may share electrical contact between VCSEL emitters included in the VCSEL unit in order to be controlled for each VCSEL unit. For example, each VCSEL emitter included in the first VCSEL unit may share the first contact 7241 and the second contact 7251, and each VCSEL emitter included in the second VCSEL unit They may share the third contact 7242 and the fourth contact 7252, and each of the VCSEL emitters included in the third VCSEL unit is the fifth contact 723 and the sixth contact 7253 Can be shared, but is not limited thereto.

In addition, each VCSEL emitter included in the VCSEL array 7210 may operate at different times. For example, the first VCSEL emitter 7211 may be operated through the first contact 7241 and the second contact 7251 at a first time point to output a first laser, and at a second time point, the The second VCSEL emitter 7212 may be operated through the third contact 7242 and the fourth contact 7252 to output a second laser. 6 The third VCSEL emitter 7213 may be operated through the contact 7253 to output a third laser, but is not limited thereto.

In addition, each VCSEL unit included in the VCSEL array 7210 may operate at different times. For example, the first VCSEL unit may be operated through the first contact 7241 and the second contact 7251 at a first time point to output a first laser group, and at a second time point, the third The second VCSEL unit may be operated through the contact 7242 and the fourth contact 7252 to output a second laser group, and at a third time point, the fifth contact 723 and the sixth contact 7253 ), the third VCSEL unit may be operated to output a third laser group, but is not limited thereto.

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.

Claims (21)

A first sub-array including a first vixel (Vertical Cavity Surface Emitting Laser) unit and a second vixel unit disposed along a first axis;
A common contact connected to the first sub-array;
A first contact electrically connected to one end of the common contact; And
The common contact so that a combined resistance of a first resistor representing a resistance between one end of the first contact and the first big cell unit and a second resistor representing a resistance between the first big cell unit and the second big cell unit is reduced. And a second contact electrically connected to the other end of the,
The first big cell unit is adjacent to one end of the common contact than the second big cell unit,
The second big cell unit is adjacent to the other end of the common contact than the first big cell unit.
Big Cell Array.
The method of claim 1,
Voltage of the same magnitude is applied to the first contact and the second contact
Big Cell Array.
The method of claim 1,
A first wire connecting the common contact and the first contact; And
Including a second wire connecting the common contact and the second contact
Big Cell Array.
The method of claim 3,
The first resistance includes the resistance of the first wire
Big Cell Array.
The method of claim 3,
The second resistance includes the resistance of the second wire
Big Cell Array.
The method of claim 1,
A second sub-array including the first big cell unit and the third big cell unit disposed along a second axis different from the first axis;
A third contact disposed adjacent to one end of the second sub-array; And
A fourth contact disposed adjacent to the other end of the second sub-array,
The first big cell unit is electrically connected to the third contact,
The third big cell unit is electrically connected to the fourth contact.
Big Cell Array.
The method of claim 6,
Voltage of the same magnitude is applied to the third contact and the fourth contact
Big Cell Array.
The method of claim 6,
One of a negative voltage and a positive voltage is applied to the first contact and the second contact, and the other is applied to the third contact and the fourth contact.
Big Cell Array.
The method of claim 6,
A third sub-array including the third big cell unit and the fourth big cell unit disposed along the first axis;
A fifth contact disposed adjacent to one end of the third sub-array; And
A sixth contact disposed adjacent to the other end of the third sub-array,
The third big cell unit is electrically connected to the fifth contact,
The fourth big cell unit is electrically connected to the sixth contact,
In order to operate the first big cell unit and not to operate the third big cell unit, a voltage is applied to the first contact, the second contact, the third contact, and the fourth contact, and the fifth contact and No voltage is applied to the sixth contact
Big Cell Array.
A first sub-array including a first vixel (Vertical Cavity Surface Emitting Laser) unit and a second vixel unit disposed along a first axis;
A common contact connected to the first sub-array;
A first contact electrically connected to one end of the common contact; And
A second contact electrically connected to the other end of the common contact so that a difference between the first combined resistance of the first big cell unit and the second combined resistance of the second big cell unit is reduced,
The first combined resistance is a combined resistance of a first resistance representing a resistance between one end of the common contact and the first big cell unit, and a second resistance representing a resistance between the first big cell unit and the other end of the common contact. ,
The second combined resistance is a combined resistance of a third resistor representing a resistance between one end of the common contact and the second big cell unit, and a fourth resistor representing a resistance between the second big cell unit and the other end of the common contact.
Big Cell Array.
The method of claim 10,
The first big cell unit is adjacent to one end of the common contact than the second big cell unit,
The second big cell unit is adjacent to the other end of the common contact than the first big cell unit.
Big Cell Array.
The method of claim 10,
Voltage of the same magnitude is applied to the first contact and the second contact
Big Cell Array.
The method of claim 10,
A first wire connecting the common contact and the first contact; And
Including a second wire connecting the common contact and the second contact
Big Cell Array.
The method of claim 13,
The first resistance includes the resistance of the first wire
Big Cell Array.
The method of claim 13,
The fourth resistance includes the resistance of the second wire
Big Cell Array.
The method of claim 10,
A second sub-array including the first big cell unit and the third big cell unit disposed along a second axis different from the first axis;
A third contact disposed adjacent to one end of the second sub-array; And
A fourth contact disposed adjacent to the other end of the second sub-array,
The first big cell unit is electrically connected to the third contact,
The third big cell unit is electrically connected to the fourth contact.
Big Cell Array.
The method of claim 16,
Voltage of the same magnitude is applied to the third contact and the fourth contact
Big Cell Array.
The method of claim 16,
Any one of a voltage greater than or equal to a reference voltage and a voltage less than or equal to the reference voltage is applied to the first contact and the second contact, and the other is applied to the third contact and the fourth contact.
Big Cell Array.
The method of claim 16,
A third sub-array including the third big cell unit and the fourth big cell unit disposed along the first axis;
A fifth contact disposed adjacent to one end of the third sub-array; And
A sixth contact disposed adjacent to the other end of the third sub-array,
The third big cell unit is electrically connected to the fifth contact,
The fourth big cell unit is electrically connected to the sixth contact,
In order to operate the first big cell unit and not to operate the third big cell unit, a voltage is applied to the first contact, the second contact, the third contact, and the fourth contact, and the fifth contact and No voltage is applied to the sixth contact
Big Cell Array.
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,
A first sub-array including a first big cell (VCSEL: Vertical Cavity Surface Emitting Laser) unit and a second big cell unit disposed along a first axis,
A common contact connected to the first sub-array,
A first contact electrically connected to one end of the common contact, and
The common contact so that a combined resistance of a first resistor representing a resistance between one end of the first contact and the first big cell unit and a second resistor representing a resistance between the first big cell unit and the second big cell unit is reduced. And a second contact electrically connected to the other end of the,
The first big cell unit is adjacent to one end of the common contact than the second big cell unit,
The second big cell unit is adjacent to the other end of the common contact than the first big cell 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,
A first sub-array including a first big cell (VCSEL: Vertical Cavity Surface Emitting Laser) unit and a second big cell unit disposed along a first axis,
A common contact connected to the first sub-array,
A first contact electrically connected to one end of the common contact, and
A second contact electrically connected to the other end of the common contact so that a difference between the first combined resistance of the first big cell unit and the second combined resistance of the second big cell unit is reduced,
The first combined resistance is a combined resistance of a first resistance representing a resistance between one end of the common contact and the first big cell unit, and a second resistance representing a resistance between the first big cell unit and the other end of the common contact. ,
The second combined resistance is a combined resistance of a third resistor representing a resistance between one end of the common contact and the second big cell unit, and a fourth resistor representing a resistance between the second big cell unit and the other end of the common contact.
Lida device.

Images