LiDAR device and operation method thereof

Abstract

Disclosed in an embodiment is a LiDAR device comprising: an output unit that outputs an optical signal; a distribution unit that distributes the optical signal into a first optical signal and a second optical signal; a receiving unit that receives a third optical signal, which is reflected light of the first optical signal on the object; an interference unit that interferes between the second optical signal and the third optical signal; a detection unit that detects a fourth optical signal or a fifth optical signal, the fourth optical signal being interference light generated by interference between the second optical signal and the third optical signal, the fifth optical signal being noise; and a depth information generation unit that generates depth information and velocity information of the observation target on the basis of the optical signals, in which the distribution unit adjusts a distribution ratio of the first optical signal and the second optical signal.

Description

Technical Field

[0001] Embodiments relate to a LiDAR apparatus and operating method. Background Art

[0002] Light detection and ranging (LiDAR) systems are used in various fields such as aerospace, geology, 3D mapping, transportation, robotics, drones, etc.

[0003] Among them, frequency modulated continuous wave (FMCW) LiDAR is a LiDAR that modulates the frequency of light and measures distance and speed information simultaneously. FMCW LiDAR uses the Doppler effect to measure speed. When the wave is reflected from a moving object, the frequency changes due to the Doppler effect. By detecting this change in frequency, FMCW LiDAR is able to measure the speed and position of the object simultaneously without consuming time. In addition, FMCW LiDAR is highly robust to interference from ambient light and other LiDARs. In addition, since FMCW LiDAR is able to measure light using an interferometer, it is able to prevent interaction with signals other than the signal transmitted from the LiDAR.

[0004] In order to cause interference with the reflected light and separate the optical signal generated by FMCW LiDAR, the signal-to-noise ratio changes according to the splitting ratio, and the signal-to-noise ratio affects the detection rate. However, since the splitting ratio cannot be changed, when the measurement environment affects the signal-to-noise ratio, it is inevitable to adjust the output intensity of the optical signal.

[0005] Therefore, a method of changing the optical signal splitting ratio is needed to maintain the signal-to-noise ratio or generate an optimal signal-to-noise ratio.

[0006] In addition, FMCW LiDAR detects several pixels divided from the image of the detection target, in which case, when one laser is used, the exposure time assigned to one pixel is reduced. When the exposure time is reduced, the intensity of the signal decreases, and the maximum calculable distance within the same frequency modulation range decreases. In addition, when the maximum calculable distance remains constant, the frequency modulation speed of the laser will inevitably increase. When the frequency modulation speed increases, the intensity of the laser decreases.

[0007] Therefore, a method for adjusting the exposure time when detecting signals is needed to improve the performance of LiDAR. Summary of the invention

[0008] Technical issues

[0009] Embodiments are directed to providing a LiDAR device and an operating method capable of adjusting the splitting ratio of an optical signal.

[0010] Furthermore, the embodiments are directed to providing a LiDAR device capable of adjusting a splitting ratio of an optical signal according to a change in noise (such as ambient light) to maintain a signal-to-noise ratio, and an operating method.

[0011] Furthermore, the embodiments are directed to providing a LiDAR device capable of detecting a change in noise (such as ambient light) in real time to automatically adjust a splitting ratio of an optical signal, and an operating method.

[0012] Furthermore, the embodiments are directed to providing a LiDAR device capable of modulating the frequency of an optical signal into any waveform and adjusting a detection unit that detects a target, and an operating method.

[0013] Furthermore, the embodiments are directed to providing a LiDAR device capable of increasing an exposure time of an optical signal for one detection unit, and an operating method.

[0014] Furthermore, the embodiments are directed to providing a LiDAR apparatus capable of reducing distance resolution even when using the same optical signal output, and an operating method.

[0015] Furthermore, the embodiments are directed to providing a LiDAR device capable of increasing a maximum measurement distance or reducing a frequency modulation rate even when using the same optical signal output, and an operating method.

[0016] The purpose of the embodiment is not limited thereto, and may also include a purpose or effect that can be identified from the configuration or the embodiment, which will be described below.

[0017] Technical Solution

[0018] According to an embodiment, the LiDAR device may include: an output unit configured to output an optical signal; a splitting unit configured to split the optical signal into a first optical signal and a second optical signal; a receiving unit configured to receive a third optical signal, which is a reflected light of the first optical signal relative to an object; an interference unit configured to cause interference between the second optical signal and the third optical signal; a detection unit configured to detect a fourth optical signal or a fifth optical signal, the fourth optical signal being interference light generated by interference between the second optical signal and the third optical signal, and the fifth optical signal being noise; and a depth information generating unit configured to generate depth information and speed information of an observed target based on the optical signal, wherein the splitting unit can adjust the splitting ratio of the first optical signal to the second optical signal.

[0019] The splitting ratio can be based on equations 1, 2 and 3,

[0020] [Equation 1]

[0021] P0=P1+P2

[0022] [Equation 2]

[0023] P1=(1-x)P0

[0024] [Equation 3]

[0025] P2=xP0

[0026] (P0 represents the power of the optical signal, P1 represents the power of the first optical signal, P2 represents the power of the second optical signal, and x represents a variable greater than or equal to 0 and less than or equal to 1).

[0027] The light splitting unit may adjust the light splitting ratio so that the ratio of the power of the fourth optical signal to the power of the fifth optical signal is within a predetermined range.

[0028] The ratio of the power of the fourth optical signal to the power of the fifth optical signal may be based on Equation 4,

[0029] [Equation 4]

[0030]

[0031] (SNR is the ratio of the power of the fourth optical signal to the power of the fifth optical signal, R represents the response, Loss represents the degree of loss of reflected light, e represents the electron charge, B represents the frequency bandwidth of the system, i others represents the noise dispersion of the fifth optical signal).

[0032] The splitting ratio may be determined by x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal according to Equation 4 is maximized.

[0033] The light splitting unit may adjust the light splitting ratio according to the change of the fifth optical signal.

[0034] The optical splitting unit may increase x when the power of the fifth optical signal increases, and decrease x when the power of the fifth optical signal decreases.

[0035] The detection unit may detect changes in the fifth optical signal in real time, and the light splitting unit may automatically adjust the light splitting ratio according to the changes in the fifth optical signal detected in real time.

[0036] The splitting unit may include a first splitting unit and a second splitting unit, the optical signal may pass through the first splitting unit and the second splitting unit in sequence, the first splitting unit may be rotated to adjust the polarization angle of the optical signal, the second splitting unit may allow the vertically polarized light of the optical signal passing through the first splitting unit to pass through the second splitting unit, and reflect the horizontally polarized light of the optical signal passing through the first splitting unit to adjust the splitting ratio.

[0037] The first light splitting unit may be a half wave plate (HWP), and the second light splitting unit may be a polarization beam splitter (PBS).

[0038] The splitting unit may include a third splitting unit, a fourth splitting unit and a fifth splitting unit. The optical signal may pass through the third splitting unit and the fourth splitting unit in sequence, or pass through the third splitting unit and the fifth splitting unit in sequence. The third splitting unit may move the path of the optical signal to adjust the splitting ratio of the optical signal split to the fourth splitting unit or the fifth splitting unit.

[0039] The third light splitting unit, the fourth light splitting unit and the fifth light splitting unit may be waveguides, and the third light splitting unit may adjust the light splitting ratio by changing an area in contact with the fourth light splitting unit or the fifth light splitting unit.

[0040] The LiDAR operation method according to an embodiment includes: operating a LiDAR device and checking weather, current time, or a signal of an illuminance sensor, using a reference table, setting the power of ambient light according to the weather, current time, or the signal of the illuminance sensor, and changing a splitting ratio of an optical signal through a splitting unit of the LiDAR device to adjust a signal-to-noise ratio, wherein the signal-to-noise ratio is a ratio of the power of the optical signal to the set power of the ambient light, wherein the splitting ratio is a ratio of an optical signal split into incident light emitted to an observed target and reference light used for interference.

[0041] The LiDAR operation method may include generating depth information and velocity information of an observation target through interference between incident light and reference light.

[0042] The splitting ratio can be based on equation 1, equation 2 and equation 3,

[0043] [Equation 1]

[0044] P0=P1+P2

[0045] [Equation 2]

[0046] P1=(1-x)P0

[0047] [Equation 3]

[0048] P2=xP0

[0049] (P0 represents the power of the optical signal, P1 represents the power of the first optical signal, P2 represents the power of the second optical signal, and x represents a variable greater than or equal to 0 and less than or equal to 1).

[0050] The signal-to-noise ratio can be based on Equation 4.

[0051] [Equation 4]

[0052]

[0053] (SNR is the signal-to-noise ratio, R is the response, Loss is the loss of reflected light, e is the electron charge, B is the frequency bandwidth of the system, i others represents the noise dispersion of ambient light).

[0054] The light splitting unit can adjust the light splitting ratio according to the change of the set power of the ambient light, increase x when the power of the ambient light increases, and decrease x when the power of the ambient light decreases, and automatically adjust the light splitting ratio according to the change of the optical signal detected in real time.

[0055] According to an embodiment, the LiDAR device includes: a light output device (VCSEL) for outputting an optical signal; a plurality of lens groups for converging the optical signal and outputting the converged optical signal to the outside; a light detection device (SPAD) for detecting a first signal generated according to the optical signal reflected from the observation target and a second signal as ambient light; a depth information generating unit for generating depth information of the observation target based on the optical signal and the first signal; a splitting unit for comparing the intensity of the first signal and the intensity of the second signal and adjusting the splitting ratio of the optical signal; and a memory for storing data of the signal-to-noise ratio adjusted according to a change in the splitting ratio.

[0056] The LiDAR device according to an embodiment includes: an output unit for outputting an optical signal; a receiving unit for receiving input optical signals of multiple points of an object reflected from the object; an interference unit for causing interference between the input optical signal and reference light to generate an interference optical signal; a detection unit for detecting the input optical signal; a depth information generating unit for generating depth information of the object based on the input optical signal; and a control unit for adjusting the frequency of the optical signal, wherein the control unit can be set to modulate the waveform of the frequency of the optical signal, and the depth information generating unit can use data of the input optical signals of some continuous points among the multiple points to generate depth information.

[0057] The depth information generating unit may generate depth information of a first pixel using first to i-th data of the input optical signal from the first to i-th points (i is an integer greater than or equal to 1).

[0058] The depth information generating unit may generate the depth information of the second pixel using the second to (i+1)th data of the input optical signal from the second to (i+1)th points.

[0059] The depth information generating unit can generate depth information from the second pixel to the (m-i+1)th pixel using the (m-i+1)th data to the mth data of the input optical signal from the (m-i+1)th point to the mth point (m is an integer greater than or equal to i).

[0060] The depth information generating unit of the LiDAR device may repeat the process of generating depth information of the first pixel to the (m-i+1)th pixel.

[0061] The period of the waveform of the frequency of the optical signal may be the same as the exposure time of one of the multiple points, and the exposure time of one of the multiple pixels may be i times the exposure time of the input optical signal of the one point.

[0062] The depth information generating unit may generate the depth information using data of interference optical signals of some continuous points among the plurality of points.

[0063] The control unit may increase the period of the waveform of the frequency of the optical signal by up to j times.

[0064] The period of the waveform of the frequency of the optical signal may be the same as the exposure time of one of the plurality of points, and the exposure time of one of the plurality of pixels may be the same as the exposure time of the input optical signal of the one point.

[0065] According to an embodiment, the LiDAR operation method includes: receiving, by a receiving unit, reflected light reflected from multiple points of an object; detecting, by a detecting unit, reflected light reflected from a first point to an i-th point; and generating, by a depth information generating unit, depth information of a first pixel using first data to i-th data generated by detecting reflected light reflected from the first point to the i-th point (i is an integer greater than or equal to 1).

[0066] According to an embodiment, the LiDAR operation method may include: detecting, by a detection unit, reflected light reflected from the (i+1)th point, and generating, by a depth information generation unit, depth information of a second pixel using second data to (i+1)th data generated by detecting reflected light reflected from the second point to the (i+1)th point.

[0067] The LiDAR operation method according to an embodiment may include: repeatedly detecting, by a detection unit, reflected light reflected from the mth point, and repeatedly generating, by a depth information generation unit, depth information up to the (m-i+1)th pixel using (m-i+1)th data to mth data generated by detecting reflected light reflected from the (m-i+1)th point to the mth point (m is an integer greater than or equal to i).

[0068] The depth information generating unit of the LiDAR device may repeat the process of generating depth information of the first pixel to the (m-i+1)th pixel.

[0069] The period of the waveform of the frequency of the optical signal may be the same as the exposure time of one of the multiple points, and the exposure time of one of the multiple pixels may be i times the exposure time of the input optical signal of the one point.

[0070] The LiDAR operation method according to the embodiment may include increasing, by the control unit, a period of a waveform of a frequency of the optical signal by up to j times.

[0071] The period of the waveform of the frequency of the optical signal may be the same as the exposure time of one of the plurality of points, and the exposure time of one of the plurality of pixels may be the same as the exposure time of the input optical signal of the one point.

[0072] The LiDAR device according to the embodiment includes: an optical output device (vertical cavity surface emission layer (VCSEL)) for outputting an optical signal; a plurality of lens groups for converging the optical signal and outputting the converged optical signal outward; an optical detection device for detecting an input optical signal reflected back from a plurality of points of an observation target; and a depth information generating unit for generating depth information of the observation target based on the optical signal and the input optical signal, wherein the depth information generating unit can generate depth information using data of the input optical signal of some continuous points among the plurality of points.

[0073] Beneficial Effects

[0074] According to an embodiment, a LiDAR device capable of adjusting a splitting ratio of an optical signal and an operating method may be implemented.

[0075] In addition, a LiDAR device capable of adjusting a splitting ratio of an optical signal according to a change in noise (such as ambient light) to maintain a signal-to-noise ratio, and an operating method may be implemented.

[0076] Furthermore, a LiDAR device capable of detecting a change in noise (such as ambient light) in real time to automatically adjust a splitting ratio of an optical signal, and an operating method may be implemented.

[0077] In addition, a LiDAR device capable of modulating the frequency of an optical signal into any waveform and adjusting a detection unit that detects a target, and an operating method may be implemented.

[0078] In addition, a LiDAR device capable of increasing an exposure time of an optical signal for one detection unit, and an operating method may be implemented.

[0079] In addition, a LiDAR device capable of reducing distance resolution even when using the same optical signal output, and an operating method can be implemented.

[0080] In addition, a LiDAR device capable of increasing a maximum measurement distance or reducing a frequency modulation rate even with the same optical signal output, and an operating method may be implemented.

[0081] Various beneficial advantages and effects of the present invention are not limited to the above contents and will be more easily understood in the process of describing specific embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] Figure 1 is a configuration diagram of a LiDAR device according to an embodiment.

[0083] Figure 2 is a schematic conceptual diagram of an operation principle of a LiDAR device according to an embodiment.

[0084] Figure 3 is a schematic conceptual diagram of a LiDAR device according to an embodiment.

[0085] Figure 4 2 is a diagram showing how the optimum splitting ratio changes according to noise changes according to the embodiment.

[0086] Figure 5 is a conceptual diagram of a light splitting unit of a LiDAR device according to an embodiment.

[0087] Figure 6 FIG. 4 is a conceptual diagram of a light splitting unit of a LiDAR device according to another embodiment.

[0088] Figure 7 is a flow chart of a LiDAR operation method according to an embodiment.

[0089] Figure 8 is a configuration diagram of a LiDAR device according to an embodiment.

[0090] Fig. 9 is a schematic conceptual diagram of a LiDAR device according to an embodiment.

[0091] Fig.10 is an image showing an operation principle of a LiDAR device according to an embodiment.

[0092] Fig.11 : is a diagram showing a frequency waveform of an optical signal of a LiDAR device according to an embodiment.

[0093] Fig.12 is an image showing a detection method of a conventional LiDAR device.

[0094] Fig.13 is an image showing a detection method of the LiDAR device according to an embodiment.

[0095] Fig.14 is an image showing a detection method of a LiDAR device according to another embodiment.

[0096] Fig.15 is a flow chart of a LiDAR operation method according to an embodiment.

[0097] Fig.16 is an exploded view of a LiDAR device according to an embodiment. DETAILED DESCRIPTION

[0098] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0099] However, the technical spirit of the present invention is not limited to some of the embodiments described, but can be implemented in various different forms, and one or more components in the embodiments can be used by selective coupling or replacement without departing from the technical spirit of the present invention.

[0100] In addition, unless explicitly and specifically defined and described otherwise, the terms (including technical terms and scientific terms) used in the embodiments of the present invention should be understood in the sense understood by a person of ordinary skill in the art to which the present invention belongs, and common terms such as terms defined in dictionaries should be interpreted in consideration of their contextual meanings in the relevant technology.

[0101] Furthermore, the terms used in the embodiments of the present invention are intended to describe the embodiments but are not intended to limit the present invention.

[0102] In this specification, unless otherwise required in a phrase, the singular may include the plural, and when described as "at least one (or one or more) of A, B, and C" may include one or more of all possible combinations of A, B, and C.

[0103] In addition, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of embodiments of the present invention.

[0104] These terms are intended to only distinguish one component from another component, and are not intended to limit the nature, order, or sequence of the corresponding components by these terms.

[0105] In addition, when a certain component is described as being “connected,” “coupled” or “attached” to another component, it can include the case where the certain component is directly “connected,” “coupled” or “attached” to the other component, as well as the case where the certain component is “connected,” “coupled” or “attached” to another component that exists between the certain component and the other components.

[0106] Furthermore, when a certain component is described as being formed or disposed “on (above)” or “under (below)” each component, “on (above)” or “under (below)” includes not only a case where two components are in direct contact with each other, but also a case where one or more other components are formed or disposed between the two components. Furthermore, when described as “on (above)” or “under (below)”, it may include not only a meaning based on one component being oriented upward, but also a meaning based on one component being oriented downward.

[0107] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[0108] However, the technical spirit of the present invention is not limited to some of the embodiments described, but can be implemented in various different forms, and one or more components in the embodiments can be used by selective coupling or replacement without departing from the technical spirit of the present invention.

[0109] In addition, unless explicitly and specifically defined and described otherwise, the terms (including technical terms and scientific terms) used in the embodiments of the present invention should be understood in the sense understood by a person of ordinary skill in the art to which the present invention belongs, and common terms such as terms defined in dictionaries should be interpreted in consideration of their contextual meanings in the relevant technology.

[0110] Furthermore, the terms used in the embodiments of the present invention are intended to describe the embodiments but are not intended to limit the present invention.

[0111] In this specification, unless otherwise required in a phrase, the singular may include the plural, and when described as "at least one (or one or more) of A, B, and C" may include one or more of all possible combinations of A, B, and C.

[0112] In addition, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of embodiments of the present invention.

[0113] These terms are intended to only distinguish one component from another component, and are not intended to limit the nature, order, or sequence of the corresponding components by these terms.

[0114] In addition, when a certain component is described as being “connected,” “coupled” or “attached” to another component, it can include the case where the certain component is directly “connected,” “coupled” or “attached” to the other component, as well as the case where the certain component is “connected,” “coupled” or “attached” to another component that exists between the certain component and the other components.

[0115] Furthermore, when a certain component is described as being formed or disposed “on (above)” or “under (below)” each component, “on (above)” or “under (below)” includes not only a case where two components are in direct contact with each other, but also a case where one or more other components are formed or disposed between the two components. Furthermore, when described as “on (above)” or “under (below)”, it may include not only a meaning based on one component being oriented upward, but also a meaning based on one component being oriented downward.

[0116] A light detection and ranging (LiDAR) device according to an embodiment of the present invention may refer to an information generating device that is mounted on a vehicle to measure the distance between the vehicle and an object and generate distance information, but is not limited thereto. A LiDAR device according to an embodiment of the present invention may be a LiDAR camera. A LiDAR device according to an embodiment of the present invention may extract depth information using the time of flight (ToF) principle. In this specification, a LiDAR device may be referred to as a depth information generating device or a camera device.

[0117] Figure 1 is a configuration diagram of a LiDAR device according to an embodiment.

[0118] Reference Figure 1 According to the embodiment, the LiDAR device 100 may include an output unit 110, a light splitting unit 120, a receiving unit 130, an interference unit 140, a detection unit 150, and a depth information generating unit 160. Figure 1 The LiDAR device 100 shown in the figure only shows the components related to the present embodiment. Therefore, it is obvious to those skilled in the art that, except Figure 1 In addition to the components shown, the LiDAR device 100 may also include other general components.

[0119] The LiDAR device 100 may be a frequency modulated continuous wave (FMCW) LiDAR. In addition, the LiDAR device 100 may use a point scanning method, so that the intensity of light received by the detection unit 150 may be lower than the intensity of light in other methods (e.g., a flash method). Therefore, a highly sensitive avalanche photodiode (APD) or a single photon avalanche diode (SPAD) may be used as the detection unit 150. Specific circuit configurations (such as an analog front end (AFE), a time-to-digital converter (TDC), etc.) may vary depending on which light receiving element in the APD or SPAD is included in the detection unit 150.

[0120] The LiDAR device 100 according to the embodiment can measure the distance and speed of the detection target using the Doppler effect. When the wave is reflected from a moving object, the frequency of the optical signal may change due to the Doppler effect. By detecting this change in frequency, the speed and position of the object can be measured simultaneously without consuming time. The Doppler effect is a phenomenon in which, when an object emitting electromagnetic waves (light) moves toward or away from an observer, the wavelength of the electromagnetic waves measured by the observer is different from the wavelength in the laboratory. When the object emitting electromagnetic waves moves toward the observer, the wavelength of the observed electromagnetic waves is shorter, and when the object moves away from the observer, the wavelength of the observed electromagnetic waves is longer.

[0121] The LiDAR device according to the embodiment may include: an output unit 110 for outputting an optical signal; a splitting unit 120 for splitting the optical signal into a first optical signal and a second optical signal; a receiving unit 130 for receiving a third optical signal, which is reflected light of the first optical signal on the object; an interference unit 140 for causing interference between the second optical signal and the third optical signal, a detection unit 150 for detecting interference light as a fourth optical signal or a fifth optical signal, the fourth optical signal being interference light generated by interference between the second optical signal and the third optical signal, and the fifth optical signal being noise; and a depth information generating unit 160 for generating depth information of the observed target based on the fourth optical signal.

[0122] The output unit 110 may output an optical signal and transmit the optical signal to the light splitting unit 120 .

[0123] The output unit 110 may include a light source such as an edge light emitting laser, a vertical cavity surface emitting laser (VCSEL), a distributed feedback laser, a light emitting diode (LED), a super luminescent diode (SLD), etc. The output unit 110 may generate and emit light of multiple different bands or with different frequencies. The output unit 110 may generate pulsed light or continuous light. The continuous light may be in the form of a sine wave or a square wave. By generating an output optical signal in the form of pulsed light or continuous light, the LiDAR device 100 may detect a time difference or phase difference between an output optical signal output from the output unit 110 and an input optical signal input to the receiving unit 130 after reflection from an object. In this specification, the output optical signal may be referred to as an optical signal, and the object may be referred to as an observation target. From the perspective of the observation target, the output optical signal may be incident light.

[0124] The output unit 110 may include a light source, a lens group disposed on the light source, and a diffusion member disposed on the lens group. The light source generates and outputs light. The light generated by the light source may be infrared (IR) rays having a wavelength of 770nm to 3000nm. Alternatively, the light generated by the light source may be visible light having a wavelength of 380nm to 770nm. The light source may use an LED, and may be in the form of a plurality of light emitting diodes arranged in a predetermined pattern. In addition, the light source may include an organic light emitting diode (OLED) or a laser diode (LD). Alternatively, the light source may include a VCSEL. VCSEL is a type of LD for converting an electrical signal into an optical signal, and VCSEL may output light having a wavelength of about 800nm ​​to 1000nm (for example, a wavelength of about 850nm or about 940nm). The light source is repeatedly turned on / off at a predetermined time interval to generate an output optical signal in the form of a pulse wave or a continuous wave. The predetermined time interval may be related to the frequency of the output optical signal.

[0125] The lens group may converge light output from the light source and output the converged light outward. The lens group may be arranged to be spaced apart from the light source above the light source. Here, the "above" in "above the light source" may refer to a side to which light is output from the light source. The lens group may include at least one lens. When the lens group includes a plurality of lenses, the lenses may be aligned based on a central axis to form an optical system. Here, the central axis may be the same as the optical axis of the optical system.

[0126] The diffusion member may receive light output from the light source and the lens group, refract or diffract the received light, and output the refracted light or the diffracted light.

[0127] The optical splitting unit 120 according to the embodiment may split an optical signal into a plurality of optical signals.

[0128] The light splitting unit 120 can receive the optical signal from the output unit 110 and split the optical signal into a first optical signal and a second optical signal. The first optical signal is transmitted to the receiving unit 130, and the second optical signal is transmitted to the interference unit 140.

[0129] The optical splitting unit 120 may adjust the splitting ratio of the first optical signal and the second optical signal. The method of splitting the optical signal of the optical splitting unit 120 is not limited and may include a method using polarization or the like.

[0130] The receiving unit 130 may transmit an optical signal to the object, or receive an optical signal reflected from the object. In this case, the received reflected light may be an optical signal output by the output unit 110 and reflected from the object.

[0131] The receiving unit 130 may include an image sensor, a filter disposed on the image sensor, and a lens group disposed on the filter. An optical signal reflected from an object may pass through the lens group. The optical axis of the lens group may be aligned with the optical axis of the image sensor. The filter may be disposed between the lens group and the image sensor. The filter may be disposed on an optical path between the object and the image sensor. Light within a predetermined wavelength range may pass through the filter. Light of a specific band may pass through the filter. The filter may transmit light having a specific wavelength. For example, light in an infrared band may pass through the filter, and the filter may block light other than light in the infrared band. The image sensor may detect light. The image sensor may receive an optical signal. The image sensor may detect an optical signal and output the detected optical signal as an electrical signal. The image sensor may detect light having a wavelength corresponding to the wavelength of light output by the light source. For example, the image sensor may detect light in an infrared band.

[0132] The image sensor may be formed to have a structure in which a plurality of pixels are arranged in a grid. The image sensor may be a complementary metal oxide semiconductor (CMOS) image sensor or a charge coupled device (CCD) image sensor. In addition, the image sensor may include a ToF sensor for receiving IR light reflected from an object and measuring the distance using a time difference or a phase difference.

[0133] The receiving unit 130 may receive the first optical signal from the output unit 110, and the receiving unit 130 may receive the first optical signal and transmit the first optical signal to the object. In addition, the receiving unit 130 may receive a third optical signal, which is a reflected light of the first optical signal reflected from the object. Here, the receiving unit 130 may correspond to an optical system including a plurality of lenses, and the receiving unit 130 may be located on the output unit 110 and the interference unit 140.

[0134] The interference unit 140 may cause interference between the second optical signal and the third optical signal. Since the LiDAR device 100 according to the embodiment measures changes in interference light between the second optical signal and the third optical signal when the optical signal frequency changes, the interference unit 140 for causing interference may exist.

[0135] The interference unit 140 may receive the third optical signal from the receiving unit 130 and receive the second optical signal from the light splitting unit 120. The interference unit 140 may cause interference between the received second optical signal and the third optical signal. In addition, the interference unit 140 may transmit a fourth optical signal to the detection unit 150, the fourth optical signal being interference light generated by interference.

[0136] The detection unit 150 may receive and detect an optical signal. The detection unit 150 may include a plurality of photodiodes, which may be light receiving elements that generate electrical signals by light energy. The type of the light receiving element is not particularly limited.

[0137] The detection unit 150 may receive and detect the fourth optical signal from the interference unit 140. In addition, the detection unit 150 may receive and detect the fifth optical signal as noise from the outside. The noise may include various types of light incident on the detection unit 150 other than sunlight. The noise may include dark noise, thermal noise, etc., which are characteristics of the detection unit 150. Since the fifth optical signal is affected by sunlight, etc., its intensity may change in real time. The greater the intensity of the fifth optical signal, the more difficult it may be to detect the fourth optical signal.

[0138] The depth information generating unit 160 may generate depth information and speed information of the object using the fourth optical signal output from the interference unit 140. The fourth optical signal may correspond to the result of interference between the third optical signal reflected from the object and the second optical signal output from the light splitting unit 120. That is, the fourth optical signal corresponds to the result of the Doppler effect occurring between the second optical signal and the third optical signal. Due to the Doppler effect, the fourth optical signal includes depth information and speed information about the object. The depth information generating unit 160 may receive the fourth optical signal and the fifth optical signal and derive information about the object.

[0139] Figure 2 is a schematic conceptual diagram illustrating an operation principle of a LiDAR device according to an embodiment.

[0140] A LiDAR device may generally be composed of components such as a laser, a scanner, and a photodiode. The individual components may be of any form. Various optical components may be present between the laser and the scanner, between the scanner and the observation target, and between the scanner and the photodiode. The frequency of the laser may be modulated. The optical signal of the laser may be split into incident light and reference light. The incident light may be moved to the observation target by the scanner, and then may be reflected back from the observation target. The reflected light reflected back from the observation target may be attenuated due to the amount of loss. The reflected light reflected back from the observation target may interfere with the reference light to generate a beat frequency. The distance and speed to the observation target may be measured based on such a beat frequency.

[0141] Reference Figure 2, the LiDAR device according to the embodiment may be a scanning LiDAR. The receiving unit (scanner) may calculate the distance while scanning M*N points. In this case, the signal-to-noise ratio of the optical signal may be determined based on the ambient light and the noise inside the detection unit (photodiode). In this case, the ratio in which the optical signal is split into incident light and reference light may be optimized to generate an optimal signal-to-noise ratio. Ultimately, the optimal signal-to-noise ratio may be obtained based on the output power of a given output unit (laser). In addition, the output power of the laser used to obtain the same signal-to-noise ratio may be reduced.

[0142] FIG. 23 is a schematic conceptual diagram of a LiDAR device according to an embodiment.

[0143] 23 , the splitting unit 120 of the LiDAR apparatus 100 according to the embodiment may adjust the splitting ratio of the first optical signal and the second optical signal.

[0144] The light splitting unit 120 may receive the optical signal from the output unit and split the optical signal into a first optical signal and a second optical signal. The light splitting unit 120 may transmit the first optical signal to the receiving unit and transmit the second optical signal to the interference unit 140.

[0145] The splitting ratio of the LiDAR device according to the embodiment may be based on the splitting ratios of Equation 1, Equation 2, and Equation 3.

[0146] [Equation 1]

[0147] P0=P1+P2

[0148] [Equation 2]

[0149] P1=(1-x)P0

[0150] [Equation 3]

[0151] P2=xP0

[0152] (P0 represents the power of the optical signal, P1 represents the power of the first optical signal, P2 represents the power of the second optical signal, and x represents a variable greater than or equal to 0 and less than or equal to 1).

[0153] The sum of the power of the first optical signal and the power of the second optical signal may correspond to the power of the optical signal output by the output unit. When the sum of the power of the first optical signal and the power of the second optical signal is constant, the power of the first optical signal and the power of the second optical signal may be split according to x at a ratio of (1-x) or x, where x is a variable greater than or equal to 0 and less than or equal to 1.

[0154] Figure 4FIG. 4 is a graph showing how the optimum splitting ratio varies according to noise according to an embodiment.

[0155] Reference Figure 4 According to the embodiment, the splitting unit of the LiDAR device can adjust the splitting ratio so that the ratio of the power of the fourth optical signal to the power of the fifth optical signal exists within a predetermined range.

[0156] When the LiDAR device detects the optical signal, noise may exist and may also be detected. Therefore, the optical signal is not easily detected. As a result, when the noise intensity is large and the signal-to-noise ratio (SNR) is low, a method of increasing the SNR is required. In addition, since noise can change various types of light, including sunlight, heat, characteristics of the detection unit, etc., a method of maintaining the SNR in real time is required.

[0157] When the splitting ratio of the splitting unit of the LiDAR device according to the embodiment changes, the value of SNR changes. When the ratio of the power of the fourth optical signal to the power of the fifth optical signal changes, the splitting ratio of the splitting unit can be adjusted so that the SNR remains within a predetermined range.

[0158] When comparing the optimal x value that maximizes SNR when the fifth optical signal is weak and the optimal x value that maximizes SNR when the fifth optical signal is strong of the LiDAR device according to the embodiment, the optimal x value when the fifth optical signal is strong may be greater than the optimal x value when the fifth optical signal is weak.

[0159] When the fifth optical signal of the LiDAR device according to the embodiment is weak, x1 may be 0.061063 as the optimal x value, and when the fifth optical signal is strong, x2 may be 0.131353 as the optimal x value.

[0160] A ratio of the power of the fourth optical signal to the power of the fifth optical signal of the LiDAR device according to an embodiment may be based on Equation 4.

[0161] [Equation 4]

[0162]

[0163] (SNR is the ratio of the power of the fourth optical signal to the power of the fifth optical signal, R represents the response, Loss represents the degree of loss of reflected light, e represents the electron charge, B represents the frequency bandwidth of the system, i others represents the noise dispersion of the fifth optical signal).

[0164] According to an embodiment, a ratio of the power of the fourth optical signal to the power of the fifth optical signal may be a ratio of the dispersion of the fourth optical signal to the dispersion of the fifth optical signal.

[0165] The splitting ratio of the LiDAR device according to the embodiment may be determined based on x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal according to Equation 4 is maximized.

[0166] The splitting unit can adjust the splitting ratio according to x (with the largest SNR).

[0167] By differentiating the ratio of the power of the fourth optical signal to the power of the fifth optical signal with respect to x, x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal is maximized can be determined.

[0168] The x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal is maximized can be determined according to Equation 5.

[0169] [Equation 5]

[0170]

[0171] The x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal is maximized can be determined according to Equation 5.

[0172] [Equation 6]

[0173]

[0174] Loss represents the loss degree of the third optical signal (reflected light). When the loss degree of the third optical signal is very small, Loss can be ignored, and x at which the ratio of the fourth optical signal to the fifth optical signal is the largest can be determined.

[0175] The light splitting unit of the LiDAR device according to the embodiment may adjust the light splitting ratio according to the change of the fifth optical signal.

[0176] The fifth optical signal is a noise signal. When the detection unit detects the optical signal, noise may exist and noise may be detected. Therefore, the optical signal is not easily detected. As a result, when the noise intensity increases and the SNR is low, a method for increasing the SNR is required. In addition, since noise can cause various types of light to change, including sunlight, heat, characteristics of the detection unit, etc., a method for maintaining the SNR in real time is required. Therefore, the splitting unit can adjust the splitting ratio according to the change of the fifth optical signal to adjust the SNR.

[0177] The light splitting unit of the LiDAR device according to the embodiment may increase x when the power of the fifth optical signal increases, and decrease x when the power of the fifth optical signal decreases.

[0178] When the power of the fifth optical signal increases and the ratio of the power of the fourth optical signal to the power of the fifth optical signal increases, the optimal SNR can be maintained by increasing x, and when the power of the fifth optical signal decreases and the ratio of the power of the fourth optical signal to the power of the fifth optical signal decreases, the optimal SNR can be maintained by reducing x.

[0179] The detection unit of the LiDAR device according to the embodiment may detect a change in the fifth optical signal in real time, and the light splitting unit may automatically adjust the light splitting ratio according to the change in the fifth optical signal detected in real time.

[0180] The fifth optical signal is a noise signal and may change in real time according to changes in sunlight, weather, etc. Therefore, in order to prevent the SNR from continuously changing in real time, the detection unit may measure the fifth optical signal in real time and detect changes in the fifth optical signal in real time, and the splitting unit may automatically adjust the splitting ratio according to changes in the fifth optical signal detected in real time.

[0181] Figure 5 is a conceptual diagram of a light splitting unit of a LiDAR device according to an embodiment.

[0182] Reference Figure 5 , the light splitting unit of the LiDAR device according to the embodiment includes a first light splitting unit 121 and a second light splitting unit 122, and the optical signal sequentially passes through the first light splitting unit 121 and the second light splitting unit 122. The light splitting unit can adjust the polarization angle of the optical signal by rotating the first light splitting unit 121, and the second light splitting unit 122 can adjust the splitting ratio by allowing the vertical polarized light of the optical signal passing through the first light splitting unit 121 to pass through the second light splitting unit 122 and reflecting the horizontal polarized light of the optical signal.

[0183] The optical splitting unit according to the embodiment may include a first optical splitting unit 121 and a second optical splitting unit 122. The first optical splitting unit 121 and the second optical splitting unit 122 may be arranged in parallel on the path of the optical signal, but are not limited thereto. The optical signal may pass through the first optical splitting unit 121 and the second optical splitting unit 122 in sequence.

[0184] The first light splitting unit 121 may change the polarization angle according to the angle of the optical signal. For example, the polarization direction of the linear polarization signal before and after passing through the first light splitting unit 121 differs by 90 degrees from the polarization direction of the linear polarization signal before passing through the first light splitting unit 121. The circular polarization signal may not be affected even after passing through the first light splitting unit 121. The first light splitting unit 121 may be formed of a material whose refractive index differs according to the polarization direction.

[0185] The second optical splitter 122 may allow the vertical polarization light of the incident optical signal to pass therethrough and reflect the horizontal polarization light of the incident optical signal. For example, the second optical splitter 122 may allow the vertical polarization light of the optical signal to pass therethrough as the first optical signal and reflect the horizontal polarization light of the optical signal as the second optical signal.

[0186] The light splitting unit can adjust the polarization angle by rotating the first light splitting unit 121 to adjust the light splitting ratio of the optical signal. That is, the light splitting unit can adjust the SNR by rotating the first light splitting unit 121.

[0187] The first light splitting unit 121 of the LiDAR device according to the embodiment may be a half wave plate (HWP), and the second light splitting unit 122 may be a polarization beam splitter (PBS).

[0188] Figure 6 FIG. 4 is a conceptual diagram of a light splitting unit of a LiDAR device according to another embodiment.

[0189] Reference Figure 6 According to the embodiment, the splitting unit of the LiDAR device may include a third splitting unit 123, a fourth splitting unit 124 and a fifth splitting unit 125, and the optical signal may pass through the third splitting unit 123 and the fourth splitting unit 124 in sequence or pass through the third splitting unit 123 and the fifth splitting unit 125 in sequence, and the third splitting unit 123 may adjust the splitting ratio of the optical signal split to the fourth splitting unit 124 or the fifth splitting unit 125 by moving the path of the optical signal.

[0190] The third splitting unit 123 , the fourth splitting unit 124 , and the fifth splitting unit 125 of the LiDAR device according to the embodiment are waveguides, and the third splitting unit 123 can adjust the splitting ratio of the optical signal by changing the area in contact with the fourth splitting unit 124 or the fifth splitting unit 125 .

[0191] The third light splitting unit 123, the fourth light splitting unit 124, and the fifth light splitting unit 125 may be hollow conduits formed of conductors. The third to fifth light splitting units 123, 124, and 125 may have a structure in which an optical signal can pass through the inside of a pipe. When an optical signal is incident on the third light splitting unit 123, the fourth light splitting unit 124, and the fifth light splitting unit 125, the optical signal may be released after uniformly passing through the inside of the pipe structure.

[0192] The third optical splitter 123 may change the area of ​​contact with the fourth optical splitter 124 or the fifth optical splitter 125. The fourth optical splitter 124 and the fifth optical splitter 125 may be configured to contact each other vertically, and the cross section of the pipe structure of the third optical splitter 123 may be configured to contact the cross section of the pipe structure of the fourth optical splitter 124 or the fifth optical splitter 125. Therefore, when contacting the fourth optical splitter 124 and the fifth optical splitter 125, the optical splitter may adjust the splitting ratio of the optical signal by vertically moving the third optical splitter 123. The optical splitter may adjust the splitting ratio of the optical signal by moving the third optical splitter 123, thereby adjusting the SNR.

[0193] Figure 7 is a flow chart of a LiDAR operation method according to an embodiment.

[0194] Reference Figure 7 According to the embodiment, the LiDAR operation method S1000 may include: operating a LiDAR device and checking the weather, current time or a signal of an illuminance sensor (S1100), using a reference table, setting the power of ambient light according to the weather, current time or the signal of the illuminance sensor (S1200), changing the splitting ratio of the optical signal through the splitting unit of the LiDAR device to adjust the SNR, which is the ratio of the power of the optical signal to the set power of the ambient light, wherein the splitting ratio is the ratio of the optical signal split into incident light emitted to the observation target and reference light used for interference (S1300), and generating depth information and speed information of the observation target through interference between the incident light and the reference light (S1400).

[0195] The splitting ratio of the LiDAR operating method according to the embodiment may be based on Equation 1, Equation 2, and Equation 3.

[0196] [Equation 1]

[0197] P0=P1+P2

[0198] [Equation 2]

[0199] P1=(1-x)P0

[0200] [Equation 3]

[0201] P2=xP0

[0202] (P0 represents the power of the optical signal, P1 represents the power of the incident light, P2 represents the power of the reference light, and x represents a variable greater than or equal to 0 and less than or equal to 1).

[0203] The SNR of the LiDAR operating method according to an embodiment may be based on Equation 4.

[0204] [Equation 4]

[0205]

[0206] (SNR is the signal-to-noise ratio, R is the response, Loss is the loss of reflected light, e is the electron charge, B is the frequency bandwidth of the system, i others represents the noise dispersion of ambient light).

[0207] The splitting unit for the LiDAR operation method according to the embodiment can adjust the splitting ratio according to the change of the ambient light power, increase x when the ambient light power increases, and decrease x when the ambient light power decreases, and automatically adjust the splitting ratio according to the change of the optical signal detected in real time.

[0208] According to an embodiment, the LiDAR device may include: a light output device (VCSEL) for outputting an optical signal; a plurality of lens groups for converging the optical signal and outputting the converged optical signal to the outside; a light detection device (SPAD) for detecting a first signal generated by the optical signal reflected from the observation target and a second signal as ambient light; a depth information generating unit for generating depth information of the observation target based on the optical signal and the first signal; a splitting unit for comparing the intensity of the first signal and the intensity of the second signal and adjusting the splitting ratio of the optical signal; and a memory for storing data of the SNR adjusted according to the change in the splitting ratio.

[0209] Figure 8 is a configuration diagram of a LiDAR device according to an embodiment.

[0210] Reference Figure 8 According to the embodiment, the LiDAR device 200 may include an output unit 210, a receiving unit 220, a detection unit 230, an interference unit 240, a depth information generation unit 250, and a control unit 140160. Only components related to the present embodiment are shown in the LiDAR device 200. Therefore, it is obvious to those skilled in the art that the LiDAR device 200 may also include components other than the output unit 210, a receiving unit 220, a detection unit 230, an interference unit 240, a depth information generation unit 250, and a control unit 140160. Figure 8 General components other than those shown.

[0211] The LiDAR device 200 may be an FMCW LiDAR. In addition, the LiDAR device 200 may use a point scanning method, and therefore, the intensity of light received by the detection unit 230 may be less than the intensity of light in other methods (e.g., a flash method). Therefore, a highly sensitive APD or SPAD may be used as the detection unit 230. A specific circuit configuration (such as an AFE, a TDC, etc.) may vary depending on which light receiving element of the APD or SPAD is included in the detection unit 230.

[0212] The LiDAR device 200 according to an embodiment can use the Doppler effect to measure the distance and speed of the detection target. When an optical signal is reflected from an object carrying a motion wave, the frequency changes due to the Doppler effect. By detecting this change in frequency, the speed and position of the object can be measured simultaneously without consuming time. The Doppler effect is a phenomenon in which the wavelength of the electromagnetic wave measured by the observer is different from the wavelength in the laboratory when an object emitting electromagnetic waves (light) moves toward or away from an observer. When the object emitting electromagnetic waves moves toward the observer, the wavelength of the observed electromagnetic waves is shorter, and when the object moves away from the observer, the wavelength of the observed electromagnetic waves is longer.

[0213] Fig. 9 is a schematic conceptual diagram of a LiDAR device according to an embodiment.

[0214] Reference Figure 8 and Fig. 9 According to the embodiment, the LiDAR device 200 may include: an output unit 210 for outputting an optical signal; a receiving unit 220 for receiving input optical signals of a plurality of points of an object reflected from the object; an interference unit 240 for causing interference between the input optical signal and the reference light and generating an interference optical signal; a detection unit 230 for detecting the input optical signal; a depth information generating unit 250 for generating depth information of the object based on the optical signal and the input optical signal; and a control unit 260 for adjusting the frequency of the optical signal. The LiDAR device 200 may include: an output unit 210 for transmitting an output optical signal to the object; a receiving unit 220 for receiving an input optical signal reflected from the object; a detection unit 230 for detecting the input optical signal; and a control unit 240 for adjusting the frequency of the optical signal.

[0215] The output unit 210 may output an optical signal and transmit the output optical signal to the receiving unit 220 .

[0216] The output unit 210 may include a light source such as an edge-emitting laser, a VCSEL, a distributed feedback laser, an LED, an SLD, etc. The output unit 210 may generate and emit light of multiple different wavelength bands. The output unit 210 may generate pulsed light or continuous light.

[0217] The continuous light may be in the form of a sine wave or a square wave. By generating an output optical signal in the form of pulsed light or continuous light, the LiDAR device 200 may detect a time difference or a phase difference between the output optical signal output from the output unit 210 and the input optical signal input to the receiving unit 220 after being reflected from the object. In this specification, the output optical signal may be referred to as an optical signal, and the object may be referred to as an observation target. From the perspective of the observation target, the output optical signal may be incident light.

[0218] The output unit 210 may include a light source, a lens group disposed on the light source, and a diffusion member disposed on the lens group. The light source generates and outputs light. The light generated by the light source may be infrared light with a wavelength of 770nm to 3000nm. Alternatively, the light generated by the light source may be visible light with a wavelength of 380nm to 770nm. The light source may use an LED, and may be in the form of a plurality of light emitting diodes arranged in a predetermined pattern. In addition, the light source may include an OLED or an LD. Alternatively, the light source may include a VCSEL. VCSEL is a type of LD for converting an electrical signal into an optical signal, and VCSEL may output light with a wavelength of about 800nm ​​to 1000nm (for example, a wavelength of about 850nm or about 940nm). The light source is repeatedly turned on / off at a predetermined time interval to generate an output optical signal in the form of a pulse wave or a continuous wave. The predetermined time interval may be the frequency of the output optical signal.

[0219] The lens group may converge light output from the light source and output the converged light outward. The lens group may be arranged to be spaced apart from the light source above the light source. Here, the "above" in "above the light source" may refer to a side to which light is output from the light source. The lens group may include at least one lens. When the lens group includes a plurality of lenses, the lenses may be aligned based on a central axis to form an optical system. Here, the central axis may be the same as the optical axis of the optical system.

[0220] The diffusion member may receive light output from the light source and the lens group, refract or diffract the received light, and output the refracted light or the diffracted light.

[0221] The optical signal output by the output unit 210 can be adjusted by the control unit 260. The output unit 210 can receive a command from the control unit 260 to adjust the output of the optical signal and control the output optical signal. The output unit 210 can output optical signals with different intensities, periods, frequencies, etc. The output unit 210 can transmit the output optical signal to the receiving unit 220. The output unit 210 can output an optical signal whose frequency is modulated according to a predetermined period. The output unit 210 can use the Doppler effect to simultaneously measure the distance and speed of the object through the frequency-modulated optical signal.

[0222] The control unit 260 may split the optical signal output by the output unit 210 into input light and reference light. For example, the optical splitter 270 connected between the output unit 210 and the receiving unit 220 may split the optical signal into input light and reference light. Here, the input light may be transmitted to the receiving unit 220, and the reference light may be transmitted to the interference unit 240. The input light received after being reflected from the object may have different characteristics from the reference light, and the interference unit 240 may cause interference between the input light and the reference light and output a specific optical signal. The LiDAR device 200 may use the optical signal generated due to interference to simultaneously measure the distance and speed of the object.

[0223] The receiving unit 220 may transmit an optical signal to an object or receive an optical signal reflected from an object. The receiving unit 220 may be referred to as a scanner.

[0224] The receiving unit 220 may include an image sensor, a filter disposed on the image sensor, and a lens group disposed on the filter. An optical signal reflected from an object may pass through the lens group. The optical axis of the lens group may be aligned with the optical axis of the image sensor. The filter may be disposed between the lens group and the image sensor. The filter may be disposed on an optical path between the object and the image sensor. Light within a predetermined wavelength range may pass through the filter. Light of a specific band may pass through the filter. The filter may transmit light having a specific wavelength. For example, light in an infrared band may pass through the filter, and the filter may block light other than light in the infrared band. The image sensor may detect light. The image sensor may receive an optical signal. The image sensor may detect an optical signal and output the detected optical signal as an electrical signal. The image sensor may detect light having a wavelength corresponding to the wavelength of light output by the light source. For example, the image sensor may detect light in an infrared band. Here, the image sensor may correspond to the detection unit 230 of the LiDAR device 200.

[0225] The image sensor may be formed to have a structure in which a plurality of pixels are arranged in a grid. The image sensor may be a CMOS image sensor or a CCD image sensor. In addition, the image sensor may include a ToF sensor for receiving IR light reflected from an object and measuring the distance using a time difference or a phase difference.

[0226] The receiving unit 220 may receive the optical signal output from the output unit 210. The receiving unit 220 may transmit the received optical signal to the object. The receiving unit 220 may receive the input optical signal reflected from the object. In addition, the receiving unit 220 may transmit the received input optical signal to the detection unit 230. The received input optical signal may interfere with the reference light in the interference unit 240 and be provided to the detection unit 230.

[0227] The receiving unit 220 may uniformly and continuously transmit an optical signal to the object of each unit divided into predetermined units.

[0228] In order to uniformly transmit the optical signal to the object, the position of the receiving unit 220 may be moved or the angle of the receiving unit 220 may be adjusted, but the method of transmitting the optical signal is not limited thereto.

[0229] The interference unit 240 may cause interference between the incident optical signal and the reference light. Since the LiDAR apparatus 200 according to the embodiment measures a change in interference light between the incident optical signal and the reference light by changing the frequency of the optical signal, the interference unit 240 for causing interference may exist.

[0230] The interference unit 240 may receive the incident optical signal from the receiving unit 230. The interference unit 240 may cause interference between the received incident optical signal and the reference light. In addition, the interference light generated by the interference may be transmitted to the detection unit 230.

[0231] The detection unit 230 may detect an optical signal.

[0232] The detection unit 230 may receive and detect interference light generated by interference from the interference unit 240. The detection unit 230 may include a plurality of photodiodes, which may be light receiving elements that generate electrical signals by light energy. The type of the light receiving element is not particularly limited.

[0233] The detection unit 230 may divide the object into a plurality of units and detect an input optical signal of each unit. The detection unit 230 may detect an optical signal of the object of each unit and detect an input optical signal reflected from all parts of the object. The detection unit 230 may detect the input optical signal and simultaneously measure the distance and speed of the object.

[0234] The depth information generating unit 250 of the LiDAR device according to an embodiment may generate depth information using data of input optical signals of some continuous points among a plurality of points.

[0235] The depth information generating unit 250 may generate depth information of the observation target using the interference optical signal generated by the interference unit 240. The depth information generating unit 250 may generate information about the position and speed of the object using the result of the frequency of the interference light changing according to the FMCW method. When the wave is reflected from a moving object, the frequency may change based on the Doppler effect, and by detecting such a change in frequency, the speed and position of the object may be measured simultaneously without consuming time. The FMCW method is different from the dToF method that measures the round-trip time of an optical signal, and is different from the iToF method that measures the distance using an optical signal with varying intensity.

[0236] The optical signal output from the output unit 210 may correspond to a frequency-modulated optical signal. The reference light incident on the interference unit 240 may also correspond to a frequency-modulated optical signal, and the input optical signal reflected from the object and incident on the interference unit 240 may also correspond to a frequency-modulated optical signal. Here, the interference between the reference light and the input light having different characteristics is caused by the interference unit 240. That is, the Doppler effect occurs between different optical signals. As a result, the interference light output from the interference unit 240 has some characteristics. The detection unit 230 may detect the interference light, and the depth information generation unit 250 may use information about the detected interference light to measure the speed and position of the object in real time.

[0237] The control unit of the LiDAR device according to the embodiment may be configured to modulate the waveform of the frequency of the optical signal.

[0238] The control unit 260 can adjust the optical signal output by the output unit 210. The control unit 260 controls the driving of the output unit 210, the receiving unit 220, and the depth information generating unit 250. The depth information generating unit 250 and the control unit 260 can be implemented in the form of a printed circuit board (PCB). In addition, the depth information generating unit 250 and the control unit 260 can be implemented in the form of different configurations. Additionally, the control unit 260 can be included in a terminal or a vehicle, and the LiDAR device 200 according to an embodiment of the present invention is set in the terminal or the vehicle. For example, the control unit 260 can be implemented in the form of an application processor (AP) of a smartphone equipped with the LiDAR device 200 according to an embodiment of the present invention, or in the form of an electronic control unit (ECU) of a vehicle equipped with the LiDAR device 200 according to an embodiment of the present invention.

[0239] The control unit 260 may transmit a command to the output unit 210 to adjust the output optical signal. The control unit 260 may transmit a command to adjust the output intensity, period, frequency, etc. of the optical signal. The control unit 260 may receive detection data of the input optical signal from the detection unit. The control unit 260 may transmit a command to the output unit 210 to adjust the optical signal according to the corresponding data.

[0240] The control unit 260 may transmit a command to adjust the magnitude of the optical signal frequency. In addition, the change in the frequency of the optical signal may be adjusted to have a constant waveform, and the shape, period, etc. corresponding to the waveform may be adjusted.

[0241] The LiDAR device 200 can generally be composed of components such as a laser, a scanner, and a photodiode. The individual components can have any form. Various optical components can be present between the laser and the scanner, between the scanner and the observation target, and between the scanner and the photodiode. The frequency of the laser can be modulated. The optical signal of the laser can be split into incident light and reference light by a spectrometer 270. The incident light can be moved to the observation target by the scanner, and then can be reflected back from the observation target. The reflected light reflected back from the observation target may be attenuated due to the amount of loss. The reflected light reflected back from the observation target can interfere with the reference light to generate a beat frequency. The distance and speed to the observation target can be measured based on such a beat frequency.

[0242] Fig.10 is an image showing an object segmentation method of a LiDAR device according to an embodiment.

[0243] Reference Fig.10 , the LiDAR device according to the embodiment may be a scanning LiDAR. The LiDAR device according to the embodiment may detect input optical signals of multiple points of an object. In addition, the depth information generating unit of the LiDAR device according to the embodiment may generate depth information using data of input optical signals of some continuous points among the multiple points.

[0244] The point may be a unit of an object divided into regular units to be detected by the LiDAR device. The point may be a unit of a portion of an object divided into regular areas and shapes to be observed. In addition, the detection unit may detect an input optical signal of each point. In addition, the depth information generation unit may generate depth information using data of input optical signals of some continuous points among the plurality of points.

[0245] The receiving unit 220 may transmit an optical signal to the object and transmit the reflected incident optical signal to the detection unit. The receiving unit 220 may use a method of adjusting the emission position or angle of the optical signal to sequentially transmit the optical signal to a1, a2, a3, ..., am. The depth information generating unit may generate depth information using data of the incident optical signal of the corresponding point of each division point. The size of the division point is not limited.

[0246] Fig.11 : is a diagram showing a frequency waveform of an optical signal of a LiDAR device according to an embodiment.

[0247] The frequency of the optical signal of the LiDAR device according to the embodiment may be expressed as a sawtooth wave (11-a).

[0248] The frequency of the optical signal of the LiDAR device according to the embodiment may be expressed as a triangular wave (11 - b).

[0249] The frequency of the optical signal according to the embodiment may vary continuously over time within a range from f0 to f1 and may be represented as having a predetermined period T f However, the frequency waveform of the optical signal is not limited thereto.

[0250] In the case of a triangle wave, the distance resolution of the LiDAR device can be determined according to Equation 7.

[0251] [Equation 7]

[0252]

[0253] Here, ΔR represents the distance resolution, c represents the speed of the optical signal, f1-f0 represents the width of the frequency of the optical signal, and T f Represents the period of a waveform, T p Indicates the exposure time of one point of the depth information generation unit. (In the case of a sawtooth wave, equation 1 can use 2 instead of 4)

[0254] Range resolution refers to the minimum measurable distance between two points represented by a planar range unit. As range resolution decreases, the performance of the LiDAR device improves.

[0255] In the case of a triangle wave, the maximum measurable distance of the LiDAR device can be determined according to Equation 8.

[0256] [Equation 8]

[0257]

[0258] Here, R max represents the maximum measurable distance, f1-f0 represents the frequency width of the optical signal, f s represents the sampling frequency, c represents the speed of the optical signal, T f represents the period of the waveform. (In the case of a sawtooth wave, Equation 8 can use 4 instead of 8).

[0259] The maximum measurable distance refers to the maximum distance at which the LiDAR device can detect an object. As the maximum measurable distance increases, the performance of the LiDAR device improves.

[0260] In the case of a triangle wave, the frequency modulation rate of the LiDAR device can be determined according to Equation 9.

[0261] [Equation 9]

[0262]

[0263] Here, V frepresents the frequency modulation rate, f1-f0 represents the frequency width of the optical signal, T f represents the period of the waveform (in the case of a sawtooth wave, Equation 3 can use 4 instead of 2).

[0264] The frequency modulation rate is the rate at which the LiDAR device can modulate the frequency of the output optical signal. As the frequency modulation rate decreases, the performance of the LiDAR device improves.

[0265] Fig.12 is an image showing a detection method of a conventional LiDAR device.

[0266] Reference Fig.11 and Fig.12 , the depth information generating unit may generate depth information using data on the input optical signal of points a1, a2, ..., am of the object. The receiving unit may transmit an optical signal with a frequency having a predetermined waveform and period to the object. The receiving unit may transmit an optical signal with a frequency having a predetermined waveform and period to the object, and receive the reflected input optical signal. The receiving unit may transmit a constant optical signal to the object by adjusting the emission position or angle of the optical signal.

[0267] The period T of the optical signal frequency waveform f Can be constant.

[0268] The exposure times t1, t2, t3, ..., tm of the points a1, a2, a3, ..., am of the depth information generating unit may be constant, respectively. In this case, the exposure time tm may be equal to the period T of the optical signal frequency waveform. f .

[0269] The range resolution of a conventional LiDAR device can be determined according to Equation 10.

[0270] [Equation 10]

[0271]

[0272] The maximum measurable distance of a conventional LiDAR device can be determined according to Equation 11.

[0273] [Equation 11]

[0274]

[0275] The frequency modulation rate of a conventional LiDAR device can be determined according to Equation 12.

[0276] [Equation 12]

[0277]

[0278] In a conventional LiDAR device, a depth information generating unit may generate depth information and speed information of a point of an object using an input optical signal reflected from a point of an object. That is, the depth information generating unit may generate depth information and speed information of a point of an object using an input optical signal corresponding to one period. In particular, the LiDAR device may generate depth information and speed information of a point of a corresponding object based on interference light generated as a result of interference of an input optical signal reflected from a point of an object with a reference optical signal. Hereinafter, a method for detecting depth information and speed information of a LiDAR device 200 according to an embodiment will be described.

[0279] Fig.13 is an image showing a detection method of the LiDAR device according to an embodiment.

[0280] Reference Fig.12 and Fig.13 According to the embodiment, the depth information generating unit of the LiDAR device can generate the depth information of the first pixel using the first data to the i-th data of the input optical signal from the first point to the i-th point. Here, the pixel may correspond to a unit different from the above-mentioned point. For example, the number of pixels may be less than the number of points.

[0281] The detection unit may detect incident optical signals at various points of the object in the same manner as a conventional LiDAR device. That is, the detection unit may detect an interference optical signal generated by interfering the incident optical signal reflected from the 1st point to the mth point with a reference optical signal. Figures 1 to 5 The operation of the detection unit described is the same.

[0282] The depth information generating unit may use pixels b1, b2, b3, ..., b(m-i+1) as new units (i is an integer greater than or equal to 1, m is an integer greater than or equal to i) and use data segments of input optical signals at multiple points to generate depth information. Fig.13 , when i is 3, the depth information generating unit may generate the depth information of the first pixel using the first data to the third data of the input optical signals of the three points, the first point to the third point.

[0283] The number of points and data of the LiDAR device according to the embodiment is m in total, and the depth information of each pixel can be generated using i data.

[0284] The depth information generating unit of the LiDAR device according to the embodiment may generate depth information of the second pixel using second to (i+1)th data of the input optical signal from the second to (i+1)th points.

[0285] Just as the depth information of the first pixel is generated using the data of the input optical signal from the first point to the i-th point, the depth information generating unit can generate the depth information of the second pixel using the second data to the (i+1)th data of the input optical signal from the second point to the (i+1)th point. For example, when i is 3, the depth information generating unit can generate the depth information of the second pixel using the second data to the fourth data of the input optical signal from the second point to the fourth point.

[0286] The depth information generating unit of the LiDAR device according to an embodiment may generate depth information from the second pixel to the (m-i+1)th pixel using the (m-i+1)th data to the mth data of the input optical signal from the (m-i+1)th point to the mth point.

[0287] As the depth information of the second pixel is generated using the data of the input optical signal from the second point to the (i+1)th point, the depth information generating unit can generate the depth information of the third pixel to the (m-i+1)th pixel using the (m-i+1)th data to the mth data of the input optical signal from the (m-i+1)th point to the mth point. For example, when i is 3 and m is 100, the depth information generating unit can generate the depth information up to the 98th pixel using the 98th data to the 100th data of the input optical signal from the 98th point to the 100th point.

[0288] The depth information generating unit of the LiDAR device according to the embodiment may repeat the process of generating depth information of the first pixel to the (m-i+1)th pixel.

[0289] The period of the optical signal frequency waveform of the LiDAR device according to the embodiment may be the same as the exposure time of one point, and the exposure time of one pixel may be i times the exposure time of the input optical signal of one point.

[0290] Reference Fig.12 and Fig.13 The period T' of the optical signal frequency waveform according to the embodiment can be different from the period T of the optical signal frequency waveform of the conventional LiDAR device. f Same (T' = T f ). In addition, the period T' of the optical signal frequency waveform can be the same as the exposure time t1, t2, ... or tm of a point, and the exposure time t'1, t'2, t'3, ... or t'(m-i+1) of a pixel can be i times the exposure time t1, t2, ... or tm of the input optical signal of a point.

[0291] The distance resolution of the LiDAR device according to the embodiment may be 1 / i times the distance resolution when the depth information generating unit generates depth information using a plurality of points.

[0292] The distance resolution of the LiDAR device according to the embodiment can be determined according to Equation 13.

[0293] [Equation 13]

[0294]

[0295] (ΔR′ represents the distance resolution of the LiDAR device according to the embodiment).

[0296] Therefore, according to Equation 7, the distance resolution of the LiDAR device according to the embodiment may be 1 / i times the distance resolution when a conventional depth information generating unit generates depth information using a plurality of points. Figure 6 , since t′m is 3 times of tm, the distance resolution of the LiDAR device according to the embodiment may be 1 / 3 times of the distance resolution of a conventional LiDAR device.

[0297] As the time to detect a cell increases, the range resolution can be reduced, thereby improving the performance of the LiDAR device.

[0298] Fig.14 is an image showing a detection method of a LiDAR device according to another embodiment.

[0299] Reference Fig.12 and Fig.14 , the control unit of the LiDAR device according to the embodiment can increase the period of the frequency waveform of the optical signal by up to j times. Figure 6 As described above, the depth information generating unit of the LiDAR device may generate the depth information of the first pixel using the first to i-th data of the input optical signal from the first to i-th points.

[0300] The period T″ of the frequency waveform of the optical signal according to the embodiment may be i times the period of the frequency waveform of the optical signal of the conventional LiDAR device. For example, referring to Figure 5 and Figure 7 The period T of the frequency waveform of the optical signal according to the embodiment may be the period T of the frequency waveform of the optical signal of the conventional LiDAR device. f 3 times.

[0301] The period of the frequency waveform of the optical signal of the LiDAR device according to the embodiment may be the same as the exposure time of one point, and the exposure time of one pixel may be the same as the exposure time of the input optical signal of the one point.

[0302] The period T" of the optical signal frequency waveform can be i times the exposure time required to generate the depth information of the input optical signal using one point, and the exposure time t"1, t"2, t"3, ... or t" (m-i+1) required to generate the depth information of the input optical signal using one pixel can be the same as the exposure time b1, b2, b3, ... or b(m-i+1) required to generate the depth information of the input optical signal using one point.

[0303] The maximum measurement distance of the LiDAR device according to the embodiment may be i times the maximum measurement distance when the depth information generating unit generates depth information using a plurality of points.

[0304] The maximum measurement distance of the LiDAR device according to the embodiment can be determined according to Equation 14.

[0305] [Equation 14]

[0306]

[0307] (R max” represents the maximum measurement distance of the LiDAR device according to the embodiment).

[0308] The period T" of the frequency waveform of the optical signal according to the embodiment may be i times the period of the frequency waveform of the optical signal of the LiDAR device when the depth information is generated according to the conventional point. For example, referring to Fig.12 and Fig.14 , since T' is T f Therefore, the maximum measurement distance of the LiDAR device according to the embodiment can be 3 times the maximum measurement distance of the conventional LiDAR device.

[0309] When the period of the optical signal frequency waveform increases, the maximum measurement distance can be increased, thereby improving the performance of the LiDAR device.

[0310] The frequency modulation rate of the LiDAR device according to the embodiment may be 1 / i times the frequency modulation rate when the depth information generating unit generates depth information using a plurality of points.

[0311] The frequency modulation rate of the LiDAR device according to an embodiment can be determined according to Equation 15.

[0312] [Equation 15]

[0313]

[0314] (V f ” represents the frequency modulation rate of the LiDAR device according to the embodiment).

[0315] The frequency modulation rate may be determined by Equation 15. The period of the frequency waveform of the optical signal according to the embodiment is T", and the period of the frequency waveform of the optical signal according to the embodiment may be i times the period of the frequency waveform of the optical signal of the LiDAR device when the depth information is generated according to the conventional point. For example, referring to Fig.12 and Fig.14 , since T' is T f Therefore, the maximum measurement distance of the LiDAR device according to the embodiment can be 1 / 3 times the maximum measurement distance of the conventional LiDAR device.

[0316] As the period of the frequency waveform of the optical signal increases, the frequency modulation rate can be reduced, thereby improving the performance of the LiDAR device.

[0317] Fig.15 is a flow chart of a LiDAR operation method according to an embodiment.

[0318] Reference Fig.15 According to the embodiment, the LiDAR operation method S2000 may include: receiving, by a receiving unit, reflected light reflected from a plurality of points of an object (S2100); detecting, by a detecting unit, reflected light reflected from a 1st point to an i-th point (S2200); and generating, by a depth information generating unit, depth information of a first pixel using 1st data to i-th data generated by detecting reflected light reflected from the 1st point to the i-th point (S2300) (i is an integer greater than or equal to 1).

[0319] The LiDAR operation method S2000 according to the embodiment may include: detecting, by a detection unit, reflected light reflected from the (i+1)th point (S2400); and generating, by a depth information generation unit, depth information of a second pixel using second data to (i+1)th data generated by detecting reflected light reflected from the second point to the (i+1)th point (S2500).

[0320] The LiDAR operation method S2000 according to the embodiment may include: repeatedly detecting, by a detection unit, reflected light reflected from the mth point (S2600), and repeatedly generating, by a depth information generation unit, depth information up to the (m-i+1)th pixel using (m-i+1)th data to mth data generated by detecting reflected light reflected from the (m-i+1)th point to the mth point (S2700) (m is an integer greater than or equal to i).

[0321] The LiDAR device 200 may generate data segments in real time, and use the generated data segments to generate depth information for each pixel, thereby reducing the calculation time of the depth information.

[0322] The depth information generating unit of the LiDAR operating method according to the embodiment may repeat the process of generating depth information of the first pixel to the (m-i+1)th pixel.

[0323] The period of the frequency waveform of the optical signal of the LiDAR operation method according to the embodiment may be the same as the exposure time of one point, and the exposure time of one pixel may be i times the exposure time of the input optical signal of one point.

[0324] The LiDAR operation method according to the embodiment may include increasing, by the control unit, a period of a frequency waveform of the optical signal by up to j times.

[0325] The period of the frequency waveform of the optical signal of the LiDAR operation method according to the embodiment may be the same as the exposure time of one point, and the exposure time of one pixel may be the same as the exposure time of the input optical signal of one point.

[0326] According to an embodiment, the LiDAR device may include: an optical output device (VCSEL) for outputting an optical signal; a plurality of lens groups for converging the optical signal and outputting the converged optical signal externally; an optical detection device (SPAD) for detecting an input optical signal reflected back from a plurality of points of an observation target; and a depth information generating unit for generating depth information of the observation target based on the optical signal and the input optical signal, wherein the depth information generating unit may generate depth information using data of the input optical signal at some continuous points of the plurality of points.

[0327] Fig.16 is an exploded view of a LiDAR device according to an embodiment of the present invention.

[0328] The LiDAR device may include an output unit and a receiving unit. However, since components such as the substrate 10, the bracket 30, the shielding cover 50, etc. are integrally formed and shared by the output unit and the receiving unit, it may be difficult to distinguish the output unit from the receiving unit. In this case, each of the above components can be understood as a respective component of the output unit and the receiving unit. However, as a modified example, a common component of the substrate 10, the bracket 30, and the shielding cover 50 may be provided for each of the output unit and the receiving unit.

[0329] The output unit may include a substrate 10, a light source 20, a bracket 30, a diffusion member 41, a diffusion ring 42, and a shielding cover 50. The receiving unit may include a substrate 10, a sensor 60, a filter 80, a bracket 30, a lens 70, a lens barrel 71, and a shielding cover 50.

[0330] The substrate 10 may include a printed circuit board (PCB). The substrate 10 may be connected to the connector via a flexible PCB (FPCB) 91. The substrate 10 and the FPCB 91 may be formed as a rigid FPCB (RFPCB). The light source 20 and the sensor 60 may be disposed on the substrate 10. The substrate 10 may be disposed below the bracket 30. The substrate 10 may include a terminal. The terminal of the substrate 10 may be connected to a connection portion of the shielding cover 50. The terminal of the substrate 10 may include a plurality of terminals. The terminal of the substrate 10 may include two terminals.

[0331] The light source 20 may be disposed on the substrate 10. The light source 20 may be disposed to be in contact with the substrate 10. The light source 20 may be disposed above the substrate 10. The light source 20 may be disposed on the substrate 10. The light source 20 may correspond to the output unit 210.

[0332] The bracket 30 may be disposed on the substrate 10. The bracket 30 may be disposed in contact with the substrate 10. The bracket 30 may be disposed above the substrate 10. The bracket 30 may be disposed on the substrate 10. The bracket 30 may be fixed to the substrate 10 by an adhesive. The bracket 30 may accommodate the light source 20, the diffusion module 40, the sensor 60, and the filter 80 therein. The bracket 30 may be an injection-molded plastic product. The bracket 30 may be formed by injection molding.

[0333] The diffusion module 40 may include a diffusion member 41 and a diffusion ring 42. The diffusion module 40 may be integrally formed as in the modified example, but in the present embodiment, the diffusion module 40 may be separately manufactured as the diffusion member 41 and the diffusion ring 42 to increase moldability during injection molding. The diffusion member 41 and the diffusion ring 42 may be separate.

[0334] The diffusion member 41 may be a diffusion lens. The diffusion member 41 may be disposed in the bracket 30. The diffusion member 41 may be coupled to the bracket 30. The diffusion member 41 may be fixed to the bracket 30. The diffusion member 41 may be disposed on the optical path of the light emitted from the light source 20. The diffusion member 41 may be disposed on the light source 20. The diffusion member 41 may be disposed above the light source 20. The diffusion member 41 may be an injection-molded plastic product. The diffusion member 41 may be formed by plastic injection molding. The height of the upper end of the diffusion member 41 may correspond to the height of the upper end of the lens 70. The diffusion member 41 may be inserted upward in the vertical direction and coupled to the bracket 30. In this case, "upward" may refer to the direction from the lower portion of the bracket 30 to the upper portion of the bracket 30. A portion of the diffusion member 41 may overlap the bracket 30 upward.

[0335] The diffusion ring 42 may be disposed in the bracket 30. The diffusion ring 42 may be fixed to the bracket 30. The diffusion ring 42 may be coupled to the bracket 30. The diffusion ring 42 may be disposed below the diffusion member 41. The diffusion ring 42 may support the diffusion member 41. The diffusion ring 42 may contact the diffusion member 41. The diffusion ring 42 may be an injection-molded plastic product. The diffusion ring 42 may be formed by plastic injection molding.

[0336] The shielding cover 50 may cover the main body of the bracket 30. The shielding cover 50 may include a cover. The shielding cover 50 may include a cover. The shielding cover 50 may be a non-magnetic body. The shielding cover 50 may be formed of a metal material. The shielding cover 50 may be formed of a metal plate. The shielding cover 50 may be electrically connected to the substrate 10. The shielding cover 50 may be connected to the substrate 10 via solder balls. Therefore, the shielding cover 50 may be grounded. The shielding cover 50 may block electromagnetic interference (EMI). In this case, the shielding cover 50 may be referred to as an "EMI shielding cover". In this embodiment, since a high voltage is used inside the optical device, EMI noise may increase, and the shielding cover 50 may block EMI noise.

[0337] The sensor 60 may be disposed on the substrate 10. The sensor 60 may be disposed on the other side of the partition of the bracket 30 on the substrate 10. That is, the sensor 60 may be disposed on the side opposite to the light source 20 relative to the partition of the bracket 30. The sensor 60 may detect infrared rays. The sensor 60 may detect light of a specific wavelength in the infrared rays. The sensor 60 may detect light passing through the filter 80. The sensor 60 may detect light in the wavelength band of the light source 20. Therefore, the sensor 60 may detect light emitted from the light source 20 and reflected in the object to detect three-dimensional image information of the object. The effective sensing area of ​​the sensor 60 may be set to correspond to the diffusion member 41, but the sensor 60 may be set to be completely biased toward the partition. The circuit pattern of the sensor 60, etc. may be disposed on the portion of the sensor 60 biased toward the partition.

[0338] The lens 70 may be fixed in the lens barrel 71. The lens 70 may be an injection-molded plastic product. The lens 70 may be formed by plastic injection molding. The lens 70 may include a plurality of lenses.

[0339] The filter 80 may be disposed between the lens 70 and the sensor 60. The filter 80 may be a bandpass filter through which light of a specific wavelength passes. The filter 80 may allow infrared rays to pass through. The filter 80 may allow light of a specific wavelength in the infrared rays to pass through. The filter 80 may allow light in the wavelength band of light emitted by the light source 20 to pass through. The filter 80 may block visible light. The filter 80 may be coupled to the bracket 30. A groove having a size corresponding to the filter 80 may be formed in the bracket 30, and the filter 80 may be inserted into the groove and fixed using an adhesive. An adhesive injection groove may also be formed in the groove of the bracket 30, through which an adhesive is injected between the filter 80 and the bracket 30. The filter 80 may be disposed at a position lower than the position of the diffusion ring 42.

[0340] Although the above mainly describes a LiDAR device that extracts depth information using a ToF method, embodiments of the present invention are not limited thereto. The LiDAR device according to an embodiment of the present invention may be a LiDAR device that extracts depth information using a structured light method. That is, the LiDAR device according to an embodiment of the present invention may use structured light having a predetermined pattern as an output optical signal, and generate depth information using parallax of the structured light.

[0341] The operating method according to the disclosed embodiment can be implemented in the form of program commands, which can be executed by various computer devices and recorded on a computer-readable medium. In addition, the embodiment of the present disclosure can be a computer-readable recording medium, in which one or more programs including commands for executing the wireless communication method are recorded.

[0342] In addition, computer-readable media may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be specially designed and constructed for the present disclosure, or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media (such as hard disks, floppy disks, and magnetic tapes), optical media (such as compact disk read-only memories (CD-ROMs) and digital video disks (DVDs)), and magneto-optical media (such as optical floppy disks), as well as hardware devices (such as read-only memories (ROMs), random access memories (RAMs), and flash memories) specially configured to store and execute program commands. Examples of program commands include not only machine language codes such as those generated by compilers, but also high-level language codes that can be executed by computers using interpreters, etc.

[0343] Here, the device readable storage medium may be provided in the form of a non-transitory storage medium. Here, "non-transitory" is a tangible device and only means that signals (e.g., electromagnetic waves) are not included, and the term does not distinguish between situations where data is semi-permanently and temporarily stored in the storage medium. For example, a "non-transitory storage medium" may include a buffer that temporarily stores data.

[0344] According to one embodiment, the operating methods according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., a CD-ROM) or distributed via an application store (e.g., Play Store TM ) online distribution (e.g., download or upload), or directly between two user devices (e.g., smartphones). In the case of online distribution, at least some of the computer program product (e.g., downloadable app) may be at least temporarily stored or temporarily generated in a device-readable storage medium, such as a memory of a manufacturer's server, a server of an application store, or a relay server.

[0345] In particular, the computer program product may be implemented by including a recording medium in which a program for executing the operating method according to the disclosed embodiment is stored.

[0346] The term "unit" used in the present embodiment refers to a software or hardware component, such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC), and the "unit" performs certain tasks. However, the "unit" is not limited to software or hardware. The "unit" can be placed in an addressable storage medium and configured to reproduce one or more processors. Therefore, as an example, the "unit" includes components (such as software components, object-oriented software components, class components and task components), processes, functions, attributes, processes, subroutines, program code segments, drivers, firmware, microcodes, circuits, data, databases, data structures, tables, arrays and variables. The functions provided in components and "units" can be combined into smaller quantities of components and "units", or divided into additional components and "units". In addition, components and "units" can be implemented as one or more CPUs in a reproduction device or a secure multimedia card.

[0347] Although the above mainly describes the embodiments, these embodiments are only illustrative and do not limit the present invention. It is known to those skilled in the art that various modifications and applications not exemplified above can be made without departing from the basic features of the embodiments. For example, each component specifically shown in the embodiments can be implemented by modification. In addition, the differences associated with these modifications and applications should be interpreted as being included within the scope of the present invention defined in the appended claims.

Claims

1. A LiDAR device, comprising: an output unit configured to output an optical signal; A light splitting unit, configured to split the optical signal into a first optical signal and a second optical signal; A receiving unit configured to receive a third optical signal, wherein the third optical signal is a reflected light of the first optical signal relative to an object; an interference unit configured to cause interference between the second optical signal and the third optical signal; a detection unit configured to detect a fourth optical signal or a fifth optical signal, wherein the fourth optical signal is interference light generated by interference between the second optical signal and the third optical signal, and the fifth optical signal is noise; as well as a depth information generating unit configured to generate depth information and speed information of an observation target based on the optical signal, The optical splitting unit adjusts the optical splitting ratio of the first optical signal and the second optical signal.

2. The LiDAR device according to claim 1, wherein: The splitting ratio is based on equation 1, equation 2 and equation 3, [Equation 1] P0=P1+P2 [Equation 2] P1=(1-x)P0 [Equation 3] P2=xP0 P0 represents the power of the optical signal, P1 represents the power of the first optical signal, P2 represents the power of the second optical signal, and x represents a variable greater than or equal to 0 and less than or equal to 1.

3. The LiDAR device according to claim 2, wherein: The light splitting unit adjusts the light splitting ratio so that a ratio of a power of the fourth optical signal to a power of the fifth optical signal is within a predetermined range.

4. The LiDAR device according to claim 3, wherein: The ratio of the power of the fourth optical signal to the power of the fifth optical signal is based on Equation 4, [Equation 4] 5. The LiDAR device according to claim 4, wherein: The splitting ratio is determined by the x at which the ratio of the power of the fourth optical signal to the power of the fifth optical signal according to the equation 4 is maximized.

6. The LiDAR device according to claim 3, wherein: The light splitting unit adjusts the light splitting ratio according to a change of the fifth optical signal.

7. The LiDAR device according to claim 6, wherein: The optical splitting unit increases the x when the power of the fifth optical signal increases, and decreases the x when the power of the fifth optical signal decreases.

8. The LiDAR device according to claim 6, wherein: The detection unit detects the change of the fifth optical signal in real time, and The light splitting unit automatically adjusts the light splitting ratio according to the change of the fifth optical signal detected in real time.

9. The LiDAR device according to claim 1, wherein: The light splitting unit includes a first light splitting unit and a second light splitting unit. The optical signal passes through the first optical splitting unit and the second optical splitting unit in sequence, and The first beam splitter is rotated to adjust the polarization angle of the optical signal, and the second beam splitter allows the vertically polarized light of the optical signal passing through the first beam splitter to pass through the second beam splitter and reflects the horizontally polarized light of the optical signal passing through the first beam splitter to adjust the splitting ratio.

10. The LiDAR device according to claim 9, wherein: The first light splitting unit is a half wave plate (HWP), and the second light splitting unit is a polarization beam splitter (PBS).

Images