Laser radar device

Abstract

A lidar device according to an embodiment of the present invention includes: a sensor unit; a lens unit disposed on the sensor unit; and a filter unit disposed on the lens unit, wherein the lens unit is composed of a first lens and a second lens sequentially disposed in a direction from the filter unit toward the sensor unit. At least one of the object-side surface of the first lens, the image-side surface of the first lens, the object-side surface of the second lens, and the image-side surface of the second lens is aspherical, the average value of the refractive index of the first lens and the refractive index of the second lens is in the range of 1.65 to 1.85, and the filter unit transmits light with a wavelength range of 900 nm to 2500 nm.

Description

Technical Field

[0001] This invention relates to a lidar device. Background Technology

[0002] Light emitted from the light source of a lidar device can be utilized in various ways.

[0003] For example, lidar devices can perform detection and ranging or laser imaging, detection and ranging, and can be used in a variety of ways, such as scanning and measuring echo time by emitting millions of laser pulses per second, or receiving light to identify the shape of a reflecting object.

[0004] Specifically, for detection or ranging, lidar devices can also be used to detect objects that are visually undetectable in environments involving chemical gases, smoke, or darkness by utilizing the wavelength characteristics of light.

[0005] In order to emit light in this way, the emitted light needs to be adjusted using a separate lens to adjust the field of view of the light.

[0006] However, in lidar devices, the distance between lenses or the number of lenses can be increased based on a specific wavelength band, depending on the field of view. Therefore, there may be problems with the arrangement of lenses within a limited overall space, and the total length of the device increases. Summary of the Invention

[0007] Technical issues

[0008] The present invention has been designed to solve the above-mentioned problems in the related art, and the purpose of the present invention is to reduce the total length of the lens, thereby achieving miniaturization.

[0009] The problems to be solved by the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

[0010] Technical solution

[0011] According to an embodiment of the present invention for achieving the above-mentioned objectives, a lidar device includes: a sensor unit; a lens unit disposed on the sensor unit; and a filter unit disposed on the lens unit, wherein the lens unit comprises a first lens and a second lens sequentially disposed in a direction from the filter unit toward the sensor unit, at least one of the object-side surface of the first lens, the image-side surface of the first lens, the object-side surface of the second lens, and the image-side surface of the second lens is aspherical, the average value of the refractive index of the first lens and the refractive index of the second lens is in the range of 1.65 to 1.85, and the filter unit transmits light with a wavelength range of 900 nm to 2500 nm.

[0012] In this case, the second lens can have positive optical power.

[0013] In addition, the field of view (FOV) can range from 5 degrees to 15 degrees.

[0014] Here, the edge thickness (T1) of the first lens can be 0.5 to 1.5 times the center thickness (T2) of the first lens, and the edge thickness (T3) of the second lens can be 0.8 to 1.8 times the center thickness (T4) of the second lens.

[0015] In addition, the air gap between the first lens and the second lens can range from 30 mm to 60 mm.

[0016] Furthermore, the first lens may have positive optical power, the object side of the first lens may be convex, the image side of the first lens may be concave, the object side of the second lens may be convex, and the image side of the second lens may be concave.

[0017] In this case, a portion of the peripheral portion of the image side of the second lens can be parallel to the vertical direction, and this vertical direction can be a direction perpendicular to the direction from the filter unit toward the sensor unit.

[0018] In addition, the lidar device may also include an aperture stop, which may be positioned between the object and the object side of the first lens and adjacent to the first lens.

[0019] Meanwhile, the FOV range can be from 25 degrees to 35 degrees.

[0020] Here, the edge thickness T5 of the first lens can be 0.5 to 1.5 times the center thickness T6 of the first lens, and the edge thickness T7 of the second lens can be 1.5 to 2.5 times the center thickness T8 of the second lens.

[0021] In addition, the air gap between the first lens and the second lens can range from 15 mm to 40 mm.

[0022] Furthermore, the first lens may have negative optical power, the object side of the first lens may be convex, the image side of the first lens may be concave, the object side of the second lens may be convex, and the image side of the second lens may be convex.

[0023] In this case, a portion of the peripheral portion of the image side of the first lens can be parallel to the vertical direction, and this vertical direction can be a direction perpendicular to the direction from the filter unit toward the sensor unit.

[0024] In addition, the lidar device may also include an aperture stop, which may be positioned between the object and the first lens and the second lens.

[0025] Furthermore, only the surface of the second lens facing the sensor unit can have an aspherical shape.

[0026] Meanwhile, the filtering unit can be a bandpass filter, which is configured to transmit light with a wavelength range of 1350 nm to 1450 nm.

[0027] Beneficial effects

[0028] According to embodiments of the present invention used to solve the above problems, the lidar device can reduce the overall length of the lens, thereby achieving miniaturization.

[0029] The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

[0030] Furthermore, the effects of the present invention can be described in more detail in the detailed description of the present invention, and are not necessarily limited to those effects described above. Attached Figure Description

[0031] The following detailed description of exemplary embodiments of this application, as well as the foregoing overview, will be better understood when read in conjunction with the accompanying drawings.

[0032] Exemplary embodiments are shown in the accompanying drawings to illustrate the present invention.

[0033] However, it should be understood that this application is not limited to the precise arrangement and means shown.

[0034] Figure 1 This is a view showing a block diagram of a lidar device according to an embodiment of the present invention; Figure 2 This is a view showing a cross-sectional view of the light-receiving unit of a lidar device according to an embodiment of the present invention; Figure 3 This is a top view showing the sensor unit of a lidar device according to an embodiment of the present invention; Figure 4 This is a bottom view showing a microlens array of a lidar device according to an embodiment of the present invention; Figure 5 This is a view used to describe the lens group of a lidar device according to an embodiment of the present invention; Figure 6 This is a view used to describe the first lens of a lidar device according to an embodiment of the present invention; Figure 7 This is a view used to describe the second lens of a lidar device according to an embodiment of the present invention; Figure 8 is a view showing the simulation results of the ensquared energy of a lidar device according to an embodiment of the present invention; Figure 9 This is a view used to describe the lens assembly of a lidar device according to another embodiment of the present invention; Figure 10 This is a view for describing a first lens of a lidar device according to another embodiment of the present invention; Figure 11 This is a view for describing the second lens of a lidar device according to another embodiment of the present invention; Figure 12 is a view showing the simulation results of the beam-side energy of a lidar device according to another embodiment of the present invention; Figure 13 This is a perspective view showing a lidar system including a lidar device according to an embodiment of the present invention; Figure 14 This is an exploded view showing a lidar system including a lidar device according to an embodiment of the present invention; and Figure 15 This is an exploded view of a lidar device according to an embodiment of the present invention. Detailed Implementation

[0035] Since the present invention can be modified in various ways and has several embodiments, specific embodiments thereof will be shown and described in detail in the accompanying drawings. However, this is not intended to limit the invention to the specific embodiments, and the invention should be understood to include all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. In describing the invention, detailed descriptions of related technologies will be omitted where it is determined that such detailed descriptions may obscure the subject matter of the invention.

[0036] Although this article may use terms such as "first" and "second" to describe various elements, such elements should not be limited by these terms. These terms are generally used only to distinguish one element from another.

[0037] The terminology used in this application is for describing specific embodiments only and is not intended to limit the invention. Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. In this application, the terms "comprising," "having," etc., are intended to indicate the presence of features, integers, steps, operations, elements, components, and / or combinations thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

[0038] Furthermore, throughout the specification, when the word "connected" is used, it does not necessarily mean that two or more components are directly connected, but rather that two or more components are indirectly connected through other components that are not only physically connected but also electrically connected, or that the components are integrated even though they are called by different names depending on their location or function.

[0039] Furthermore, when a component is described as being formed or positioned "above" or "below" another component, the term "above" or "below" includes not only cases where the two components are in direct contact with each other, but also cases where one or more other components are formed or positioned between the two components. Additionally, when a component is described as "above" or "below," the description can include meanings based on the upward and downward directions of a component.

[0040] In the following description, exemplary embodiments of the present invention will be illustrated with reference to the accompanying drawings, in which the objectives of the present invention may be specifically achieved.

[0041] The lidar device according to embodiments of the present invention may be a lidar device installed on a vehicle to measure the distance between the vehicle and an object, but is not limited thereto. The lidar device according to embodiments of the present invention may use the time-of-flight (ToF) principle or the phase-shift principle to extract depth information. In this specification, the lidar device may also be referred to as an information generation device, a depth information generation device, or a camera device.

[0042] Figure 1 This is a block diagram of a lidar device according to an embodiment of the present invention.

[0043] Reference Figure 1 According to an embodiment of the present invention, a lidar device 1000 includes a light-emitting unit 100, a light-receiving unit 200, an information generation unit 300, and a control unit 400.

[0044] The light-emitting unit 100 can generate and output an output light signal in the form of a pulsed wave or a continuous wave. The continuous wave can be in the form of a sine wave or a square wave. By generating an output light signal in the form of a pulsed wave or a continuous wave, the lidar device 1000 can detect the time difference or phase difference between the output light signal output from the light-emitting unit 100 and the input light signal reflected from the target area and then input to the light-receiving unit 200. In this specification, "output light" can be light output from the light-emitting unit 100 and incident on an object, and "input light" can be light output from the light-emitting unit 100 and reflected from the target area after reaching the target area and then input to the light-receiving unit 200. From the perspective of the target area, the output light can be the incident light, and the input light can be the reflected light. In this specification, the target area can be used interchangeably with the object or the target.

[0045] The light-receiving unit 200 can receive light signals reflected from the target area. In this case, the received light signal can be a light signal reflected from the target area emitted by the light-emitting unit 100.

[0046] The light-receiving unit 200 includes a sensor unit, a lens group disposed on the sensor unit, and a filter.

[0047] The light signal reflected from the target area can pass through the lens group of the light-receiving unit 200. The optical axis of the lens group of the light-receiving unit 200 can be aligned with the optical axis of the sensor unit. A filter can be disposed in the optical path between the target area and the sensor unit. The filter can filter light with a predetermined wavelength range. The filter can transmit light of a specific wavelength. For example, the filter can transmit infrared or near-infrared light and block light outside the infrared or near-infrared band. The sensor unit can receive the light signal and output the received light signal as an electrical signal. The sensor unit can detect light with a wavelength corresponding to the wavelength of the light output by the light-emitting unit 100. For example, the sensor unit can detect infrared or near-infrared light.

[0048] The sensor unit can be configured as a structure in which multiple pixels are arranged in a grid.

[0049] The light-receiving unit 200 and the light-emitting unit 100 can be arranged side by side. The light-receiving unit 200 can be positioned adjacent to the light-emitting unit 100. The light-receiving unit 200 can be positioned to face the same direction as the light-emitting unit 100. Alternatively, the light-receiving unit 200 and the light-emitting unit 100 can be positioned to face different directions. When the light-receiving unit 200 and the light-emitting unit 100 are positioned to face different directions, a light path reguiding member can also be provided between the light-receiving unit 200 and the light-emitting unit 100.

[0050] The information generation unit 300 uses the input light signal input to the light receiving unit 200 to generate information about the target area. This information may include three-dimensional information about the target area. For example, the information may include depth information or shape information about the target area. For instance, the information generation unit 300 can calculate the depth information about the object using the time it takes for the output light signal from the light emitting unit 100 to be reflected from the object and input to the light receiving unit 200. For instance, the information generation unit 300 can use the electrical signal received by the sensor unit to calculate the time difference between the output light signal and the input light signal, and use the calculated time difference to calculate the distance between the target area and the lidar device 1000. For instance, the information generation unit 300 can use the electrical signal received by the sensor unit to calculate the phase difference between the output light signal and the input light signal, and use the calculated phase difference to calculate the distance between the target area and the lidar device 1000.

[0051] The control unit 400 controls the driving of the light-emitting unit 100, the light-receiving unit 200, and the information generation unit 300. The information generation unit 300 and the control unit 400 can be implemented in the form of a printed circuit board (PCB). Alternatively, the information generation unit 300 and the control unit 400 can be implemented in other forms. Alternatively, the control unit 400 can be included in a terminal or vehicle, in which the lidar device 1000 according to an embodiment of the present invention is disposed. For example, the control unit 400 can be implemented as an application processor (AP) of a smartphone equipped with the lidar device 1000 according to an embodiment of the present invention, or as an electronic control unit (ECU) of a vehicle equipped with the lidar device 1000 according to an embodiment of the present invention.

[0052] The lidar device 1000 according to an embodiment of the present invention can be a mechanical lidar that rotates 360°. For this purpose, the lidar device 1000 may further include a rotating unit 500. The rotating unit 500 may further include a plate 510 on which a light-emitting unit 100 and a light-receiving unit 200 are mounted, and a motor 520 for rotating the plate 510. Therefore, the lidar device 1000 can have a 360° field of view (FOV).

[0053] Figure 2 This is a cross-sectional view of the light-receiving unit according to an embodiment of the present invention. Figure 3 This is a top view of a sensor unit according to an embodiment of the present invention, and Figure 4 This is a bottom view of a microlens array according to an embodiment of the present invention.

[0054] Reference Figures 2 to 4The light-receiving unit 200 in the lidar device 1000 according to an embodiment of the present invention includes a sensor unit 210, a microlens array 220 disposed on the sensor unit 210, a lens unit 230 disposed on the microlens array 220, a filter unit 240 disposed on the lens unit 230, and a window 250 disposed on the filter unit 240. In this case, the sensor unit 210 may be an image sensor.

[0055] According to an embodiment of the present invention, the sensor unit 210 includes a pixel array. Here, the pixel array may be a single-photon avalanche detector (SPAD) array, and the SPAD array may include multiple SPADs. When a SPAD receives an optical signal, photons can be detected through the avalanche phenomenon.

[0056] Here, the sensor unit 210 may include a pixel array disposed in a first direction and a second direction, and the number of pixels disposed in the first direction may be greater than the number of pixels disposed in the second direction. For example, the sensor unit 210 according to an embodiment of the present invention includes m An n-pixel array, where m can be greater than n. When the ratio of m to n is 8 or greater, the sensor unit 210 can be referred to as a one-dimensional pixel array or a one-dimensional SPAD array.

[0057] According to embodiments of the present invention, sensor unit 210 may include a one-dimensional pixel array. For example, sensor unit 210 according to embodiments of the present invention may include 16 2-pixel array, 32 2-pixel array, 64 2-pixel array, 128 2-pixel array, 256 2-pixel array, 512 2-pixel array or 1024 2-pixel array.

[0058] According to an embodiment of the present invention, a microlens array 220 is disposed on top of a sensor unit 210 and spaced apart from the sensor unit 210. The microlens array 220 includes a first surface 220A facing the sensor unit 210 and a second surface opposite to the first surface 220A, and a plurality of microlenses protrude from the first surface 220A to face the sensor unit 210. For ease of description, the first surface 220A of the microlens array 220 may be referred to as the lower surface of the microlens array 220, and the second surface of the microlens array 220 may be referred to as the upper surface of the microlens array 220. According to an embodiment of the present invention, a plurality of microlenses are formed on the first surface 220A of the microlens array 220, and the second surface of the microlens array 220 may be a flat surface.

[0059] According to an embodiment of the present invention, the first surface 220A of the microlens array 220 includes: an effective region 220A1, including a plurality of microlenses corresponding to the pixel array of the sensor unit 210; a buffer region 220A2, including a plurality of microlenses disposed around the effective region 220A1; and a peripheral region 220A3 disposed around the buffer region 220A2.

[0060] Here, the effective region 220A1 can be matched one-to-one with the pixel array. That is, when the sensor unit 210 includes m When using an n-pixel array, the effective region 220A1 can include m The sensor unit 210 uses n microlenses, and the pixels of the sensor unit 210 and the microlenses of the effective area 220A1 can be matched one-to-one. Therefore, in the light signal incident on the light receiving unit 200, the light signal incident on the effective area 220A1 can be detected by the sensor unit 210 and used to identify objects. The light signal incident on the light receiving unit 200 can be collected by the microlenses of the effective area 220A1 of the microlens array 220, thus improving the light receiving efficiency of each pixel. Therefore, the microlens array 220 can also be referred to as the sensor window.

[0061] Simultaneously, the buffer region 220A2 can be disposed around the effective region 220A1 to surround the effective region 220A1. For example, when the sensor unit 210 includes m n-pixel array and the effective region 220A1 includes m When n microlenses are used, the first surface 220A of the microlens array 220 (including the buffer region 220A2) can include a total of (m+2a). (n+2b) Microlenses. Here, a and b can be the same or different from each other. For example, a and b can each be 1 or more but less than 10, preferably 1 or more but less than 5, and more preferably 2 or more but less than 3. For example, a can be 3 and b can be 2. As described above, when the first surface 220A of the microlens array 220 includes a buffer region 220A2 surrounding the effective region 220A1, the collection efficiency of the effective region 220A1 can be improved, and the loss of optical signal can be reduced.

[0062] Meanwhile, the peripheral region 220A3 can be disposed around the buffer region 220A2 to surround the buffer region 220A2. In this case, the peripheral region 220A3 can be a flat surface. Therefore, the microlens array 220 can be integrated into the structure inside the sensor unit 210 or the light-receiving unit 200 through the peripheral region 220A3.

[0063] Reference Figure 2Lens unit 230, filter unit 240, and window 250 are sequentially disposed on sensor unit 210 and microlens array 220. Lens unit 230 may include multiple lenses. For example, lens unit 230 may include two lenses spaced apart from each other, but is not limited thereto. Filter unit 240 disposed on lens unit 230 may be a bandpass filter. For example, filter unit 240 may be a bandpass filter that transmits only short-wavelength infrared (SWIR) light signals from the light signal input to light receiving unit 200. Although not shown, lens unit 230 and filter unit 240 may be disposed within a lens barrel. Although sensor unit 210, microlens array 220, lens unit 230, and filter unit 240 are shown as sequentially disposed, this embodiment is not limited thereto, and sensor unit 210, microlens array 220, filter unit 240, and lens unit 230 may be sequentially disposed.

[0064] Window 250 is located outside the lens barrel, and the light signal reflected from the object passes through window 250 and then sequentially enters the filter unit 240, lens unit 230, microlens array 220, and sensor unit 210. Therefore, window 250 can be referred to as a glass window or outer window. The light signal output from the light-emitting unit 100 can also pass through window 250 and be output to the outside.

[0065] Based on the above, you can refer to Figure 5 Figures 8 to 9 illustrate a lidar device according to an embodiment of the present invention.

[0066] Specifically, Figure 5 This is a view used to describe the lens assembly of a lidar device according to an embodiment of the present invention. Figure 6 This is a view used to describe the first lens of a lidar device according to an embodiment of the present invention. Figure 7 Figure 8 is a view of the second lens used to describe a lidar device according to an embodiment of the present invention, and Figure 9 is a view showing the simulation results of the beam-side energy of the lidar device according to an embodiment of the present invention.

[0067] First, before describing a lidar device 1000 according to an embodiment of the present invention, it should be noted that the lidar device 1000 has the above-described basic components, and in these basic components, the structure of the light-receiving unit 200 will be described in detail, and the description will be based on a configuration excluding the window 250.

[0068] In this context, an embodiment may be interpreted as referring to an example and may not necessarily refer to a first embodiment, but may refer to an exemplary embodiment that includes a process that satisfies the matters described below with respect to the lidar device 1000 according to an embodiment of the present invention.

[0069] Furthermore, according to an embodiment of the present invention, the light-receiving unit 200 includes, as follows: Figure 2 The microlens array 220 and sensor unit 210 are shown, but for ease of understanding of the invention, the description... Figure 5 In the process up to Figure 8, the microlens array 220 and the sensor unit 210 will be collectively referred to as the sensor unit 210, and this collective term is only for the purpose of understanding the present invention, and the present invention is not necessarily limited to the contents mentioned and shown.

[0070] First, such as Figure 5 As shown, a lidar device 1000 according to an embodiment of the present invention includes a sensor unit 210, a lens unit 230 and a filter unit 240, and the lens unit 230 may be composed of a first lens 231 and a second lens 234.

[0071] Here, light passing through the filter unit 240, the first lens 231, and the second lens 234 can be incident on the sensor unit 210 to form an image, and when based on Figure 5 When the path of light movement is defined as moving from the object side to the image side, the sensor unit 210 can be finally positioned in the light path.

[0072] Meanwhile, as mentioned above, the filter unit 240 can be a bandpass filter that transmits light in the SWIR wavelength band, specifically, it can transmit light in the wavelength band from 900 nm to 2500 nm.

[0073] Here, most preferably, the filter unit 240 transmits light in the wavelength band of 1350 nm to 1450 nm within the wavelength band of the range of 900 nm to 2500 nm.

[0074] Meanwhile, the first lens 231 and the second lens 234 can be disposed between the filter unit 240 and the sensor unit 210, and the filter unit 240, the first lens 231, the second lens 234 and the sensor unit 210 can be arranged sequentially along the optical path.

[0075] Here, the first lens 231 can be divided into an object-side surface 231 facing the object and an image-side surface 233 facing the sensor unit 210, and the second lens 234 can also be divided into an object-side surface 235 facing the object and an image-side surface 236 facing the sensor unit 210.

[0076] In this case, the first lens 231 can have positive optical power, the second lens 234 can also have positive optical power, and the FOV range ensured by the light receiving unit 200 at long distances through the filter unit 240, the first lens 231, the second lens 234 and the sensor unit 210 can be 5 degrees to 15 degrees.

[0077] Furthermore, the object-side surface 232 of the first lens 231 can be convex, the image-side surface 233 of the first lens 231 can be concave, the object-side surface 235 of the second lens 234 can be convex, and the image-side surface 236 of the second lens 234 can be concave.

[0078] In this case, the object side 232 of the first lens 231 can be configured to be convex from the image side toward the object side, the image side 233 of the first lens 231 can be configured to be concave from the image side toward the object side, the object side 235 of the second lens 234 can be convex from the image side toward the object side, and the image side 236 of the second lens 234 can be concave from the image side toward the object side.

[0079] This is because, based on Figure 5 From the perspective of observation, the image-side surface 233 of the first lens 231 and the image-side surface 236 of the second lens 234 may be defined as a convex surface facing the object side. Therefore, this is described in a limited manner, and since this limited description is merely a matter of wording and interpretation, and the actual shape remains unchanged, the present invention is not necessarily limited to the above. However, when different expressions or references are used to describe the same form based on the above references, the present invention is not limited thereto. However, descriptions that deviate from the actual shape when describing the form may not be included in the present invention.

[0080] Meanwhile, a first parallel surface 236a can be formed on a portion of the peripheral portion of the image side 236 of the second lens 234. This first parallel surface 236a is parallel to a direction perpendicular to the direction from the object side toward the image side, in other words, parallel to a direction perpendicular to the direction from the filter unit 240 toward the sensor unit 210.

[0081] Furthermore, at least one or more of the object-side surface 232 of the first lens 231, the image-side surface 233 of the first lens 231, the object-side surface 235 of the second lens 234, and the image-side surface 236 of the second lens 234 can be configured as aspherical, and preferably, the image-side surface 233 of the first lens 231 and the image-side surface 236 of the second lens 234 can be configured aspherical.

[0082] This is because, in a lidar device 1000 according to an embodiment of the present invention, the lens unit 230 is composed of a first lens 231 and a second lens 234, and by providing each of the image-side surface 233 of the first lens 231 and the image-side surface 236 of the second lens 234 in an aspherical shape, the number of lenses between the filter unit 240 and the sensor unit 210 can be reduced, thereby reducing the total mechanical length.

[0083] Furthermore, the air gap between the first lens 231 and the second lens 234 can be separated by a first air gap L1, and the range of the first air gap L1 can be from 30 mm to 60 mm.

[0084] Here, the first air gap L1 between the first lens 231 and the second lens 234 can be described as an air gap because no independent lens is provided between the first lens 231 and the second lens 234, and providing an independent lens between the first lens 231 and the second lens 234 can prevent the display of the preconditions and functions of the entire lidar device 1000 according to one embodiment.

[0085] For example, the air gap L1 of the first air gap according to an embodiment of the present invention is determined in consideration of various factors, including the absence of an independent lens between the first lens 231 and the second lens 234, the refractive index of each lens in the first lens 231 and the second lens 234, the range of the first air gap L1, the wavelength band filtering range of the filter unit 240, etc., and adding an independent lens between the first lens 231 and the second lens 234 or providing an independent lens in addition to the first lens 231 and the second lens 234 may not be preferred.

[0086] Meanwhile, for this purpose, in a lidar device 1000 according to an embodiment of the present invention, the FOV range can be from 5 degrees to 15 degrees, the first air gap L1 range can be from 30 mm to 60 mm, and the average range of the refractive index of the first lens 231 and the refractive index of the second lens 234 can be from 1.65 to 1.85.

[0087] In other words, by satisfying the above conditions to improve the efficiency of the lidar device 1000 while reducing the total number of lenses, it is possible to provide the advantage of reducing the overall optical system (especially its mechanical length).

[0088] Meanwhile, although not shown, a lidar device 1000 according to an embodiment of the present invention may also include an aperture stop, which may be disposed between and adjacent to the first lens 231 and the object.

[0089] Specifically, the aperture stop can be disposed on the front surface of the first lens 231, and can be disposed on the front surface of the filter unit 240 as needed. Here, the front surface can be guided in the direction toward the object based on the first lens 231 or the filter unit 240. That is, based on... Figure 5 The front surface can refer to the object side.

[0090] At the same time, such as Figure 6As shown, since the image side 233 of the first lens 231 is set to an aspherical shape, the edge thickness and the center thickness of the first lens 231 can be formed differently from each other. Specifically, the edge thickness T1 of the first lens 231 can be 0.5 to 1.5 times the center thickness T2 of the first lens 231.

[0091] In this case, the edge thickness T1 of the first lens 231 can be based on the distance between the object side 232 and the image side 233 of the first lens 231 at any point located on the outermost side in the vertical direction.

[0092] Furthermore, the center thickness T2 of the first lens 231 can be the distance between the object side surface 232 and the image side surface 233 of the first lens 231 in the direction from the object side to the image side, based on the center portion of an imaginary line connecting any upper point and any lower point located on the outermost side in the vertical direction.

[0093] In this case, the center thickness T2 of the first lens 231 can be the thickness at a location where the same reference is applied in a second direction perpendicular to the first direction, which is based on... Figure 6 This corresponds to the direction perpendicular to the optical axis direction from the object side toward the image side.

[0094] At the same time, such as Figure 7 As shown, the image-side surface 236 of the second lens 234 can be configured as an aspherical shape. Specifically, since the first parallel surface 236a can be formed in the outer portion of the image-side surface 236 of the second lens 234, the edge thickness of the second lens 234 and the center thickness of the second lens 234 can be formed differently from each other. Specifically, the edge thickness T3 of the second lens 234 can be 0.8 to 1.8 times the center thickness T4 of the second lens 234.

[0095] Furthermore, the center thickness T4 of the second lens 234 can be obtained by applying the same reference as the center thickness T2 of the first lens 231 described above, and can be the distance from the object side 235 of the second lens 234 to the image side 236 of the second lens 234, which is measured at the center in the vertical direction as the first direction and at the center in the second direction.

[0096] Meanwhile, the light-receiving unit 200 of the lidar device 1000 according to an embodiment of the present invention, including a first lens 231 and a second lens 234, may have the following specifications.

[0097] [Table 1]

[0098] Referring to Table 1, in a lidar device 1000 according to an embodiment of the present invention, the F-number can be 3.5 when the FOV range is 5 to 15 degrees.

[0099] Furthermore, the EFL can be 73.21 μm and range from 72 μm to 74 μm, and the F-theta-based distortion can be -14.3 μm and range from -13.5 μm to -15 μm.

[0100] In this case, the focal point used as a reference for the EFL can be determined based on the front surface of the sensor unit 210.

[0101] Furthermore, RI can be the ratio of the amount of light incident on the periphery of the sensor unit 210 to the amount of light incident on the central portion of the sensor unit 210, and RI can be 98.8%. In other words, the amount of light incident on the periphery of the sensor unit 210 can be 98.8% of the amount of light incident on the central portion. Preferably, the amount of light incident on the periphery of the sensor unit 210 can be 97.5% to 99% of the amount of light incident on the central portion.

[0102] Furthermore, based on a 25 μm square region, the beam square energy can exceed 92.1%, and as mentioned above, the amount of incident energy based on the 25 μm square region can exceed 92.1% of the total energy, and preferably, based on the 25 μm square region, the beam square energy can range from 92% to 95%.

[0103] Furthermore, for CRA, since the sensor unit 210 includes a light-sensitive region and a light-insensitive region (i.e., a part that receives light and a part that does not receive light), light can be introduced within a predetermined angle range to obtain a clear image without vignetting, and the angle range of light incident on the sensor unit 210 can be 2.8 degrees.

[0104] In other words, light needs to pass through the second lens 234 and be incident within 2.8 degrees, and preferably, the range of CRA can be from 2.5 degrees to 3.0 degrees.

[0105] Meanwhile, the total top length or total optical length (TTL) can be the distance from the focal point corresponding to the sensor unit 210 to the first surface of the lidar device 1000 based on an embodiment of the present invention, and the distance can be 110.17 mm including the filter unit 240; preferably, the TTL range can be 120 mm to 130 mm.

[0106] Here, the filter unit 240, the first lens 231, and the second lens 234 are included within the TTL.

[0107] Meanwhile, the back focal length (BFL) can be the distance from the first parallel plane 236a of the second lens 234 to the front surface of the sensor unit 210, and the distance from the first parallel plane 236a of the second lens 234 to the front surface of the sensor unit 210 can be 26.35 mm; preferably, the range of BFL can be from 25.5 mm to 27 mm.

[0108] As described above, the reason for presenting and describing the specific specifications of the invention in the detailed description of the invention is to explain that, in order to solve the common problem of providing multiple lenses or the optical system itself becoming too long, the lidar device 1000 according to one embodiment is composed of only two lenses (i.e., the first lens 231 and the second lens 234). Therefore, it is preferable to satisfy the presented conditions, and to explain that when the lenses are set as two or more lenses relative to the first lens 231 and the second lens 234 constituting the preconditions of the lidar device 1000 according to an embodiment of the invention, it is difficult to exhibit specifications similar to those of the invention.

[0109] For example, when the number of lenses increases, there are problems of economic burden and increased total weight of the device, and even when the number of lenses decreases, there may be problems of increased total length of the optical system and inability to miniaturize the device when the preferred example presented in one embodiment of the invention is not satisfied.

[0110] Therefore, the lidar device 1000 according to an embodiment of the present invention can have the following advantages: while meeting the above-mentioned specifications, the lidar device 1000 includes a minimum number of target lenses with an FOV of 5 to 15 degrees (preferably 10 degrees), thereby reducing cost and weight and effectively reducing the overall length of the optical system.

[0111] In this case, when the FOV of the lidar device 1000 according to an embodiment of the present invention is between 5 and 15 degrees, the result shown in FIG8 can be obtained when the above conditions are met.

[0112] Specifically, Figure 8 shows the simulation results of the beam-square energy according to an embodiment of the present invention. Specifically, the beam-square energy is the energy entering a predetermined region, and Figure 8 shows the simulation results of the amount of beam-square energy.

[0113] More specifically, such as Figure 8a As shown, when the FOV is defined as 10 degrees, and when the directional length of the light incident at 20 degrees to the lidar device 1000 is based on 25 μm as described above, the beam energy can be 92% to 95%, and when the directional length of the light incident at 20 degrees is 15 μm, the beam energy can exceed 88%.

[0114] In addition, such as Figure 8b As shown, when the FOV is defined as 10 degrees, when the directional length is 16 μm, the light incident at 85 degrees to the lidar device 1000 can exceed 85%, and when the directional length of the beam is based on 25 μm, similar to the light incident at 20 degrees, the beam energy range can be 92% to 95%.

[0115] In other words, when the beam-square length is based on 25 μm, the beam-square energy of light incident on a lidar device 1000 according to an embodiment of the present invention has a similar range in the range of 20 to 85 degrees. This allows similar beam-square energy to be ensured regardless of the incident angle range of the light incident on the lidar device 1000, when the beam-square length is based on 25 μm, thereby providing the advantage of ensuring higher resolution.

[0116] Meanwhile, in order to describe a lidar device according to another embodiment of the present invention based on the lidar device according to the above embodiments, reference can be made to... Figures 9 to 1 2.

[0117] Specifically, Figure 9 This is a view used to describe the lens assembly of a lidar device according to another embodiment of the present invention. Figure 10 This is a view used to describe the first lens of a lidar device according to another embodiment of the present invention. Figure 11 Figure 11 is a view of the second lens used to describe a lidar device according to another embodiment of the present invention, and Figure 12 is a view showing the simulation results of the beam-side energy of the lidar device according to another embodiment of the present invention.

[0118] First, when describing a lidar device 1000 according to another embodiment of the present invention, the lidar device 1000 has a structure that is substantially similar to that embodiment and is similar to the description above. For ease of understanding of the present invention, the following description will be based on a configuration excluding window 1250.

[0119] Furthermore, according to another embodiment of the present invention, the light-receiving unit 1200 includes, as follows: Figure 2 The microlens array 1220 and sensor unit 1210 are shown, but for ease of understanding of the invention, the description... Figures 9 to 1 During process 2, the microlens array 1220 and the sensor unit 1210 will be collectively referred to as the sensor unit 1210, and this collective term is only for the purpose of understanding the present invention, and the present invention is not necessarily limited to the contents mentioned and shown.

[0120] First, such as Figure 9As shown, a lidar device 1000 according to another embodiment of the present invention includes a sensor unit 1210, a lens unit 1230 and a filter unit 1240, and the lens unit 1230 may be composed of a first lens 1231 and a second lens 1234.

[0121] Here, light passing through the filter unit 1240, the first lens 1231, and the second lens 1234 can be incident on the sensor unit 1210 to form an image, and when based on Figure 9 When the path of light movement is defined as moving from the object side to the image side, the sensor unit 1210 can be finally positioned in the light path.

[0122] Meanwhile, as mentioned above, the filter unit 1240 can be a bandpass filter that transmits light in the SWIR wavelength band, specifically, it can transmit light in the wavelength band from 900 nm to 2500 nm.

[0123] Here, most preferably, the filter unit 1240 transmits light in the wavelength range of 1350 nm to 1450 nm within the wavelength range of 900 nm to 2500 nm.

[0124] Meanwhile, the first lens 1231 and the second lens 1234 can be disposed between the filter unit 1240 and the sensor unit 1210, and the filter unit 1240, the first lens 1231, the second lens 1234 and the sensor unit 1210 can be arranged sequentially along the optical path.

[0125] Here, the first lens 1231 can be divided into an object-side surface 1232 facing the object and an image-side surface 1233 facing the sensor unit 1210, and the second lens 1234 can also be divided into an object-side surface 1235 facing the object and an image-side surface 1236 facing the sensor unit 1210.

[0126] In this case, the first lens 1231 can have negative optical power, the second lens 1234 can have positive optical power, and the FOV ensured by the light receiving unit 1200 at long distances through the filter unit 1240, the first lens 1231, the second lens 1234 and the sensor unit 1210 can be between 25 degrees and 35 degrees.

[0127] Furthermore, the object-side surface 1232 of the first lens 1231 can be convex, the image-side surface 1233 of the first lens 1231 can be concave, the object-side surface 1235 of the second lens 1234 can be convex, and the image-side surface 1236 of the second lens 1234 can be convex.

[0128] In this configuration, the object-side surface 1232 of the first lens 1231 can be configured to be convex from the image side toward the object side, the image-side surface 1233 of the first lens 1231 can be configured to be concave from the image side toward the object side, the object-side surface 1235 of the second lens 1234 can be convex from the image side toward the object side, and the image-side surface 1236 of the second lens 1234 can be convex from the object side toward the image side.

[0129] Similar to the above Figure 5 This is because, based on Figure 9 From the perspective of observation, the image-side surface 1233 of the first lens 1231 and the image-side surface 1236 of the second lens 1234 may be defined as a convex surface facing the object side. Therefore, this is described in a limited manner, and since this limited description is merely a matter of wording and interpretation, and the actual shape remains unchanged, the present invention is not necessarily limited to the above. However, when the same form is described using different expressions or references based on the above references, the present invention is not limited thereto. However, descriptions that deviate from the actual shape when describing the form may not be included in the present invention.

[0130] Meanwhile, a second parallel surface 1233a may be formed on a portion of the peripheral portion of the image side 1233 of the first lens 1231. This second parallel surface 1233a is parallel to a direction perpendicular to the direction from the object side toward the image side, in other words, parallel to a direction perpendicular to the direction from the filter unit 1240 toward the sensor unit 1210.

[0131] Furthermore, at least one or more of the object side 1232 of the first lens 1231, the image side 1233 of the first lens 1231, the object side 1235 of the second lens 1234, and the image side 1236 of the second lens 1234 are configured as aspherical, and preferably, only the image side 1236 of the second lens 1234 can be configured aspherical.

[0132] This is because, in a lidar device 1000 according to another embodiment of the present invention, the lens unit 1230 is composed of a first lens 1231 and a second lens 1234, and by setting only the image side 1236 of the second lens 1234 to an aspherical shape, the number of lenses between the filter unit 1240 and the sensor unit 1210 can be reduced, thereby reducing the total mechanical length.

[0133] Furthermore, the air gap between the first lens 1231 and the second lens 1234 is separated by a second air gap L2, and the range of the second air gap L2 can be from 15 mm to 40 mm.

[0134] Here, the second air gap L2 between the first lens 1231 and the second lens 1234 can be described as an air gap because no independent lens is provided between the first lens 1231 and the second lens 1234, and providing an independent lens between the first lens 1231 and the second lens 1234 can prevent the display of the preconditions and functions of the entire lidar device 1000 according to another embodiment.

[0135] For example, the air gap of the second air gap L2 according to another embodiment of the present invention is determined in consideration of various factors, including the absence of an independent lens between the first lens 1231 and the second lens 1234, the refractive index of each lens in the first lens 1231 and the second lens 1234, the range of the second air gap L2, the wavelength band filtering range of the filter unit 1240, etc., and adding an independent lens between the first lens 1231 and the second lens 1234 or providing an independent lens in addition to the first lens 1231 and the second lens 1234 may not be preferred.

[0136] Meanwhile, for this purpose, in a lidar device 1000 according to another embodiment of the present invention, the FOV range can be 25 degrees to 35 degrees, the second air gap L2 range can be 15 mm to 40 mm, and the average range of the refractive index of the first lens 1231 and the refractive index of the second lens 1234 can be 1.65 to 1.85.

[0137] In other words, by satisfying the above conditions to improve the efficiency of the lidar device 1000 while reducing the total number of lenses, the advantage of reducing the overall optical system (especially its mechanical length) can be provided.

[0138] Meanwhile, although not shown, the lidar device 1000 according to another embodiment of the present invention may also include an aperture stop, and the aperture stop may be disposed between the first lens 1231 and the second lens 1234.

[0139] At the same time, such as Figure 10 As shown, the edge thickness T5 and the center thickness T6 of the first lens 1231 can be formed differently from each other. Specifically, since the second parallel surface 1233a is formed on the outer periphery of the image side surface 1233 of the first lens 1231, the edge thickness T5 of the first lens 1231 can be 0.5 to 1.5 times the center thickness T6 of the first lens 1231.

[0140] In this case, the edge thickness T5 of the first lens 1231 can be based on the distance between the object side 1232 and the image side 1233 of the first lens 1231 at any point located on the outermost side in the vertical direction.

[0141] Furthermore, the center thickness T6 of the first lens 1231 can be the distance between the object side surface 1232 and the image side surface 1233 of the first lens 1231 in the direction from the object side to the image side, based on the center portion of an imaginary line connecting any upper point and any lower point located on the outermost side in the vertical direction.

[0142] In this case, the center thickness T6 of the first lens 1231 can be the thickness at a location where the same reference is applied in a second direction perpendicular to the first direction, which is based on... Figure 10 This corresponds to the direction perpendicular to the optical axis direction from the object side toward the image side.

[0143] At the same time, such as Figure 11 As shown, the image-side surface 1236 of the second lens 1234 can be set to an aspherical shape, and the edge thickness T7 and the center thickness T8 of the second lens 1234 can be formed differently from each other. Specifically, the edge thickness T7 of the second lens 1234 can be 1.5 to 2.5 times the center thickness T8 of the second lens 1234.

[0144] Furthermore, the center thickness T8 of the second lens 1234 can be obtained by applying the same reference as the center thickness T6 of the first lens 1231 described above, and can be the distance from the object side 1235 of the second lens 1234 to the image side 1236 of the second lens 1234, which is measured at the center in the vertical direction as the first direction and at the center in the second direction.

[0145] Meanwhile, according to another embodiment of the present invention, the light-receiving unit 1200 of the lidar device 1000, including the first lens 1231 and the second lens 1234, may have the following specifications.

[0146] [Table 2]

[0147] Referring to Table 2, in a lidar device 1000 according to another embodiment of the present invention, the F-number can be 3.5 when the FOV range is 25 degrees to 35 degrees.

[0148] Furthermore, the EFL can be 24.47 μm and range from 23.5 μm to 25.5 μm, and the F-theta-based distortion can be -19.0 μm and range from -18.5 μm to -19.5 μm.

[0149] In this case, the focal point used as a reference for the EFL can be determined based on the front surface of the sensor unit 1210.

[0150] Furthermore, RI can be the ratio of the amount of light incident on the periphery of the sensor unit 1210 to the amount of light incident on the central portion of the sensor unit 1210. RI can be 95.4%, in other words, the amount of light incident on the periphery of the sensor unit 1210 can be 95.4% of the amount of light incident on the central portion. Preferably, the amount of light incident on the periphery of the sensor unit 1210 can be 94.5% to 96.5% of the amount of light incident on the central portion.

[0151] Furthermore, based on a 25 μm square, the beam square energy can exceed 91.5%, and as mentioned above, the amount of incident energy based on the 25 μm square region can exceed 91.5% of the total energy, and preferably, based on a 25 μm square, the beam square energy can range from 90% to 93%.

[0152] Furthermore, for CRA, since the sensor unit 1210 includes a light-sensitive region and a light-insensitive region (i.e., a portion that receives light and a portion that does not receive light), light can be introduced within a predetermined angular range to obtain a clear image without vignetting, and the angular range of light incident on the sensor unit 1210 can be 2.88 degrees.

[0153] In other words, light needs to pass through the second lens 1234 and be incident within a range of 2.88 degrees, and preferably, the range of CRA can be from 2.5 degrees to 3.0 degrees.

[0154] Meanwhile, the total top length or total optical length (TTL) can be the distance from the focal point corresponding to the sensor unit 1210 to the first surface of the lidar device 1000 based on another embodiment of the present invention, and the distance can be 79.03 mm including the filter unit 1240; preferably, the TTL range can be from 75 mm to 85 mm.

[0155] Here, the filter unit 1240, the first lens 1231, and the second lens 1234 are included in the TTL.

[0156] Meanwhile, BFL can be the distance from the image side 1236 of the second lens 1234 to the front surface of the sensor unit 1210, and the distance from the image side 1236 of the second lens 1234 to the front surface of the sensor unit 1210 is 32.85 mm. Preferably, the range of BFL can be from 31.5 mm to 34.5 mm.

[0157] As described above, the reason for presenting and describing the specific specifications of the invention in the detailed description of the invention is to explain that, in order to solve the common problem of providing multiple lenses or the optical system itself becoming too long, the lidar device 1000 according to another embodiment is composed of only two lenses (i.e., the first lens 1231 and the second lens 1234). Therefore, it is preferable to satisfy the presented conditions, and to explain that when the lenses are set as two or more lenses relative to the first lens 1231 and the second lens 1234 constituting the preconditions of the lidar device 1000 according to another embodiment of the invention, it is difficult to exhibit specifications similar to those of the invention.

[0158] For example, when the number of lenses increases, there are problems of economic burden and increased total weight of the device, and even when the number of lenses decreases, there may be problems of increased total length of the optical system and inability to miniaturize the device when the preferred example presented in another embodiment of the invention is not satisfied.

[0159] Therefore, the lidar device 1000 according to another embodiment of the present invention can have the following advantages: while meeting the above-mentioned specifications, the lidar device 1000 includes a minimum number of target lenses with an FOV of 25 to 35 degrees (preferably 30 degrees), thereby reducing cost and weight and effectively reducing the overall length of the optical system.

[0160] In this case, when the FOV of the lidar device 1000 according to another embodiment of the present invention is 25 degrees to 35 degrees, the result shown in FIG12 can be obtained when the above conditions are met.

[0161] Specifically, Figure 12 shows the simulation results of the beam-side energy according to another embodiment of the present invention. Specifically, the beam-side energy is the energy entering a predetermined region, and Figure 12 shows the simulation results of the amount of beam-side energy.

[0162] More specifically, as mentioned above, when the directional length is based on 25 μm, the beam-side energy can range from 90% to 93%, and when the directional length is 16 μm, the beam-side energy can exceed 88%.

[0163] Specifically, such as Figure 12a As shown, when the FOV is defined as 30 degrees, and when the directional length of the light incident on the lidar device 1000 at 20 degrees is based on 25 μm as described above, the beam energy can be 90% to 93%, and when the directional length of the light incident on the lidar device is 15 μm, the beam energy can exceed 88%.

[0164] In addition, such as Figure 12bAs shown, when the FOV is defined as 10 degrees, when the directional length is 17.5 μm, the light incident at 85 degrees to the lidar device 1000 can exceed 85%, and when the directional length is based on 25 μm, similar to the light incident at 20 degrees, the beam energy can range from 90% to 93%.

[0165] In other words, when the length of one direction of the square is based on 25 μm, it is possible that the light incident on the lidar device 1000 according to another embodiment of the present invention has a similar range of 20 degrees to 85 degrees.

[0166] At the same time, you can refer to Figures 13 to 15 The present invention describes a lidar system according to an embodiment of the present invention.

[0167] Figure 13 This is a perspective view of a lidar system according to an embodiment of the present invention. Figure 14 This is an exploded view of a lidar system according to an embodiment of the present invention, and Figure 15 This is an exploded view of a lidar device according to an embodiment of the present invention.

[0168] Reference Figures 13 to 15 The light-emitting unit 100 and the light-receiving unit 200 can be housed within the housing 50 of the lidar system 1200. As shown, a lidar system 1200 may include multiple lidar devices 1000. For example, each lidar device 1000 included in a lidar system 1200 includes a light-emitting unit 100 and a light-receiving unit 200, and two lidar devices 1000 may be configured to face opposite directions. One of the two lidar devices may be a lidar device for medium range, and the other lidar device may be a lidar device for long range.

[0169] Multiple openings can be formed in the housing 50. Among the multiple openings, the first opening 51 can be configured to correspond to the window 250 of the lidar device 1000 and can be used as a channel for light emission and light reception. Among the multiple openings, the second opening 52 can be used as a channel for dissipating heat generated from the lidar device 1000 and contained in the housing 50.

[0170] The number of first openings 51 can be less than the number of second openings 52, and the diameter of the first opening 51 can be greater than the diameter of the second opening 52. Since the first opening 51 is configured to correspond to the window 250 of the lidar device 1000, the number of first openings 51 formed in the housing 50 can be the same as the number of lidar devices 1000 housed in the housing 50.

[0171] Each lidar device 1000 may include a light-emitting unit 100 and a light-receiving unit 200, and for this purpose, each lidar device 1000 may also include a bracket 600 on which the light-emitting unit 100 and the light-receiving unit 200 are mounted. The light-emitting unit 100 may be disposed on a side surface of the light-receiving unit 200, and light emitted from the light-emitting unit 100 and light reflected from an object and then incident on the light-receiving unit 200 may pass through the window 250.

[0172] Although not shown in detail, the light-emitting unit 100 may include a substrate, a light source, a light component, a shielding component, and a diffusion component. The substrate may include a printed circuit board (PCB). The substrate can be connected to a connector via a flexible printed circuit board (FPCB). The light source is disposed on the substrate, and the substrate may include terminals. The light source may correspond to the light source 110 of the light-emitting unit 100 described above. That is, the light source may include multiple emitters arranged in an array. The driving of the multiple emitters can be controlled individually or as a whole. Alternatively, the light source may be an edge-emitting laser diode (EEL). The light component may collect light emitted from the light source or may redirect the light path emitted from the light source. For example, when the light source is not set to face window 250, the light component may redirect the light path so that light emitted from the light source is emitted through window 250. The light component may correspond to the condenser lens 120 of the light-emitting unit 100 described above. The shielding component may surround the substrate and the light source, may be referred to as a cover, and may be made of a non-magnetic material, thus blocking electromagnetic interference (EMI) noise. The diffusion component may be a diffusion lens or a homogenizer. The diffusion component may be disposed in the light path emitted from the light source. The diffusion component may correspond to the first homogenizing lens 130 and the second homogenizing lens 140 of the light-emitting unit 100.

[0173] Furthermore, as described above, the light-receiving unit 200 may include a sensor unit 210 and a lens unit 230. The sensor unit 210 may include a substrate, a sensor unit 210 disposed on the substrate, and a microlens array 220 disposed on the sensor unit 210. The sensor unit 210 can detect infrared or near-infrared light. The sensor unit 210 can detect light with a specific wavelength within the infrared or near-infrared light. The lens unit 230 may include a lens barrel, multiple lenses, a filter, and a lens cover. The sensor unit 210 can detect light passing through the filter. The sensor unit 210 can detect light within the wavelength band of the light source. Therefore, light emitted from the light source and reflected by an object can be detected by the sensor unit 210, thereby sensing 3D image information about the object.

[0174] As described above, the lidar device according to an embodiment of the present invention can be a mechanical lidar device. Therefore, the lidar device according to an embodiment of the present invention can be designed to rotate 360 ​​degrees by a motor.

[0175] Exemplary embodiments of the invention have been examined, and it will be apparent to those skilled in the art that the invention may be practiced in other specific forms besides the embodiments described above without departing from the spirit or scope of the invention.

[0176] Therefore, the above embodiments are considered illustrative rather than restrictive, and the present invention is not limited to the above description, but can be modified within the scope of the appended claims and their equivalents.

Claims

1. A lidar device, comprising: Sensor unit; A lens unit is disposed on the sensor unit; as well as A filter unit is disposed on the lens unit. The lens unit is composed of a first lens and a second lens arranged sequentially in the direction from the filter unit toward the sensor unit. At least one of the object-side surface of the first lens, the image-side surface of the first lens, the object-side surface of the second lens, and the image-side surface of the second lens is aspherical. The average refractive index of the first lens and the refractive index of the second lens ranges from 1.65 to 1.85, and The filter unit transmits light with a wavelength range of 900 nm to 2500 nm.

2. The lidar device according to claim 1, wherein the second lens has positive optical power.

3. The lidar device according to claim 2, wherein the field of view (FOV) ranges from 5 degrees to 15 degrees.

4. The lidar device according to claim 3, wherein the edge thickness T1 of the first lens is 0.5 to 1.5 times the center thickness T2 of the first lens, and The edge thickness T3 of the second lens is 0.8 to 1.8 times the center thickness T4 of the second lens.

5. The lidar device according to claim 3, wherein the air gap between the first lens and the second lens ranges from 30 mm to 60 mm.

6. The lidar device according to claim 3, wherein the first lens has positive optical power, and The object-side surface of the first lens is convex, and the image-side surface of the first lens is concave. The object-side surface of the second lens is convex, and the image-side surface of the second lens is concave.

7. The lidar device of claim 6, wherein a portion of the peripheral portion of the image-side surface of the second lens is parallel to the vertical direction, and The vertical direction is the direction perpendicular to the direction from the filter unit toward the sensor unit.

8. The lidar device according to claim 3 further includes an aperture stop. The aperture stop is disposed between the object and the object side of the first lens and adjacent to the first lens.

9. The lidar device according to claim 2, wherein the FOV range is 25 degrees to 35 degrees.

10. The lidar device according to claim 9, wherein the edge thickness T5 of the first lens is 0.5 to 1.5 times the center thickness T6 of the first lens, and The edge thickness T7 of the second lens is 1.5 to 2.5 times the center thickness T8 of the second lens.

11. The lidar device according to claim 9, wherein the air gap between the first lens and the second lens ranges from 15 mm to 40 mm.

12. The lidar device according to claim 9, wherein the first lens has negative optical power, and The object-side surface of the first lens is convex, the image-side surface of the first lens is concave, the object-side surface of the second lens is convex, and the image-side surface of the second lens is convex.

13. The lidar device of claim 12, wherein a portion of the peripheral portion of the image-side surface of the first lens is parallel to the vertical direction, and The vertical direction is the direction perpendicular to the direction from the filter unit toward the sensor unit.

14. The lidar device according to claim 9 further includes an aperture stop. The aperture stop is positioned between the object and the first lens and the second lens.

15. The lidar device of claim 9, wherein only the surface of the second lens facing the sensor unit has an aspherical shape.

16. The lidar device according to claim 1, wherein the filtering unit is a bandpass filter configured to transmit light in the wavelength range of 1350 nm to 1450 nm.

Images