Laser output array, receiving optical system, and LiDAR device using the same

Abstract

The LiDAR device according to the present invention may include: a transmission module having a laser output array and a transmission optical system, the laser output array including a first laser emission sub-array, the first laser emission sub-array including a first laser emission unit and a second laser emission unit; and a reception module having a laser detection array and a reception optical system, the laser detection array including a first detection unit for detecting a laser beam emitted from the first laser emission unit and a second detection unit for detecting a laser beam emitted from the second laser emission unit.

Description

Technical Field

[0001] The present disclosure relates to a laser emission array that emits a laser and a LiDAR device using the same, and more specifically, to a laser emission array with improved uniformity of the output of the emitted laser and a LiDAR device using the same.

Background Art

[0002] In recent years, with the increasing interest in autonomous and unmanned vehicles, Light Detection and Ranging (LiDAR) has attracted attention. LiDAR is a device that uses a laser to acquire surrounding distance information, and due to its excellent accuracy and resolution, and the ability to perceive objects in three dimensions, it is applied in various fields such as automobiles, drones, and aircraft.

[0003] On the other hand, a solid-state LiDAR device is a device that can acquire distance information regarding a three-dimensional surrounding space without involving mechanically moving components, and a laser emission array can be used to implement the solid-state LiDAR device.

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present disclosure is to provide a LiDAR device with improved uniformity by reducing the difference in the amount of light acquired from each detection unit included in a laser detection array using a laser emission array and a laser detection array.

[0005] The technical problems of the present disclosure are not limited to the above problems, and problems not mentioned can be clearly understood by those skilled in the art from this specification and the accompanying drawings.

Means for Solving the Problems

[0006] According to an embodiment of the present disclosure: a transmission module having a laser emission array and a transmission optical system, wherein the laser emission array includes a first laser emission sub-array, and the first laser emission sub-array includes a first laser emission unit and a second laser emission unit; and a reception module having a laser detection array and a reception optical system, wherein the laser detection array includes a first detection unit configured to detect a laser emitted from the first laser emission unit, and a second detection unit configured to detect a laser emitted from the second laser emission unit. The laser emission array is designed such that the diameter of the first laser emission unit is larger than the diameter of the second laser emission unit, and the reception optical system is designed such that the illuminance of the first area of the laser detection array is higher than the illuminance of the second area of the laser detection array. The first detection unit is located on the first area of the laser detection array, and the second detection unit is located on the second area of the laser detection array. A light detection and ranging (LiDAR) device can be provided.

[0007] The technical solutions of the present disclosure are not limited to the solutions described above, and the solutions not mentioned will be apparent to those skilled in the art from this specification and the accompanying drawings.

[0008] [Advantageous Effects] According to an embodiment of the present disclosure, by using a laser emission array and a laser detection array, and reducing the difference in the amount of light obtained from each detection unit included in the laser detection array, it is possible to provide a LiDAR device with improved uniformity.

[0009] The effects of the present disclosure are not limited to the effects described above, and the effects not mentioned can be clearly understood by those skilled in the art from this specification and the accompanying drawings. [Brief Description of the Drawings]

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Mode for Carrying Out the Invention

[0034] The embodiments described in this specification are intended to clearly explain the idea of the present disclosure to those skilled in the technical field related to the present disclosure. Therefore, the present disclosure is not limited to the embodiments described in this specification, and the scope of the present disclosure should be construed to include modifications or variations that do not deviate from the spirit of the present disclosure.

[0035] The terms used in this specification are, to the extent possible, the common terms currently widely used, taking into account their functions in this disclosure. This may change according to the intentions of those skilled in the art to which this disclosure pertains, prior art examples, or the emergence of new technologies. However, if a particular term is defined and used with an arbitrary meaning, the meaning of that term will be explained separately. Therefore, the terms used in this specification should be interpreted based not only on the name of the term but also on its actual meaning and the overall content of this specification.

[0036] The drawings attached to this specification are intended to facilitate the explanation of this disclosure. The shapes shown in the drawings may be exaggerated as necessary to assist in the understanding of this disclosure, but this disclosure is not limited by the drawings.

[0037] When an element or layer described in this specification is referred to as being "on" another element or layer, it may include both cases where intervening elements or layers may exist and cases where the element or layer may be directly on another element or layer.

[0038] Throughout this specification, similar reference numerals may in principle refer to similar elements.

[0039] When used in the description of this specification, terms such as "first", "second", etc. may be understood as identification symbols for distinguishing one component from another.

[0040] The terms "module" and "unit" for the elements used in the description of this specification are used or mixed for the convenience of preparing this specification, and they do not necessarily have separate meanings or roles.

[0041] If it is determined that a detailed description of known configurations or functions related to this disclosure in this specification may obscure the gist of this disclosure, the detailed description thereof may be omitted as necessary.

[0042] According to an embodiment of the present disclosure: a transmission module having a laser emission array and a transmission optical system, wherein the laser emission array includes a first laser emission sub-array, and the first laser emission sub-array includes a first laser emission unit and a second laser emission unit; and a reception module having a laser detection array and a reception optical system, wherein the laser detection array includes a first detection unit configured to detect a laser emitted from the first laser emission unit and a second detection unit configured to detect a laser emitted from the second laser emission unit. The laser emission array is designed such that the diameter of the first laser emission unit is larger than the diameter of the second laser emission unit. The reception optical system is designed such that the illuminance of a first area of the laser detection array is higher than the illuminance of a second area of the laser detection array. The first detection unit is located on the first area of the laser detection array, and the second detection unit is located on the second area of the laser detection array. A light detection and ranging (LiDAR) device may be provided.

[0043] In the present specification, the first laser emission unit is arranged closer to the center of the laser emission array than the second laser emission unit.

[0044] In the present specification, the first detection unit is arranged closer to the center of the laser detection array than the second detection unit.

[0045] In the present specification, the output of the first laser emitted from the first laser emission unit is smaller than the output of the second laser emitted from the second laser emission unit.

[0046] In the present specification, the diameters of the plurality of laser emission units included in the first laser emission sub-array become larger as the positions of the laser emission units are closer to the center of the laser emission array.

[0047] In this specification, the ratio of the illuminance of the first region of the laser detection array to the illuminance of the second region of the laser detection array corresponds to the ratio of the output of the laser emitted from the second laser emission unit to the output of the laser emitted from the first laser emission unit.

[0048] In this specification, when the ratio of the output of the laser emitted from the second laser emission unit to the output of the laser emitted from the first laser emission unit is X, the ratio of the illuminance of the first region of the laser detection array to the illuminance of the second region of the laser detection array is X.

[0049] In this specification, the LiDAR device is designed to satisfy the following relational expression.

[0050] [Relational Expression] The output of the laser emitted from the first laser emission unit / the output of the laser emitted from the second laser emission unit * 0.8 ≤ the relative illuminance on the second detection unit of the receiving optical system / the relative illuminance on the first detection unit of the receiving optical system ≤ the output of the laser emitted from the first laser emission unit / the output of the laser emitted from the second laser emission unit * 1.2.

[0051] In this specification, each of the first detection unit and the second detection unit has a plurality of detection elements.

[0052] In this specification, the number of detection elements each of the first detection unit and the second detection unit has is 9.

[0053] In this specification, the laser emission array is provided as a VCSEL (Vertical Cavity Surface Emitting Laser) array, and the laser detection array is provided as a SPAD (Single Photon Avalanche Diode) array.

[0054] Hereinafter, the LiDAR device according to the present disclosure will be described.

[0055] However, the LiDAR device described in this specification can be understood as a concept including, but not limited to, different devices that measure distance using a laser, such as optical detection and ranging (LiDAR), time-of-flight sensors (Time-of-Flight: TOF sensors), and the like.

[0056] The LiDAR device is for detecting the distance to an object and the position of the object using a laser. For example, the LiDAR device can emit a laser, and when the emitted laser is reflected from the object, receive the reflected laser and measure the distance between the object and the LiDAR device and the position of the object. In this specification, the distance and position of the object can be expressed through a coordinate system. For example, the distance and position of the object can be expressed through a spherical coordinate system (r, θ, φ). However, they are not limited thereto and can be expressed in a Cartesian coordinate system (X, Y, Z) or a cylindrical coordinate system (r, θ, z).

[0057] In addition, the object can refer to at least one object but is not limited thereto, and can also refer to a part of an object for reflecting at least a part of the laser emitted from the LiDAR device.

[0058] In addition, the LiDAR device according to an embodiment can use the laser emitted from the LiDAR device that will be reflected from the object to measure the distance to the object.

[0059] For example, a LiDAR device according to one embodiment may use the time-of-flight (TOF) of a laser from when it is emitted until it is detected to measure the distance to an object.

[0060] Regarding a more specific example, a LiDAR device according to one embodiment may measure the distance to an object by using the difference between a time value based on the emission time of the emitted laser and a time value based on the detection time of the laser reflected from the object that will be detected.

[0061] In this specification, the time value based on the emission time of the laser may be obtained by a control unit included in a LiDAR device according to one embodiment.

[0062] For example, the time value based on the laser emission time may be obtained based on the generation time of a trigger signal generated by a control unit included in a LiDAR device according to one embodiment, but is not limited thereto.

[0063] In addition, the time value based on the laser emission time may be obtained by a laser emission unit included in a LiDAR device according to one embodiment.

[0064] For example, the time value based on the laser emission time may be obtained by detecting the operation of a laser emission unit included in a LiDAR device according to one embodiment, but is not limited thereto.

[0065] In this specification, the detection of the operation of the laser emission unit may mean detecting the flow of current, the change in the electric field, and the like in the laser emission unit, but is not limited thereto.

[0066] In addition, the time value based on the emission time of the laser may be obtained by a detector unit included in a LiDAR device according to one embodiment.

[0067] For example, the time value based on the laser emission time can be obtained based on, but not limited to, the time when a laser not reflected by an object is detected by a detector unit included in a LiDAR device according to one embodiment.

[0068] In this specification, a reference optical path through which a laser emitted from a laser emission unit is received by a detector unit can be provided, but is not limited thereto.

[0069] In addition, the time value based on the detection time of the laser reflected from an object to be detected can be obtained based on a detector unit included in a LiDAR device according to one embodiment.

[0070] For example, the time value based on the detection time of the laser reflected from an object to be detected can be obtained based on, but not limited to, the time when a laser reflected from an object is detected by a detector unit included in a LiDAR device according to one embodiment.

[0071] In addition, a LiDAR device according to one embodiment can use, but is not limited to, triangulation, interferometry, phase shift measurement, and the like, in addition to time-of-flight, to measure the distance to an object.

[0072] A LiDAR device according to one embodiment can be provided inside a vehicle. For example, the LiDAR device can be provided in the roof, hood, headlamp, or bumper of the vehicle.

[0073] In addition, a plurality of LiDAR devices according to one embodiment may be provided inside a vehicle. For example, when two LiDAR devices are provided on the roof of a vehicle, one LiDAR device may serve to observe the front, and the other may serve to observe the rear, but the present disclosure is not limited thereto. In addition, for example, when two LiDAR devices are provided on the roof of a vehicle, one LiDAR device may serve to observe the left side, and the other may serve to observe the right side, but the present disclosure is not limited thereto.

[0074] In addition, a LiDAR device according to one embodiment may be provided inside a vehicle. For example, when the LiDAR device is installed inside the vehicle, it may serve to recognize the gestures of the driver during driving, but is not limited thereto. In addition, for example, when the LiDAR device is provided inside or outside the vehicle, it may serve to recognize the face of the driver, but is not limited thereto.

[0075] A LiDAR device according to one embodiment may be provided inside an unmanned aerial vehicle. For example, the LiDAR device may be provided in an unmanned aerial vehicle system (UAV System), a drone, a remote piloted vehicle (RPV), an unmanned aircraft system (UAS), a remote piloted air / aerial vehicle (RPAV), or a remote piloted aircraft system (RPAS).

[0076] In addition, according to one embodiment, a plurality of LiDAR devices may be provided inside an unmanned aerial vehicle. For example, when two LiDAR devices are provided inside an unmanned aerial vehicle, one LiDAR device may play a role of observing the front, and the other may play a role of observing the rear, but the present disclosure is not limited thereto. In addition, for example, when two LiDAR devices are provided on an unmanned aerial vehicle, one LiDAR device may play a role of observing the left side, and the other may play a role of observing the right side, but the present disclosure is not limited thereto.

[0077] The LiDAR device according to one embodiment may be provided inside a robot. For example, the LiDAR device may be provided inside a personal robot, a business robot, a public service robot, other industrial robots, or a manufacturing robot.

[0078] In addition, according to one embodiment, a plurality of LiDAR devices may be provided inside a robot. For example, when two LiDAR devices are provided inside a robot, one LiDAR device may play a role of observing the front, and the other may play a role of observing the rear, but the present disclosure is not limited thereto. In addition, for example, when two LiDAR devices are installed inside a robot, one LiDAR device may play a role of observing the left side, and the other may play a role of observing the right side, but the present disclosure is not limited thereto.

[0079] In addition, the LiDAR device according to one embodiment may be provided inside a robot. For example, when the LiDAR device is installed inside a robot, it may play a role of recognizing a human face, but is not limited thereto.

[0080] In addition, the LiDAR device according to one embodiment may be provided for industrial security. For example, the LiDAR device may be provided inside a smart factory for industrial security.

[0081] In addition, according to one embodiment, a plurality of LiDAR devices may be provided within a smart factory for industrial security. For example, if two LiDAR devices are provided within a smart factory, one LiDAR device may serve to observe the front, and the other may serve to observe the rear, although the present disclosure is not limited thereto.

[0082] In addition, for example, if two LiDAR devices are provided within a smart factory, one LiDAR device may serve to observe the left side, and the other may serve to observe the right side, although the present disclosure is not limited thereto.

[0083] In addition, a LiDAR device according to one embodiment may be provided for industrial security. For example, if a LiDAR device is provided for industrial security, it may serve to recognize a person's face, although it is not limited thereto.

[0084] FIG. 1 is a diagram showing a LiDAR device according to one embodiment.

[0085] Referring to FIG. 1, a LiDAR device 1000 according to one embodiment may include a laser emitting unit 100.

[0086] In this specification, a laser emitting unit 100 according to one embodiment may generate or emit a laser.

[0087] In addition, a laser emitting unit 100 according to one embodiment may include one or more laser emitting elements.

[0088] For example, a laser emitting unit 100 according to one embodiment may include a single laser emitting element, and may also include a plurality of laser emitting elements.

[0089] In addition, a laser emitting unit 100 according to one embodiment may be configured as an array in which a plurality of laser emitting elements are arranged in an array form, although it is not limited thereto.

[0090] For example, the laser emitting unit 100 according to one embodiment may be implemented as a VCSEL array in which a plurality of vertical cavity surface emitting lasers (VCSELs) are arranged in an array form, but is not limited thereto.

[0091] In addition, the laser emitting unit 100 according to one embodiment may include, but is not limited to, laser emitting elements such as a laser diode (LD), a solid-state laser, a high-power laser, a light emitting diode (LED), a vertical cavity surface emitting laser (VCSEL), an external cavity diode laser (ECDL), and the like.

[0092] In addition, the wavelength of the laser emitted from the laser emitting unit 100 according to one embodiment may be located within a specific wavelength range.

[0093] For example, the wavelength of the laser emitted from the laser emitting unit 100 according to one embodiment may be located in the 905 nm band, may be located in the 940 nm band, and may be located in the 1550 nm band, but is not limited thereto.

[0094] In this specification, the wavelength band may refer to a band within a certain range based on the central wavelength.

[0095] For example, the 905 nm band may refer to a band within a range of 10 nm centered on 905 nm, the 940 nm band may refer to a band within a range of 10 nm centered on 940 nm, and the 1550 nm band may refer to a band within a range of 10 nm centered on 1550 nm, but the present disclosure is not limited thereto.

[0096] In addition, the wavelength of the laser emitted from the laser emitting unit 100 according to one embodiment may be located within various wavelength ranges.

[0097] For example, the wavelength of the first laser emitted from the first laser emitting element included in the laser emitting unit 100 according to one embodiment is located in the 905 nm band, and the wavelength of the second laser emitted from the second laser emitting element included in the laser emitting unit 100 according to one embodiment may be located in the 1550 nm band, but the present disclosure is not limited thereto.

[0098] In addition, the wavelengths of the lasers emitted from the laser emitting unit 100 according to one embodiment may be located within a specific wavelength range, but may be different from each other.

[0099] For example, the wavelength of the first laser emitted from the first laser emitting element included in the laser emitting unit 100 according to one embodiment may be located in the 940 nm band, for example, at a wavelength of 939 nm, and the wavelength of the second laser emitted from the second laser emitting element included in the laser emitting unit 100 according to one embodiment may be located in the 940 nm band, for example, at a wavelength of 943 nm, but the present disclosure is not limited thereto.

[0100] Referring back to FIG. 1, the LiDAR device 1000 according to one embodiment may include an optical unit 200.

[0101] In this specification, the optical unit may be expressed in various ways, such as a steering unit, a scanning unit, etc., for the purpose of explaining the present disclosure, but is not limited thereto.

[0102] The optical unit 200 according to one embodiment may function to change the flight path of the laser.

[0103] For example, the optical unit 200 according to one embodiment may function to change the flight path of the laser emitted from the laser emitting unit 100, and when the laser emitted from the laser emitting unit 100 is reflected from an object, it may function to change the flight path of the laser reflected from the object, but is not limited thereto.

[0104] In addition, the optical unit 200 according to one embodiment can function to change the flight path of the laser by reflecting the laser.

[0105] For example, the optical unit 200 according to one embodiment can function to change the flight path by reflecting the laser emitted from the laser emission unit 100, and can function to change the flight path by reflecting the laser reflected from the object when the laser emitted from the laser emission unit 100 is reflected from the object, but is not limited thereto.

[0106] In this specification, the optical unit 200 according to one embodiment may include at least one optical means among different optical means for reflecting the laser.

[0107] For example, the optical unit 200 according to one embodiment may include at least one optical means among optical means such as a mirror, a resonant scanner, a MEMS mirror, a voice coil motor (VCM), a polygon mirror, a rotating mirror, or a galvanometer mirror, but is not limited thereto.

[0108] In addition, the optical unit 200 according to one embodiment can change the flight path of the laser by refracting the laser.

[0109] For example, the optical unit 200 according to one embodiment can function to change the flight path by refracting the laser emitted from the laser emission unit 100, and can function to change the flight path by refracting the laser reflected from the object when the laser emitted from the laser emission unit 100 is reflected from the object, but is not limited thereto.

[0110] In this specification, the optical unit 200 according to one embodiment may include at least one optical means among different optical means for refracting the laser.

[0111] For example, the optical unit 200 according to one embodiment may include, but is not limited to, at least one optical means among optical means such as a lens, a prism, a microlens, a microfluidic lens, or a metasurface.

[0112] In addition, the optical unit 200 according to one embodiment may change the flight path of the laser by changing the phase of the laser.

[0113] For example, the optical unit 200 according to one embodiment may function to change the flight path by changing the phase of the laser emitted from the laser emission unit 100, and may function to change the flight path by changing the phase of the laser reflected from the object when the laser emitted from the laser emission unit 100 is reflected from the object, but is not limited thereto.

[0114] In this specification, the optical unit 200 according to one embodiment may include at least one optical means among different optical means for changing the phase of the laser.

[0115] For example, the optical unit 200 according to one embodiment may include, but is not limited to, at least one optical means among optical means such as an optical phased array (OPA), a metalens, or a metasurface.

[0116] In addition, the optical unit 200 according to one embodiment may include two or more optical units.

[0117] For example, the optical unit 200 according to one embodiment may include, but is not limited to, a transmission optical unit for emitting the laser emitted from the laser emission unit 100 to the scan area of the LiDAR device, and a reception optical unit for transferring the laser reflected from the object to the detector unit 300.

[0118] In addition, for example, an optical unit 200 according to an embodiment may include, but is not limited to, a first optical unit that changes the flight path of the laser emitted from the laser emission unit 100 in the direction of a first group, and a second optical unit that changes the flight path of the laser emitted from the laser emission unit 100 in the direction of a second group.

[0119] In addition to the examples described above, an optical unit 200 according to an embodiment may be provided in a combination of different configurations that are likely to expand the scan area of the LiDAR device using the laser emitted from the laser emission unit 100 according to an embodiment and transfer the laser reflected by the object to the detector unit 300 according to an embodiment.

[0120] Referring again to FIG. 1, a LiDAR device 100 according to an embodiment may include a detector unit 300.

[0121] In this specification, the detector unit may be expressed in various ways such as a light receiving unit, a receiving unit, a sensor unit, and the like for the purpose of explaining the present disclosure, but is not limited thereto.

[0122] A detector unit 300 according to an embodiment may function to detect a laser.

[0123] For example, a detector unit 300 according to an embodiment may detect a laser reflected from an object located within the scan area of a LiDAR device 100 according to an embodiment.

[0124] A detector unit 300 according to an embodiment may also be configured to receive a laser and function to generate an electrical signal based on the received laser.

[0125] For example, a detector unit 300 according to an embodiment may be configured to receive a laser reflected from an object located within the scan area of a LiDAR device 100 according to an embodiment and generate an electrical signal based thereon.

[0126] In this specification, according to one embodiment, the detector unit 300 may include at least one optical means therein that may be included in the optical unit described above, and may receive laser light reflected from an object located within the scan area of the LiDAR device 100 according to one embodiment through at least one optical means that may include, but is not limited to, an optical filter or the like.

[0127] In addition, according to one embodiment, the detector unit 300 may generate laser detection information based on the generated electrical signal.

[0128] For example, according to one embodiment, the detector unit 300 may generate laser detection information by comparing a predetermined threshold value with the rising edge, falling edge, or the median value of the rising edge and the falling edge in the generated electrical signal, but is not limited thereto.

[0129] In addition, for example, according to one embodiment, the detector unit 300 may generate histogram data corresponding to the laser detection information based on the generated electrical signal, but is not limited thereto.

[0130] In addition, according to one embodiment, the detector unit 300 may determine the laser detection time based on the generated laser detection information.

[0131] For example, according to one embodiment, the detector unit 300 determines the laser detection time of the laser based on the laser detection information generated based on the rising edge of the generated electrical signal; determines the laser detection time based on the laser detection information generated based on the falling edge of the generated electrical signal; and may determine the laser detection time based on the laser detection information generated based on the rising edge of the generated electrical signal and the laser detection information generated based on the falling edge, but the present disclosure is not limited thereto.

[0132] In addition, for example, the detector unit 300 according to one embodiment can determine the laser detection time based on the generated histogram data based on the generated electrical signal, but is not limited thereto.

[0133] As a more specific example, the detector unit 300 according to one embodiment can determine the laser detection time based on the peak of the generated histogram data, and the determination of the rising edge and the falling edge is based on a predetermined value and the like, but is not limited thereto.

[0134] In this specification, the histogram data can be generated based on the electrical signal generated from the detector unit 300 according to one embodiment during at least one scan cycle.

[0135] In addition, the detector unit 300 according to one embodiment can include at least one detector element among various detector elements.

[0136] For example, the detector unit 300 according to one embodiment can include at least one detector element among detector elements such as a PN photodiode, a phototransistor, a PIN photodiode, an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a comparator, a complementary metal-oxide-semiconductor (CMOS), or a charge coupled device (CCD), but is not limited thereto.

[0137] In addition, the detector unit 300 according to one embodiment can include one or more detector elements.

[0138] For example, the detector unit 300 according to one embodiment can include a single detector element and can also include a plurality of detector elements.

[0139] In addition, the detector unit 300 according to one embodiment can be configured in an array in which a plurality of detector elements are arranged in an array form, but is not limited thereto.

[0140] For example, the detector unit 300 according to one embodiment can be implemented as a SPAD array in which a plurality of single photon avalanche diodes (SPADs) are arranged in an array form, but is not limited thereto.

[0141] Referring back to FIG. 1, the LiDAR device 1000 according to one embodiment may include a control unit 400.

[0142] In this specification, the control unit can be variously expressed as a controller or the like for explaining the present disclosure, but is not limited thereto.

[0143] The control unit 400 according to one embodiment can control the operation of the laser emission unit 100, the optical unit 200, or the detector unit 300.

[0144] In addition, the control unit 400 according to one embodiment can control the operation of the laser emission unit 100.

[0145] For example, the control unit 400 can control the emission timing of the laser emitted from the laser emission unit 100. In addition, the control unit 400 can control the output of the laser emitted from the laser emission unit 100. In addition, the control unit 400 can control the pulse width of the laser emitted from the laser emission unit 100. In addition, the control unit 400 can control the period of the laser emitted from the laser emission unit 100. In addition, when the laser emission unit 100 includes a plurality of laser emission elements, the control unit 400 can control the laser emission unit 100 to enable some of the plurality of laser emission elements to be operated.

[0146] In addition, the control unit 400 according to one embodiment can control the operation of the optical unit 200.

[0147] For example, the control unit 400 can control the operating speed of the optical unit 200. Specifically, when the optical unit 200 includes a rotating mirror, the rotation speed of the rotating mirror can be controlled, and when the optical unit 200 includes a MEMS mirror, the repetition cycle of the MEMS mirror can be controlled, but the present disclosure is not limited thereto.

[0148] In addition, for example, the control unit 400 can control the degree of operation of the optical unit 200. Specifically, when the optical unit 200 includes a MEMS mirror, the operating angle of the MEMS mirror can be controlled, but it is not limited thereto.

[0149] In addition, the control unit 400 according to one embodiment can control the operation of the detector unit 300.

[0150] For example, the control unit 400 can control the sensitivity of the detector unit 300. Specifically, the control unit 400 can control the sensitivity of the detector unit 300 by adjusting a predetermined threshold value, but it is not limited thereto.

[0151] In addition, for example, the control unit 400 can control the operation of the detector unit 300. Specifically, the control unit 400 can control the on / off of the detector unit 300, and when the detector unit 300 includes a plurality of sensor elements, the operation of the detector unit 300 can be controlled to enable some of the plurality of sensor elements to be operated.

[0152] In addition, the control unit 400 according to one embodiment can generate detection information of the laser based on the electrical signal generated from the detector unit 300.

[0153] For example, the control unit 400 according to one embodiment may generate detection information of the laser by comparing a predetermined threshold value with a rising edge, a falling edge, or a median value of the rising edge and the falling edge in the electrical signal generated from the detector unit 300, but is not limited thereto.

[0154] In addition, for example, the control unit 400 according to one embodiment may generate histogram data corresponding to the detection information of the laser based on the electrical signal generated from the detector unit 300, but is not limited thereto.

[0155] In addition, the control unit 400 according to one embodiment may determine the laser detection time based on the laser detection information generated from the detector unit 300.

[0156] For example, the control unit 400 according to one embodiment determines the laser detection time based on the laser detection information generated based on the rising edge of the electrical signal generated from the detector unit 300; determines the laser detection time based on the laser detection information generated based on the falling edge of the electrical signal generated; and may determine the laser detection time based on the laser detection information generated based on the rising edge of the electrical signal generated and the laser detection information generated based on the falling edge, but the present disclosure is not limited thereto.

[0157] In addition, for example, the control unit 400 according to one embodiment may determine the laser detection time based on the histogram data generated based on the electrical signal generated from the detector unit 300, but is not limited thereto.

[0158] As a more specific example, the control unit 400 according to one embodiment may determine the laser detection time based on the peak of the histogram data generated from the detector unit 300, and the determination of the rising edge and the falling edge is based on a predetermined value and the like, but is not limited thereto.

[0159] In this specification, the histogram data can be generated based on the electrical signals generated from the detector unit 300 according to one embodiment during at least one scan cycle.

[0160] In addition, the control unit 400 according to one embodiment can obtain information regarding the distance to the object based on the determined laser detection time.

[0161] For example, the control unit 400 according to one embodiment can obtain information regarding the distance to the object based on the determined laser emission time and the determined laser detection time, but is not limited thereto.

[0162] FIG. 2 is a diagram showing various embodiments of the LiDAR device.

[0163] Referring to FIG. 2(a), the LiDAR device according to one embodiment can include a laser emission unit 110, an optical unit 210, and a detector unit 310. The optical unit 210 can include a nodding mirror 211 that nods within a predetermined range and a polygon mirror 212 that rotates about at least one axis, but is not limited thereto.

[0164] In this specification, since the content described above can be applied to the laser emission unit 110, the optical unit 210, and the detector unit 310, redundant explanations are omitted. FIG. 2(a) is merely a schematic diagram used to explain one embodiment of various LiDAR devices. Therefore, various embodiments of the LiDAR device are not limited to FIG. 2(a).

[0165] In addition, referring to FIG. 2(b), the LiDAR device according to one embodiment can include a laser emission unit 120, an optical unit 220, and a detector unit 320. The optical unit 220 can include at least one lens 221 that can collimate and guide the laser emitted from the laser emission unit 120 and a polygon mirror 222 that rotates about at least one axis, but is not limited thereto.

[0166] In this specification, since the content described above can be applied to the laser emission unit 120, the optical unit 220, and the detector unit 320, redundant descriptions are omitted. Figure 2(b) is simply a schematic diagram used to illustrate one embodiment of various LiDAR devices. Therefore, various embodiments of the LiDAR device are not limited to Figure 2(b).

[0167] In addition, referring to Figure 2(c), a LiDAR device according to one embodiment may include a laser emission unit 130, an optical unit 230, and a detector unit 330. The optical unit 230 may include at least one lens 231 capable of collimating and guiding the laser emitted from the laser emission unit 130, and at least one lens 232 capable of transmitting the laser reflected from the object to the detector unit 330, but is not limited thereto.

[0168] In this specification, since the content described above can be applied to the laser emission unit 130, the optical unit 230, and the detector unit 330, redundant descriptions are omitted. Figure 2(c) is simply a schematic diagram used to illustrate one embodiment of various LiDAR devices. Therefore, various embodiments of the LiDAR device are not limited to Figure 2(c).

[0169] In addition, referring to Figure 2(d), a LiDAR device according to one embodiment may include a laser emission unit 140, an optical unit 240, and a detector unit 340. The optical unit 240 may include at least one lens 241 capable of collimating and guiding the laser emitted from the laser emission unit 140, and at least one lens 242 capable of transmitting the laser reflected from the object to the detector unit 340, but is not limited thereto.

[0170] In this specification, since the content described above can be applied to the laser emission unit 140, the optical unit 240, and the detector unit 340, redundant explanations are omitted. FIG. 2(d) is a schematic diagram used only to explain an embodiment of various LiDAR devices. Therefore, various embodiments of the LiDAR device are not limited to FIG. 2(d).

[0171] FIG. 3 is a diagram showing the operation of a LiDAR device and LiDAR data according to an embodiment.

[0172] Referring to FIG. 3, a LiDAR device 1000 according to an embodiment includes a laser emission unit that emits a laser and a detector unit that detects the laser. Since the descriptions of the laser emission unit and the detector unit have been described above, any redundant explanations are omitted.

[0173] In addition, referring to FIG. 3, a data processing unit according to an embodiment can acquire LiDAR data 1200 based on the laser detected by the LiDAR device 1000.

[0174] In this specification, the data processing unit can be included in the LiDAR device 1000, particularly, the control unit of the LiDAR device 1000 described above, but can be positioned to be connected to the LiDAR device 1000 through at least one communication method to acquire the signal generated from the detector unit included in the LiDAR device 1000.

[0175] In addition, referring to FIG. 3, a LiDAR device 1000 according to an embodiment can form a field of view 1100 by emitting a laser, and can detect the laser reflected within the field of view 1100 to acquire LiDAR data 1200.

[0176] In this specification, the field of view 1100 of the LiDAR device 1000 can refer to, but is not limited to, the area where the laser is emitted or the area where the laser can be detected.

[0177] In addition, the LiDAR data 1200 may mean various types of data obtained from the LiDAR device 1000, such as point data, point cloud, frame data, and the like obtained from the LiDAR device 1000, but is not limited thereto.

[0178] In this specification, the point data may include distance information, position information, etc., and the point cloud may refer to cluster data of the point data, but is not limited thereto.

[0179] In addition, the frame data may refer to a group of point data, but is not limited thereto.

[0180] In addition, the field of view 1100 of the LiDAR device 1000 may include a horizontal field of view 1110 for a horizontal scan range and a vertical field of view 1120 for a vertical scan range.

[0181] In addition, the horizontal field of view angle 1110 and the vertical field of view angle 1120 may be defined by the emitted laser.

[0182] For example, the horizontal field of view angle 1110 of the LiDAR device 1000 may be defined by a first laser 1111 emitted at a first angle and a second laser 1112 emitted at a second angle. More specifically, it may be defined by the difference between the first angle at which the first laser 1111 is emitted and the second angle at which the second laser 1112 is emitted, but is not limited thereto.

[0183] In addition, for example, the vertical field of view 1120 of the LiDAR device 1000 may be defined by a third laser 1121 emitted at a third angle and a fourth laser 1122 emitted at a fourth angle. More specifically, it may be defined by the difference between the third angle at which the third laser 1121 is emitted and the fourth angle at which the fourth laser 1122 is emitted, but is not limited thereto.

[0184] However, the horizontal field of view 1110 and the vertical field of view 1120 of the LiDAR device 1000 are not limited to the examples described above, and can be defined by different methods for representing the area where the laser from the LiDAR device 1000 is emitted.

[0185] In addition, the horizontal field of view 1110 and the vertical field of view 1120 can be defined by the detected laser. More specifically, the horizontal field of view 1110 and the vertical field of view 1120 can be defined by the point data generated by the detected laser.

[0186] For example, the horizontal field of view 1110 of the LiDAR device 1000 can be defined by the first point data 1210 and the second point data 1220, and more specifically, can be defined by the laser irradiation angle corresponding to the first point data 1210 and the laser irradiation angle corresponding to the second point data 1220, but is not limited thereto.

[0187] In addition, for example, the vertical field of view 1120 of the LiDAR device 1000 can be defined by the third point data 1230 and the fourth point data 1240, and more specifically, can be defined by the laser irradiation angle corresponding to the third point data 1230 and the laser irradiation angle corresponding to the fourth point data 1240, but is not limited thereto.

[0188] However, the horizontal field of view 1110 and the vertical field of view 1120 of the LiDAR device 1000 are not limited to the examples described above, and can be defined by different methods for representing the area where the LiDAR device 1000 can detect the laser.

[0189] In addition, referring to FIG. 3, the laser forming the field of view 1100 of the LiDAR device 1000 according to an embodiment can be emitted so as to have an angular resolution.

[0190] In this specification, the angular resolution can include a horizontal angular resolution for the resolution in the horizontal direction and a vertical angular resolution for the resolution in the vertical direction.

[0191] In addition, the horizontal angular resolution and the vertical angular resolution can be defined by the emitted laser.

[0192] For example, the horizontal angular resolution of the LiDAR device 1000 can be defined by the fifth laser 1131 emitted at the fifth angle and the sixth laser 1132 emitted at the sixth angle. More specifically, it can be defined by the difference between the fifth angle at which the fifth laser 1131 is emitted and the sixth angle at which the sixth laser 1132 is emitted, but is not limited thereto.

[0193] In addition, for example, the vertical angular resolution of the LiDAR device 1000 can be defined by the seventh laser 1141 emitted at the seventh angle and the eighth laser 1142 emitted at the eighth angle. More specifically, it can be defined by the difference between the seventh angle at which the seventh laser 1141 is emitted and the eighth angle at which the eighth laser 1142 is emitted, but is not limited thereto.

[0194] However, the horizontal angular resolution and the vertical angular resolution of the LiDAR device 1000 are not limited to the examples described above and can be defined by different methods for expressing the angular resolution capable of distinguishing the objects to be detected.

[0195] In addition, referring to FIG. 3, the LiDAR data 1200 obtained from the LiDAR device 1000 according to one embodiment may include point data having an angular resolution.

[0196] In this specification, the angular resolution may include a horizontal angular resolution for the resolution in the horizontal direction and a vertical angular resolution for the resolution in the vertical direction.

[0197] In addition, the horizontal angular resolution and the vertical angular resolution can be defined by the detected laser. More specifically, the horizontal angular resolution and the vertical angular resolution can be defined by the point data generated by the detected laser.

[0198] For example, the horizontal angular resolution of the LiDAR device 1000 can be defined by the fifth point data 1250 and the sixth point data 1260, and more specifically, it can be defined by the laser irradiation angles corresponding to the fifth point data 1250 and the sixth point data 1260, but is not limited thereto.

[0199] In addition, for example, the vertical angular resolution of the LiDAR device 1000 can be defined by the seventh point data 1270 and the eighth point data 1280, and more specifically, it can be defined by the laser irradiation angles corresponding to the seventh point data 1270 and the eighth point data 1280, but is not limited thereto.

[0200] However, the horizontal and vertical angular resolutions of the LiDAR device 1000 are not limited to the examples described above and can be defined by different methods for expressing the angular resolution capable of distinguishing the objects to be detected.

[0201] In addition, the lasers emitted from the LiDAR device 1000 can each have a size and a divergence angle.

[0202] For example, each laser emitted from the LiDAR device 1000 can have a major axis length, a minor axis length, and a divergence angle, but is not limited thereto.

[0203] In addition, each point data included in the LiDAR data 1200 can include distance information.

[0204] In addition, an optical origin 1300 can be defined for the LiDAR device 1000.

[0205] In this specification, the optical origin 1300 can refer to the origin of the coordinate system for expressing the LiDAR data described above.

[0206] In addition, the optical origin 1300 may refer to the origin defined when it is assumed that the laser emitted from the LiDAR device 1000 is emitted from a single point.

[0207] In addition, the optical origin 1300 may refer to the origin for distance measurement for measuring distance using a laser in the LiDAR device 1000.

[0208] In addition, the optical origin 1300 may refer to the origin used to explain the point data obtained from the LiDAR device 1000.

[0209] In addition, the optical origin 1300 may refer to a physically derived optical origin, but is not limited thereto, and may refer to an optically origin artificially assigned to the LiDAR device 1000, but is not limited thereto.

[0210] FIG. 4 is a diagram showing LiDAR data according to an embodiment.

[0211] LiDAR data according to an embodiment may be represented in different formats such as point clouds, depth maps, intensity maps, and the like.

[0212] In this specification, a point cloud may be a format displayed by converting information about each measurement location into position information, and a point cloud according to an embodiment may include, but is not limited to, position coordinate values x, y, and z, and intensity value I obtained based on information about the angle and distance at which the laser was emitted or captured.

[0213] In addition, a depth map may be a format including two-dimensional pixel position information and distance information about each measurement location, and a depth map according to an embodiment may include, but is not limited to, pixel values x and y, and distance value D obtained based on information about the angle at which the laser was emitted or captured.

[0214] In addition, the intensity map can be in a format that includes two-dimensional pixel position information and intensity information for each measurement location. An intensity map according to one embodiment can include, but is not limited to, pixel values x and y, and intensity value I, which are obtained based on information regarding the angle at which the laser was emitted or captured.

[0215] In addition, LiDAR data can be acquired in different formats in addition to the examples described above. Hereinafter, for the sake of explanation, it will be described based on LiDAR data acquired in the form of a point cloud.

[0216] Referring to FIG. 4, LiDAR data according to one embodiment can include point cloud data 2000.

[0217] In addition, point cloud data 2000 according to one embodiment can include a plurality of point data.

[0218] In addition, each of the plurality of point data according to one embodiment can include, but is not limited to, position coordinate values x, y, and z, and intensity value i.

[0219] In this specification, the position coordinate values included in each of the plurality of point data can be obtained based on distance values.

[0220] For example, the position coordinate values included in each of the plurality of point data can be obtained based on, but are not limited to, the angle (or coordinate) value at which the laser was emitted and the distance value obtained based on the emitted laser.

[0221] In addition, for example, the position coordinate values included in each of the plurality of point data can be obtained based on, but are not limited to, the coordinate values of the detector that captured the laser and the distance value obtained based on the captured laser.

[0222] In addition, the intensity value included in each of the plurality of point data can be obtained based on the electrical signal acquired from the detector unit.

[0223] For example, the intensity values included in each of the plurality of point data can be obtained based on characteristics such as the size and width of the electrical signal acquired from the detector unit, but are not limited thereto, and can be obtained by different algorithms for the electrical signal acquired from the detector unit.

[0224] In addition, for example, the intensity values included in each of the plurality of point data can be obtained based on histogram data generated based on the electrical signal acquired from the detector unit, but are not limited thereto.

[0225] FIG. 5 is a diagram showing LiDAR data according to an embodiment.

[0226] Referring to FIG. 5, the LiDAR data according to an embodiment may include point cloud data 2100.

[0227] In this specification, since the content described above can be applied to the point cloud data 2100, redundant explanations are omitted.

[0228] The point cloud data 2100 according to an embodiment may include at least one sub-point data set 2110.

[0229] In this specification, at least one sub-point data set 2110 may refer to a set of point data grouped by a specific rule or algorithm or the like.

[0230] For example, at least one sub-point data set 2110 may refer to a set of point data grouped through human input, but is not limited thereto.

[0231] In addition, for example, at least one sub-point data set 2110 may refer to a set of point data grouped by a segmentation algorithm for the same object, but is not limited thereto.

[0232] In addition, for example, at least one sub-point data set 2110 may refer to, but is not limited to, a set of point data grouped by a clustering algorithm.

[0233] In addition, for example, at least one sub-point data set 2110 may refer to, but is not limited to, a set of point data grouped by a machine learning model.

[0234] In addition, for example, at least one sub-point data set 2110 may refer to, but is not limited to, a set of point data grouped by a deep learning model.

[0235] In addition, the LiDAR data processing unit according to one embodiment may acquire attribute data about at least one sub-point data set 2110 described above.

[0236] For example, the LiDAR data processing unit according to one embodiment may acquire, but is not limited to, at least one attribute data about at least one sub-point data set 2110 by human input.

[0237] In addition, for example, the LiDAR data processing unit according to one embodiment may acquire, but is not limited to, at least one attribute data about at least one sub-point data set 2110 using a specific algorithm.

[0238] In addition, for example, the LiDAR data processing unit according to one embodiment may acquire, but is not limited to, at least one attribute data about at least one sub-point data set 2110 using a machine learning model.

[0239] In addition, for example, the LiDAR data processing unit according to one embodiment may acquire, but is not limited to, at least one attribute data about at least one sub-point data set 2110 using a deep learning model.

[0240] In addition, the machine learning model or deep learning model described above may include at least one artificial neural network layer.

[0241] For example, the machine learning model or deep learning model described above may include, but is not limited to, at least one artificial neural network layer among various artificial neural network layers such as a feedforward neural network, a radial basis function network, a Kohonen self-organizing network (SOM), a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a long short-term memory network (LSTM), or a gated recurrent unit (GRU).

[0242] In addition, at least one artificial neural network layer included in the machine learning model or deep learning model described above may be designed to use the same or different activation functions.

[0243] In this specification, the above activation functions may include, but are not limited to, a sigmoid function, a hyperbolic tangent function, a Relu function (rectified linear unit function), a leaky Relu function, an ELU function (exponential linear unit function), a softmax function, and the like, and may include different activation functions (including custom activation functions) for outputting a result value or passing it to another artificial neural network layer.

[0244] In addition, the machine learning model or deep learning model described above can be trained using at least one loss function.

[0245] In this specification, the at least one loss function can include, but is not limited to, mean squared error (MSE), root mean squared error (RMSE), binary cross-entropy, categorical cross-entropy, sparse categorical cross-entropy, and the like, and can include different functions (including custom loss functions) for calculating the difference between the predicted result value and the actual result value.

[0246] In addition, the machine learning model or deep learning model described above can be trained using at least one optimizer.

[0247] In this specification, the optimizer can be used to update the relationship parameters between the input value and the result value.

[0248] In this specification, the at least one optimizer can include, but is not limited to, gradient descent, batch gradient descent, stochastic gradient descent, mini-batch gradient descent, momentum method, AdaGrad, RMSProp, AdaDelta, Adam, NAG, NAdam, RAdam, AdamW, and the like.

[0249] In the following, the acquired attribute data will be described in more detail.

[0250] FIG. 6 is a diagram showing information included in the attribute data according to an embodiment.

[0251] Referring to FIG. 6, a LiDAR data processing unit according to an embodiment can acquire at least one attribute data 2200 for a sub-point data set 2110 according to an embodiment.

[0252] In this specification, at least one piece of attribute data 2200 may include, but is not limited to, class information 2210, center position information 2220, size information 2230, shape information 2240, movement information 2250, and identification information 2260 of an object, which are indicated by the sub-point data set 2110.

[0253] In addition, in order to obtain each piece of attribute data included in at least one piece of attribute data 2200, the same algorithm or model may be used, or different algorithms or models may be used.

[0254] In addition, at least one piece of attribute data 2200 may be obtained based on the point cloud data included in one frame of data.

[0255] For example, attribute data such as class information 2210, center position information 2220, size information 2230, and shape information 2240 included in at least one piece of attribute data 2200 may be obtained based on the point cloud data included in one frame of data, but is not limited thereto.

[0256] In addition, at least one piece of attribute data 2200 may be obtained based on the point cloud data included in a plurality of frames of data.

[0257] For example, attribute data such as movement information 2250 and identification information 2260 included in at least one piece of attribute data 2200 may be obtained based on the point cloud data included in a plurality of frames of data, but is not limited thereto.

[0258] In addition, with reference to FIGS. 4 to 6, the description has been made based on the LiDAR data obtained in the form of a point cloud. However, the content described above may also be applied to the LiDAR data obtained in the form of a depth map, an intensity map, and the like, in addition to the point cloud format described above.

[0259] FIG. 7 is a diagram showing a LiDAR device according to an embodiment.

[0260] Referring to FIG. 7, a LiDAR device 3000 according to one embodiment may include a transmission module 3010 and a reception module 3020.

[0261] In addition, the transmission module 3010 may include, but is not limited to, a laser emission array 3011 and a first lens assembly 3012.

[0262] In this specification, since the content described above for the laser emission unit and the like can be applied to the laser emission array 3011, any redundant description is omitted.

[0263] In addition, the first lens assembly 3012 may be referred to, for the sake of convenience, as a transmission lens assembly, a transmission optical system, a transmission optical unit, a transmission optical module, a light-emitting optical system, a light-emitting optical unit, a light-emitting optical module, and the like, but is not limited thereto.

[0264] In addition, the laser emission array 3011 may emit at least one laser. For example, the laser emission array 3011 may emit a plurality of lasers, but is not limited thereto.

[0265] In addition, the laser emission array 3011 may emit at least one laser at a first wavelength. For example, the laser emission array 3011 may emit at least one laser at a wavelength of 940 nm and may emit a plurality of lasers at a wavelength of 940 nm, but is not limited thereto.

[0266] In this specification, the first wavelength may be a wavelength range including an error range. For example, the first wavelength may indicate a wavelength range of 935 nm to 945 nm, which is a wavelength of 940 nm with an error range of 5 nm, but is not limited thereto.

[0267] In addition, the laser emission array 3011 can emit at least one laser simultaneously. For example, the laser emission array 3011 can emit at least one laser simultaneously, such as emitting a first laser at a first time, or emitting a first and a second laser at a second time, and the like.

[0268] In addition, the first lens assembly 3012 can include at least two or more lens layers. For example, the first lens assembly 3012 can include at least four lens layers, but is not limited thereto.

[0269] In addition, the first lens assembly 3012 can collimate the laser emitted from the laser emission array 3011. For example, the first lens assembly 3012 can change the divergence of the first laser emitted from the laser emission array 3011 by collimating the first laser, but is not limited thereto.

[0270] In addition, the first lens assembly 3012 can direct the laser emitted from the laser emission array 3011. For example, the first lens assembly 3012 can direct the first laser emitted from the laser emission array 3011 in a first direction and the second laser emitted from the laser emission array 3011 in a second direction, but is not limited thereto.

[0271] In addition, the first lens assembly 3012 can direct a plurality of lasers emitted from the laser emission array 3011 to emit the plurality of lasers at different angles within a range of (x) degrees to (y) degrees. For example, the first lens assembly 3012 can direct the first laser emitted from the laser emission array 3011 in a first direction to emit the first laser at (x) degrees, and direct the second laser emitted from the laser emission array 3011 in a second direction to emit the second laser at (y) degrees, but the present disclosure is not limited thereto.

[0272] In addition, the receiving module 3020 may include, but is not limited to, a laser detection array 3021 and a second lens assembly 3022.

[0273] In this specification, since the content described above for the detector unit and the like can be applied to the laser detection array 3021, redundant explanations are omitted.

[0274] In addition, the second lens assembly 3022 may, for convenience, be referred to as a receiving lens assembly, a receiving optical system, a receiving optical unit, a receiving optical module, and the like, but is not limited thereto.

[0275] In addition, the laser detection array 3021 may detect at least one laser. For example, the laser detection array 3021 may detect a plurality of lasers.

[0276] In addition, the laser detection array 3021 may include a plurality of detectors. For example, the laser detection array 3021 may include, but is not limited to, a first detector and a second detector.

[0277] In addition, each of the plurality of detectors included in the laser detection array 3021 may receive a different laser. For example, the first detector included in the laser detection array 3021 may receive the first laser received in the first direction, and the second detector may receive the second laser received in the second direction, but is not limited thereto.

[0278] In addition, the laser detection array 3021 may detect at least a part of the laser emitted from the transmission module 3010. For example, the laser detection array 3021 may detect at least a part of the first laser and at least a part of the second laser emitted from the transmission module 3010, but is not limited thereto.

[0279] In addition, the second lens assembly 3022 can transmit the laser emitted from the transmission module 3010 to the laser detection array 3021. For example, when the first laser emitted from the transmission module 3010 in the first direction is reflected by an object located in the first direction, the second lens assembly 3022 can transfer the first laser to the laser detection array 3021. When the second laser emitted in the second direction is reflected by an object located in the second direction, the second lens assembly 3022 can transfer the second laser to the laser detection array 3021, but is not limited thereto.

[0280] In addition, the second lens assembly 3022 can distribute the laser emitted from the transmission module 3010 to at least two different detectors. For example, when the first laser emitted from the transmission module 3010 in the first direction is reflected by an object located in the first direction, the second lens assembly 3022 can distribute the first laser to the first detector included in the laser detection array 3021;

[0281] When the second laser emitted in the second direction is reflected by an object located in the second direction, the second lens assembly 3022 can distribute the second laser to the second detector included in the laser detection array 3021, but is not limited thereto.

[0282] In addition, the laser emission array 3011 and the laser detection array 3021 can at least partially coincide with each other. For example, the first laser emitted from the first laser emission element included in the laser emission array 3011 can be detected by the first detector included in the laser detection array 3021; the second laser emitted from the second laser emission element included in the laser emission array 3011 can be detected by the second detector included in the laser detection array 3021, but is not limited thereto.

[0283] FIG. 8 is a diagram showing a laser emission array and a laser detection array included in a LiDAR device according to an embodiment.

[0284] Referring to FIG. 8, a LiDAR device 3100 according to an embodiment may include a laser emission array 3110 and a laser detection array 3120.

[0285] In this specification, since the content described above may be applied to the laser emission array 3110 and the laser detection array 3120, redundant descriptions are omitted.

[0286] The laser emission array 3110 may include a plurality of laser emission units.

[0287] For example, the laser emission array 3110 may include a first laser emission unit 3111 and a second laser emission unit 3112.

[0288] In addition, the laser emission array 3110 may be an array in which a plurality of laser emission units are arranged in a two-dimensional matrix form.

[0289] For example, the laser emission array 3110 may be an array in which a plurality of laser emission units are arranged in a two-dimensional matrix form having M rows and N columns, but is not limited thereto.

[0290] In addition, each of the plurality of laser emission units may include at least one laser emission element.

[0291] For example, the first laser emission unit 3111 included in the plurality of laser emission units may include one laser emission element, and the second laser emission unit 3112 may include one laser emission element, but is not limited thereto.

[0292] In addition, for example, the first laser emission unit 3111 included in the plurality of laser emission units may include two or more laser emission elements, and the second laser emission unit 3112 may include two or more laser emission elements, but is not limited thereto.

[0293] In addition, the lasers emitted from each of the plurality of laser emission units can be emitted in different directions.

[0294] For example, the first laser emitted from the first laser emission unit 3111 included in the plurality of laser emission units can be emitted in the first direction, and the second laser emitted from the second laser emission unit 3112 can be emitted in the second direction, but is not limited thereto.

[0295] In addition, the lasers emitted from each of the plurality of laser emission units do not have to overlap with each other at the target position.

[0296] For example, the first laser emitted from the first laser emission unit 3111 included in the plurality of laser emission units does not have to overlap with the second laser emitted from the second laser emission unit 3112 at a distance of 100 m, but is not limited thereto.

[0297] The laser detection array 3120 can include a plurality of detection units.

[0298] For example, the laser detection array 3120 can include a first detection unit 3121 and a second detection unit 3122.

[0299] In addition, the laser detection array 3120 can be an array in which a plurality of detection units are arranged in a two-dimensional matrix format.

[0300] For example, the laser detection array 3120 can be an array in which a plurality of detection units are arranged in a two-dimensional matrix format having M rows and N columns, but is not limited thereto.

[0301] In addition, each of the plurality of detection units can include at least one laser detection element.

[0302] For example, the first detection unit 3121 included in the plurality of detection units may include one laser detection element, and the second detection unit 3122 included in the plurality of detection units may include one laser detection element, but is not limited thereto.

[0303] In addition, for example, the first detection unit 3121 included in the plurality of detection units may include two or more laser detection elements, and the second detection unit 3122 included in the plurality of detection units may include two or more laser detection elements, but is not limited thereto.

[0304] In addition, each of the plurality of detection units may detect lasers emitted in different directions.

[0305] For example, the first detection unit 3121 included in the plurality of laser emission units may detect the first laser emitted in the first direction, and the second detection unit 3122 may detect the second laser emitted in the second direction, but is not limited thereto.

[0306] In addition, each of the plurality of detection units may detect the laser emitted from the laser emission unit configured to correspond to each other.

[0307] For example, the first detection unit 3121 included in the plurality of detection units may detect the first laser emitted from the first laser emission unit 3111 configured to correspond to the first detection unit 3121; the second detection unit 3122 may detect the second laser emitted from the second laser emission unit 3112 configured to correspond to the second detection unit 3122, but is not limited thereto.

[0308] In addition, each of the plurality of detection units may detect the lasers emitted from at least two laser emission units according to the position of the object.

[0309] For example, the second detection unit 3122 included in the plurality of detection units can detect the second laser emitted from the second laser emission unit 3112 when the object is located in the first distance range; and can detect the first laser emitted from the first laser emission unit 3111 when the object is located in the second distance range, but is not limited thereto.

[0310] In addition, at least one detection value can be generated based on signals acquired from each of the plurality of detection units.

[0311] In this specification, the detection value can include, but is not limited to, a depth value (distance value), an intensity value, and the like.

[0312] In addition, the coordinates of the detection value can be determined based on the arrangement of each of the plurality of detection units.

[0313] For example, the first detection unit 3121 included in the plurality of detection units can be arranged at the position of (1, 1) in the laser detection array, and the coordinates of the first detection value generated based on the signal acquired from the first detection unit 3121 can be determined as (1, 1), but are not limited thereto.

[0314] In addition, for example, the second detection unit 3122 included in the plurality of detection units can be arranged at the position of (2, 1) in the laser detection array, and the coordinates of the second detection value generated based on the signal acquired from the second detection unit 3122 can be determined as (2, 1), but are not limited thereto.

[0315] In addition, in the examples described above, coordinate values directly corresponding to the positions of each of the plurality of detection units are calculated, but the content of the present disclosure is not limited thereto, and can include various rules by which the coordinates of the detection value can be determined based on the arrangement of each of the plurality of detection units.

[0316] In addition, the point data can be generated based on the detection value and the coordinates of the detection value.

[0317] For example, the first point data can be generated based on a first value generated based on a signal obtained from a first detection unit 3121 included in a plurality of detection units and a first coordinate value that is the coordinate value of the first detection value. The first point data can include, but is not limited to, three-dimensional position coordinate values and intensity values.

[0318] In addition, for example, the second point data can be generated based on a second detection value generated based on a signal obtained from a second detection unit 3122 included in a plurality of detection units and a second coordinate value that is the coordinate value of the second detection value. The second point data can include, but is not limited to, three-dimensional position coordinate values and intensity values.

[0319] In addition, the laser emission array 3110 and the laser detection array 3120 can be arranged as arrays having the same dimensions as each other.

[0320] For example, the laser emission array 3110 and the laser detection array 3120 can be arranged as arrays in which a plurality of laser emission units and a plurality of detection units each have M rows and N columns, but are not limited thereto.

[0321] In addition, the laser emission array 3110 and the laser detection array 3120 can be arranged as arrays having different dimensions from each other.

[0322] For example, the laser emission array 3110 can be arranged as an array having M rows and N columns, and the laser detection array 3120 can be arranged as an array having M + 3 rows and N columns, but the present disclosure is not limited thereto.

[0323] In addition, the number of laser emission units included in the laser emission array 3110 can be the same as the number of detection units included in the laser detection array 3120.

[0324] For example, the laser emission array 3110 may include M*N laser emission units, and the laser detection array 3120 may include M*N detection units, but the present disclosure is not limited thereto.

[0325] In addition, the number of laser emission units included in the laser emission array 3110 may be different from the number of detection units included in the laser detection array 3120.

[0326] For example, the laser emission array 3110 may include M*N laser emission units, and the laser detection array 3120 may include (M + 3)*N detection units, but the present disclosure is not limited thereto.

[0327] In addition, for example, the laser emission array 3110 may include (M*N) / 2 laser emission units, and the laser detection array 3120 may include M*N detection units, but the present disclosure is not limited thereto.

[0328] In addition, for example, the laser emission array 3110 may include (M*N) / 2 laser emission units, and the laser detection array 3120 may include (M + 3)*N detection units, but the present disclosure is not limited thereto.

[0329] In addition, the number of laser emission elements included in each of the plurality of laser emission units included in the laser emission array 3110 may be different from the number of laser detection elements included in each of the plurality of laser detection units included in the laser detection array 3120.

[0330] For example, when the number of laser emission elements included in the first laser emission unit 3111 is 1, the number of laser detection elements included in the first laser detection unit 3121 may be 9, but it is not limited thereto.

[0331] In addition, for example, when the number of laser emission elements included in the second laser emission unit 3112 is 1, the number of laser detection elements included in the second laser detection unit 3122 may be 9, but it is not limited thereto.

[0332] Figures 9 and 10 are diagrams showing a LiDAR device according to an embodiment.

[0333] Referring to FIGS. 9 and 10, a LiDAR device 4000 according to an embodiment may include a transmission module 4010 and a reception module 4020.

[0334] In addition, referring to FIGS. 9 and 10, the transmission module 4010 may include a laser emission module 4011, a light emission optical module 4012, and a light emission optical holder 4013.

[0335] In this specification, the laser emission module 4011 may include a laser emission array, and since the content described above may be applied to the laser emission array, redundant descriptions are omitted.

[0336] In addition, the light emission optical module 4012 may include a lens assembly, and since the content described above for the first lens assembly may be applied to the lens assembly, redundant descriptions are omitted.

[0337] In addition, the light emission optical holder 4013 may be positioned between the laser emission module 4011 and the light emission optical module 4012.

[0338] For example, the light emission optical holder 4013 may be positioned between the laser emission module 4011 and the light emission optical module 4012 to maintain the relative positional relationship therebetween, but is not limited thereto.

[0339] In addition, the light emission optical holder 4013 may be formed to hold the movement of the light emission optical module 4012.

[0340] For example, the light-emitting optical holder 4013 can be formed to include a hole into which at least a part of the light-emitting optical module 4012 is inserted so that the movement of the light-emitting optical module 4012 is restricted, but is not limited thereto.

[0341] In addition, referring to FIGS. 9 and 10, the receiving module 4020 according to one embodiment may include a laser detection module 4021, a detection optical module 4022, and a detection optical holder 4023.

[0342] In this specification, the laser detection module 4021 may include a laser detection array, and since the content described above can be applied to the laser detection array, redundant description is omitted.

[0343] In addition, the detection optical module 4022 may include a lens assembly, and since the content described above for the second lens assembly can be applied to the lens assembly, redundant description is omitted.

[0344] In addition, the detection optical holder 4023 can be positioned between the laser detection module 4021 and the detection optical module 4022.

[0345] For example, the detection optical holder 4023 can be positioned between the laser detection module 4021 and the detection optical module 4022 in order to maintain the relative positional relationship therebetween, but is not limited thereto.

[0346] In addition, the detection optical holder 4023 can be formed to hold the movement of the detection optical module 4022.

[0347] For example, the detection optical holder 4023 can be formed to include a hole into which at least a part of the detection optical module 4022 is inserted so that the movement of the detection optical module 4022 is restricted, but is not limited thereto.

[0348] In addition, the light-emitting optical holder 4013 and the detection optical holder 4023 can be integrally formed.

[0349] For example, the light-emitting optical holder 4013 and the detection optical holder 4023 can be integrally formed such that at least a part of the light-emitting optical module 4012 and the detection optical module 4013 is inserted into each of two holes of one optical holder, but the present invention is not limited thereto.

[0350] In addition, the light-emitting optical holder 4013 and the detection optical holder 4023 do not have to be physically separated from each other and can conceptually mean the first part and the second part of one optical holder, but the present invention is not limited thereto.

[0351] In addition, FIG. 10 is a diagram showing an embodiment of the LiDAR device of FIG. 9, and the content described herein with reference to FIG. 9 is not limited to the shape shown in FIG. 10.

[0352] FIGS. 11 and 12 are diagrams showing a laser light-emitting module and a laser detection module according to an embodiment.

[0353] Referring to FIGS. 11 and 12, a LiDAR device 4100 according to an embodiment may include a laser light-emitting module 4110 and a laser detection module 4120.

[0354] In addition, referring to FIGS. 11 and 12, a laser light-emitting module 4110 according to an embodiment may include a laser light-emitting array 4111 and a first substrate 4112.

[0355] In this specification, since the content described above can be applied to the laser light-emitting array 4111, redundant description is omitted.

[0356] A laser light-emitting array 4111 according to an embodiment may be provided in the form of a chip in which a plurality of laser light-emitting units are arranged in an array form, but is not limited thereto.

[0357] For example, the laser emission array 4111 can be provided in the form of a laser emission chip, but is not limited thereto.

[0358] In addition, the laser emission array 4111 can be positioned on the first substrate 4112, but is not limited thereto.

[0359] In addition, the first substrate 4112 can include a laser emission driver for controlling the operation of the laser emission array 4111, but is not limited thereto.

[0360] In addition, referring to FIGS. 11 and 12, the laser detection module 4120 according to one embodiment can include a laser detection array 4121 and a second substrate 4122.

[0361] In this specification, since the content described above can be applied to the laser detection array 4121, redundant explanations are omitted.

[0362] The laser detection array 4121 according to one embodiment can be provided in the form of a chip in which a plurality of laser detection units are arranged in an array form, but is not limited thereto.

[0363] For example, the laser detection array 4121 can be provided in the form of a laser detection chip, but is not limited thereto.

[0364] In addition, the laser detection array 4121 can be located on the second substrate 4122, but is not limited thereto.

[0365] In addition, the second substrate 4122 can include a laser detection driver for controlling the operation of the laser detection array 4121, but is not limited thereto.

[0366] In addition, the first substrate 4112 and the second substrate 4122 can be provided separately from each other as shown in FIG. 11, but are not limited thereto and can be provided as a single substrate.

[0367] In addition, FIG. 12 is a diagram showing an embodiment of the LiDAR device of FIG. 11, and the content described in this specification with reference to FIG. 11 is not restricted by the shape shown in FIG. 12.

[0368] FIGS. 13 and 14 are diagrams showing a light-emitting lens module and a detection lens module according to an embodiment.

[0369] Referring to FIGS. 13 and 14, a LiDAR device 4200 according to an embodiment may include a light-emitting lens module 4210 and a detection lens module 4220.

[0370] In addition, referring to FIGS. 13 and 14, a light-emitting lens module 4210 according to an embodiment may include a light-emitting lens assembly 4211 and a light-emitting lens mounting tube 4212.

[0371] In this specification, since the content described above can be applied to the light-emitting lens assembly 4211, redundant descriptions are omitted.

[0372] A light-emitting lens assembly 4211 according to an embodiment may be disposed within a light-emitting lens mounting tube 4212.

[0373] In addition, the light-emitting lens mounting tube 4212 may refer to, but is not limited to, a tube surrounding the light-emitting lens assembly 4211.

[0374] In addition, referring to FIGS. 13 and 14, a detection lens module 4220 according to an embodiment may include a detection lens assembly 4221 and a detection lens mounting tube 4222.

[0375] In this specification, since the content described above can be applied to the detection lens assembly 4221, redundant descriptions are omitted.

[0376] A detection lens assembly 4221 according to an embodiment may be disposed within a detection lens mounting tube 4222.

[0377] In addition, the detection lens mounting tube 4222 may refer to, but is not limited to, a tube surrounding the detection lens assembly 4221.

[0378] In addition, referring to FIG. 14, the light emitting optical module 4210 may be arranged to be aligned with the laser light emitting module described above.

[0379] In this specification, the light emitting optical module 4210 being configured to be aligned with the laser light emitting module described above may mean, but is not limited to, that it is arranged to have a predetermined relative positional relationship physically, and that it is aligned so that the laser can be emitted at an optically targeted angle.

[0380] In addition, referring to FIG. 14, the detection optical module 4220 may be configured to be aligned with the laser detection module described above.

[0381] In this specification, the detection optical module 4220 being configured to be aligned with the laser detection module described above may mean, but is not limited to, that it is arranged to have a predetermined relative positional relationship physically, and that it is aligned so that the laser received at an optically targeted angle can be detected.

[0382] In addition, FIG. 14 is a diagram showing an embodiment of the LiDAR device of FIG. 13, and the content described in this specification with reference to FIG. 13 is not restricted by the shape shown in FIG. 14.

[0383] FIG. 15 is a diagram showing a laser light emitting unit according to an embodiment.

[0384] Referring to FIG. 15, a laser light emitting unit 100 according to an embodiment may include a VCSEL emitter 110.

[0385] A VCSEL emitter 110 according to an embodiment may include an upper metal contact 10, an upper DBR (distributed Bragg reflector) layer 20, an active layer (quantum well) 30, a lower DBR (distributed Bragg reflector) layer 30, a substrate 50, and a lower metal contact 60.

[0386] In addition, a VCSEL emitter 110 according to an embodiment may emit a laser beam vertically from the upper surface. For example, the VCSEL emitter 110 may emit a laser beam in a direction perpendicular to the surface of the upper metal contact 10. In addition, for example, the VCSEL emitter 110 may emit a laser beam perpendicular to the active layer 40.

[0387] A VCSEL emitter 110 according to an embodiment may include an upper DBR layer 20 and a lower DBR layer 30.

[0388] The upper DBR layer 20 and the lower DBR layer 30 according to an embodiment may be formed of a plurality of reflective layers. For example, the plurality of reflective layers may be configured such that a reflective layer having a high reflectivity and a reflective layer having a low reflectivity are alternately arranged. In this specification, the thickness of the plurality of reflective layers may be, but is not limited to, one-fourth of the laser wavelength emitted from the VCSEL emitter 110.

[0389] In addition, according to an embodiment, the upper DBR layer 20 and the lower DBR layer 30 may be doped p-type and n-type. For example, the upper DBR layer 20 may be doped p-type, and the lower DBR layer 30 may be doped n-type. Alternatively, for example, the upper DBR layer 20 may be doped n-type, and the lower DBR layer 30 may be doped p-type.

[0390] In addition, according to an embodiment, the substrate 50 may be disposed between the lower DBR layer 30 and the lower metal contact 60. When the lower DBR layer 30 is doped p-type, the substrate 50 may also be a p-type substrate, and when the lower DBR layer 30 is doped n-type, the substrate 50 may also be an n-type substrate.

[0391] A VCSEL emitter 110 according to an embodiment may include an active layer 40.

[0392] The active layer 40 according to one embodiment can be disposed between the upper DBR layer 20 and the lower DBR layer 30.

[0393] The active layer 40 according to one embodiment can include a plurality of quantum wells that generate a laser beam. The active layer 40 can emit a laser beam.

[0394] The VCSEL light emitter 110 according to one embodiment can include metal contacts for electrical connection with a power source or the like. For example, the VCSEL light emitter 110 can include an upper metal contact 10 and a lower metal contact 60.

[0395] In addition, the VCSEL light emitter 110 according to one embodiment can be electrically connected to the upper DBR layer 20 and the lower DBR layer 30 through the metal contacts.

[0396] For example, when the upper DBR layer 20 is doped p-type and the lower DBR layer 30 is doped n-type, a p-type power source for electrically connecting to the upper DBR layer 20 can be supplied to the upper metal contact 10, and an n-type power source for electrically connecting to the lower DBR layer 30 can be supplied to the lower metal contact 60.

[0397] In addition, for example, when the upper DBR layer 20 is doped n-type and the lower DBR layer 30 is doped p-type, an n-type power source for electrically connecting to the upper DBR layer 20 can be supplied to the upper metal contact 10, and a p-type power source for electrically connecting to the lower DBR layer 30 can be supplied to the lower metal contact 60.

[0398] The VCSEL light emitter 110 according to one embodiment can include an oxidized area. The oxidized area can be arranged on the top of the active layer.

[0399] The oxidized area according to one embodiment can be insulating. For example, in the oxidized area, the flow of electricity can be restricted. For example, in the oxidized area, the electrical connection can be restricted.

[0400] In addition, according to one embodiment, the oxidation area can act as an opening. Specifically, since the oxidation area is insulating, the beam generated from the active layer 40 can be emitted only from portions other than the oxidation area.

[0401] A laser light-emitting unit according to one embodiment may include a plurality of VCSEL light emitters 110.

[0402] In addition, a laser light-emitting unit according to one embodiment can turn on the plurality of VCSEL light emitters 110 either simultaneously or individually.

[0403] According to one embodiment, the laser light-emitting unit can emit laser beams having different wavelengths. For example, the laser light-emitting unit can emit a laser beam having a wavelength of 905 nm. In addition, for example, the laser light-emitting unit can emit a laser beam having a wavelength of 940 nm. In addition, for example, the laser light-emitting unit can emit a laser beam having a wavelength of 1550 nm.

[0404] In addition, according to one embodiment, the wavelength of the laser emitted from the laser light-emitting unit can change according to the surrounding environment. For example, the wavelength of the laser emitted from the laser light-emitting unit can become longer as the temperature of the surrounding environment rises. Alternatively, for example, the wavelength of the laser emitted from the laser light-emitting unit can become shorter as the temperature of the surrounding environment decreases. The surrounding environment can include, but is not limited to, temperature, humidity, pressure, dust concentration, ambient light, altitude, gravity, acceleration, etc.

[0405] The laser light-emitting unit can emit a laser beam in a direction perpendicular to the support surface. Alternatively, the laser light-emitting unit can emit a laser beam in a direction perpendicular to the light-emitting surface.

[0406] FIG. 16 is a diagram showing a laser light-emitting array according to one embodiment.

[0407] Referring to FIG. 16, a laser emission array 5000 according to an embodiment may include a plurality of laser emission units, at least one sub-array, at least one upper conductor, at least one lower conductor, and at least one power source.

[0408] As used herein, at least one sub-array may refer to, but is not limited to, a group of laser emission units that are operably connected, a group of laser emission units that are physically connected, a group of laser emission units that are connected to the same power source, a group of laser emission units defined by at least one upper conductor, and a group of laser emission units defined by a capacitor electrically connected to at least one power source among the plurality of laser emission units.

[0409] At least one sub-array according to an embodiment may include a plurality of sub-arrays.

[0410] For example, at least one sub-array according to an embodiment may include, but is not limited to, a plurality of sub-arrays including a first sub-array 5010.

[0411] In addition, at least one sub-array according to an embodiment may include a plurality of laser emission units.

[0412] For example, the first sub-array 5010 may include, but is not limited to, a plurality of laser emission units.

[0413] In a more specific example, the first sub-array 5010 may include, but is not limited to, a first laser emission unit 5011 and an Nth laser emission unit 5012.

[0414] In addition, the plurality of laser emission units included in at least one sub-array according to an embodiment may be connected to at least one upper conductor.

[0415] For example, the plurality of laser light-emitting units included in the first sub-array 5010 according to one embodiment can be connected to the first upper conductor 5013 through the upper metal contacts, but are not limited thereto.

[0416] In addition, for example, the first laser light-emitting unit 5011 and the Nth laser light-emitting unit 5012 included in the first sub-array 5010 according to one embodiment can be connected to the first upper conductor 5013 through the respective upper metal contacts, but are not limited thereto.

[0417] In addition, the plurality of laser light-emitting units included in at least one sub-array according to one embodiment can be connected to at least one lower conductor.

[0418] For example, the plurality of laser light-emitting units included in at least one sub-array according to one embodiment can be connected to the first lower conductor 5014 through the lower metal contacts, but are not limited thereto.

[0419] In addition, for example, the first laser light-emitting unit 5011 and the Nth laser light-emitting unit 5012 included in at least one sub-array according to one embodiment can be connected to the first lower conductor 5014 via the lower metal contacts, but are not limited thereto.

[0420] In addition, the plurality of laser light-emitting units included in at least one sub-array according to one embodiment can receive energy from at least one power supply unit.

[0421] For example, the first laser light-emitting unit 5011 and the Nth laser light-emitting unit 5012 included in the first sub-array 5010 included in at least one sub-array according to one embodiment can be connected to the first power supply unit 5015 through the first upper conductor 5013 and receive energy from the first power supply unit 5015, but are not limited thereto.

[0422] In addition, for example, the first laser emitting unit 5011 and the Nth laser emitting unit 5012 included in the first sub-array 5010 included in at least one sub-array according to an embodiment may be connected to the first power supply unit 5015 through the first lower conductor 5014 and receive energy from the first power supply unit 5015, but are not limited thereto.

[0423] In addition, a plurality of laser emitting units included in at least one sub-array according to an embodiment may receive voltage from at least one power supply.

[0424] For example, the first laser emitting unit 5011 and the Nth laser emitting unit 5012 included in the first sub-array 5010 included in at least one sub-array according to an embodiment may be connected to the first power supply unit 5015 through the first upper conductor 5013 and receive voltage from the first power supply unit 5015, but are not limited thereto.

[0425] In addition, for example, the first laser emitting unit 5011 and the Nth laser emitting unit 5012 included in the first sub-array 5010 included in at least one sub-array according to an embodiment may be connected to the first power supply unit 5015 through the first lower conductor 5014 and receive voltage from the first power supply unit 5015, but are not limited thereto.

[0426] In addition, the lengths of the electrical paths between at least one power supply unit and at least one laser emitting unit included in at least one sub-array according to an embodiment may be different from each other.

[0427] For example, as shown in FIG. 16, the electrical path between the first laser emitting unit 5011 included in the first sub-array 5010 and the first power supply unit 5015 may be longer than the electrical path between the Nth laser emitting unit 5012 and the first power supply unit 5015, but is not limited thereto.

[0428] In this specification, an electrical path may refer to a path through which current or electrons move from a power supply unit to each laser emitting unit, and may include concepts that can be understood as an electrical path by those skilled in the art.

[0429] In addition, since the content described above for the first sub-array 5010 and the like can be applied to other sub-arrays and the like, redundant explanations are omitted.

[0430] FIG. 17 is a diagram schematically showing a circuit diagram of a laser emitting array according to an embodiment.

[0431] More specifically, FIG. 17 is a circuit diagram schematically showing the electrical circuit of the first sub-array included in the laser emitting array described through FIG. 16.

[0432] For convenience of explanation, FIG. 17 shows a circuit structure connected to a power supply unit through an upper conductor and connected to ground through a lower conductor as shown in FIG. 16. In the figure, R_m represents the resistance value formed by the upper conductor and the like described above, and R_e represents the resistance value of the laser emitting unit described above.

[0433] According to an embodiment, the voltages applied to each of the plurality of laser emitting units included in the first sub-array may be different from each other.

[0434] For example, according to an embodiment, the voltage applied to the Nth laser emitting unit 5120 may be the Nth voltage V_N; the voltage applied to the (N - 1)th laser emitting unit may be the (N - 1)th voltage V_N-1 that has decreased from the Nth voltage V_N by the resistance value R_mN-1 of the conductor; the voltage applied to the (N - 2)th laser emitting unit may be the (N - 2)th voltage V_N-2 that has decreased from the (N - 1)th voltage V_N-1 by the resistance value R_mN-2 of the conductor, and the voltage applied by the first laser emitting unit 5110 may be the first voltage V1 that has decreased from the Nth voltage V_N by the resistance values R_m1 to R_mN-1 of the conductor.

[0435] In addition, according to one embodiment, the magnitudes of the currents passing through each of the plurality of laser emitting units included in the first subarray may be different from each other.

[0436] For example, according to one embodiment, the Nth current IN, which is the magnitude of the current passing through the Nth laser emitting unit 5120, may be determined by the Nth voltage VN and the resistance value ReN of the Nth laser emitting unit 5120, and the first current I1, which is the magnitude of the current passing through the first laser emitting unit 5110, may be determined by the first voltage V1 and the resistance value R1 of the first laser emitting unit 5110. In this case, the first current I1 and the Nth current IN may be different from each other.

[0437] According to one embodiment, the output of the laser emitted from the plurality of laser emitting units included in the first subarray may be related to the magnitude of the voltage applied to each of the plurality of laser emitting units or the magnitude of the current passing through the plurality of laser emitting units.

[0438] For example, the output of the laser emitted from the first laser emitting unit 5110 may be related to the first current I1, which is the magnitude of the current passing through the first laser emitting unit 5110, and the output of the laser emitted from the Nth laser emitting unit 5120 may be related to the Nth current IN, which is the magnitude of the current passing through the Nth laser emitting unit 5120.

[0439] In addition, for example, the output of the laser emitted from the first laser emitting unit 5110 may be related to the first voltage V1, which is the magnitude of the voltage applied to the first laser emitting unit 5110, and the output of the laser emitted from the Nth laser emitting unit 5120 may be related to the Nth voltage VN, which is the magnitude of the voltage applied to the Nth laser emitting unit 5120.

[0440] According to one embodiment, the output of the laser emitted from the plurality of laser emission units included in the first sub-array can become larger as the magnitude of the voltage applied to each of the plurality of laser emission units becomes larger, or as the magnitude of the current passing through the plurality of laser emission units becomes larger.

[0441] For example, if the Nth voltage V_N, which is the magnitude of the voltage applied to the Nth laser emission unit 5120, is larger than the first voltage V_1, which is the magnitude of the voltage applied to the first laser emission unit 5110, the output of the laser emitted from the Nth laser emission unit 5120 can be larger than the output of the laser emitted from the first laser emission unit 5110.

[0442] In addition, for example, if the Nth current I_N, which is the size of the current passing through the Nth laser emission unit 5120, is larger than the first current I_1, which is the size of the current passing through the first laser emission unit 5110, the output of the laser emitted from the Nth laser emission unit 5120 can be larger than the output of the laser emitted from the first laser emission unit 5110.

[0443] As a result, when the resistance values of the first laser emission unit 5110 to the Nth laser emission unit 5120 are all the same, the outputs of the lasers emitted from the first laser emission unit 5110 to the Nth laser emission unit 5120 can be different from each other. As a result, at least one conductor is used to form an electrical path between each laser emission unit from the power supply unit due to the difference in the resistance values of the conductor and the electrical path.

[0444] However, in the case of a LiDAR device, in order to improve the ranging accuracy and ensure the performance of the LiDAR device, it is necessary to ensure the uniformity of the amount of light received under the same conditions by each detection unit included in the laser detection array.

[0445] Therefore, in the case of a laser emission array used in a LiDAR device, it is necessary to ensure the uniformity between laser emission outputs.

[0446] FIG. 18 is a diagram showing the output of lasers emitted from a plurality of laser emission units included in a laser emission array according to an embodiment.

[0447] More specifically, FIG. 18 is a graph showing a first subarray included in a laser emission array according to an embodiment. In the figure, the X-axis indicates the index of the laser emission units included in the first subarray, and the Y-axis indicates the output of the lasers emitted from each laser emission unit.

[0448] In this specification, the index of the laser emission units included in the first subarray can be numbered in ascending order starting from the shortest electrical path from the power supply unit to each laser emission unit.

[0449] For example, if the number of laser emission units included in the first subarray is 100, the length of the electrical path from the power supply unit to the first laser emission unit is the shortest, and the length of the electrical path from the power supply unit to the second laser emission unit is the longest, the index of the first laser emission unit can be expressed as 1, and the index of the second laser emission unit can be expressed as 100, but it is not limited thereto.

[0450] In addition, for example, in the case of the laser emission array described through FIG. 17, the index of the Nth laser emission unit 5120 can be displayed as 1, and the index of the first laser emission unit 5110 can be displayed as 100, but it is not limited thereto.

[0451] In addition, referring to FIG. 18, according to the diameter of the laser emission units included in the first subarray according to an embodiment, the distribution of the output of the lasers emitted from each of the laser emission units can be known. More specific explanations will be presented below using exemplary figures.

[0452] According to one embodiment, when the diameters of the plurality of laser emitting units included in the first sub-array are designed to be 6.4 um, the output of the laser emitted from the laser emitting unit corresponding to index "1" can be 19.6 uW, and the output of the laser emitted from the laser emitting unit corresponding to index "99" can be 16 uW.

[0453] In this specification, the output of the laser emitted from the laser emitting unit corresponding to index "99" can be about 82% of the output of the laser emitted from the laser emitting unit corresponding to index "1".

[0454] In addition, according to one embodiment, when the diameters of the plurality of laser emitting units included in the first sub-array are designed to be 8.5 um, the output of the laser emitted from the laser emitting unit corresponding to index "1" can be 31.2 uW, and the output of the laser emitted from the laser emitting unit corresponding to index "99" can be 25.8 uW.

[0455] In this specification, the output of the laser emitted from the laser emitting unit corresponding to index "99" can be about 80% of the output of the laser emitted from the laser emitting unit corresponding to index "1".

[0456] In addition, according to one embodiment, when the diameters of the plurality of laser emitting units included in the first sub-array are designed to be 10 um, the output of the laser emitted from the laser emitting unit corresponding to index "1" can be 40.66 uW, and the output of the laser emitted from the laser emitting unit corresponding to index "99" can be 28.6 uW.

[0457] In this specification, the output of the laser emitted from the laser emitting unit corresponding to index "99" can be about 70% of the output of the laser emitted from the laser emitting unit corresponding to index "1".

[0458] Referring to FIG. 18 again, the results can be summarized as follows.

[0459] For example, in the case of a laser emission array according to an embodiment, the longer the electrical path length from the power supply unit to the corresponding laser emission unit (the larger the index number), the more the output of the emitted laser can decrease.

[0460] In addition, for example, in the case of a laser emission array according to an embodiment, as the diameter of the laser emission units constituting the laser emission array decreases, the difference in the output of the lasers emitted between the laser emission units constituting the laser emission array can decrease.

[0461] In addition, for example, in the case of a laser emission array according to an embodiment, as the diameter of the laser emission units constituting the laser emission array increases, the total output of the lasers emitted from the laser emission units constituting the laser emission array can increase.

[0462] Therefore, when configuring a laser emission array according to an embodiment, it is necessary to increase the diameter of each laser emission unit in order to improve the output of the laser emitted from each laser emission unit. However, when the diameter of the laser emission units constituting the laser emission array is increased, the uniformity of the output of the lasers emitted from the laser emission array can decrease.

[0463] As a result, it may be necessary to design the laser emission array so as to improve the overall uniformity while improving the output of each laser emitted from the laser emission array.

[0464] FIG. 19 is a diagram showing an image of a laser emission array and a method for obtaining the resistance value of an upper conductor included in the laser emission array according to an embodiment.

[0465] Referring to FIG. 19, a laser emission array 5200 according to an embodiment may include a plurality of laser emission units, and each of the plurality of laser emission units may include an opening 5210 for emitting a laser.

[0466] As used herein, the opening 5210 may refer to, but is not limited to, a portion for allowing the light generated inside each of the plurality of laser emission units to be output to the outside.

[0467] In addition, since the content described above may be applied to the plurality of laser emission units, redundant explanations are omitted.

[0468] In addition, a laser emission array 5200 according to an embodiment may include an upper conductor 5220 electrically connected to an upper contact included in a plurality of laser emission units.

[0469] In this case, since the content described above may be applied to the upper conductor 5220, redundant explanations are omitted.

[0470] In addition, according to an embodiment, the resistance value of a specific region of the upper conductor 5220 can be obtained by the following formula.

[0471] [Formula] Rm = ρx(Λ - w_b) / (txw_a)+(π(w_b + d_e) / 4) / (tx(w_b - d_e))

[0472] Here, ρ represents the resistivity that may indicate the inherent characteristics of the object constituting the upper conductor 5220, Λ may represent the length of a specific region, w_b may represent the diameter of the outer surface of the upper conductor 5220 with respect to the center of the opening of the laser emission unit included in the specific region, t may represent the height of the upper conductor 5220, w_a may represent the width of the upper conductor 5220 in an area included in the specific region but where the laser emission unit is not located, and d_e may represent, but is not limited to, the diameter of the opening of the laser emission unit included in the specific region.

[0473] FIG. 20 is a circuit diagram showing an exemplary electrical circuit of a laser emission array according to an embodiment.

[0474] Referring to FIG. 20, a laser emission array 5300 according to an embodiment may include a first sub-array, and the first sub-array may include a plurality of laser emission units.

[0475] For example, the first sub-array according to an embodiment may include, but is not limited to, a first laser emission unit 5310, a second laser emission unit 5320, a third laser emission unit 5330, and an Nth laser emission unit 5340.

[0476] In addition, in order to design a laser emission array according to an embodiment, the size of the current passing through each laser emission unit included in the first sub-array may be calculated.

[0477] For example, when the size of the current passing through the first laser emission unit 5310 is the first current I_1 and the size of the current passing through the second laser emission unit 5320 is the second current I_2, in order to make the sizes of the first current I_1 and the second current I_2 equal to each other, the size of the resistance value R_e2 corresponding to the second laser emission unit 5320 may be designed to be the same as that of the combined resistance value R_t1 of the resistance value R_e1 corresponding to the first laser emission unit 5310 and the resistance value R_m1 of the first upper conductor.

[0478] In addition, for example, when the size of the current passing through the first laser light-emitting unit 5310 is the first current I_1, the size of the current passing through the second laser light-emitting unit 5320 is the second current I_2, and the size of the current passing through the third laser light-emitting unit 5330 is the third current I_3, in order to make the sizes of the currents passing through the first to third currents I_1 to I_3 equal to each other, the size of the resistance value R_e3 corresponding to the third laser light-emitting unit 5330 can be designed to be equal to that of the combined resistance value R_t2 of the resistance value R_e1 corresponding to the first laser light-emitting unit 5310, the resistance value R_m1 of the first upper conductor, the resistance value R_e2 corresponding to the second laser light-emitting unit 5320, and the resistance value R_m2 of the second upper conductor.

[0479] When the calculation is executed as described above using an example, the relationship between the first laser light-emitting unit 5310 and the Nth laser light-emitting unit 5340 can be derived, and the first laser light-emitting unit 5310 to the Nth laser light-emitting unit 5340 can be designed based thereon. Since any content overlapping with the content described above can be sufficiently explained based on the content described above, redundant explanations are omitted.

[0480] In addition, according to an embodiment, the voltages applied to each of the first laser light-emitting unit 5310 to the Nth laser light-emitting unit 5340 included in the first subarray can be different from each other.

[0481] For example, according to an embodiment, the voltage applied to the Nth laser light-emitting unit can be the Nth voltage V_N; the voltage applied to the N-1th laser light-emitting unit can be the N-1th voltage V_N-1 that has decreased from the Nth voltage V_N by the resistance value R_mN-1 of the conductor; the voltage applied to the N-2th laser light-emitting unit can be the N-2th voltage V_N-2 that has decreased from the N-1th voltage V_N-1 by the resistance value R_mN-2 of the conductor, and the voltage applied by the first laser light-emitting unit can be the first voltage V1 that has decreased from the Nth voltage V_N by the resistance values R_m1 to R_mN-1 of the conductor.

[0482] In this specification, since the resistance sizes of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 included in the first subarray are different from each other as described above, the voltages applied to the first laser emitting unit 5310 to the Nth laser emitting unit 5340 are different from each other, but the sizes of the currents passing through the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be equal to each other. In this specification, the output sizes of the lasers emitted from the first laser emitting unit 5310 to the Nth laser emitting unit 5340 included in the first subarray can be equal to each other.

[0483] In addition, according to one embodiment, the resistance values of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be associated with the sizes of the first laser emitting unit 5310 to the Nth laser emitting unit 5340.

[0484] For example, according to one embodiment, the resistance values of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be inversely proportional to the sizes of the first laser emitting unit 5310 to the Nth laser emitting unit 5340, but are not limited thereto.

[0485] In addition, for example, according to one embodiment, the resistance values of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be inversely proportional to the diameters of the first laser emitting unit 5310 to the Nth laser emitting unit 5340, but are not limited thereto.

[0486] In addition, according to one embodiment, the resistance values of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be designed to increase from the first laser emitting unit 5310 to the Nth laser emitting unit 5340, but are not limited thereto.

[0487] In addition, according to one embodiment, the resistance values of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be designed to gradually increase from the first laser emitting unit 5310 to the Nth laser emitting unit 5340, but are not limited thereto.

[0488] In addition, for example, according to one embodiment, the resistance values of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be designed to increase stepwise from the first laser emitting unit 5310 to the Nth laser emitting unit 5340, but are not limited thereto.

[0489] In addition, according to one embodiment, the sizes of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be designed to become smaller from the first laser emitting unit 5310 to the Nth laser emitting unit 5340, but are not limited thereto.

[0490] For example, according to one embodiment, the sizes of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be designed to gradually become smaller from the first laser emitting unit 5310 to the Nth laser emitting unit 5340, but are not limited thereto.

[0491] In addition, for example, according to one embodiment, the sizes of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be designed to become smaller stepwise from the first laser emitting unit 5310 to the Nth laser emitting unit 5340, but are not limited thereto.

[0492] In addition, according to one embodiment, the diameters of the first laser emitting unit 5310 to the Nth laser emitting unit 5340 can be designed to become smaller from the first laser emitting unit 5310 to the Nth laser emitting unit 5340, but are not limited thereto.

[0493] For example, according to one embodiment, the diameters of the first laser emission unit 5310 to the Nth laser emission unit 5340 may be designed to gradually decrease from the first laser emission unit 5310 to the Nth laser emission unit 5340, but are not limited thereto.

[0494] In addition, for example, according to one embodiment, the diameters of the first laser emission unit 5310 to the Nth laser emission unit 5340 may be designed to decrease stepwise from the first laser emission unit 5310 to the Nth laser emission unit 5340, but are not limited thereto.

[0495] FIGS. 21 and 22 are diagrams showing a laser emission array according to one embodiment.

[0496] Referring to FIG. 21, a laser emission array 5400 according to one embodiment may include a plurality of laser emission units, at least one sub-array, at least one upper conductor, at least one lower conductor, and at least one power source.

[0497] In particular, FIG. 21 shows a laser emission array 5400 according to one embodiment, a first sub-array 5410 included in the laser emission array 5400, a first power source 5415 included in the first sub-array 5410, a first upper conductor 5413, a first lower conductor 5414, a first laser emission unit 5411, and an Nth laser emission unit 5412. Since the content described above can be applied to these configurations, redundant descriptions are omitted.

[0498] Referring to FIG. 21 again, a laser emission array 5400 according to one embodiment may be designed such that the larger the length of the electrical path from the power supply unit to the laser emission unit, the larger the size of the laser emission unit.

[0499] For example, according to one embodiment, if the length of the electrical path from the first power supply unit 5415 included in the first sub-array 5410 to the first laser emitting unit 5411 is longer than the length of the electrical path to the Nth laser emitting unit 5412 included in the first sub-array 5410, the size of the first laser emitting unit 5411 can be designed to be larger than the size of the Nth laser emitting unit 5412.

[0500] In addition, for example, according to one embodiment, if the length of the electrical path from the first power supply unit 5415 included in the first sub-array 5410 to the first laser emitting unit 5411 is longer than the length of the electrical path to the Nth laser emitting unit 5412 included in the first sub-array 5410, the diameter of the first laser emitting unit 5411 can be designed to be larger than the diameter of the Nth laser emitting unit 5412.

[0501] In addition, referring to FIG. 21, the laser emitting array 5400 according to one embodiment can be designed such that the size of the opening included in the laser emitting unit becomes larger as the length of the electrical path from the power supply unit to the laser emitting unit is longer.

[0502] For example, according to one embodiment, if the length of the electrical path from the first power supply unit 5415 included in the first sub-array 5410 to the first laser emitting unit 5411 is longer than the length of the electrical path to the Nth laser emitting unit 5412 included in the first sub-array 5410, the size of the opening included in the first laser emitting unit 5411 can be designed to be larger than the size of the opening included in the Nth laser emitting unit 5412.

[0503] In addition, referring to FIG. 21, the laser emitting array 5400 according to one embodiment can be designed such that the resistance value of the laser emitting unit becomes smaller as the length of the electrical path from the power supply unit to the laser emitting unit is longer.

[0504] For example, according to one embodiment, when the length of the electrical path from the first power supply unit 5415 included in the first sub-array 5410 to the first laser emitting unit 5411 is longer than the length of the electrical path to the Nth laser emitting unit 5412 included in the first sub-array 5410, the resistance value of the first laser emitting unit 5411 can be designed to be smaller than the resistance value of the Nth laser emitting unit 5412.

[0505] In addition, referring to FIG. 21, the laser emitting array 5400 according to one embodiment can be designed such that the longer the length of the electrical path from the power supply unit to the laser emitting unit, the smaller the magnitude of the voltage applied to the laser emitting unit.

[0506] For example, according to one embodiment, when the length of the electrical path from the first power supply unit 5415 included in the first sub-array 5410 to the first laser emitting unit 5411 is longer than the length of the electrical path to the Nth laser emitting unit 5412 included in the first sub-array 5410, the magnitude of the voltage applied to the first laser emitting unit 5411 can be designed to be smaller than the magnitude of the voltage applied to the Nth laser emitting unit 5412.

[0507] In addition, FIG. 22 shows the sizes of the laser emitting units included in the laser emitting array designed according to the design method described above.

[0508] In this specification, FIG. 22 shows the case where the size of the first laser emitting unit 5411 described above is designed to be 20 um and the case where it is designed to be 30 um. In the figure, for the convenience of understanding the figure, it should be noted that the first laser emitting unit 5411 described above coincides with the emitter number 52, and the Nth laser emitting unit 5412 described above coincides with the emitter number 1.

[0509] FIG. 23 is a diagram showing a laser emitting array according to one embodiment.

[0510] Referring to FIG. 23, a laser emission array 5500 according to an embodiment may include a plurality of laser emission units, a plurality of sub-arrays, and a plurality of power supply units.

[0511] As used herein, each of the plurality of sub-arrays may refer to a group of laser emission units that are operably connected among the plurality of laser emission units, may refer to a group of physically connected laser emission units, may refer to a group of laser emission units connected to the same power supply unit, may refer to a group of laser emission units defined by at least one upper conductor, and may refer to a group of laser emission units defined by a capacitor electrically connected to at least one power supply unit, but is not limited thereto.

[0512] Referring again to FIG. 23, a laser emission array 5500 according to an embodiment may include a plurality of sub-arrays.

[0513] For example, a laser emission array 5500 according to an embodiment may include, but is not limited to, a first sub-array 5510 and a second sub-array 5520.

[0514] In addition, a laser emission array 5500 according to an embodiment may include a plurality of power supply units.

[0515] For example, a laser emission array 5500 according to an embodiment may include, but is not limited to, a first power supply unit 5531 for supplying energy to the first sub-array 5510 and a second power supply unit 5541 for supplying energy to the second sub-array 5520.

[0516] In addition, a laser emission array 5500 according to an embodiment may include a plurality of laser emission units.

[0517] For example, the laser emission array 5500 according to one embodiment may include a first sub-array 5510 and a second sub-array 5520. In this case, the first sub-array 5510 may include a first laser emission unit 5511 and a second laser emission unit 5512, and the second sub-array 5520 may include a third laser emission unit 5521 and a fourth laser emission unit 5522, but is not limited thereto.

[0518] However, the content described above is applicable to the laser emission array 5500, the first sub-array 5510, the second sub-array 5520, the first laser emission unit 5511, the second laser emission unit 5512, the third laser emission unit 5521, the fourth laser emission unit 5522, the first power supply unit 5531, and the second power supply unit 5541 according to one embodiment, so redundant explanations are omitted.

[0519] Referring to FIG. 23 again, the laser emission array 5500 according to one embodiment may be designed such that the size of the laser emission unit becomes larger as the length of the electrical path from the power supply unit to the laser emission unit becomes longer.

[0520] For example, according to one embodiment, the first laser emission unit 5511 included in the first sub-array 5510 may be arranged such that the length of the electrical path from the first power supply unit 5531 is longer than that of the second laser emission unit 5512 included in the first sub-array 5510. In this case, the size of the first laser emission unit 5511 may be designed to be larger than that of the second laser emission unit 5512, but is not limited thereto.

[0521] In addition, for example, according to one embodiment, the first laser light emitting unit 5511 included in the first sub-array 5510 may be configured such that the length of the electrical path from the first power supply unit 5531 is longer than that of the second laser light emitting unit 5512 included in the first sub-array 5510. In this case, the diameter of the first laser light emitting unit 5511 may be designed to be larger than that of the second laser light emitting unit 5512, but is not limited thereto.

[0522] In addition, for example, according to one embodiment, the third laser light emitting unit 5521 included in the second sub-array 5520 may be configured such that the length of the electrical path from the second power supply unit 5541 is longer than that of the fourth laser light emitting unit 5522 included in the second sub-array 5520. In this case, the size of the third laser light emitting unit 5521 may be designed to be larger than that of the fourth laser light emitting unit 5522, but is not limited thereto.

[0523] In addition, for example, according to one embodiment, the third laser light emitting unit 5521 included in the second sub-array 5520 may be configured such that the length of the electrical path from the second power supply unit 5541 is longer than that of the fourth laser light emitting unit 5522 included in the second sub-array 5520. In this case, the diameter of the third laser light emitting unit 5521 may be designed to be larger than that of the fourth laser light emitting unit 5522, but is not limited thereto.

[0524] In addition, according to one embodiment, the laser light emitting array 5500 may be designed such that the length of the electrical path from the power supply unit to the laser light emitting unit becomes longer as it gets closer to the horizontal center of the laser light emitting array 5500.

[0525] For example, in the case of the first sub-array 5510 included in the laser emission array 5500 according to one embodiment, the first laser emission unit 5511 may be arranged closer to the horizontal center 5550 of the laser emission array 5500 than the second laser emission unit 5512. In this case, the length of the electrical path from the first power supply unit 5531 to the first laser emission unit 5511 may be designed to be longer than the length of the electrical path from the first power supply unit 5531 to the second laser emission unit 5512, but is not limited thereto.

[0526] In addition, for example, in the case of the second sub-array 5520 included in the laser emission array 5500 according to one embodiment, the third laser emission unit 5521 may be arranged closer to the horizontal center 5550 of the laser emission array 5500 than the fourth laser emission unit 5522. In this case, the length of the electrical path from the second power supply unit 5541 to the third laser emission unit 5521 may be designed to be longer than the length of the electrical path from the second power supply unit 5541 to the fourth laser emission unit 5522, but is not limited thereto.

[0527] In addition, the laser emission array 5500 according to one embodiment may be designed to have laser emission units of larger sizes as it is closer to the horizontal center of the laser emission array 5500.

[0528] For example, in the case of the first sub-array 5510 included in the laser emission array 5500 according to one embodiment, the first laser emission unit 5511 may be arranged closer to the horizontal center 5550 of the laser emission array 5500 than the second laser emission unit 5512. In this case, the size of the first laser emission unit 5511 may be designed to be larger than the size of the second laser emission unit 5512, but is not limited thereto.

[0529] In addition, for example, in the case of the first sub-array 5510 included in the laser emission array 5500 according to one embodiment, the first laser emission unit 5511 may be arranged closer to the horizontal center 5550 of the laser emission array 5500 than the second laser emission unit 5512. In this case, the diameter of the first laser emission unit 5511 may be designed to be larger than that of the second laser emission unit 5512, but is not limited thereto.

[0530] In addition, for example, in the case of the second sub-array 5520 included in the laser emission array 5500 according to one embodiment, the third laser emission unit 5521 may be arranged closer to the horizontal center 5550 of the laser emission array 5500 than the fourth laser emission unit 5522. In this case, the size of the third laser emission unit 5521 may be designed to be larger than that of the fourth laser emission unit 5522, but is not limited thereto.

[0531] In addition, for example, in the case of the second sub-array 5520 included in the laser emission array 5500 according to one embodiment, the third laser emission unit 5521 may be arranged closer to the horizontal center 5550 of the laser emission array 5500 than the fourth laser emission unit 5522. In this case, the diameter of the third laser emission unit 5521 may be designed to be larger than the diameter of the fourth laser emission unit 5522, but is not limited thereto.

[0532] In addition, the laser emission array 5500 according to one embodiment may be designed such that the resistance value of the laser emission unit decreases as it approaches the horizontal center of the laser emission array 5500.

[0533] For example, in the case of the first sub-array 5510 included in the laser emission array 5500 according to one embodiment, the first laser emission unit 5511 may be arranged closer to the horizontal center 5550 of the laser emission array 5500 than the second laser emission unit 5512. In this case, the resistance value of the first laser emission unit 5511 may be designed to be smaller than that of the second laser emission unit 5512, but is not limited thereto.

[0534] In addition, for example, in the case of the second sub-array 5520 included in the laser emission array 5500 according to one embodiment, the third laser emission unit 5521 may be arranged closer to the horizontal center 5550 of the laser emission array 5500 than the fourth laser emission unit 5522. In this case, the resistance value of the third laser emission unit 5521 may be designed to be smaller than that of the fourth laser emission unit 5522, but is not limited thereto.

[0535] In addition, according to one embodiment, the first power supply unit 5531 and the second power supply unit 5541 may supply energy to the first sub-array 5510 and the second sub-array 5520, respectively, at the same timing.

[0536] For example, when a common drive switch is provided to control the operations of the first sub-array 5510 and the second sub-array 5520, the capacitors included in each of the first power supply unit 5531 and the second power supply unit 5541 may be charged before the common drive switch is operated. As a result, when the common drive switch is operated, energy may be supplied to the first sub-array 5510 and the second sub-array 5520 at the same timing, but this is not limited thereto.

[0537] FIG. 24 is a diagram showing a laser emission array according to one embodiment.

[0538] Referring to FIG. 24, a laser emission array 5600 according to one embodiment may include a plurality of laser emission units, at least one sub-array, and at least one power supply unit.

[0539] As used herein, at least one sub-array may refer to a group of laser emission units that are operably connected among the plurality of laser emission units, may refer to a group of physically connected laser emission units, may refer to a group of laser emission units connected to the same power supply, may refer to a group of laser emission units defined by at least one upper conductor, or may refer to a group of laser emission units defined by a capacitor electrically connected to at least one power supply, but is not limited thereto.

[0540] Referring again to FIG. 23, a laser emission array 5600 according to one embodiment may include at least one sub-array.

[0541] For example, a laser emission array 5600 according to one embodiment may include, but is not limited to, a first sub-array 5610.

[0542] In addition, a laser emission array 5600 according to one embodiment may include at least one power supply unit.

[0543] For example, a laser emission array 5600 according to one embodiment may include, but is not limited to, a first power supply unit 5630 for supplying energy to the first sub-array 5610.

[0544] In addition, a laser emission array 5500 according to one embodiment may include a plurality of laser emission units.

[0545] For example, a laser emission array 5600 according to one embodiment may include a first sub-array 5610, and the first sub-array 4610 may include, but is not limited to, a first laser emission unit 5611, a second laser emission unit 5612, a third laser emission unit 5613, and a fourth laser emission unit 5614.

[0546] However, the content described above is applicable to the laser emission array 5600, the first sub-array 5610, the first laser emission unit 5611, the second laser emission unit 5612, the third laser emission unit 5613, the fourth laser emission unit 5614, and the first power supply unit 5630 according to an embodiment, so redundant explanations are omitted.

[0547] Referring to FIG. 24 again, the laser emission array 5600 according to an embodiment may include at least one contact positioned between the power supply unit and the laser emission unit.

[0548] For example, the laser emission array 5600 according to an embodiment may include, but is not limited to, a first contact 5631 and a second contact 5632 positioned between the first power supply 5630 and the first sub-array 5610.

[0549] In this specification, according to an embodiment, the first contact 5631 may be positioned on one side of the laser emission array 5600, and the second contact 5632 may be positioned on the other side of the laser emission array 5600.

[0550] For example, according to an embodiment, the first contact 5631 may be located on the left side of the first sub-array 5610 included in the laser emission array 5600, and the second contact 5632 may be located on the right side of the first sub-array 5610 included in the laser emission array 5600, but is not limited thereto.

[0551] In addition, according to an embodiment, the laser emission array 5600 may be designed such that the size of the laser emission unit is determined according to the length of the electrical path from the contact associated with the sub-array to the laser emission unit.

[0552] For example, according to one embodiment, the first laser emitting unit 5611 and the second laser emitting unit 5612 included in the first subarray 5610 are configured such that the length of the electrical path from the first contact 5631 is shorter than that from the second contact 5632. When the length of the electrical path from the first contact 5631 in the second laser emitting unit 5612 is longer than that in the first laser emitting unit 5611, the size of the second laser emitting unit 5612 can be designed to be larger than that of the first laser emitting unit 5611, but is not limited thereto.

[0553] In addition, for example, according to one embodiment, the third laser emitting unit 5613 and the fourth laser emitting unit 5614 included in the first subarray 5610 are configured such that the length of the electrical path from the first contact 5631 is shorter than the length of the electrical path from the second contact 5632. When the length of the electrical path from the second contact 5632 in the third laser emitting unit 5613 is longer than that in the fourth laser emitting unit 5614, the size of the third laser emitting unit 5613 can be designed to be larger than the size of the fourth laser emitting unit 5614, but is not limited thereto.

[0554] In addition, the laser emitting array 5600 according to one embodiment can be designed such that the size of the laser emitting unit increases as it gets closer to the horizontal center of the laser emitting array 5600.

[0555] For example, in the case of the first subarray 5610 included in the laser emitting array 5600 according to one embodiment, the second laser emitting unit 5612 can be arranged closer to the horizontal center 5650 of the laser emitting array 5600 than the first laser emitting unit 5611. In this case, the size of the second laser emitting unit 5612 can be designed to be larger than that of the first laser emitting unit 5611, but is not limited thereto.

[0556] In addition, for example, in the case of the first sub-array 5610 included in the laser emission array 5600 according to one embodiment, the third laser emission unit 5613 may be arranged closer to the horizontal center 5650 of the laser emission array 5600 than the fourth laser emission unit 5614. In this case, the size of the third laser emission unit 5613 may be designed to be larger than that of the fourth laser emission unit 5614, but is not limited thereto.

[0557] In addition, the laser emission array 5600 according to one embodiment may be designed such that the resistance value of the laser emission unit decreases as it approaches the horizontal center of the laser emission array 5600.

[0558] For example, in the case of the first sub-array 5610 included in the laser emission array 5600 according to one embodiment, the second laser emission unit 5612 may be arranged closer to the horizontal center 5650 of the laser emission array 5600 than the first laser emission unit 5611. In this case, the resistance value of the second laser emission unit 5612 may be designed to be smaller than that of the first laser emission unit 5611, but is not limited thereto.

[0559] In addition, for example, in the case of the first sub-array 5610 included in the laser emission array 5600 according to one embodiment, the third laser emission unit 5613 may be arranged closer to the horizontal center 5650 of the laser emission array 5600 than the fourth laser emission unit 5614. In this case, the resistance value of the third laser emission unit 5613 may be designed to be smaller than that of the fourth laser emission unit 5614, but is not limited thereto.

[0560] FIG. 25 is a diagram showing a laser emission array according to one embodiment.

[0561] Before explaining FIG. 25, as described through FIGS. 16 to 24, in order to make the output of the laser emitted from the laser emission array more uniform, the length of the electrical path from the power supply, the resistance value of the upper conductor, and the like can be considered.

[0562] Therefore, when the lengths of the electrical paths from the power supply to each laser emission unit are different from each other, since the magnitudes of the voltages applied to each laser emission unit are different from each other, in order to make the output of the laser emitted from each laser emission unit more uniform, the sizes of each laser emission unit may need to be different from each other.

[0563] However, in the actual manufacturing process, since there are limitations such as the unit size that can be adjusted, it may be difficult to manufacture all the laser emission units in different sizes.

[0564] Therefore, a laser emission array designed as described below through FIG. 25 may be required.

[0565] Referring to FIG. 25, a laser emission array 5700 according to an embodiment may include a plurality of laser emission units, at least one sub-array, and at least one power supply.

[0566] In this specification, at least one sub-array may refer to a group of laser emission units that are operably connected among the plurality of laser emission units, may refer to a group of physically connected laser emission units, may refer to a group of laser emission units connected to the same power supply, may refer to a group of laser emission units defined by at least one upper conductor, and may refer to a group of laser emission units defined by a capacitor electrically connected to at least one power supply, but is not limited thereto.

[0567] Referring to FIG. 25 again, a laser emission array 5700 according to an embodiment may include at least one sub-array.

[0568] For example, the laser emission array 5700 according to one embodiment may include, but is not limited to, a first sub-array 5710.

[0569] In addition, the laser emission array 5700 according to one embodiment may include at least one power supply unit.

[0570] For example, the laser emission array 5700 according to one embodiment may include, but is not limited to, a first power supply unit 5730 for supplying energy to the first sub-array 5710.

[0571] In addition, the laser emission array 5700 according to one embodiment may include a plurality of laser emission units.

[0572] For example, the laser emission array 5700 according to one embodiment may include a first sub-array 5710, and the first sub-array 5710 may include, but is not limited to, a first laser emission unit 5711, a second laser emission unit 5712, and a third laser emission unit 5713.

[0573] However, since the content described above can be applied to the laser emission array 5700, the first sub-array 5710, the first laser emission unit 5711, the second laser emission unit 5712, the third laser emission unit 5713, and the first power supply unit 5730 according to one embodiment, redundant explanations are omitted.

[0574] Referring again to FIG. 25, the laser emission array 5700 according to one embodiment may be designed such that the size of the laser emission unit becomes larger as the length of the electrical path from the power supply to the laser emission unit becomes longer.

[0575] For example, according to one embodiment, the first laser light emitting unit 5711 included in the first sub-array 5710 may be configured such that the length of the electrical path from the first power supply unit 5730 is longer than that of the second laser light emitting unit 5712 included in the first sub-array 5710. The second laser light emitting unit 5712 may be configured such that the length of the electrical path from the first power supply unit 5730 is longer than that of the third laser light emitting unit 5713. In this case, the size of the first laser light emitting unit 5711 may be designed to be larger than that of the second laser light emitting unit 5712, and the size of the second laser light emitting unit 5712 may be designed to be larger than that of the third laser light emitting unit 5713, but not limited thereto.

[0576] In addition, the laser light emitting array 5700 according to one embodiment may include a set of laser light emitting units including a plurality of laser light emitting units that may be provided in the same size.

[0577] For example, the laser light emitting array 5700 according to one embodiment may include, but is not limited to, a first set of laser light emitting units 5721 provided in a first size, a second set of laser light emitting units 5722 provided in a second size, and a third set of laser light emitting units 5723 provided in a third size.

[0578] In addition, the laser light emitting array 5700 according to one embodiment may be designed such that the size of the laser light emitting units included in the set of laser light emitting units becomes larger as the length of the electrical path from the power supply unit to the set of laser light emitting units becomes longer.

[0579] For example, according to one embodiment, the first laser emission unit set 5721 may be configured such that the length of the electrical path from the first power supply 5730 is longer than that of the second laser emission unit set 5722, and the second laser emission unit set 5722 may be configured such that the length of the electrical path from the first power supply 5730 is longer than that of the third laser emission unit set 5723. In this case, the first size may be larger than the second size, and the second size may be designed to be larger than the third size, but is not limited thereto.

[0580] A design for improving the uniformity of the output of the laser emitted from the laser emission array by adjusting the size of the laser emission unit has been described with reference to FIGS. 16 to 25.

[0581] However, when the size of the laser emission unit having the smallest size among the plurality of laser emission units is reduced to improve the uniformity of the laser output emitted from the laser emission array, the overall resistance value may increase while the size of the laser emission unit having the largest size among the plurality of laser emission units included in the laser emission array is fixed, thereby reducing the overall intensity of the laser output emitted from the laser emission array.

[0582] In addition, when the increase amount of the laser output emitted from the laser emission unit having the largest size among the plurality of laser emission units is smaller than the decrease amount of the laser output emitted from the laser emission unit having the smallest size among the plurality of laser emission units, the overall efficiency of the laser emitted from the laser emission array may decrease.

[0583] This will be described more specifically through FIG. 26 as an example.

[0584] FIG. 26 is a diagram showing the size and output of the laser emission units included in a laser emission array designed according to one embodiment.

[0585] First, in the graph regarding the <emitter size> in FIG. 26, the X-axis indicates the index of the laser emitting units included in the laser emission array, and the Y-axis indicates the size of each laser emitting unit.

[0586] In addition, in the graph regarding the <peak output distribution> in FIG. 26, the X-axis indicates the index of the laser emitting units included in the laser emission array, and the Y-axis indicates the output of the laser emitted from each laser emitting unit.

[0587] In this specification, the index of the laser emitting unit can be numbered in ascending order starting from the shortest electrical path from the power supply to each laser emitting unit.

[0588] In addition, FIG. 26 shows a graph of a laser emission array designed according to two examples.

[0589] In this specification, the laser emission array according to the first embodiment is configured to design the size of the laser emitting unit in such a way that, among the lasers emitted from the laser emission array, the maximum size of the laser emitting unit is 20 um and the output of the laser emitted at the minimum output is 55% of the output of the laser emitted at the maximum output.

[0590] In addition, the laser emission array according to the second embodiment can be configured to design the size of the laser emitting unit such that, among the lasers emitted from the laser emission array, the maximum size of the laser emitting unit is 20 um and the output of the laser emitted at the minimum output is 76% of the output of the laser emitted at the maximum output.

[0591] In addition, referring to FIG. 26, the index of the laser emitting unit that emits the laser having the minimum output among the lasers emitted from the laser emission array can be 100, and the index of the laser emitting unit that emits the laser having the maximum output among the lasers emitted from the laser emission array can be 1, but is not limited thereto.

[0592] In addition, referring to FIG. 26, among the lasers emitted from the laser emission array designed according to the first embodiment, the output of the laser emitted at the minimum output can be 0.23, and the output of the laser emitted at the maximum output can be 0.42.

[0593] In addition, referring to FIG. 26, among the lasers emitted from the laser emission array designed according to the second embodiment, the output of the laser emitted at the minimum output can be 0.25, and the output of the laser emitted at the maximum output can be 0.33.

[0594] Therefore, referring to FIG. 26, when the design is changed from the laser emission array according to the first embodiment, which is designed such that the uniformity of the lasers emitted from the laser emission array is 55%, to the laser emission array according to the second embodiment, which is designed such that the uniformity of the lasers emitted from the laser emission array is 76%, the output of the laser emitted at the maximum output decreases by 20% from 0.42 to 0.33, while the output of the laser emitted at the minimum output increases by 9% from 0.23 to 0.25.

[0595] That is, referring to FIG. 26, when the design is changed from the laser emission array designed according to the first embodiment to the laser emission array designed according to the second embodiment, the uniformity of the lasers emitted from the laser emission array can be improved, but the output of the laser emitted at the highest output can be significantly reduced, and the output of the laser emitted at the lowest output can be slightly increased, whereby the overall efficiency of the lasers emitted from the laser emission array can be reduced.

[0596] Therefore, when ensuring the uniformity of the lasers emitted from the laser emission array at a certain level, additional design techniques may be required to ensure the uniformity of the amount of light received by each detection unit included in the laser detection array included in the LiDAR device.

[0597] FIG. 27 is a diagram showing the illuminance of the receiving optical system included in a LiDAR device according to an embodiment.

[0598] Referring to FIG. 27, a LiDAR device 6000 according to one embodiment may include a receiving optical system 6010 and a laser detection array 6020, and the laser detection array 6020 may include a first laser detection unit 6021 and a second laser detection unit 6022.

[0599] In this specification, since the content described above may be applied to the receiving optical system 6010, the laser detection array 6020, the first laser detection unit 6021, and the second laser detection unit 6022, redundant descriptions are omitted.

[0600] According to one embodiment, light incident on the receiving optical system 6010 at a specific angle may reach a specific area on the image plane of the receiving optical system 6010.

[0601] In this specification, the amount of light reaching a specific area on the image plane through the receiving optical system 6010 may be defined as the illuminance on the specific area.

[0602] For example, the amount of light reaching the first area of the image plane of the receiving optical system 6010 through the receiving optical system 6010 may be defined as the illuminance on the first area of the image plane, and the amount of light reaching the second area of the image plane of the receiving optical system 6010 through the receiving optical system 6010 may be defined as the illuminance on the image plane for the second area, but is not limited thereto.

[0603] In addition, according to one embodiment, light incident on the receiving optical system 6010 at a specific angle may reach a specific area on the focal plane of the receiving optical system 6010.

[0604] In this specification, the amount of light reaching a specific area on the focal plane through the receiving optical system 6010 may be defined as the illuminance for the specific area.

[0605] For example, the amount of light that reaches a first region on the focal plane of the receiving optical system 6010 through the receiving optical system 6010 can be defined as the illuminance for the first region on the focal plane, and the amount of light that reaches a second region on the focal plane of the receiving optical system 6010 through the receiving optical system 6010 can be defined as the illuminance on the focal plane for the second region, but the present disclosure is not limited thereto.

[0606] In addition, according to one embodiment, light incident on the receiving optical system 6010 at a specific angle can reach a specific region on the laser detection array 6020.

[0607] In this specification, the amount of light that reaches a specific region on the laser detection array 6020 through the receiving optical system 6010 can be defined as the illuminance for the specific region.

[0608] For example, the amount of light that reaches a first region on the laser detection array 6020 through the receiving optical system 6010 can be defined as the illuminance for the first region on the laser detection array 6020, and the amount of light that reaches a second region on the laser detection array 6020 through the receiving optical system 6010 can be defined as the illuminance for the second region on the laser detection array 6020, but is not limited thereto.

[0609] In addition, according to one embodiment, light incident on the receiving optical system 6010 at a specific angle can reach a specific detection unit on the laser detection array 6020.

[0610] In this specification, the amount of light that reaches a specific detection unit on the laser detection array 6020 through the receiving optical system 6010 can be defined as the illuminance on the specific detection unit.

[0611] For example, the amount of light reaching the first detection unit 6021 on the laser detection array 6020 through the receiving optical system 6010 can be defined as the illuminance for the first detection unit 6021 on the laser detection array 6020, and the amount of light reaching the second detection unit 6022 on the laser detection array 6020 through the receiving optical system 6010 can be defined as the illuminance for the second detection unit 6022 on the laser detection array 6020, but the present disclosure is not limited thereto.

[0612] In addition, as described above, depending on the amount of light incident on the receiving optical system 6010, the absolute sizes of the amounts of light reaching a specific area, a specific detection unit, and the like can be different. Therefore, the illuminances for a specific area, a specific detection unit, and the like are preferably compared with each other as relative illuminances for the light incident on the receiving optical system 6010 with the same amount of light.

[0613] For example, the illuminance for the first area on the image plane of the receiving optical system 6010 and the illuminance for the second area on the image plane of the receiving optical system 6010 can be compared with each other. In this case, the illuminance for the first area on the image plane of the receiving optical system 6010 can be the amount of light measured in the first area on the image plane based on the light incident on the receiving optical system 6010 with the first amount of light and the first angle, and the illuminance for the second area on the image plane of the receiving optical system 6010 can be the amount of light measured in the second area on the image plane based on the light incident on the receiving optical system 6010 with the first amount of light and the second angle.

[0614] In addition, for example, the illuminance of the first area on the focal plane of the receiving optical system 6010 and the illuminance of the second area on the focal plane of the receiving optical system 6010 can be compared with each other. In this case, the illuminance of the first area on the focal plane of the receiving optical system 6010 can be the amount of light measured in the first area on the focal plane based on the light incident on the receiving optical system 6010 with the first light amount and the first angle, and the illuminance of the second area on the focal plane of the receiving optical system 6010 can be the amount of light measured in the second area on the focal plane based on the light incident on the receiving optical system 6010 with the first light amount and the second angle.

[0615] In addition, for example, the illuminance of the first area on the laser detection array 6020 and the illuminance of the second area on the laser detection array 6020 can be compared with each other. In this case, the illuminance of the first area on the laser detection array 6020 can be the amount of light measured in the first area on the laser detection array 6020 based on the light incident on the receiving optical system 6010 with the first light amount and the first angle, and the illuminance of the second area on the laser detection array 6020 can be the amount of light measured in the second area on the laser detection array 6020 based on the light incident on the receiving optical system 6010 with the first light amount and the second angle.

[0616] In addition, for example, the illuminance of the first detection unit 6021 on the laser detection array 6020 and the illuminance of the second detection unit 6022 on the laser detection array 6020 can be compared with each other. In this case, the illuminance of the first detection unit 6021 on the laser detection array 6020 can be the amount of light measured by the first detection unit 6021 on the laser detection array 6020 based on the light incident on the receiving optical system 6010 with the first light amount and the first angle, and the illuminance of the second detection unit 6022 on the laser detection array 6020 can be the amount of light measured by the second detection unit 6022 on the laser detection array 6020 based on the light incident on the receiving optical system 6010 with the first light amount and the second angle.

[0617] In addition, as described above, the illuminance for a specific area, a specific detection unit, and the like can be referred to as relative illuminance.

[0618] In this specification, the relative illuminance can usually be obtained by comparing with the area having the maximum illuminance among specific areas.

[0619] For example, the relative illuminance for the first area on the image plane of the receiving optical system 6010 can refer to the ratio of the illuminance to the third area having the maximum illuminance among the areas on the image plane of the receiving optical system 6010. The relative illuminance for the second area on the image plane of the receiving optical system 6010 can refer to the ratio of the illuminance to the third area having the maximum illuminance among the areas on the image plane of the receiving optical system 6010, but the present disclosure is not limited thereto.

[0620] In addition, for example, the relative illuminance for the first area on the focal plane of the receiving optical system 6010 can refer to the ratio of the illuminance to the third area having the maximum illuminance among the areas on the focal plane of the receiving optical system 6010. The relative illuminance for the second area on the focal plane of the receiving optical system 6010 can refer to the ratio of the illuminance to the third area having the maximum illuminance among the areas on the focal plane of the receiving optical system 6010, but the present disclosure is not limited thereto.

[0621] In addition, for example, the relative illuminance for the first area on the laser detection array 6020 can refer to the ratio of the illuminance to the third area having the maximum illuminance among the areas on the laser detection array 6020. The relative illuminance for the second area on the laser detection array 6020 can refer to the ratio of the illuminance to the third area having the maximum illuminance among the areas on the laser detection array 6020, but the present disclosure is not limited thereto.

[0622] In addition, for example, the relative illuminance of the first detection unit 6021 on the laser detection array 6020 may refer to the ratio of the illuminance to the third detection unit having the maximum illuminance among the detection units on the laser detection array 6020, and the relative illuminance of the second detection unit 6022 on the laser detection array 6020 may refer to the ratio of the illuminance to the third detection unit having the maximum illuminance among the detection units on the laser detection array 6020, but the present disclosure is not limited thereto.

[0623] The illuminance and relative illuminance of the receiving optical system 6010 according to one embodiment have been described above.

[0624] Therefore, by designing the illuminance or relative illuminance of the receiving optical system 6010 according to one embodiment, it is possible to ensure the uniformity of the amount of light received by each detection unit included in the laser detection array 6020 according to one embodiment, which will be described in more detail below.

[0625] FIG. 28 is a diagram showing a LiDAR device according to one embodiment.

[0626] Referring to FIG. 28, a LiDAR device 6100 according to one embodiment may include a transmission module and a reception module.

[0627] In this specification, the transmission module may include a transmission optical system 6110 and a laser emission array 6130, and the reception module may include a reception optical system 6120 and a laser detection array 6140.

[0628] In addition, since the content described above may be applied to the transmission module, the reception module, the transmission optical system 6110, the reception optical system 6120, the laser emission array 6130, and the laser detection array 6140, redundant descriptions are omitted.

[0629] According to one embodiment, the laser emitted from the laser emission array 6130 may be guided in various directions by the transmission optical system 6110.

[0630] For example, the first laser emitted from the first laser emission unit 6131 included in the laser emission array 6130 can be guided by the transmission optical system 6110 so as to be emitted in the first direction, and the second laser emitted from the second laser emission unit 6132 included in the laser emission array 6130 can be guided by the transmission optical system 6110 so as to be emitted in the second direction, but is not limited thereto.

[0631] In addition, according to one embodiment, light incident on the reception optical system 6120 from various directions can be distributed by the reception optical system 6120 to different detection units.

[0632] For example, the light incident on the reception optical system 6120 from the first direction can be distributed by the reception optical system 6120 to the first detection unit 6141, and the light incident on the reception optical system 6120 from the second direction can be distributed by the reception optical system 6120 to the second detection unit 6142, but is not limited thereto.

[0633] In addition, according to one embodiment, when the laser emitted from the laser emission array 6130 is reflected from an object, it can be detected by the laser detection array 6140.

[0634] For example, the first laser emitted from the first laser emission unit 6131 included in the laser emission array 6130 can be guided by the transmission optical system 6110 so as to be emitted in the first direction. When the first laser is reflected from an object, it can be incident on the reception optical system 6120 and then can be distributed by the reception optical system 6120 to the first detection unit 6141; the second laser emitted from the second laser emission unit 6132 included in the laser emission array 6130 can be guided by the transmission optical system 6110 so as to be emitted in the second direction. When the second laser is reflected from an object, it can be incident on the reception optical system 6120 and can be distributed by the reception optical system 6120 to the second detection unit 6142, but the present disclosure is not limited thereto.

[0635] In this specification, the first laser emission unit 6131 and the first detection unit 6141 can be optically coupled to each other, and the second laser emission unit 6132 and the second detection unit 6142 can be optically coupled to each other.

[0636] In addition, according to one embodiment, since the content described in FIGS. 23 and 24 can be applied to the laser emission array 6130, redundant descriptions are omitted.

[0637] In addition, according to one embodiment, a first laser emission sub-array including the first laser emission unit 6131 and the second laser emission unit 6132 may be included.

[0638] In this specification, the laser emission sub-array may refer to a group of laser emission units that are operably connected among a plurality of laser emission units, may refer to a group of physically connected laser emission units, may refer to a group of laser emission units connected to the same power supply, may refer to a group of laser emission units defined by at least one upper conductor, and may refer to a group of laser emission units defined by a capacitor electrically connected to the power supply, but is not limited thereto.

[0639] In addition, according to one embodiment, the sizes of the plurality of laser emission units included in the laser emission sub-array may increase as they are arranged closer to the center of the laser emission array.

[0640] For example, according to one embodiment, the first laser emission unit 6131 included in the first laser emission sub-array may be arranged closer to the center of the laser emission array 6130 than the second laser emission unit 6132 included in the first laser emission sub-array, and the size of the first laser emission unit 6131 may be provided to be larger than the size of the second laser emission unit 6132.

[0641] In addition, according to one embodiment, the illuminance for a specific area of the receiving optical system 6120 can be designed to be associated with the size of the laser emitting units included in the laser emission array 6130.

[0642] For example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emitting unit 6131 is arranged within a first region on the image plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emitting unit 6132 is arranged within a second region on the image plane of the receiving optical system 6120. When the size of the first laser emitting unit 6131 is provided to be larger than the size of the second laser emitting unit 6132, the illuminance for the first region on the image plane of the receiving optical system 6120 can be designed to be higher than the illuminance for the second region on the image plane of the receiving optical system 6120, but is not limited thereto.

[0643] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emitting unit 6131 is arranged within a first region on the focal plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emitting unit 6132 is arranged within a second region on the focal plane of the receiving optical system 6120. When the size of the first laser emitting unit 6131 is provided to be larger than the size of the second laser emitting unit 6132, the illuminance for the first region on the focal plane of the receiving optical system 6120 can be designed to be higher than the illuminance for the second region on the focal plane of the receiving optical system 6120, but is not limited thereto.

[0644] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on a laser detection array 6140, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the laser detection array 6140. When the size of the first laser emission unit 6131 is provided to be larger than the size of the second laser emission unit 6132, the illuminance of the receiving optical system 6120 with respect to the first region on the laser detection array 6140 can be designed to be higher than that with respect to the second region on the laser detection array 6140, but is not limited thereto.

[0645] In addition, for example, when a first detection unit 6141 is optically coupled to a first laser emission unit 6131 and a second detection unit 6142 is optically coupled to a second laser emission unit 6132, and the size of the first laser emission unit 6131 is provided to be larger than the size of the second laser emission unit 6132, the illuminance of the receiving optical system 6120 with respect to the first detection unit 6141 can be designed to be larger than that with respect to the second detection unit 6142, but the present disclosure is not limited thereto.

[0646] In addition, according to one embodiment, the relative illuminance for a specific area of the receiving optical system 6120 can be designed to be associated with the size of the laser emission units included in the laser emission array 6130.

[0647] For example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on the image plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the image plane of the receiving optical system 6120. When the size of the first laser emission unit 6131 is provided to be larger than that of the second laser emission unit 6132, the relative illuminance of the first region on the image plane of the receiving optical system 6120 can be designed to be higher than the relative illuminance of the second region on the image plane of the receiving optical system 6120, but the present disclosure is not limited thereto.

[0648] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on the focal plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the focal plane of the receiving optical system 6120. When the size of the first laser emission unit 6131 is provided to be larger than the size of the second laser emission unit 6132, the relative illuminance for the first region on the focal plane of the receiving optical system 6120 can be designed to be higher than that for the second region on the focal plane of the receiving optical system 6120, but is not limited thereto.

[0649] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on a laser detection array 6140, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the laser detection array 6140. When the size of the first laser emission unit 6131 is provided to be larger than that of the second laser emission unit 6132, the relative illuminance of the receiving optical system 6120 with respect to the first region on the laser detection array 6140 can be designed to be higher than that of the receiving optical system 6120 with respect to the second region on the laser detection array 6140, but is not limited thereto.

[0650] In addition, for example, when a first detection unit 6141 is optically coupled to a first laser emission unit 6131 and a second detection unit 6142 is optically coupled to a second laser emission unit 6132, and the size of the first laser emission unit 6131 is provided to be larger than that of the second laser emission unit 6132, the relative illuminance 6161 of the receiving optical system 6120 with respect to the first detection unit 6141 can be designed to be larger than the relative illuminance 6162 of the receiving optical system 6120 with respect to the second detection unit 6142, but the present disclosure is not limited thereto.

[0651] In addition, according to one embodiment, the illuminance for a specific area of the receiving optical system 6120 can be designed to be associated with the resistance value of the laser emission units included in the laser emission array 6130.

[0652] For example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser light emitting unit 6131 is disposed within a first region on the image plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser light emitting unit 6132 is disposed within a second region on the image plane of the receiving optical system 6120. When the resistance value of the first laser light emitting unit 6131 is provided to be smaller than the resistance value of the second laser light emitting unit 6132, the illuminance of the first region on the image plane of the receiving optical system 6120 can be designed to be higher than that of the second region on the image plane of the receiving optical system 6120, but is not limited thereto.

[0653] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser light emitting unit 6131 is arranged within a first region on the focal plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser light emitting unit 6132 is arranged within a second region on the focal plane of the receiving optical system 6120. When the resistance value of the first laser light emitting unit 6131 is provided to be smaller than that of the second laser light emitting unit 6132, the illuminance of the first region on the focal plane of the receiving optical system 6120 can be designed to be higher than that of the second region on the focal plane of the receiving optical system 6120, but is not limited thereto.

[0654] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on a laser detection array 6140, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the laser detection array 6140. When the resistance value of the first laser emission unit 6131 is provided to be smaller than that of the second laser emission unit 6132, the illuminance of the receiving optical system 6120 with respect to the first region on the laser detection array 6140 can be designed to be higher than that with respect to the second region on the laser detection array 6140, but is not limited thereto.

[0655] In addition, for example, when a first detection unit 6141 is optically coupled to a first laser emission unit 6131 and a second detection unit 6142 is optically coupled to a second laser emission unit 6132, and the resistance value of the first laser emission unit 6131 is provided to be smaller than that of the second laser emission unit 6132, the illuminance of the receiving optical system 6120 with respect to the first detection unit 6141 can be designed to be higher than that with respect to the second detection unit 6142, but is not limited thereto.

[0656] In addition, according to one embodiment, the relative illuminance for a specific area of the receiving optical system 6120 can be designed to be associated with the resistance value of the laser emission units included in the laser emission array 6130.

[0657] For example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is disposed within a first region on the image plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is disposed within a second region on the image plane of the receiving optical system 6120. When the resistance value of the first laser emission unit 6131 is provided to be smaller than that of the second laser emission unit 6132, the relative illuminance of the first region on the image plane of the receiving optical system 6120 can be designed to be higher than that of the second region on the image plane of the receiving optical system 6120, but is not limited thereto.

[0658] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on the focal plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the focal plane of the receiving optical system 6120. When the resistance value of the first laser emission unit 6131 is provided to be smaller than that of the second laser emission unit 6132, the relative illuminance of the first region on the focal plane of the receiving optical system 6120 can be designed to be higher than that of the second region on the focal plane of the receiving optical system 6120, but is not limited thereto.

[0659] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on the laser detection array 6140, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the laser detection array 6140. When the resistance value of the first laser emission unit 6131 is provided to be smaller than that of the second laser emission unit 6132, the relative illuminance of the receiving optical system 6120 with respect to the first region on the laser detection array 6140 can be designed to be higher than that of the receiving optical system 6120 with respect to the second region on the laser detection array 6140, but is not limited thereto.

[0660] In addition, for example, when the first detection unit 6141 is optically coupled to the first laser emission unit 6131 and the second detection unit 6142 is optically coupled to the second laser emission unit 6132, and the resistance value of the first laser emission unit 6131 is provided to be smaller than that of the second laser emission unit 6132, the relative illuminance 6161 of the receiving optical system 6120 with respect to the first detection unit 6141 can be designed to be higher than the relative illuminance 6162 of the receiving optical system 6120 with respect to the second detection unit 6142, but is not limited thereto.

[0661] In addition, according to one embodiment, the output of the laser emitted from the laser emission array 6130 may be associated with the length of the electrical path from the power supply, the size of the resistance value, the size of the laser emission unit, and the like, and the content described above can be applied thereto, so redundant descriptions are omitted.

[0662] In addition, according to one embodiment, the outputs of the lasers emitted from the laser emission array 6130 may be different from each other.

[0663] For example, when the output 6152 of the laser emitted from the second laser emission unit 6132 included in the laser emission array 6130 is 100%, the output 6151 of the laser emitted from the first laser emission unit 6131 may be less than 100%.

[0664] As a more specific example, when the output 6152 of the laser emitted from the second laser emission unit 6132 included in the laser emission array 6130 is 100%, the output 6151 of the laser emitted from the first laser emission unit 6131 may be 55%, but is not limited thereto.

[0665] In addition, according to one embodiment, the illuminance for a specific area of the receiving optical system 6120 can be designed to be associated with the output of the laser emitted from the laser emission unit included in the laser emission array 6130.

[0666] For example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged in a first region on the image plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged in a second region on the image plane of the receiving optical system 6120. In a state where the output 6151 of the first laser emitted from the first laser emission unit 6131 is smaller than the output 6152 of the second laser emitted from the second laser emission unit 6132, the illuminance of the first region on the image plane of the receiving optical system 6120 can be designed to be higher than the illuminance of the second region on the image plane of the receiving optical system 6120, but is not limited thereto.

[0667] Also, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged in a first region on the focal plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged in a second region on the focal plane of the receiving optical system 6120. In a state where the output 6151 of the first laser emitted from the first laser emission unit 6131 is smaller than the output 6152 of the second laser emitted from the second laser emission unit 6132, the illuminance of the first region on the focal plane of the receiving optical system 6120 can be designed to be higher than that of the second region on the focal plane of the receiving optical system 6120, but is not limited thereto.

[0668] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on a laser detection array 6140, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the laser detection array 6140. When the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided to be smaller than the output 6152 of the second laser emitted from the second laser emission unit 6132, the illuminance of the receiving optical system 6120 with respect to the first region on the laser detection array 6140 of the receiving optical system 6120 can be designed to be higher than that of the second region on the laser detection array 6140 of the receiving optical system 6120, but is not limited thereto.

[0669] In addition, for example, when a first detection unit 6141 is optically coupled to a first laser emission unit 6131 and a second detection unit 6142 is optically coupled to a second laser emission unit 6132, and the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided to be smaller than the output 6152 of the second laser emitted from the second laser emission unit 6132, the illuminance of the receiving optical system 6120 for the first detection unit 6141 can be designed to be higher than that for the second detection unit 6142 of the receiving optical system 6120, but is not limited thereto.

[0670] In addition, according to one embodiment, the relative illuminance for a specific area of the receiving optical system 6120 can be designed to be associated with the output of the laser emitted from the laser emission units included in the laser emission array 6130.

[0671] For example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on the image plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the image plane of the receiving optical system 6120. In a state where the output 6151 of the first laser emitted from the first laser emission unit 6131 is made smaller than the output 6152 of the second laser emitted from the second laser emission unit 6132, the relative illuminance of the first region on the image plane of the receiving optical system 6120 can be designed to be higher than that of the second region on the image plane of the receiving optical system 6120, but is not limited thereto.

[0672] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on the focal plane of the receiving optical system 6120, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the focal plane of the receiving optical system 6120. In a state where the output 6151 of the first laser emitted from the first laser emission unit 6131 is made smaller than the output 6152 of the second laser emitted from the second laser emission unit 6132, the relative illuminance of the first region on the focal plane of the receiving optical system 6120 can be designed to be higher than the relative illuminance of the second region on the focal plane of the receiving optical system 6120, but is not limited thereto.

[0673] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on a laser detection array 6140, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the laser detection array 6140. When the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided to be smaller than the output 6152 of the second laser emitted from the second laser emission unit 6132, the relative illuminance of the first region on the laser detection array 6140 of the receiving optical system 6120 can be designed to be higher than the relative illuminance of the second area on the laser detection array 6140 of the receiving optical system 6120, but is not limited thereto.

[0674] In addition, for example, when the first detection unit 6141 is optically coupled to the first laser emission unit 6131 and the second detection unit 6142 is optically coupled to the second laser emission unit 6132, and the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided to be smaller than the output 6152 of the second laser emitted from the second laser emission unit 6132, the relative illuminance 6161 of the receiving optical system 6120 with respect to the first detection unit 6141 can be designed to be higher than the relative illuminance 6162 of the receiving optical system 6120 with respect to the second detection unit 6142, but is not limited thereto.

[0675] In addition, according to one embodiment, the illuminance for a specific area of the receiving optical system 6120 can be designed by considering the output of the laser emitted from the laser emission units included in the laser emission array 6130.

[0676] For example, according to one embodiment, the first detection unit 6141 is arranged to be optically coupled with the first laser emission unit 6131 in a first region on the image plane of the receiving optical system 6120, and the second detection unit 6142 is arranged to be optically coupled with the second laser emission unit 6132 in a second region on the image plane of the receiving optical system 6120. When the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided as 55% of the output 6152 of the second laser emitted from the second laser emission unit 6132, the illuminance of the second region on the image plane of the receiving optical system 6120 can be designed to be 55% of the illuminance of the first region on the image plane of the receiving optical system 6120, but is not limited thereto, and can be designed to be within the range of 40 to 70%.

[0677] In addition, for example, according to one embodiment, the first detection unit 6141 is configured to be optically coupled with the first laser emission unit 6131 in a first region on the focal plane of the receiving optical system 6120, and the second detection unit 6142 is configured to be optically coupled with the second laser emission unit 6132 in a second region on the focal plane of the receiving optical system 6120. When the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided as 55% of the output 6152 of the second laser emitted from the second laser emission unit 6132, the illuminance of the second region on the focal plane of the receiving optical system 6120 can be designed to be 55% of the illuminance of the first region on the focal plane of the receiving optical system 6120, but is not limited thereto, and can be designed to be within the range of 40 to 70%.

[0678] In addition, for example, according to one embodiment, the first detection unit 6141 is configured to be optically coupled to the first laser emission unit 6131 in a first region on the laser detection array 6140, and the second detection unit 6142 is configured to be optically coupled to the second laser emission unit 6132 in a second region on the laser detection array 6140. When the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided at 55% of the output 6152 of the second laser emitted from the second laser emission unit 6132, the illuminance of the second region on the laser detection array 6140 of the receiving optical system 6120 can be designed to be 55% of the illuminance of the first region on the laser detection array 6140 of the receiving optical system 6120, but is not limited thereto, and can be designed to be within the range of 40 to 70%.

[0679] In addition, for example, when the first detection unit 6141 is optically coupled to the first laser emission unit 6131 and the second detection unit 6142 is optically coupled to the second laser emission unit 6132, and the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided as 55% of the output 6152 of the second laser emitted from the second laser emission unit 6132, the illuminance of the second detection unit 6142 of the receiving optical system 6120 can be designed to be 55% of the illuminance of the first detection unit 6141 of the receiving optical system 6120, but is not limited thereto, and can be designed to be within the range of 40 to 70%.

[0680] In addition, according to one embodiment, the relative illuminance of a specific area of the receiving optical system 6120 can be designed by considering the output of the laser emitted from the laser emission units included in the laser emission array 6130.

[0681] For example, according to one embodiment, the first detection unit 6141 is configured to be optically coupled to the first laser emission unit 6131 in a first region on the image plane of the receiving optical system 6120, and the second detection unit 6142 is configured to be optically coupled to the second laser emission unit 6132 in a second region on the image plane of the receiving optical system 6120. When the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided at 55% of the output 6152 of the second laser emitted from the second laser emission unit 6132, the relative illuminance of the second region on the image plane of the receiving optical system 6120 can be designed to be 55% of the relative illuminance of the first region on the image plane of the receiving optical system 6120, but is not limited thereto, and can be designed to be within the range of 40 to 70%.

[0682] In addition, for example, according to one embodiment, the first detection unit 6141 optically coupled to the first laser emission unit 6131 is arranged in a first region on the focal plane of the receiving optical system 6120, and the second detection unit 6142 optically coupled to the second laser emission unit 6132 is arranged in a second region on the focal plane of the receiving optical system 6120. When the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided as 55% of the output 6152 of the second laser emitted from the second laser emission unit 6132, the relative illuminance of the second region on the focal plane of the receiving optical system 6120 can be designed to be 55% of the relative illuminance of the first region on the focal plane of the receiving optical system 6120, but is not limited thereto, and can be designed to be within the range of 40 to 70%.

[0683] In addition, for example, according to one embodiment, a first detection unit 6141 optically coupled to a first laser emission unit 6131 is arranged within a first region on a laser detection array 6140, and a second detection unit 6142 optically coupled to a second laser emission unit 6132 is arranged within a second region on the laser detection array 6140. When the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided as 55% of the output 6152 of the second laser emitted from the second laser emission unit 6132, the relative illuminance of the receiving optical system 6120 with respect to the second region on the laser detection array 6140 can be designed to be 55% of the relative illuminance of the first area on the laser detection array 6140, but is not limited thereto, and can be designed to be within the range of 40 to 70%.

[0684] In addition, for example, when the first detection unit 6141 is optically coupled to the first laser emission unit 6131 and the second detection unit 6142 is optically coupled to the second laser emission unit 6132, and the output 6151 of the first laser emitted from the first laser emission unit 6131 is provided as 55% of the output 6152 of the second laser emitted from the second laser emission unit 6132, the relative illuminance 6162 of the receiving optical system 6120 with respect to the second detection unit 6142 can be designed to be 55% of the relative illuminance 6161 of the receiving optical system 6120 with respect to the first detection unit 6141, but is not limited thereto, and can be designed to be within the range of 40 to 70%.

[0685] In addition, according to one embodiment, the output of the laser emitted from the laser emission unit included in the laser emission array 6130 and the relative illuminance of a specific area of the receiving optical system 6120 can be designed to satisfy a specific relationship. For the sake of convenience of explanation, the relationship will be described based on the first laser emission unit 6131, the second laser emission unit 6132, the first detection unit 6141, and the second detection unit 6142.

[0686] [Relational Expression] Output of the laser emitted from the first laser emission unit / Output of the laser emitted from the second laser emission unit * 0.8 ≤ Relative illuminance on the second detection unit of the receiving optical system / Relative illuminance on the first detection unit of the receiving optical system ≤ Output of the laser emitted from the first laser emission unit / Output of the laser emitted from the second laser emission unit * 1.2.

[0687] In this specification, the first detection unit 6141 and the first laser emission unit 6131 may be optically coupled to each other, and the second detection unit 6142 and the second laser emission unit 6132 may be optically coupled to each other.

[0688] The LiDAR device 6100 according to one embodiment has been described above. However, the LiDAR device 6100 described with reference to FIG. 28 may be designed based on the laser emission array described through FIGS. 23 and 24. Therefore, the LiDAR device may be designed according to different embodiments of the present disclosure by introducing the technical idea described in FIG. 28 based on the laser emission array described through FIGS. 16 to 25. However, the description of these embodiments would be redundant and is thus omitted.

[0689] The method according to this embodiment can be executed through various computer means and can be implemented in the form of program instructions that can be recorded on a computer-readable medium. The computer-readable medium can include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the medium can be specially designed and configured for this embodiment, or can 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 CD-ROMs and DVDs; magneto-optical media such as optical floppy disks; and hardware devices specially configured to store and execute program instructions such as ROMs, RAMs, flash memories, etc. Examples of program instructions include machine language codes such as those generated by compilers, as well as high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above can be configured to operate as one or more software modules for executing the operations of this embodiment, and vice versa.

[0690] As described above, this embodiment has been described using limited examples and drawings, but those skilled in the art will be able to make various modifications and variations from the above description. For example, the described techniques can be executed in an order different from the described method, and / or the components of the described system, structure, device, circuit, and the like can be combined in a form different from the described method, or replaced or substituted by other components or equivalents, and appropriate results can still be achieved.

[0691] Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the claims described below.

[0692] Forms for Executing the Present Invention

[0693] The modes for carrying out the present invention can be those described above in the best mode for carrying out the present invention, and various combinations of those described above in the best mode for carrying out the present invention.

Claims

**Claim 1** A transmission module having a laser emission array and a transmission optical system, wherein the laser emission array includes a first laser emission sub-array, and the first laser emission sub-array includes a first laser emission unit and a second laser emission unit; and A receiving module having a laser detection array and a receiving optical system, wherein the laser detection array includes a first detection unit configured to detect a laser emitted from the first laser emission unit, and a second detection unit configured to detect a laser emitted from the second laser emission unit comprising the laser emission array is designed such that the diameter of the first laser emission unit is larger than the diameter of the second laser emission unit, the receiving optical system is designed such that the illuminance of the first area of the laser detection array is higher than the illuminance of the second area of the laser detection array, the first detection unit is located on the first area of the laser detection array, the second detection unit is located on the second area of the laser detection array a light detection and ranging (LiDAR) device. **Claim 2** The LiDAR device according to claim 1, wherein the first laser emission unit is arranged closer to the center of the laser emission array than the second laser emission unit. **Claim 3** The LiDAR device according to claim 2, wherein the first detection unit is arranged closer to the center of the laser detection array than the second detection unit. **Claim 4** The LiDAR device according to claim 1, wherein the output of the first laser emitted from the first laser emission unit is smaller than the output of the second laser emitted from the second laser emission unit. **Claim 5** The LiDAR device according to claim 1, wherein the diameters of the plurality of laser emission units included in the first laser emission sub-array become larger as the positions of the laser emission units are closer to the center of the laser emission array. **Claim 6** For the LiDAR device according to claim 1, the ratio of the illuminance of the first area of the laser detection array to the illuminance of the second area of the laser detection array corresponds to the ratio of the output of the laser emitted from the second laser emitting unit to the output of the laser emitted from the first laser emitting unit.

7. When the ratio of the output of the laser emitted from the second laser emitting unit to the output of the laser emitted from the first laser emitting unit is X, the ratio of the illuminance of the first area of the laser detection array to the illuminance of the second area of the laser detection array is X. The LiDAR device according to claim 6.

8. The LiDAR device satisfies the following relational expression [Relational expression] Output of the laser emitted from the first laser emitting unit / Output of the laser emitted from the second laser emitting unit * 0.8 ≤ Relative illuminance on the second detection unit of the receiving optical system / Relative illuminance on the first detection unit of the receiving optical system ≤ Output of the laser emitted from the first laser emitting unit / Output of the laser emitted from the second laser emitting unit * 1.2 The LiDAR device according to claim 1, which is designed to satisfy the above.

9. Each of the first detection unit and the second detection unit has a plurality of detection elements. The LiDAR device according to claim 1.

10. The number of detection elements of each of the first detection unit and the second detection unit is 9. The LiDAR device according to claim 9.

11. The laser emitting array is provided as a VCSEL (Vertical Cavity Surface Emitting Laser) array, and the laser detection array is provided as a SPAD (Single Photon Avalanche Diode) array. The LiDAR device according to claim 1.

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