Adapter interposed between lidar device and optical window and lidar device including same

Abstract

A lidar device according to the present invention may comprise: a laser light-emitting element array including a plurality of laser light-emitting elements; a transmission optic assembly for steering laser output from the plurality of laser light-emitting elements; a detecting element array including a plurality of detecting elements; a reception optic assembly; and an adapter including a first optical path and a second optical path.

Description

An adapter interposed between a lidar device and an optical window, and a lidar device including the same

[0001] The present invention relates to an adapter interposed between a lidar device and an optical window and to a lidar device including the same, and more particularly, to an adapter for resolving a problem that occurs when a lidar device is positioned in a space having an optical window on one side and to a lidar device including the same.

[0002]

[0003] Recently, with the growing interest in autonomous and driverless cars, LiDAR (Light Detection and Ranging) has been gaining attention. LiDAR is a device that uses lasers to acquire distance information about its surroundings. Thanks to its superior precision and resolution, as well as its ability to perceive objects in three dimensions, it is being applied not only to automobiles but also to various fields such as drones and aircraft.

[0004] Meanwhile, a solid-state LiDAR device is a device that can obtain distance information about a three-dimensional surrounding space without a mechanically moving component, and a laser output array can be used to implement a solid-state LiDAR device.

[0005] However, when a lidar device is used in an actual industrial field, the lidar device is often located in a space equipped with an optical window that transmits light on one side due to the exterior design of a moving object or facility, or is located in a space equipped with an optical window that transmits light on one side for reasons such as protection of the lidar device.

[0006] In this case, the lasers reflected from the optical window may cause difficulties in determining the distance to a nearby object, and a solution is needed to resolve this.

[0007]

[0008] An object of the present invention is to provide a lidar device including an adapter so that lasers reflected from an optical window do not interfere with determining a distance value for a target located at a close distance.

[0009] Another object of the present invention is to provide an adapter interposed between a lidar device and an optical window so that lasers reflected from the optical window do not interfere with determining a distance value for a target located at a close distance.

[0010] The problems to be solved by the present invention are not limited to the problems described above, and problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention pertains from this specification and the attached drawings.

[0011]

[0012] According to one embodiment of the present invention, a lidar device comprises: a laser emitting element array including a plurality of laser emitting elements; a transmitting optic assembly for steering a laser output from the plurality of laser emitting elements; a detecting element array including a plurality of detecting elements; a receiving optic assembly, wherein the receiving optic assembly is configured to focus light incident on the receiving optic assembly onto the detecting element array, and the receiving optic assembly is positioned spaced apart from the transmitting optic assembly in a first axial direction, wherein a minimum distance in the first axial direction between the receiving optic assembly and the transmitting optic assembly is a first distance; And an adapter including a first optical passage and a second optical passage, wherein a first opening and a second opening separated from the first opening are located on a bottom side of the adapter, a third opening and a fourth opening separated from the third opening are located on a top side of the adapter, the first optical passage is a passage from the first opening to the third opening, the second optical passage is a passage from the second opening to the fourth opening, the first optical passage is surrounded by at least one side wall and separated from the second optical passage, and the second optical passage is surrounded by at least one side wall and separated from the first optical passage;A lidar device may be provided, wherein the transmitting optic assembly is inserted into the first opening and engaged with the adapter, and as the transmitting optic assembly is inserted into the first opening, the optical axis of the transmitting optic assembly passes through the center of the first opening, the receiving optic assembly is inserted into the second opening and engaged with the adapter, and as the receiving optic assembly is inserted into the second opening, the optical axis of the receiving optic assembly passes through the center of the second opening, and the length of the third opening in the first axial direction and the length of the first opening in the first axial direction satisfy Relationship 1, and the length of the fourth opening in the first axial direction and the length of the second opening in the first axial direction satisfy Relationship 2. [Relationship 1] The length of the first opening in the first axial direction < the length of the third opening in the first axial direction; The length of the first opening in the first axis direction + the first distance, [Relationship 2] The length of the second opening in the first axis direction < the length of the fourth opening in the first axis direction The length of the second opening in the first axis direction + the first distance,

[0013] According to another embodiment of the present invention, a lidar device comprises: a laser emitting element array including a plurality of laser emitting elements; a transmitting optic assembly for steering a laser output from the plurality of laser emitting elements; a detecting element array including a plurality of detecting elements; a receiving optic assembly, wherein the receiving optic assembly is configured to focus light incident on the receiving optic assembly onto the detecting element array, and the receiving optic assembly is positioned spaced apart from the transmitting optic assembly in a first axial direction, wherein a minimum distance in the first axial direction between the receiving optic assembly and the transmitting optic assembly is a first distance; And an adapter including a first optical passage and a second optical passage, wherein a first opening and a second opening separated from the first opening are located on a bottom side of the adapter, a third opening and a fourth opening separated from the third opening are located on a top side of the adapter, the first optical passage is a passage from the first opening to the third opening, the second optical passage is a passage from the second opening to the fourth opening, the first optical passage is surrounded by at least one side wall and separated from the second optical passage, and the second optical passage is surrounded by at least one side wall and separated from the first optical passage;A lidar device may be provided, wherein the transmitting optic assembly is inserted into the first opening and engaged with the adapter, the receiving optic assembly is inserted into the second opening and engaged with the adapter, and when the length of the third opening in the first axial direction is greater than the sum of the length of the first opening in the first axial direction and the first distance, the distance between the optical axis of the transmitting optic assembly and the center of the third opening is greater than the distance between the optical axis of the transmitting optic assembly and the center of the first opening, but when the length of the fourth opening in the first axial direction is greater than the sum of the length of the second opening in the first axial direction and the first distance, the distance between the optical axis of the receiving optic assembly and the center of the fourth opening is greater than the distance between the optical axis of the receiving optic assembly and the center of the second opening.;

[0014] According to another embodiment of the present invention, an adapter is provided between a lidar device and an optical window located in a space having an optical window on one side, the adapter comprising a bottom side where a first opening and a second opening separated from the first opening are located, a top side where a third opening and a fourth opening separated from the third opening are located, a first optical passage which is a passage from the first opening to the third opening, and a second optical passage which is a passage from the second opening to the fourth opening, wherein the first optical passage is surrounded by at least one side wall and separated from the second optical passage, the second optical passage is surrounded by at least one side wall and separated from the first optical passage, the second opening is spaced apart from the first opening in a first axial direction, and a minimum distance in the first axial direction between the first opening and the second opening is a first distance, and a first optical passage which passes through the center of the first opening and the center of the third opening. An adapter may be provided in which, when the virtual line and the second virtual line passing through the center of the second opening and the center of the fourth opening are parallel to each other, the length of the third opening in the first axial direction and the length of the first opening in the first axial direction satisfy relational expression 1, but the length of the fourth opening in the first axial direction and the length of the second opening in the first axial direction satisfy relational expression 2. [Relational expression 1] Length of the first opening in the first axial direction < Length of the third opening in the first axial direction The length of the first opening in the first axis direction + the first distance, [Relationship 2] The length of the second opening in the first axis direction < the length of the fourth opening in the first axis direction The length of the second opening in the first axis direction + the first distance.

[0015] According to another embodiment of the present invention, there is provided an adapter disposed between a lidar device and an optical window located in a space having an optical window on one side, the adapter comprising a bottom side where a first opening and a second opening separated from the first opening are located, a top side where a third opening and a fourth opening separated from the third opening are located, a first optical passage which is a passage from the first opening to the third opening, and a second optical passage which is a passage from the second opening to the fourth opening, wherein the first optical passage is surrounded by at least one side wall and separated from the second optical passage, the second optical passage is surrounded by at least one side wall and separated from the first optical passage, the second opening is spaced apart from the first opening in a first axial direction, the minimum distance in the first axial direction between the first opening and the second opening is a first distance, and the length of the third opening in the first axial direction is equal to or greater than the length of the first opening. An adapter may be provided in which the length in the first axis direction of the fourth opening is greater than the sum of the length in the first axis direction of the second opening and the first distance, and the distance between the center of the third opening and the center of the fourth opening is greater than the distance between the center of the first opening and the center of the second opening.

[0016] The solutions to the problems of the present invention are not limited to the solutions described above, and solutions that are not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention pertains from this specification and the attached drawings.

[0017]

[0018] According to one embodiment of the present invention, a lidar device including an adapter may be provided so that lasers reflected from an optical window do not cause an obstacle in determining a distance value for a target located at a close distance.

[0019] According to another embodiment of the present invention, a lidar device including an adapter may be provided so that lasers reflected from an optical window do not cause an obstacle in determining a distance value for a target located at a close distance.

[0020] According to another embodiment of the present invention, an adapter may be provided between the lidar device and the optical window so that lasers reflected from the optical window do not interfere with determining a distance value for a target located at a close distance.

[0021] According to another embodiment of the present invention, an adapter may be provided between the lidar device and the optical window so that lasers reflected from the optical window do not interfere with determining a distance value for a target located at a close distance.

[0022] The effects of the present invention are not limited to the effects described above, and effects not mentioned can be clearly understood by a person skilled in the art to which the present invention pertains from this specification and the attached drawings.

[0023]

[0024] Figure 1 is a drawing for explaining a lidar device disclosed by the present application.

[0025] Figure 2 is a drawing for explaining a pixel disclosed by the present application.

[0026] Figure 3 is a drawing to explain the limitations of SPAD.

[0027] Figure 4 is a drawing illustrating an approach for determining the flight time of a laser using an electrical signal output from a SPAD.

[0028] Figure 5 is a diagram for explaining the number of electrical signals output after the same amount of time has elapsed from each laser output point when a laser is output multiple times from a lidar device.

[0029] Figure 6 is a drawing for explaining a histogram disclosed in the present application.

[0030] FIG. 7 is a drawing for explaining the generation of a histogram in the lidar device disclosed in the present application.

[0031] Figure 8 is a drawing for explaining how to determine an echo signal based on a histogram in a lidar device.

[0032] Figure 9 is a drawing for explaining various examples for expanding the area irradiated with a laser output from a lidar device.

[0033] Figure 10 is a drawing for explaining a lidar device disclosed by the present application.

[0034] Figure 11 is a drawing for explaining the laser irradiation area of ​​the lidar device.

[0035] Figure 12 is a drawing for explaining the horizontal and vertical angles of view of the laser irradiation area of ​​a fixed lidar device.

[0036] Figure 13 is a drawing for explaining the light detection area of ​​a lidar device.

[0037] Figure 14 is a drawing for explaining the horizontal and vertical angles of view of the light detection area of ​​a fixed lidar device.

[0038] Figure 15 is a drawing for explaining lidar data disclosed through the present application.

[0039] Figure 16 is a drawing for explaining a point cloud disclosed through the present application.

[0040] FIG. 17 is a drawing for explaining the enhanced point cloud disclosed through the present application.

[0041] Figure 18 is a drawing for explaining a problem that occurs when a lidar device is positioned in a space having an optical window on one side.

[0042] FIG. 19 is a drawing illustrating a scenario in which a shield is further provided between the transmitting optical assembly and the receiving optical assembly when the lidar device is positioned within a space having an optical window on one side.

[0043] FIG. 20 is a block diagram illustrating a lidar device having an adapter according to one embodiment.

[0044] Fig. 21 is a drawing for explaining the structure of an adapter according to one embodiment.

[0045] FIG. 22 is a drawing for explaining a lidar device having an adapter according to one embodiment.

[0046] FIG. 23 is a drawing for explaining a problem that may occur in a lidar device equipped with an adapter according to one embodiment.

[0047] Fig. 24 is a drawing for explaining the structure of an adapter according to one embodiment.

[0048] FIG. 25 is a drawing for explaining a lidar device having an adapter according to one embodiment.

[0049] FIG. 26 is a drawing for explaining the preset relationships between the size of an opening located on the upper side of an adapter and the size of an opening located on the lower side of the adapter according to various embodiments.

[0050] FIG. 27 is a drawing for explaining various predetermined relationships between the size of an opening located on the upper side of an adapter in the third axis (y-axis) direction and the size of an opening located on the lower side in the third axis (y-axis) direction according to one embodiment.

[0051] Figure 28 is a drawing for explaining each side wall of the adapter required to explain various designs of the side wall of the adapter.

[0052] FIGS. 29 and 30 are drawings illustrating various designs of the side walls of an adapter according to one embodiment.

[0053] FIG. 31 is a drawing illustrating exemplary shapes of the upper side of an adapter of a lidar device having an adapter according to one embodiment.

[0054] FIG. 32 is a drawing for explaining a lidar system according to one embodiment.

[0055]

[0056] Since the embodiments described in this specification are intended to clearly explain the idea of ​​the present invention to a person having ordinary skill in the art to which the present invention pertains, the present invention is not limited to the embodiments described in this specification, and the scope of the present invention should be interpreted to include modified or altered examples that do not depart from the idea of ​​the present invention.

[0057] The terms used in this specification have been selected from widely used terms, taking into account the functions of the present invention. However, these terms may vary depending on the intentions of those skilled in the art, precedents, or the emergence of new technologies. However, if a specific term is defined and used with an arbitrary meaning, the meaning of that term will be described separately. Therefore, the terms used in this specification should be interpreted based on the actual meaning of the term and the overall content of this specification, rather than simply the name of the term.

[0058] The drawings attached to this specification are intended to facilitate explanation of the present invention, and the shapes depicted in the drawings may be exaggerated as necessary to help understand the present invention, and therefore the present invention is not limited by the drawings.

[0059] When an element or layer described herein is referred to as being “on” or “on” another element or layer, it may include not only directly on top of the other element or layer, but also cases where there are other layers or other components interposed therebetween.

[0060] Throughout this specification, identical reference numbers may, in principle, represent identical components.

[0061] The numbers (e.g., first, second, etc.) used in the description of this specification can be understood as identification symbols to distinguish one component from another.

[0062] The suffixes "module" and "part" used for components in the description of this specification are used or used interchangeably depending on the ease of writing the specification, and may not have distinct meanings or roles in themselves.

[0063] In this specification, if it is determined that a detailed description of the composition or function of a known document related to the present invention may obscure the gist of the present invention, a detailed description thereof will be omitted as necessary.

[0064] According to one embodiment of the present invention, a lidar device comprises: a laser emitting element array including a plurality of laser emitting elements; a transmitting optic assembly for steering a laser output from the plurality of laser emitting elements; a detecting element array including a plurality of detecting elements; a receiving optic assembly, wherein the receiving optic assembly is configured to focus light incident on the receiving optic assembly onto the detecting element array, and the receiving optic assembly is positioned spaced apart from the transmitting optic assembly in a first axial direction, wherein a minimum distance in the first axial direction between the receiving optic assembly and the transmitting optic assembly is a first distance; And an adapter including a first optical passage and a second optical passage, wherein a first opening and a second opening separated from the first opening are located on a bottom side of the adapter, a third opening and a fourth opening separated from the third opening are located on a top side of the adapter, the first optical passage is a passage from the first opening to the third opening, the second optical passage is a passage from the second opening to the fourth opening, the first optical passage is surrounded by at least one side wall and separated from the second optical passage, and the second optical passage is surrounded by at least one side wall and separated from the first optical passage;A lidar device may be provided, wherein the transmitting optic assembly is inserted into the first opening and engaged with the adapter, and as the transmitting optic assembly is inserted into the first opening, the optical axis of the transmitting optic assembly passes through the center of the first opening, the receiving optic assembly is inserted into the second opening and engaged with the adapter, and as the receiving optic assembly is inserted into the second opening, the optical axis of the receiving optic assembly passes through the center of the second opening, and the length of the third opening in the first axial direction and the length of the first opening in the first axial direction satisfy Relationship 1, and the length of the fourth opening in the first axial direction and the length of the second opening in the first axial direction satisfy Relationship 2. [Relationship 1] The length of the first opening in the first axial direction < the length of the third opening in the first axial direction; The length of the first opening in the first axis direction + the first distance, [Relationship 2] The length of the second opening in the first axis direction < the length of the fourth opening in the first axis direction The length of the second opening in the first axis direction + the first distance.

[0065] Here, the direction from the lower side to the upper side of the adapter is defined as the second axial direction, and when the angle of view of the laser irradiation area of ​​the lidar device in the first axial direction is 'k degrees', the length of the third opening in the first axial direction and the length in the second axial direction from the lower side of the adapter to the upper side of the adapter satisfy relational expression 3 [relational expression 3] Length of the third opening in the first axial direction / (2 * (length in the second axial direction from the lower side of the adapter to the upper side of the adapter)) > tan(k degrees / 2).

[0066] Here, when the angle of view of the light detection area of ​​the lidar device in the first axial direction is 'l degree', the length of the fourth opening in the first axial direction and the length in the second axial direction from the lower side of the adapter to the upper side of the adapter satisfy relational expression 4. [Relational expression 4] Length of the fourth opening in the first axial direction / (2 * (length in the second axial direction from the lower side of the adapter to the upper side of the adapter)) > tan(l degree / 2).

[0067] Here, the first optical passage may include a first hole surrounded by a first side wall and a second hole surrounded by a second side wall, and the second optical passage may include a third hole surrounded by a third side wall and a fourth hole surrounded by a fourth side wall.

[0068] Here, the first hole may be located closer to the lower side of the adapter than the second hole, the second hole may be located closer to the upper side of the adapter than the first hole, the third hole may be located closer to the lower side of the adapter than the fourth hole, and the fourth hole may be located closer to the upper side of the adapter than the third hole.

[0069] Here, the transmitting optics assembly can be inserted into the first hole, and the receiving optics assembly can be inserted into the third hole.

[0070] Here, the second side wall forms a first side adjacent to the fourth side wall and a second side disposed opposite the first side, wherein the first side is parallel to the optical axis of the transmission optic assembly, but the second side may not be parallel to the optical axis of the transmission optic assembly.

[0071] Here, the first side wall and the third side wall are configured to be physically separated, but the second side wall and the fourth side wall can be configured as one piece.

[0072] According to another embodiment of the present invention, a lidar device comprises: a laser emitting element array including a plurality of laser emitting elements; a transmitting optic assembly for steering a laser output from the plurality of laser emitting elements; a detecting element array including a plurality of detecting elements; a receiving optic assembly, wherein the receiving optic assembly is configured to focus light incident on the receiving optic assembly onto the detecting element array, and the receiving optic assembly is positioned spaced apart from the transmitting optic assembly in a first axial direction, wherein a minimum distance in the first axial direction between the receiving optic assembly and the transmitting optic assembly is a first distance; And an adapter including a first optical passage and a second optical passage, wherein a first opening and a second opening separated from the first opening are located on a bottom side of the adapter, a third opening and a fourth opening separated from the third opening are located on a top side of the adapter, the first optical passage is a passage from the first opening to the third opening, the second optical passage is a passage from the second opening to the fourth opening, the first optical passage is surrounded by at least one side wall and separated from the second optical passage, and the second optical passage is surrounded by at least one side wall and separated from the first optical passage;A lidar device may be provided, wherein the transmitting optic assembly is inserted into the first opening and engaged with the adapter, the receiving optic assembly is inserted into the second opening and engaged with the adapter, and when the length of the third opening in the first axial direction is greater than the sum of the length of the first opening in the first axial direction and the first distance, the distance between the optical axis of the transmitting optic assembly and the center of the third opening is greater than the distance between the optical axis of the transmitting optic assembly and the center of the first opening, but when the length of the fourth opening in the first axial direction is greater than the sum of the length of the second opening in the first axial direction and the first distance, the distance between the optical axis of the receiving optic assembly and the center of the fourth opening is greater than the distance between the optical axis of the receiving optic assembly and the center of the second opening.;

[0073] Here, the direction from the lower side to the upper side of the adapter is defined as the second axial direction, and when the angle of view of the laser irradiation area of ​​the lidar device in the first axial direction is 'k degrees', the length of the third opening in the first axial direction and the length in the second axial direction from the lower side of the adapter to the upper side of the adapter can satisfy relational expression 1. [Relational expression 1] Length of the third opening in the first axial direction / (2 * (length in the second axial direction from the lower side of the adapter to the upper side of the adapter)) > tan(k degrees / 2).

[0074] Here, when the angle of view of the light detection area of ​​the lidar device in the first axial direction is 'l degree', the length of the fourth opening in the first axial direction and the length in the second axial direction from the lower side of the adapter to the upper side of the adapter can satisfy relational expression 2. [Relational expression 2] Length of the fourth opening in the first axial direction / (2 * (length in the second axial direction from the lower side of the adapter to the upper side of the adapter)) > tan(l degree / 2).

[0075] According to another embodiment of the present invention, an adapter is provided between a lidar device and an optical window located in a space having an optical window on one side, the adapter comprising a bottom side where a first opening and a second opening separated from the first opening are located, a top side where a third opening and a fourth opening separated from the third opening are located, a first optical passage which is a passage from the first opening to the third opening, and a second optical passage which is a passage from the second opening to the fourth opening, wherein the first optical passage is surrounded by at least one side wall and separated from the second optical passage, the second optical passage is surrounded by at least one side wall and separated from the first optical passage, the second opening is spaced apart from the first opening in a first axial direction, and a minimum distance in the first axial direction between the first opening and the second opening is a first distance, and a first optical passage which passes through the center of the first opening and the center of the third opening. An adapter may be provided in which, when the virtual line and the second virtual line passing through the center of the second opening and the center of the fourth opening are parallel to each other, the length of the third opening in the first axial direction and the length of the first opening in the first axial direction satisfy relational expression 1, but the length of the fourth opening in the first axial direction and the length of the second opening in the first axial direction satisfy relational expression 2. [Relational expression 1] Length of the first opening in the first axial direction < Length of the third opening in the first axial direction The length of the first opening in the first axis direction + the first distance, [Relationship 2] The length of the second opening in the first axis direction < the length of the fourth opening in the first axis direction The length of the second opening in the first axis direction + the first distance.

[0076] Here, the shape of the upper side of the adapter may correspond to the shape of the optical window.

[0077] Here, when the optical window has a curvature, the curvature of the upper side of the adapter may correspond to the curvature of the optical window.

[0078] According to another embodiment of the present invention, there is provided an adapter disposed between a lidar device and an optical window located in a space having an optical window on one side, the adapter comprising a bottom side where a first opening and a second opening separated from the first opening are located, a top side where a third opening and a fourth opening separated from the third opening are located, a first optical passage which is a passage from the first opening to the third opening, and a second optical passage which is a passage from the second opening to the fourth opening, wherein the first optical passage is surrounded by at least one side wall and separated from the second optical passage, the second optical passage is surrounded by at least one side wall and separated from the first optical passage, the second opening is spaced apart from the first opening in a first axial direction, the minimum distance in the first axial direction between the first opening and the second opening is a first distance, and the length of the third opening in the first axial direction is equal to or greater than the length of the first opening. An adapter may be provided in which the length in the first axis direction of the fourth opening is greater than the sum of the length in the first axis direction of the second opening and the first distance, and the distance between the center of the third opening and the center of the fourth opening is greater than the distance between the center of the first opening and the center of the second opening.

[0079] Here, the shape of the upper side of the adapter may correspond to the shape of the optical window.

[0080] Here, when the optical window has a curvature, the curvature of the upper side of the adapter may correspond to the curvature of the optical window.

[0081] According to another embodiment of the present invention, a lidar device comprises: a laser emitting element array including a plurality of laser emitting elements; a transmitting optic assembly for steering a laser output from the plurality of laser emitting elements; a detecting element array including a plurality of detecting elements; a receiving optic assembly, wherein the receiving optic assembly is configured to focus light incident on the receiving optic assembly onto the detecting element array, and the receiving optic assembly is positioned spaced apart from the transmitting optic assembly in a first axial direction, wherein a minimum distance in the first axial direction between the receiving optic assembly and the transmitting optic assembly is a first distance; And an adapter including a first optical passage, wherein a first opening is located on a bottom side of the adapter, a second opening is located on a top side of the adapter, the first optical passage is a passage from the first opening to the second opening, and the first optical passage is defined by at least one side wall surrounding the first optical passage; wherein the receiving optic assembly is inserted into the first opening and engaged with the adapter, and as the receiving optic assembly is inserted into the first opening, an optical axis of the receiving optic assembly passes through the center of the first opening, and a length of the second opening in the first axial direction and a length of the first opening in the first axial direction satisfy a relational expression. [Relational expression] Length of the first opening in the first axial direction < Length of the second opening in the first axial direction The length of the first opening in the first axis direction + the first distance.

[0082]

[0083] I. Lidar device

[0084] [Overview of LiDAR Device]

[0085] The disclosure of the present application relates to a solid state LiDAR.

[0086] LiDAR (Light Detection And Ranging Device) is a device that uses lasers to measure the distance between the LiDAR device and an object.

[0087] More specifically, a lidar device is a device that outputs a laser and detects the laser reflected from an object to measure the distance between the lidar device and the object.

[0088] In general, to measure the distance from a lidar device to a target object, the time-of-flight (TOF) for the flight path of the laser output from the lidar device that travels back and forth between the lidar device and the target object is used.

[0089] Accordingly, the lidar device includes a laser emitting element for outputting a laser and a detecting element for detecting a received laser, and includes at least one processor for determining a time interval between the time at which the laser is output and the time at which the laser is detected.

[0090] Below, the components included in the lidar device will be described in more detail.

[0091]

[0092] Figure 1 is a drawing for explaining a lidar device disclosed by the present application.

[0093] Referring to FIG. 1, the lidar device (1000) disclosed by the present application may include a laser light emitting element (1010).

[0094] [Laser emitting element]

[0095] Function of laser light emitting element

[0096] The laser emitting element (1010) is configured to generate and emit a laser.

[0097] At this time, the laser generated and output from the laser light emitting element (1010) may be light having a specific wavelength and having monochromaticity.

[0098] In addition, at this time, when the lidar device (1000) disclosed by the present application determines the distance to the target object using the Direct TOF (Time-of-Flight) method that determines the flight time based on the flight start time and flight end time of the laser, the laser emitting element (1010) is configured to output a pulse laser. At this time, the pulse laser means a laser that is emitted for a short period of time, and the emission duration of the pulse laser can typically be designed to be about 1 to 20 ns, but is not limited thereto.

[0099] Types of laser light-emitting devices

[0100] The types of laser light emitting elements (1010) may vary.

[0101] For example, the laser emitting element (1010) may be an edge-emitting laser (EEL) or a vertical cavity surface emitting laser (VCSEL), but is not limited thereto, and may be various types of elements configured to generate and output laser.

[0102] Typically, in the technical field of solid-state LiDAR devices, a pixel is used as a laser emitting element (1010).

[0103] Therefore, below, we will explain the pixels in more detail.

[0104] Figure 2 is a drawing for explaining a pixel disclosed by the present application.

[0105] The stacked structure of the Vxel

[0106] The pixel (1100) may include an upper reflective layer (1110), a lower reflective layer (1120), an active layer (1130) interposed between the upper reflective layer (1110) and the lower reflective layer (1120), an upper electrode (1140) in contact with the upper reflective layer (1110), and a lower electrode (1150) in electrical contact with the lower reflective layer (1120).

[0107] Structural features of the upper reflective layer

[0108] The upper reflective layer (1110) may be a distributed Bragg reflector (DBR). That is, the upper reflective layer (1110) may be a reflective layer having a multi-layer structure in which two materials having different refractive indices are alternately laminated.

[0109] For example, the upper reflective layer (1110) may be a reflective layer having a multi-layer structure in which a first material layer (1111) having a first refractive index and a second material layer (1112) having a second refractive index are alternately laminated.

[0110] At this time, the fact that a multilayer structure in which two materials with different refractive indices are alternately laminated can function as a reflective layer for light of a specific wavelength band can be physically explained by the Fresnel reflection phenomenon and the constructive and destructive interference of light, and the reflectivity of the multilayer structure increases as the number of two materials with different refractive indices alternately laminated increases.

[0111] Additionally, the upper reflective layer (1110) may be doped with a specific type.

[0112] For example, the upper reflective layer (1110) may be doped with P type or N type.

[0113] At this time, the fact that the upper reflective layer (1110) is doped with a specific type means that all of the multiple layers included in the multi-layer structure of the upper reflective layer (1110) are doped with a specific type.

[0114] For example, when the doping type of the upper reflective layer (1110) is P type, both the first material layer (1111) and the second material layer (1112) included in the upper reflective layer (1110) are doped with P type, and when the doping type of the upper reflective layer (1110) is N type, both the first material layer (1111) and the second material layer (1112) included in the upper reflective layer (1110) are doped with N type.

[0115] Structural features of the lower reflective layer

[0116] The lower reflective layer (1120) may be a distributed Bragg reflector. That is, the lower reflective layer (1120) may be a reflective layer having a multi-layer structure in which two materials with different refractive indices are alternately laminated.

[0117] For example, the lower reflective layer (1120) may be a reflective layer having a multi-layer structure in which a third material layer (1121) having a third refractive index and a fourth material layer (1122) having a fourth refractive index are alternately laminated.

[0118] Additionally, the lower reflective layer (1120) may be doped with a specific type.

[0119] For example, the lower reflective layer (1120) may be doped with P type or N type.

[0120] At this time, the fact that the lower reflective layer (1120) is doped with a specific type means that all of the multiple layers included in the multi-layer structure of the lower reflective layer (1120) are doped with a specific type.

[0121] For example, when the doping type of the lower reflective layer (1120) is P type, both the third material layer (1121) and the fourth material layer (1122) included in the lower reflective layer (1120) are doped with P type, and when the doping type of the lower reflective layer (1120) is N type, both the third material layer (1121) and the fourth material layer (1122) included in the lower reflective layer (1120) are doped with N type.

[0122] Relationship between the upper and lower reflective layers

[0123] The upper reflective layer (1110) and the lower reflective layer (1120) of the pixel (1100) are doped with different types.

[0124] For example, when the doping type of the upper reflective layer (1110) of the pixel (1100) is P type, the doping type of the lower reflective layer (1120) of the pixel (1100) is N type, and when the doping type of the upper reflective layer (1110) of the pixel (1100) is N type, the doping type of the lower reflective layer (1120) of the pixel (1100) is P type.

[0125] Additionally, the reflectivity of the upper reflective layer (1110) and the lower reflective layer (1120) of the pixel (1100) are different from each other.

[0126] For example, the reflectivity of the upper reflective layer (1110) of the pixel (1100) may be higher than the reflectivity of the lower reflective layer (1120), and the reflectivity of the upper reflective layer (1110) may be lower than the reflectivity of the lower reflective layer (1120).

[0127]

[0128] How Vixel works

[0129] When a predetermined voltage is applied between the upper electrode (1140) and the lower electrode (1150) of the pixel (1100), electrons and holes in the upper reflective layer (1110) and the lower reflective layer (1120) move and combine in the active layer (1130), and thus light is generated in the active layer (1130).

[0130] For example, if the doping type of the upper reflective layer (1110) of the pixel (1100) is P type, the doping type of the lower reflective layer (1120) is N type, and a predetermined voltage is applied between the upper electrode (1140) and the lower electrode (1150), but the voltage applied to the upper electrode (1140) is greater than the voltage applied to the lower electrode (1150), holes in the upper reflective layer (1110) move to the active layer (1130), electrons in the lower reflective layer (1120) move to the active layer (1130), and light is generated by the recombination of holes and electrons in the active layer (1130).

[0131] In addition, for example, when the doping type of the upper reflective layer (1110) of the pixel (1100) is N type, the doping type of the lower reflective layer (1120) is P type, and a predetermined voltage is applied between the upper electrode (1140) and the lower electrode (1150), but the voltage applied to the lower electrode (1150) is greater than the voltage applied to the upper electrode (1140), electrons in the upper reflective layer (1110) move to the active layer (1130), and holes in the lower reflective layer (1120) move to the active layer (1130), and light is generated by the recombination of holes and electrons in the active layer (1130).

[0132] Additionally, the light generated from the pixel (1100) is output in the direction where the reflective layer with the smaller reflectivity is located between the upper reflective layer (1110) and the lower reflective layer (1120).

[0133] For example, light generated in the active layer (1130) of the pixel (1100) is incident on the upper reflective layer (1110) or the lower reflective layer (1120), is alternately reflected by the upper reflective layer (1110) and the lower reflective layer (1120), and is output by passing through the reflective layer with the lower reflectivity among the upper reflective layer (1110) and the lower reflective layer (1120).

[0134]

[0135] Referring again to FIG. 1, the lidar device (1000) disclosed by the present application may include a detecting element (1020).

[0136] [Detecting element]

[0137] Function of the detecting element

[0138] The detecting element (1020) is configured to generate an electrical signal in response to the received light when light is received.

[0139] At this time, the electrical signal output from the detecting element (1020) may be an analog signal having a value corresponding to the intensity of the received light, or may be a digital signal corresponding to whether or not light is received.

[0140] Types of detecting elements

[0141] Additionally, the type of detecting element (1020) may vary.

[0142] For example, the detecting element (1020) may be a PD (Photo detector), an APD (Avalanche Photo Diode), a SAPD (Single Photon Avalanche Diode), or a SiPM (Silicon Photomultiplier), but is not limited thereto, and may be various types of elements configured to output an electrical signal in response to received light.

[0143] Typically, in the technical field of solid-state LiDAR devices, SPAD is used as a detecting element (1020).

[0144] Therefore, SPAD will be explained in more detail below.

[0145] The operation of outputting an electrical signal in response to the light received by the SPAD

[0146] SPAD is a semiconductor-based photodetector that causes avalanche breakdown and current to flow even when a small amount of photons are absorbed by applying a reverse bias voltage greater than the breakdown voltage. It is also called a Geiger mode APD.

[0147] At this time, SPADs must suppress excess current because avalanche breakdown occurs even when absorbing a small amount of photons. Therefore, SPADs require a quenching circuit to suppress the continuous flow of current.

[0148] The quenching circuit is configured to reduce the magnitude of the voltage applied to the SPAD momentarily after the avalanche breakdown phenomenon occurs in the SPAD.

[0149] At this time, when the magnitude of the voltage applied to the SPAD by the quenching circuit is reduced, the flow of current in the SPAD is blocked.

[0150] After this, no current flows in the SPAD even if photons reach the SPAD until the magnitude of the voltage applied to the SPAD is restored.

[0151] That is, the SPAD operates through an avalanche breakdown stage, a quenching stage, and a charging stage by absorbing a small amount of photons under a reverse voltage greater than the breakdown voltage, and a certain amount of current flows during the avalanche breakdown stage, while no current flows during the quenching stage and the charging stage even if photons are absorbed.

[0152] Therefore, during the quenching step and the charging step, even if light is received, no electrical signal is output in response to the received light, which is commonly referred to as dead time.

[0153] Dead time like this can range from hundreds of ps to several microseconds depending on the material of the SPAD or the configuration of the quenching circuit.

[0154] Advantages and Limitations of SPAD

[0155] Since SPAD conducts electricity even when absorbing a small amount of photons, it has the advantage of being able to easily detect even when only a small amount of photons return to the lidar device as the laser output from the lidar device is reflected from a distant target.

[0156] However, SPAD has a limitation in that it cannot know the intensity of the received light because it outputs an electrical signal of a certain size regardless of the number of absorbed photons when the avalanche breakdown phenomenon occurs.

[0157] Figure 3 is a drawing to explain the limitations of SPAD.

[0158] More specifically, (a) of FIG. 3 is a diagram representing an electrical signal output from a SPAD over time from a laser output point after a laser is output from a lidar device in an ideal situation where there is no external light such as sunlight, and (b) of FIG. 3 is a diagram representing an electrical signal output from a SPAD over time from a laser output point after a laser is output from a lidar device in a situation where there is external light such as sunlight.

[0159] First, since (a) of Fig. 3 assumes an ideal situation in which there is no external light such as sunlight, in the situation of (a) of Fig. 3, after the laser is output from the lidar device, not a single photon is received by the SPAD until the laser output from the lidar device is reflected from the target and received by the lidar device.

[0160] Accordingly, a state in which a reverse voltage greater than the breakdown voltage is applied to the SPAD is maintained until the laser output from the lidar device is reflected from the target and received by the lidar device, and in this state, when a photon included in the laser output from the lidar device is received by the SPAD, an avalanche breakdown phenomenon occurs in the SPAD and a first electrical signal (1211) is output from the SPAD.

[0161] At this time, the time interval between the time at which the laser is output from the lidar device and the time at which the first electrical signal (1211) is output may correspond to the flight time of the laser output from the lidar device between the lidar device and the target object.

[0162] Therefore, it is not difficult to measure the distance between the lidar device and the target object using SPAD in an ideal situation where there is no external light such as sunlight, as shown in (a) of Fig. 3.

[0163] However, in situations where there is external light such as sunlight, as shown in (b) of Fig. 3, the limitations of SPAD are revealed.

[0164] Since (b) of Fig. 3 assumes a situation in which there is external light such as sunlight, in the situation of (b) of Fig. 3, after a laser is output from the lidar device, photons caused by external light such as sunlight can be received by the SPAD before and after the laser output from the lidar device is reflected from the target and received by the lidar device.

[0165] To explain this more specifically, even before the laser output from the lidar device is reflected from the target object and returns to the lidar device, photons caused by external light such as sunlight are received by the SPAD, and thus an avalanche breakdown phenomenon occurs in the SPAD, and a second electrical signal (1221) is output from the SPAD. After that, the magnitude of the voltage applied to the SPAD is momentarily reduced due to the quenching circuit of the SPAD, the flow of current in the SPAD is cut off, and an electrical signal is not output from the SPAD until the voltage applied to the SPAD is restored through the charging step. After the voltage applied to the SPAD is restored through the charging step, but before the laser output from the lidar device is reflected from the target object and returns to the lidar device, photons caused by external light such as sunlight are received by the SPAD, and thus a third electrical signal (1222) is output from the SPAD. After the above-described quenching step and charging step are completed, and the voltage applied to the SPAD is restored, the laser output from the lidar device is reflected from the target and returns to the lidar device, and at least one photon included in the laser output from the lidar device is received by the SPAD, and thus a fourth electrical signal (1223) is output from the SPAD. Thereafter, photons caused by external light such as sunlight can be further received by the SPAD, and thus a fifth electrical signal (1224) and a sixth electrical signal (1225) are generated.

[0166] At this time, even though the number of photons of the laser output from the lidar device, reflected from the target, and received by the SPAD is greater than the number of photons due to external light such as sunlight and received by the SPAD, the sizes of the electrical signals output from the SPAD are the same as described above, and therefore the sizes of the second to sixth electrical signals (1221 to 1225) are the same.

[0167] Therefore, the lidar device cannot determine which of the second to sixth electrical signals (1221 to 1225) is an electrical signal caused by a photon of a laser that is output from the lidar device, reflected from an object, and received by the SPAD.

[0168] Accordingly, even if the time interval between the time point at which the laser is output from the lidar device and the time point at which the fourth electrical signal (1223) is output corresponds to the flight time of the laser output from the lidar device between the lidar device and the target object, it is difficult to measure the distance between the lidar device and the target object using the SPAD because it cannot be determined that the fourth electrical signal (1223) is an electrical signal caused by a photon of the laser output from the lidar device, reflected from the target object, and received by the SPAD.

[0169] In Fig. 3 (b), only five electrical signals are briefly expressed, but in reality, hundreds of electrical signals can be output over a certain period of time after a laser is output from the lidar device, so it can be seen that measuring the distance between the lidar device and the target using SPAD is more difficult.

[0170] Therefore, a more advanced method may be needed to measure the distance between the lidar device and the target using SPAD.

[0171]

[0172] [Approach and histogram for determining the flight time of a laser using the electrical signal output from the SPAD]

[0173] Description of the approach

[0174] Figure 4 is a drawing illustrating an approach for determining the flight time of a laser using an electrical signal output from a SPAD.

[0175] More specifically, (a) of FIG. 4 is a diagram representing an electrical signal output from a SPAD over time from a laser output point in time after a laser is output from the LIDAR device in a situation where an object is located at a first distance from the LIDAR device, and (b) of FIG. 4 is a diagram representing an electrical signal output from a SPAD over time from a laser output point in time after a laser is output from the LIDAR device at a different time from (a) of FIG. 4 in a situation where an object is located at the first distance from the LIDAR device.

[0176] At this time, both (a) and (b) of Fig. 4 assume a situation in which there is external light such as sunlight.

[0177] First, referring to (a) of FIG. 4, a plurality of electrical signals including a first electrical signal (1231), a second electrical signal (1232), and a third electrical signal (1235) are output from the SPAD for a certain period of time from the laser output point when the laser is output from the lidar device.

[0178] At this time, the above-described contents can be applied to the electrical signal output from the SPAD, so redundant descriptions will be omitted.

[0179] In addition, at this time, the first electrical signal (1231) is an electrical signal generated when a laser output from a lidar device is reflected from a target object and then received by a SPAD, and the second electrical signal (1232) and the third electrical signal (1235) are electrical signals generated when a photon caused by external light such as sunlight is received by a SPAD.

[0180] Referring again to (b) of FIG. 4, a plurality of electrical signals including a fourth electrical signal (1241), a fifth electrical signal (1242), and a sixth electrical signal (1245) are output from the SPAD for a certain period of time from the laser output point at which the laser is output from the lidar device.

[0181] At this time, the above-described contents can be applied to the electrical signal output from the SPAD, so redundant descriptions will be omitted.

[0182] In addition, at this time, the fourth electrical signal (1241) is an electrical signal generated when a laser output from a lidar device is reflected from a target and then received by a SPAD, and the fifth electrical signal (1242) and the sixth electrical signal (1245) are electrical signals generated when a photon caused by external light such as sunlight is received by a SPAD.

[0183] Referring again to (a) and (b) of FIG. 4, in (a) of FIG. 4, the first time interval (1233), which is the time interval between the first electrical signal (1231) and the laser output point, is the same as the second time interval (1243), which is the time interval between the fourth electrical signal (1241) and the laser output point, in (b) of FIG. 4.

[0184] This is because in (a) of FIG. 4, the object is located at the first distance from the lidar device, and in (b) of FIG. 4, the object is located at the first distance from the lidar device, the first time interval (1233) corresponds to the round-trip flight time of the laser output from the lidar device between the lidar device and the object, and the second time interval (1243) also corresponds to the round-trip flight time of the laser output from the lidar device between the lidar device and the object.

[0185] On the other hand, the third time interval (1232), which is the time interval between the second electrical signal (1232) and the laser output point in (a) of FIG. 4, is different from the fourth time interval (1242), which is the time interval between the fifth electrical signal (1242) and the laser output point in (b) of FIG. 4.

[0186] This is because both the second electrical signal (1232) and the fifth electrical signal (1242) are electrical signals generated when photons caused by external light such as sunlight are received by the SPAD, but the reception of photons caused by external light such as sunlight by the SPAD does not have a certain regularity and is random.

[0187] Accordingly, similar to the situation described through Figs. 4 (a) and (b), when N lasers are output from the lidar device in a situation where the target is located at the first distance, the number of electrical signals output after a time interval equal to the first time interval (1233) and the second time interval (1243) from each laser output point may be N. On the other hand, the number of electrical signals output after a specific time interval different from the first time interval (1233) and the second time interval (1243) from each laser output point may be less than N, which will be described in more detail with reference to Fig. 5.

[0188] Figure 5 is a diagram for explaining the number of electrical signals output after the same amount of time has elapsed from each laser output point when a laser is output multiple times from a lidar device.

[0189] Before explaining Fig. 5, Fig. 5 assumes that N lasers are output from the lidar device in a situation where the target is located at the first distance, similar to the situation described through (a) and (b) of Fig. 4.

[0190] Accordingly, as described through (a) and (b) of FIG. 4, when the target is located at the first distance from the lidar device, the laser output from the lidar device is received by the SPAD after a time interval equal to the first time interval (1233) and the second time interval (1243) from the laser output time.

[0191] Accordingly, when the target is located at the first distance from the lidar device and the laser is output N times from the lidar device, the electrical signal generated from the SPAD as the laser output from the lidar device is reflected from the target and returns to the lidar device occurs after a time interval equal to the first time interval (1233) and the second time interval (1243) from the output time of each of the N output lasers. In Fig. 5, the time interval equal to the first time interval (1233) and the second time interval (1243) is described as a fifth time interval (1250).

[0192] That is, referring to FIG. 5, when N lasers are output from the lidar device, the number of electrical signals generated after the fifth time interval (1250) from each laser output point is N.

[0193] On the other hand, as described through (a) and (b) of FIG. 4, the reception of photons caused by external light such as sunlight by the SPAD does not have a certain regularity and is random, so when N lasers are output from the lidar device, the number of electrical signals generated after a specific time interval different from the fifth time interval (1250) from each laser output time is less than N.

[0194] Therefore, as explained through Fig. 5, when the laser is output multiple times from the lidar device and the number of electrical signals output after the same amount of time has elapsed from each laser output point is compared, the time interval at which the largest number of electrical signals occurred can be specified.

[0195] At this time, the time interval at which the largest number of electrical signals occurred corresponds to the round-trip flight time of the laser output from the lidar device between the lidar device and the target object.

[0196] Therefore, if the method described above through FIG. 5 is used, it becomes possible to measure the distance to the target object using the SPAD in the lidar device.

[0197] Below, we will explain in more detail the histogram for utilizing the above-described approach.

[0198]

[0199] Histogram

[0200] Figure 6 is a drawing for explaining a histogram disclosed in the present application.

[0201] More specifically, (a) of FIG. 6 is a drawing for explaining the data configuration of the histogram disclosed in the present application, and (b) of FIG. 6 is a drawing that simply schematically expresses the histogram disclosed in the present application.

[0202] Referring to (a) and (b) of FIG. 6, the histogram is data composed of a preset number of time bins and counting values ​​corresponding to each preset number of time bins.

[0203] That is, the histogram is data composed of N time bins including the first time bin (TB1) to the Nth time bin (TBn) and N counting values ​​including the first counting value (C1) corresponding to the first time bin (TB1) to the Nth counting value (Cn) corresponding to the Nth time bin (TBn).

[0204] At this time, each time bin of the histogram represents a time interval after a specific time has elapsed from the laser output point.

[0205] For example, the first time bin (TB1) of the histogram represents a time interval having a time length of 2 ns after 0 seconds have passed from the reference time point corresponding to the laser output time point, and the second time bin (TB2) represents a time interval having a time length of 2 ns after 2 ns have passed from the reference time point corresponding to the laser output time point.

[0206] Also, for example, if a histogram is generated based on electrical signals output from the SPAD for a certain period of time from each of the m laser output points, a first counting value (C1) corresponding to a first time bin (TB1) of the histogram corresponds to the number of times an electrical signal is generated from the SPAD within a time interval having a time length of 2 ns after 0 seconds have passed from each of the m laser output points, and a second counting value (C2) corresponding to a second time bin (TB2) of the histogram corresponds to the number of times an electrical signal is generated from the SPAD within a time interval having a time length of 2 ns after 2 ns have passed from each of the m laser output points.

[0207] Below, we will describe in more detail how to generate the histogram described above in a lidar device.

[0208]

[0209] [Creating a histogram and explaining the histogram]

[0210] FIG. 7 is a drawing for explaining the generation of a histogram in the lidar device disclosed in the present application.

[0211] More specifically, FIG. 7 is a drawing specifically explaining the process of generating a histogram through M sampling cycles in a lidar device.

[0212] Definition of sampling cycle

[0213] As described above through Fig. 3, after a laser is output from a lidar device once, it is difficult to distinguish whether the electrical signals output from the SPAD for a certain period of time from the laser output point are electrical signals caused by photons of the laser reflected from the target and received by the SPAD, or electrical signals caused by photons received by the SPAD due to external light such as sunlight.

[0214] Accordingly, as described above with reference to FIGS. 4 and 5, in order to measure the distance between the lidar device and the target object using the SPAD, the lidar device outputs a laser multiple times, and an operation is required to detect an electrical signal output from the SPAD for a certain period of time from each laser output point.

[0215] That is, in order to measure the distance between the lidar device and the target using SPAD, the lidar device needs to perform a series of operations of outputting a laser and detecting an electrical signal output from a detection element for a preset period of time from a point in time corresponding to the point in time when the laser is output, by repeating the operation multiple times.

[0216] Therefore, a series of operations of outputting a laser of a lidar device and detecting an electrical signal output from a detection element for a preset period of time from a point in time corresponding to the point in time of laser output can be defined as a unit operation cycle, and in this specification, for convenience of explanation, the above-described unit operation cycle is defined as a sampling cycle and explained.

[0217] That is, in this specification, a sampling cycle is defined as a section in which a series of operations are performed to output a laser using a laser emitting element and detect an electrical signal output from a detecting element for a preset period of time from a point in time corresponding to the point in time of laser output.

[0218] In addition, at this time, for the convenience of explanation, in this specification, a preset time interval for detecting an electrical signal output from a detecting element may be described using the term “detecting window.”

[0219] Operation of the lidar device during the sampling cycle

[0220] In one sampling cycle, the lidar device can generate a laser emission trigger signal to operate a laser emission element, and the laser emission element of the lidar device outputs a laser in response to the laser emission trigger signal.

[0221] For example, referring to FIG. 7, in a first sampling cycle (1310), the lidar device can generate a first laser emission trigger signal (1311), and the laser emission element outputs a first laser (1312) in response to the first laser emission trigger signal (1311).

[0222] Additionally, for example, in the second sampling cycle (1320), the lidar device can generate a second laser emission trigger signal (1321), and the laser emission element outputs a second laser (1322) in response to the second laser emission trigger signal (1321).

[0223] Additionally, for example, in the M sampling cycle (1330), the lidar device can generate an M laser emission trigger signal (1331), and the laser emission element outputs an M laser (1332) in response to the M laser emission trigger signal (1331).

[0224] Additionally, in one sampling cycle, the lidar device can generate a detecting trigger signal for setting a sampling reference point of the detecting element, and an electrical signal output from the detecting element of the lidar device during a detecting window from the set sampling reference point in response to the detecting trigger signal is detected.

[0225] For example, referring to FIG. 7, in a first sampling cycle (1310), the lidar device can generate a first detecting trigger signal (1313), and an electrical signal output from a detecting element of the lidar device is detected during a first detecting window (1315) from a first sampling reference time point (1314) set in response to the first detecting trigger signal (1313).

[0226] Additionally, for example, in the second sampling cycle (1320), the lidar device can generate a second detecting trigger signal (1323), and an electrical signal output from a detecting element of the lidar device is detected during a second detecting window (1325) from a second sampling reference point (1324) set in response to the second detecting trigger signal (1323).

[0227] Additionally, for example, in the M sampling cycle (1330), the lidar device can generate the M detecting trigger signal (1333), and an electrical signal output from a detecting element of the lidar device is detected during a third detecting window (1335) from the M sampling reference time point (1334) set in response to the M detecting trigger signal (1333).

[0228] At this time, the laser emission trigger signal and the detecting trigger signal may be mutually synchronized, and the meaning of the laser emission trigger signal and the detecting trigger signal being mutually synchronized may mean that the laser emission trigger signal and the detecting trigger signal are generated at the same time, the time interval between the generation times of the laser emission trigger signal and the detecting trigger signal may be maintained constant, and the time interval between the generation times of the laser emission trigger signal and the detecting trigger signal may be maintained within a preset time interval.

[0229] Therefore, in one sampling cycle, the laser emission trigger signal and the detecting trigger signal can be mutually synchronized, so that the laser output point in time and the sampling reference point in time can be mutually synchronized.

[0230] For example, in the first sampling cycle (1310), the first laser emission trigger signal (1311) and the first detecting trigger signal (1313) can be mutually synchronized, in the second sampling cycle (1320), the second laser emission trigger signal (1321) and the second detecting trigger signal (1323) can be mutually synchronized, and in the M-th sampling cycle (1330), the M-th laser emission trigger signal (1331) and the M-th detecting trigger signal (1333) can be mutually synchronized.

[0231] Detection of electrical signals output from the detection element during a sampling cycle and generation of histograms.

[0232] As described above, in one sampling cycle, an electrical signal output from a detecting element of a lidar device during a detecting window from a sampling reference point set in response to a detecting trigger signal is detected.

[0233] Hereinafter, the detection of an electrical signal output from a detection element of a lidar device during a detection window will be described through exemplary situations during a first detection window (1315) and a second detection window (1325).

[0234] Referring again to FIG. 7, by way of example, a first electrical signal (1316) and a second electrical signal (1317) are output from the detecting element of the lidar device during a first detecting window (1315), and a third electrical signal (1326) and a fourth electrical signal (1327) are output from the detecting element of the lidar device during a second detecting window (1325).

[0235] At this time, in one sampling cycle, an electrical signal output from a detection element of a lidar device during a detection window from a sampling reference point in time is detected, and at each judgment point corresponding to a preset clock, it is determined whether an electrical signal has been output from the detection element, and a counting value is generated based on the judgment result. At this time, the judgment point corresponding to the preset clock may be the rising edge of the preset clock.

[0236] For example, during the first detecting window (1315), it is determined whether an electrical signal is output from the detecting element at the first judgment point in time corresponding to the first clock (1410) from the first sampling reference point in time (1314), and since no electrical signal is detected at the first judgment point in time, a counting value is generated as 0.

[0237] Additionally, for example, it is determined whether an electrical signal is output from the detecting element at a second judgment point in time corresponding to the second clock (1420) from the first sampling reference point in time (1314) during the first detecting window (1315), and since an electrical signal is detected at the second judgment point in time, a counting value is generated as 1.

[0238] Additionally, for example, it is determined whether an electrical signal is output from the detecting element at the third judgment point in time corresponding to the third clock (1430) from the first sampling reference point in time (1314) during the first detecting window (1315), and since no electrical signal is detected at the third judgment point in time, a counting value is generated as 0.

[0239] In addition, for example, it is determined whether an electrical signal is output from the detecting element at the fourth judgment point corresponding to the Nth clock (1440) from the first sampling reference point (1314) during the second detecting window (1315), and since the electrical signal is detected at the fourth judgment point, a counting value is generated as 1.

[0240] In addition, for example, during the second detecting window (1325), it is determined whether an electrical signal is output from the detecting element at the fifth judgment point in time corresponding to the first clock (1450) from the second sampling reference point in time (1324), and since the electrical signal is not detected at the fifth judgment point in time, the counting value is generated as 0. At this time, the first clock (1450) from the second sampling reference point in time (1324) may be the N+1-th clock from the first sampling reference point in time (1324), or may be the N+1+k-th clock. (At this time, k may correspond to the number of clocks corresponding to the time interval between the first sampling cycle (1310) and the second sampling cycle (1310).)

[0241] In addition, for example, it is determined whether an electrical signal is output from the detecting element at the sixth judgment point corresponding to the second clock (1460) from the second sampling reference point (1324) during the second detecting window (1325), and since an electrical signal is detected at the sixth judgment point, a counting value is generated as 1.

[0242] In addition, for example, it is determined whether an electrical signal is output from the detecting element at the seventh judgment point corresponding to the third clock (1470) from the second sampling reference point (1324) during the second detecting window (1325), and since an electrical signal is detected at the seventh judgment point, a counting value is generated as 1.

[0243] In addition, for example, it is determined whether an electrical signal is output from the detecting element at the eighth judgment point corresponding to the Nth clock (1480) from the second sampling reference point (1324) during the second detecting window (1325), and since an electrical signal is detected at the eighth judgment point, a counting value is generated as 0.

[0244] In addition, in one sampling cycle, the counting value generated at each judgment point is assigned to a time bin set according to the time interval between the sampling reference point and the judgment point. At this time, each time bin can represent a time section after a specific time has elapsed from the sampling reference point, and for example, the first time bin (TB1) can represent a time section having a time length of 2 ns after 0 seconds have elapsed from the sampling reference point, the second time bin (TB2) can represent a time section having a time length of 2 ns after 2 ns have elapsed from the sampling reference point, the third time bin (TB3) can represent a time section having a time length of 2 ns after 4 ns have elapsed from the sampling reference point, and the Nth time bin (TBn) can represent a time section having a time length of 2 ns after 2*(N-1) ns have elapsed from the sampling reference point.

[0245] For example, during the first detecting window (1315), the counting value generated at the first judgment point in time corresponding to the first clock (1410) from the first sampling reference point in time (1314) is assigned to the first time bin corresponding to the first clock (1410) from the first sampling reference point in time (1314). This can be understood as the counting value generated at the first judgment point in time corresponding to the first clock (1410) from the first sampling reference point in time (1314) during the first detecting window (1315) is assigned to the first time bin (TB1) representing the time section after the time interval between the first sampling reference point in time (1314) and the first clock (1410) has elapsed.

[0246] Additionally, for example, a counting value generated at a second judgment time corresponding to the second clock (1420) from the first sampling reference time (1314) during the first detecting window (1315) is assigned to a second time bin (TB2) corresponding to the second clock (1420) from the first sampling reference time (1314).

[0247] Additionally, for example, a counting value generated at a third judgment time corresponding to the third clock (1430) from the first sampling reference time (1314) during the first detecting window (1315) is assigned to a third time bin (TB3) corresponding to the third clock (1430) from the first sampling reference time (1314).

[0248] Additionally, for example, the counting value generated at the fourth judgment time point corresponding to the Nth clock (1440) from the first sampling reference time point (1314) during the first detecting window (1315) is assigned to the Nth time bin (TBn) corresponding to the Nth clock (1440) from the first sampling reference time point (1314).

[0249] At this time, the first data (1510) shows data generated as the counting values ​​generated at each judgment point during the first detecting window (1315) of the first sampling cycle (1310) are assigned to the time bin corresponding to each judgment point.

[0250] As illustrated in FIG. 7, a counting value of 0 corresponds to the first time bin (TB1) of the first data (1510), a counting value of 1 corresponds to the second time bin (TB2), a counting value of 0 corresponds to the third time bin (TB3), and a counting value of 1 corresponds to the Nth time bin (TBn).

[0251] Again, we return to the example where, in one sampling cycle, the counting values ​​generated at each judgment point are assigned to time bins set according to the time interval between the sampling reference point and the judgment point.

[0252] For example, the counting value generated at the fifth judgment time point corresponding to the first clock (1450) from the second sampling reference time point (1324) during the second detecting window (1325) is assigned or accumulated in the first time bin corresponding to the first clock (1450) from the second sampling reference time point (1324). At this time, the first clock (1450) from the second sampling reference time point (1324) is a clock at a physically different time point from the first clock (1410) from the first sampling reference time point (1314) described above. However, since the time interval between the second sampling reference point (1324) and the first clock (1450) is the same as the time interval between the first sampling reference point (1314) and the first clock (1410), the time bin corresponding to the first clock (1450) from the second sampling reference point (1324) and the time bin corresponding to the first clock (1410) from the first sampling reference point (1314) are the same as the first time bin (TB1).

[0253] That is, the counting value 0 generated through the second sampling cycle (1320) is accumulated in the first time bin (TB1) to which the counting value 0 is assigned through the first sampling cycle (1310).

[0254] Accordingly, the counting value 0 corresponds to the first time bin (TB1) of the second data (1520) acquired through the first sampling cycle (1310) and the second sampling cycle (1320).

[0255] Additionally, for example, the counting value generated at the sixth judgment time point corresponding to the second clock (1460) from the second sampling reference time point (1324) during the second detecting window (1325) is assigned or accumulated in the second time bin corresponding to the second clock (1460) from the second sampling reference time point (1324).

[0256] That is, the counting value 1 generated through the second sampling cycle (1320) is accumulated in the second time bin (TB2) to which the counting value 1 is assigned through the first sampling cycle (1310).

[0257] Accordingly, the counting value 2 corresponds to the second time bin (TB2) of the second data (1520) acquired through the first sampling cycle (1310) and the second sampling cycle (1320).

[0258] Additionally, for example, the counting value generated at the seventh judgment time point corresponding to the third clock (1470) from the second sampling reference time point (1324) during the second detecting window (1325) is assigned or accumulated in the third time bin corresponding to the third clock (1470) from the second sampling reference time point (1324).

[0259] That is, the counting value 1 generated through the second sampling cycle (1320) is assigned or accumulated in the third time bin (TB3) to which the counting value 0 is assigned through the first sampling cycle (1310).

[0260] Accordingly, the counting value 1 corresponds to the third time bin (TB3) of the second data (1520) acquired through the first sampling cycle (1310) and the second sampling cycle (1320).

[0261] Additionally, for example, the counting value generated at the 8th judgment time point corresponding to the Nth clock (1480) from the second sampling reference time point (1324) during the second detecting window (1325) is assigned or accumulated in the Nth time bin corresponding to the Nth clock (1480) from the second sampling reference time point (1324).

[0262] That is, the counting value 0 generated through the second sampling cycle (1320) is accumulated in the Nth time bin (TBn) to which the counting value 1 is assigned through the first sampling cycle (1310).

[0263] Accordingly, the Nth time bin (TBn) of the second data (1520) acquired through the first sampling cycle (1310) and the second sampling cycle (1320) corresponds to a counting value of 1.

[0264] In the above-described contents, assigning a counting value may be storing a counting value in a memory corresponding to a time bin, and accumulating a counting value may be adding a generated counting value to a counting value stored in a memory corresponding to a time bin.

[0265] Although the above-described contents have been described through the first sampling cycle (1310) and the second sampling cycle (1320), the above-described operations may be performed for all of the first to Mth sampling cycles (1310 to 1330) to generate a histogram through M sampling cycles, and accordingly, a histogram (1530) generated through the first to Mth sampling cycles (1310 to 1330) may be generated.

[0266] At this time, the histogram (1530) includes N time bins including the first to Nth time bins (TB1 to TBn) and first to Nth counting values ​​(C1 to Cn) corresponding to each of the N time bins.

[0267] In addition, at this time, each counting value corresponding to each time bin may correspond to the number of judgment points at which an electrical signal output from a detecting element is detected among judgment points corresponding to each time bin through M sampling cycles, and may correspond to the sum of counting values ​​generated at judgment points corresponding to each time bin.

[0268] The relationship between the length of the time bin and the range resolution of the lidar device.

[0269] When measuring the distance between the lidar device and the target using the histogram generated as described above, the length of the time bin, which is the length of the time interval represented by the time bin, affects the distance resolution of the lidar device.

[0270] This is because electrical signals generated during a time interval corresponding to the length of the time bin are judged to have occurred after the same time interval from the laser output point.

[0271] To explain with a specific example, assuming that a specific time bin represents a time interval having a time length of 2 ns starting from 300 ns after the reference time corresponding to the laser output time, if the electrical signal output from the SPAD is output 300 ns after the reference time, 301 ns after the reference time, and 302 ns after the reference time, the electrical signal is all processed as being output after the same time interval from the reference time.

[0272] This is explained in more detail using a situation where a first object is located at a distance of 15 m from the lidar device, a situation where a second object is located at a distance of 15.05 m, and a situation where a third object is located at a distance of 15.10 m.

[0273] In a situation where the first target is located at a distance of 15 m from the lidar device, when a laser is output from the lidar device, an electrical signal is generated 300 ns after the reference time corresponding to the laser output time.

[0274] Additionally, in a situation where a second target is located at a distance of 15.05 m from the lidar device, when a laser is output from the lidar device, an electrical signal is generated 301 ns after the reference time corresponding to the laser output time.

[0275] Additionally, in a situation where a third target is located at a distance of 15.10 m from the lidar device, when a laser is output from the lidar device, an electrical signal is generated 302 ns after the reference time corresponding to the laser output time.

[0276] At this time, if the time length of the time bin is 2 ns, the first to third objects can all be judged to be at the same distance.

[0277] Therefore, if the time bin length is 2 ns, the distance resolution of the lidar device becomes 0.1 m.

[0278] In contrast, when the time length of the time bin is 10 ns, it is determined that the target located at a distance of 15 m from the lidar device is located at the same distance as the target located at a distance of 15.5 m.

[0279] Therefore, if the time bin length is 10 ns, the distance resolution of the lidar device becomes 0.5 m.

[0280]

[0281] Example combinations of time bin length, number of time bins, and number of sampling cycles.

[0282] For ease of understanding, example combinations of time bin length, number of time bins, and number of sampling cycles are described.

[0283] In an exemplary lidar device, the length of the time bin can be set to 2 ns and the number of time bins can be set to 500.

[0284] Therefore, the time it takes for one sampling cycle to be performed in such an exemplary lidar device can be 1000 ns.

[0285] Additionally, in an exemplary lidar device, the number of sampling cycles can be set to 357.

[0286] In this case, the time required to generate one histogram through 357 sampling cycles may require at least 357,000 ns.

[0287] Of course, the exemplary figures described above can be designed differently depending on needs.

[0288] [Measuring the distance between the lidar device and the target using a histogram]

[0289] Echo signal judgment

[0290] Figure 8 is a drawing for explaining how to determine an echo signal based on a histogram in a lidar device.

[0291] An echo signal (1620) can be determined based on a histogram (1600) to measure the distance between the lidar device and the target object.

[0292] At this time, the echo signal (1620) includes a time bin group (1621) and a counting value group (1622) corresponding to the time bin group (1621) as part of a histogram that satisfies a preset criterion.

[0293] At this time, various algorithms can be used to determine the echo signal (1620).

[0294] For example, the above echo signal (1620) can be determined as a group of counting values ​​that are greater than or equal to a preset threshold value (1610) and a group of time bins corresponding thereto.

[0295] In addition, for example, the echo signal (1620) may be determined by the largest counting value (Ck) among the counting values ​​included in the histogram (1600), the time bin (TBk) to which the largest counting (Ck) is assigned, and the time bins adjacent thereto (TBk-2, TBk-1, TBk+1, TBk+2, and TBk+3) and the counting values ​​assigned thereto (Ck-2, Ck-1, Ck+1, Ck+2, and Ck+3).

[0296]

[0297] Measuring the distance to the target based on the echo signal

[0298] In order to measure the distance between the lidar device and the target based on the echo signal, a time value corresponding to the echo signal is determined, which can be determined by various methods.

[0299] For example, the time value corresponding to the echo signal may be determined as a time value corresponding to a time bin to which the largest counting value among the counting values ​​included in the echo signal is assigned, may be determined as a time value corresponding to a median value of the time bins to which the counting values ​​included in the echo signal are assigned, or may be determined as a time value corresponding to an average value of the time bins to which the counting values ​​included in the echo signal are assigned, but is not limited thereto and may be determined by various methods.

[0300] When the time value corresponding to the echo signal is determined, the distance between the lidar device and the target can be calculated through the following relational expression 1.

[0301] [Relationship 1]

[0302] Distance = (c * time value corresponding to echo signal) / 2

[0303]

[0304] Estimation of the laser reflection intensity from the target based on the echo signal

[0305] The intensity of the laser reflection from the target can be estimated based on the echo signal.

[0306] At this time, the intensity of the laser reflection from the target refers to the intensity of the laser that is output from the lidar device, reflected from the target, and returned to the lidar device.

[0307] Additionally, at this time, the intensity of the laser that is output from the lidar device, reflected from the target object, and returned to the lidar device varies depending on the incident angle of the laser with respect to the surface of the target object and the physical properties of the target object (surface characteristics, color, reflectivity, etc.).

[0308] The reason why the intensity of the laser reflected from the target can be estimated based on the echo signal is that the greater the intensity of the laser reflected from the target and returned to the lidar device, the higher the probability of detection by the detection element of the lidar device, and thus the counting value of the echo signal can increase.

[0309] At this time, in order to estimate the reflection intensity of the laser for the target object based on the echo signal, the counting values ​​included in the echo signal can be used in various ways.

[0310] For example, the reflection intensity of a laser for a target object can be determined by, but is not limited to, the largest counting value among counting values ​​included in the echo signal, the sum of counting values ​​included in the echo signal, the width of the echo signal, the area of ​​the echo signal, etc., and can be determined by various methods.

[0311] At this time, the reflection intensity of the laser for the estimated target object can be expressed using terms such as reflection intensity and intensity in this specification.

[0312] [Processor]

[0313] Processor features

[0314] Referring again to FIG. 1, the processor (1030) is configured to control the laser emitting element (1010) and the detecting element (1020), and perform functions such as generating the histogram described above, judging the echo signal, measuring the distance between the lidar device and the target object based on the echo signal, and estimating the reflection intensity of the laser to the target object based on the echo signal.

[0315] At this time, the processor (1030) may be implemented as a single processor, but is not limited thereto, and may be implemented through multiple processors built into each configuration of the lidar device depending on the function.

[0316] For example, the processor (1030) may be configured such that a first processor built into the laser emitting element (1010) controls the laser emitting element, a second processor built into the detecting element (1020) controls the detecting element, generates a histogram, and determines an echo signal, and a third processor provided separately from the laser emitting element (1010) and the detecting element (1020) measures the distance between the lidar device and the target based on the echo signal and estimates the reflection intensity of the laser on the target.

[0317]

[0318] [The need to configure the lidar device to include a laser emitting element array, a transmitting optical system, a detecting element array, and a receiving optical system]

[0319] The Need for Laser-Emitting Element Arrays and Transmission Optics Assemblies

[0320] As described above, since the lidar device is a device for measuring the distance between the lidar device and an object using a laser, the measurable area of ​​the lidar device is related to the area to which the laser output from the lidar device is irradiated.

[0321] That is, in order to expand the measurable area of ​​the lidar device, it is necessary to expand the area irradiated by the laser output from the lidar device.

[0322] Figure 9 is a drawing for explaining various examples for expanding the area irradiated with a laser output from a lidar device.

[0323] Fig. 9 (a) is a drawing for exemplarily explaining a lidar device composed of a laser light-emitting element and a diffuser.

[0324] Referring to (a) of Fig. 9, the laser (1711) output from the laser emitting element (1710) is diffused through the diffuser (1712), thereby expanding the area where the laser is irradiated.

[0325] At this time, the laser (1711) output from the laser light emitting element (1710) passes through the diffuser (1712) and is diffused, so that the density of photons per unit area rapidly decreases as the distance increases.

[0326] Accordingly, when a lidar device is configured as in (a) of Fig. 9, the amount of photons reflected from an object located at a long distance from the lidar device decreases, and accordingly, the amount of photons returned to the lidar device also decreases.

[0327] Ultimately, configuring the lidar device as in (a) of Fig. 9 reduces the measurable distance of the lidar device.

[0328] Fig. 9 (b) is a drawing for exemplarily explaining a lidar device composed of a laser light-emitting element and rotating mirrors.

[0329] Referring to (b) of FIG. 9, a laser (1721) output from a laser emitting element (1720) is irradiated to the outside of the lidar device through a first rotating mirror (1722) that rotates around a first rotation axis and a second rotating mirror (1723) that rotates around a second rotation axis perpendicular to the first rotation axis.

[0330] At this time, as the rotation angles of the first rotation mirror (1722) and the second rotation mirror (1723) change, the direction in which the laser (1721) output from the laser light emitting element (1720) is irradiated to the outside changes.

[0331] That is, the direction in which the laser (1721) is irradiated is determined according to the rotation angles of the first rotating mirror (1722) and the second rotating mirror (1723) at the time the laser (1721) is output.

[0332] Accordingly, when the first rotating mirror (1722) and the second rotating mirror (1723) rotate while the laser (1721) is output from the laser emitting element (1720) multiple times over time, the direction in which the laser (1721) output from the laser emitting element (1720) is irradiated to the outside changes over time, and the area to which the laser is irradiated expands.

[0333] However, when configuring a lidar device as in (b) of Fig. 9, the size of the lidar device increases due to the volume of the rotating mirrors, power is consumed for the rotational motion of the rotating mirrors, and a problem of reduced durability occurs due to the rotation of the rotating mirrors.

[0334] That is, as described in (a) and (b) of Fig. 9, there is a clear limit to expanding the area to which the laser is irradiated using one laser light-emitting element (1720).

[0335] Therefore, expanding the area to which the laser is irradiated by using an array of laser light-emitting elements can be a useful solution compared to the configuration of the lidar device described in (a) and (b) of FIG. 9.

[0336] Figure 9 (c) is a drawing for exemplarily explaining an area to which a laser of a lidar device composed of a laser light-emitting element array is irradiated.

[0337] Referring to (c) of FIG. 9, the first laser (1733) output from the first laser emitting element (1731) included in the laser emitting element array (1730) and the second laser (1734) output from the second laser emitting element (1732) are output in parallel in the same direction while being spaced apart by a first distance (1735).

[0338] At this time, the first distance (1734) is a distance corresponding to the size (length or width) of the laser light-emitting element array (1730).

[0339] Therefore, when configuring a lidar device as in (c) of Fig. 9, the area where the laser is irradiated is expanded to correspond to the size of the laser light-emitting element array (1730).

[0340] However, in this case, since the propagation directions of the first laser (1733) and the second laser (1734) are parallel, the extent to which the area irradiated by the laser expands is minimal.

[0341] Therefore, in order to further expand the area to which the laser is irradiated using the laser light-emitting element array (1730), it is necessary to configure the lasers output from the plurality of laser light-emitting elements included in the laser light-emitting element array (1730) to be output in different directions.

[0342] Hereinafter, an exemplary lidar device configured to output lasers from a plurality of laser light-emitting elements included in a laser light-emitting element array (1730) in different directions will be described through (d) of FIG. 9.

[0343] In addition, (d) of FIG. 9 is a drawing for exemplarily explaining a lidar device composed of an array of laser light-emitting elements arranged on a curved surface.

[0344] Referring to (d) of FIG. 9, the first laser emitting element (1741) included in the laser emitting element (1740) faces a first direction and outputs a first laser (1743) in the first direction, and the second laser emitting element (1742) faces a second direction and outputs a second laser (1744) in the second direction.

[0345] That is, when a lidar device is configured as in (d) of Fig. 9, the plurality of laser light-emitting elements of the laser light-emitting element array (1740) output lasers in different directions depending on the direction in which they are viewed, and accordingly, the area where the laser is irradiated from the lidar device is expanded.

[0346] However, when configuring a lidar device as in (d) of Fig. 9, it is necessary to individually align the directions of the laser emitting elements to output the laser in the desired direction, which requires excessive time and cost.

[0347] Additionally, in this case, it is difficult to collimate the lasers output from multiple laser light-emitting elements of the laser light-emitting element array (1740), so the density of photons per unit area decreases as the distance increases.

[0348] Therefore, unlike the lidar device described in (c) and (d) of FIG. 9, a configuration of a transmission optics assembly is required to use a laser light-emitting element array and to steer and collimate lasers output from each of a plurality of laser light-emitting elements included in the laser light-emitting element array.

[0349]

[0350] The Need for Detecting Element Arrays and Receiving Optics Assemblies

[0351] As described above, since the lidar device is a device that uses a laser to measure the distance between the lidar device and an object, the measurable area of ​​the lidar device is related to the area in which light can be detected.

[0352] In addition, since the lidar device utilizes a laser that is output from the lidar device and reflected from a target object and received by a detection element, a receiving optics assembly is required to focus the light received by the lidar device in order to increase reception efficiency.

[0353] At this time, since light incident from different directions to the receiving optical assembly can be focused to different points, it is necessary to configure an array of detecting elements so that detecting elements are arranged at points where light incident from different directions is focused in order to expand the area in which light can be detected.

[0354]

[0355] [A lidar device including a laser emitting element array, a transmitting optical system, a detecting element array, and a receiving optical system]

[0356] Figure 10 is a drawing for explaining a lidar device disclosed by the present application.

[0357] Referring to FIG. 10, a lidar device (1800) disclosed by the present application may include a laser emitting element array (1810), a transmitting optics assembly (1820), a detecting element array (1850), and a receiving optics assembly (1860).

[0358] Laser emitting element array

[0359] Definition of a laser emitting element array

[0360] The laser light emitting element array (1810) is defined as a plurality of laser light emitting elements arranged in an array form.

[0361] At this time, a plurality of laser light-emitting elements included in the laser light-emitting element array (1810) can be arranged in an array form on one plane.

[0362] Additionally, at this time, a plurality of laser light emitting elements included in the laser light emitting element array (1810) may be implemented to share at least one substrate.

[0363] Types of laser emitting element arrays

[0364] As described above, the types of laser light emitting elements can vary.

[0365] Accordingly, the type of laser light emitting element array (1810) in which a plurality of laser light emitting elements are arranged in an array form may also be diverse.

[0366] However, in the technical field of fixed lidar devices, the laser light emitting element array (1810) is typically implemented as a pixel array.

[0367] This is because, as described above, in the case of the pixel, since it has a multi-layer structure and outputs a laser in the direction in which multiple layers are stacked, it may be more advantageous to arrange them in an array form on a single plane.

[0368] Transmission optics assembly

[0369] Function of the Transmission Optics Assembly

[0370] The transmission optics assembly (1820) is configured to collimate and steer the laser output from the laser light-emitting elements included in the laser light-emitting element array (1810) by utilizing phenomena such as refraction, diffraction, and reflection of light.

[0371] At this time, collimating the laser output from the laser emitting element can be defined as reducing the divergence angle of the laser output from the laser emitting element, but is not limited thereto, and includes a concept understood by those skilled in the art as a function of collimating the laser.

[0372] In addition, at this time, steering the laser output from the laser emitting element can be defined as changing the propagation path of the laser output from the laser emitting element, but is not limited thereto, and includes a concept understood by a person of ordinary skill in the art as a function of steering a laser.

[0373] When a transmission optics assembly (1820) is used in a lidar device (1800), the laser output from the laser light emitting element is collimated by the transmission optics assembly (1820), so that energy loss due to long-distance flight of the laser is reduced, thereby enabling the lidar device to measure the distance to an object located at a further distance.

[0374] In addition, when a transmission optics assembly (1820) is used in a lidar device (1800), the laser output from the laser emitting element is steered by the transmission optics assembly (1820), thereby enabling the path of the laser to be changed in a direction different from the output direction of the laser output from the laser emitting element.

[0375] Types of optics that make up the transmission optics assembly

[0376] Additionally, the transmission optics assembly (1820) is composed of a combination of one or more optics, and the types of optics constituting the transmission optics assembly (1820) may vary.

[0377] For example, the type of optics that constitute the transmission optics assembly (1820) may be, but is not limited to, a lens, a prism, a micro lens, or a meta lens, and may be various types of optics.

[0378] Additionally, the types of lenses that make up the transmission optics assembly (1820) may vary.

[0379] For example, the type of lens constituting the transmission optics assembly (1820) may be a convex lens, a concave lens, a biconvex lens, a plano-convex lens, a convex meniscus lens, a biconcave lens, a plano-concave lens, a concave meniscus lens, an equi-convex lens, or an equi-concave lens.

[0380] Additionally, for example, the type of lens constituting the transmission optics assembly (1820) may be a spherical lens, an aspherical lens, or a cylindrical lens.

[0381] Additionally, for example, the type of lens constituting the transmission optics assembly (1820) may be a symmetry lens or an asymmetric lens.

[0382] Structure of the Transmission Optics Assembly - Various Combinations

[0383] The transmission optics assembly (1820) may be comprised of a combination of one or more optics, and may be implemented with a combination of various types of optics.

[0384] The transmission optics assembly (1820) can be implemented with a single lens.

[0385] For example, the transmission optics assembly (1820) can be implemented with one convex lens or one concave lens.

[0386] Additionally, the transmission optics assembly (1820) may be implemented as a composite lens comprising a plurality of lenses.

[0387] For example, the transmission optics assembly (1820) may be implemented as a compound lens comprising a combination of a plurality of convex lenses and a plurality of concave lenses.

[0388] Additionally, the transmission optics assembly (1820) can be implemented as a combination of multiple compound lenses.

[0389] For example, the transmission optics assembly (1820) can be implemented as a combination of a first compound lens, which is a symmetrical lens, and a second compound lens, which is an asymmetrical lens.

[0390] Additionally, the transmission optics assembly (1820) can be implemented with various combinations of optics for collimating and steering the laser output from the laser emitting element in addition to the examples described above.

[0391] Structure of the Transmission Optics Assembly - Lens Layer Structure

[0392] When the transmission optics assembly (1820) is configured to include a compound lens, the compound lens may include a plurality of lens layers stacked along a common axis.

[0393] At this time, the plurality of lens layers can be arranged so that the optical axes of each of the plurality of lens layers are aligned with the common axis, and the optical axes of each of the plurality of lens layers pass through the centers of each of the plurality of lens layers and mean an imaginary axis perpendicular to the surface.

[0394] Additionally, at this time, the optical axis of the composite lens may correspond to a virtual axis in which the optical axes of each of the plurality of lens layers included in the composite lens are aligned.

[0395] Laser irradiation direction according to the relative positional relationship between the transmission optics assembly and the laser emitting element

[0396] Layout relationship between the transmission optics assembly and the laser emitting element

[0397] When a laser emitting element and a transmission optics assembly (1820) are used in the lidar device (1800), the laser emitting element is positioned to output a laser toward the transmission optics assembly (1820).

[0398] For example, the first laser emitting element (1811) and the second laser emitting element (1812) included in the laser emitting element array (1810) are arranged to output laser toward the transmission optics assembly (1820).

[0399] At this time, the laser light emitting element can be arranged so that the laser output from the laser light emitting element proceeds parallel to the optical axis (1821) of the transmission optics assembly (1820).

[0400] For example, the first laser emitting element (1811) included in the laser emitting element array (1810) may be arranged so that the first laser (1831) output from the first laser emitting element (1811) proceeds parallel to the optical axis (1821) of the transmission optics assembly (1820), and the second laser emitting element (1812) may be arranged so that the second laser (1832) output from the second laser emitting element (1812) proceeds parallel to the optical axis (1821) of the transmission optics assembly (1820).

[0401] Of course, the fact that the laser output from the laser emitting element proceeds parallel to the optical axis (1821) of the transmission optics assembly (1820) does not only mean that all light rays of the laser output from the laser emitting element proceed parallel to the optical axis (1821) of the transmission optics assembly (1820), but also includes that at least some of the light rays of the laser output from the laser emitting element proceed parallel to the optical axis (1821) of the transmission optics assembly (1820).

[0402] Laser irradiation angle and direction according to the relative positional relationship between the transmission optics assembly and the laser emitting element

[0403] The laser beam output from the laser emitting element can be collimated and steered to a specific direction as it passes through the transmission optical assembly (1820).

[0404] For example, a first laser (1831) output from a first laser emitting element (1811) included in a laser emitting element array (1810) is collimated and steered as it passes through a transmission optics assembly (1820) and is irradiated in a first direction, and a second laser (1832) output from a second laser emitting element (1812) is collimated and steered as it passes through a transmission optics assembly (1820) and is irradiated in a second direction.

[0405] At this time, the direction in which the laser output from the laser light-emitting element is irradiated by being steered by the transmission optics assembly (1820) may vary depending on the relative positional relationship between the transmission optics assembly (1820) and the laser light-emitting element.

[0406] For example, when the transmission optics assembly (1820) is implemented as a symmetrical lens, the angle between the direction of travel of the steered laser passing through the transmission optics assembly (1820) and the optical axis (1821) of the transmission optics assembly (1820) may vary depending on the distance between the laser emitting element positioned within the focal plane of the transmission optics assembly (1820) and the optical axis (1821) of the transmission optics assembly (1820).

[0407] For a more specific example, when the transmission optics assembly (1820) is implemented as a symmetrical lens, as the distance between the laser emitting element positioned within the focal plane of the transmission optics assembly (1820) and the optical axis (1821) of the transmission optics assembly (1820) increases, the angle between the direction of travel of the steered laser passing through the transmission optics assembly (1820) and the optical axis (1821) of the transmission optics assembly (1820) may increase.

[0408] Additionally, for example, when the transmission optics assembly (1820) is implemented as a symmetrical lens, the direction in which the laser light emitting element located within the focal plane of the transmission optics assembly (1820) passes through the transmission optics assembly (1820) and is steered may vary depending on the direction in which the laser light emitting element is positioned within the focal plane of the transmission optics assembly (1820) from the optical axis (1821) of the transmission lens assembly (1820).

[0409] Additionally, for example, when the transmission optic assembly (1820) is implemented as a cylindrical lens that steers the laser in the first axial direction, the angle between the direction of travel of the steered laser passing through the transmission optic assembly (1820) and the optical axis (1821) of the transmission optic assembly (1820) may vary depending on the distance in the first axial direction between the laser emitting element and the optical axis (1821) of the transmission optic assembly (1820).

[0410] As described above, the direction in which the laser output from the laser output element passes through the transmission optic assembly (1820) can be determined depending on the relative positional relationship between the laser light-emitting element and the transmission optic assembly (1820). Therefore, in a lidar device, when a plurality of laser light-emitting elements having different relative positional relationships with the transmission optic assembly (1820) are used, a plurality of lasers can be output that pass through the transmission optic assembly (1820) and pass in different travel directions.

[0411] Therefore, using the laser emitting element array (1810) and the transmission optics assembly (1820) makes it possible to expand the area to which the laser is irradiated.

[0412]

[0413] Relationship between the laser emitting element array and the transmission optics assembly

[0414] Layout relationship between the transmission optics assembly and the laser emitting element array

[0415] The laser emitting element array (1810) can be positioned on the focal plane of the transmitting optics assembly (1820).

[0416] Of course, the laser emitting element array (1810) may be positioned to have a preset offset from the focal plane of the transmission optics assembly (1820) as needed, but for convenience of explanation, the description will be based on the laser emitting element array (1810) being positioned on the focal plane of the transmission optics assembly (1820).

[0417] Additionally, the laser light emitting element array (1810) can be arranged so that a plurality of lasers output from a plurality of laser light emitting elements of the laser light emitting element array (1810) proceed parallel to the optical axis (1821) of the transmission optics assembly (1820).

[0418] The direction of irradiation of lasers output from the laser emitting element array and passing through the transmission optics assembly

[0419] Each of the plurality of lasers output from the plurality of laser emitting elements of the laser emitting element array (1810) can be collimated and steered to irradiate in different directions as they pass through the transmission optics assembly (1820).

[0420] At this time, the direction in which the laser output from the plurality of laser light-emitting elements of the laser light-emitting element array (1810) is irradiated by being steered by the transmission optics assembly (1820) varies depending on the relative positional relationship between the transmission optics assembly (1820) and each of the plurality of laser light-emitting elements.

[0421] That is, the irradiation direction of the laser output from each of the plurality of laser light-emitting elements can be determined according to the relative positions of the transmission optics assembly (1820) and each of the plurality of laser light-emitting elements.

[0422] For example, the first direction in which the first laser (1831) output from the first laser emitting element (1811) included in the laser emitting element array (1810) is irradiated by being steered by the transmission optics assembly (1820) is determined according to the relative position between the optical axis (1821) of the transmission optics assembly (1820) and the first laser emitting element (1811).

[0423] Additionally, for example, the second direction in which the second laser (1832) output from the second laser emitting element (1812) included in the laser emitting element array (1810) is irradiated by being steered by the transmission optics assembly (1820) is determined according to the relative position between the optical axis (1821) of the transmission optics assembly (1820) and the second laser emitting element (1812).

[0424] This can be explained by the fact that the firing angle or steering angle of the laser output from each of the plurality of laser emitting elements is determined according to the relative positions of the transmission optics assembly (1820) and each of the plurality of laser emitting elements.

[0425] Laser irradiation area of ​​the lidar device

[0426] Laser irradiation area of ​​the lidar device

[0427] In this specification, the laser irradiation area of ​​the lidar device (1800) is a concept for comprehensively describing a space where a laser output from the lidar device (1800) can be irradiated.

[0428] At this time, the laser irradiation area of ​​the lidar device (1800) may include not only a space where the laser output from the lidar device (1800) is irradiated at one point in time, but also a space where the laser output from the lidar device (1800) can be irradiated for a certain period of time.

[0429] Refer to Fig. 11 to more specifically describe the laser irradiation area of ​​the lidar device.

[0430] Figure 11 is a drawing for explaining the laser irradiation area of ​​the lidar device.

[0431] More specifically, FIG. 11 is a drawing for explaining the laser irradiation area of ​​a lidar device based on a simplified illustration of a plurality of lasers output from a plurality of laser emitting elements of a laser emitting element array being steered and irradiated in different directions as they pass through a transmission optics assembly, for convenience of explanation.

[0432] Referring to FIG. 11, each of the plurality of lasers output from the plurality of laser emitting elements of the laser emitting element array of the lidar device (1840) is steered and irradiated in different directions as it passes through the transmission optics assembly.

[0433] That is, the first laser (1841) output from the lidar device (1840) is output from the first laser emitting element and is irradiated in the first direction as it passes through the transmission optic assembly, the second laser (1842) is output from the second laser emitting element and is irradiated in the second direction as it passes through the transmission optic assembly, the third laser (1843) is output from the third laser emitting element and is irradiated in the third direction as it passes through the transmission optic assembly, and the fourth laser (1844) is output from the fourth laser emitting element and is irradiated in the fourth direction as it passes through the transmission optic assembly.

[0434] At this time, referring again to FIG. 11, it can be seen that the plurality of lasers output from the lidar device (1840) are irradiated within a specific space, and to express this again, the set of spaces where the plurality of lasers output from the lidar device (1840) are irradiated can be expressed as being defined as a specific space.

[0435] Therefore, in this specification, a specific space where multiple lasers output from a lidar device (1840) are irradiated is described as a laser irradiation area (1845).

[0436] That is, in the example illustrated in Fig. 11, a square pyramid space with the lidar device (1840) as its vertex can become a laser irradiation area (1845).

[0437] At this time, referring again to FIG. 11, a specific space where multiple lasers output from the lidar device (1840) are irradiated can be a space having a shape that spreads out with the lidar device (1840) as the origin.

[0438] That is, multiple lasers output from the lidar device (1840) can be irradiated in different directions with the lidar device (1840) as a reference point, and accordingly, a specific space where multiple lasers output from the lidar device (1840) are irradiated can be a space having a shape that spreads out with the lidar device (1840) as the origin.

[0439] Therefore, a coordinate system with the lidar device (1840) as the origin can be effectively used to mathematically describe the laser irradiation area (1845) of the above-described lidar device.

[0440] For example, in order to mathematically describe the size of the laser irradiation area (1845) of the above-described lidar device, the angle between the outermost lasers irradiated on a coordinate system with the lidar device (1840) as the origin can be used.

[0441] More specifically, in order to mathematically describe the size of the laser irradiation area (1845) in the horizontal direction, the angle between the direction in which the first laser (1841) is irradiated and the direction in which the second laser (1842) is irradiated on a coordinate system with the lidar device (1840) as the origin may be used, and in order to mathematically describe the size of the laser irradiation area (1845) in the vertical direction, the angle between the direction in which the third laser (1843) is irradiated and the direction in which the fourth laser (1844) is irradiated on a coordinate system with the lidar device (1840) as the origin may be used.

[0442] At this time, in this specification, the size of the laser irradiation area (1845) of the lidar device is expressed in terms of the concept of angle, and is described as the angle of view of the laser irradiation area (1845). Below, the horizontal angle of view and the vertical angle of view of the laser irradiation area of ​​the fixed lidar device will be described in more detail.

[0443] Horizontal and vertical field of view of the laser irradiation area of ​​a fixed lidar device

[0444] Figure 12 is a drawing for explaining the horizontal and vertical angles of view of the laser irradiation area of ​​a fixed lidar device.

[0445] For convenience of explanation, Fig. 12 shows only the laser light emitting element array (1900) and the transmission optics assembly (1950) among the components of the fixed lidar device.

[0446] As described above, the laser irradiation area (1960) of the lidar device is defined as an area where the laser output from the lidar device can be irradiated.

[0447] Therefore, the horizontal and vertical angles of view of the laser irradiation area (1960) of the lidar device refer to the range of angles at which the laser output from the lidar device can be irradiated, and can be defined by the lasers irradiated to the outermost region.

[0448] At this time, in a fixed lidar device including a laser light-emitting element array (1900) and a transmission optics assembly (1950), an area where lasers output from each of the plurality of laser light-emitting elements can be irradiated can be defined by the relative positional relationship with the transmission optics assembly (1950).

[0449] Accordingly, in a fixed lidar device including a laser emitting element array (1900) and a transmission optics assembly (1950), a horizontal field of view of a laser irradiation area (1960) can be defined by a first angle (1961), which is an angle between an irradiation direction of a first laser (1911) output from a first laser emitting element (1910) arranged at a first end among a plurality of laser emitting elements arranged in a central row after passing through the transmission optics assembly (1950) and an irradiation direction of a second laser (1921) output from a second laser emitting element (1920) arranged at a second end after passing through the transmission optics assembly (1950).

[0450] In addition, in a fixed lidar device including a laser emitting element array (1900) and a transmission optics assembly (1950), a vertical angle of view of a laser irradiation area (1960) can be defined by a second angle (1962), which is an angle between an irradiation direction of a third laser (1931) output from a third laser emitting element (1930) arranged at a third end among a plurality of laser emitting elements arranged in a central row after passing through the transmission optics assembly (1950) and an irradiation direction of a fourth laser (1941) output from a fourth laser emitting element (1940) arranged at a fourth end after passing through the transmission optics assembly (1950).

[0451] Detecting element array

[0452] Definition of the detection element array

[0453] The detecting element array (1850) is defined as a plurality of detecting elements arranged in an array form.

[0454] At this time, a plurality of detecting elements included in the detecting element array (1850) can be arranged in an array form on one plane.

[0455] Additionally, at this time, a plurality of detecting elements included in the detecting element array (1850) may be implemented to share at least one substrate.

[0456] Types of detecting element arrays

[0457] As described above, the types of detecting elements can vary.

[0458] Accordingly, the type of the detection element array (1850) in which multiple detection elements are arranged in an array form may also be diverse.

[0459] Receiver optics assembly

[0460] Function of the receiving optics assembly

[0461] The receiving optics assembly (1860) is configured to focus light incident on the receiving optics assembly (1860) onto a detecting element by utilizing phenomena such as refraction, diffraction, and reflection of light.

[0462] Types of optics that make up the receiving optics assembly

[0463] Additionally, the receiving optics assembly (1860) is composed of a combination of one or more optics, and the types of optics constituting the receiving optics assembly (1860) may vary.

[0464] For example, the type of optics constituting the receiving optics assembly (1860) may be, but is not limited to, a lens, a prism, a micro lens, or a meta lens, and may be various types of optics.

[0465] Additionally, the types of lenses that make up the receiving optics assembly (1860) may vary.

[0466] For example, the type of lens constituting the receiving optics assembly (1860) may be a convex lens, a concave lens, a biconvex lens, a plano-convex lens, a convex meniscus lens, a biconcave lens, a plano-concave lens, a concave meniscus lens, an equi-convex lens, or an equi-concave lens.

[0467] Additionally, for example, the type of lens constituting the receiving optics assembly (1860) may be a spherical lens, an aspherical lens, or a cylindrical lens.

[0468] Additionally, for example, the type of lens constituting the receiving optics assembly (1860) may be a symmetry lens or an asymmetric lens.

[0469] Structure of the receiving optics assembly - various combinations

[0470] The receiving optics assembly (1860) may be comprised of a combination of one or more optics, and may be implemented with a combination of various types of optics.

[0471] The receiving optics assembly (1860) can be implemented with a single lens.

[0472] For example, the receiving optics assembly (1860) may be implemented with one convex lens or one concave lens.

[0473] Additionally, the receiving optics assembly (1860) may be implemented as a composite lens comprising a plurality of lenses.

[0474] For example, the receiving optics assembly (1860) may be implemented as a compound lens comprising a combination of a plurality of convex lenses and a plurality of concave lenses.

[0475] Additionally, the receiving optics assembly (1860) can be implemented as a combination of multiple compound lenses.

[0476] For example, the receiving optics assembly (1860) can be implemented as a combination of a first compound lens, which is a symmetrical lens, and a second compound lens, which is an asymmetrical lens.

[0477] Additionally, the receiving optics assembly (1860) can be implemented with various combinations of optics for focusing light incident on the receiving optics assembly onto a detecting element in addition to the examples described above.

[0478] Additionally, the receiving optics assembly (1860) may be implemented to include a band pass filter that passes only light of a specific wavelength band.

[0479] At this time, the transmission band of the band pass filter included in the receiving optical assembly (1860) is provided to include the wavelength band of the laser output from the laser emitting element.

[0480] In particular, the receiving optical assembly (1860) used in the lidar device is implemented to include a band pass filter, which blocks light of a wavelength band other than the wavelength band of the laser output from the laser emitting element and selectively transmits only light of the wavelength band of the laser output from the laser emitting element, thereby making it possible to significantly reduce external light reaching the detecting element.

[0481] Structure of the receiving optics assembly - lens layer structure

[0482] When the receiving optics assembly (1860) is configured to include a compound lens, the compound lens may include a plurality of lens layers stacked along a common axis.

[0483] At this time, the plurality of lens layers can be arranged so that the optical axes of each of the plurality of lens layers are aligned with the common axis, and the optical axes of each of the plurality of lens layers pass through the centers of each of the plurality of lens layers and mean an imaginary axis perpendicular to the surface.

[0484] Additionally, at this time, the optical axis of the composite lens may correspond to a virtual axis in which the optical axes of each of the plurality of lens layers included in the composite lens are aligned.

[0485] Light detection direction according to the relative positional relationship between the receiving optics assembly and the detecting element

[0486] Layout relationship between the receiving optics assembly and the detecting element

[0487] When a detecting element and a receiving optics assembly (1860) are used in a lidar device (1800), the detecting element is positioned at the focal plane of the receiving optics assembly (1860) and is arranged in a direction facing the receiving optics assembly (1860).

[0488] Light detection angle and direction depending on the relative positional relationship between the receiving optics assembly and the detecting element.

[0489] Light incident on the receiving optics assembly (1860) from a specific direction can be focused by a detecting element.

[0490] At this time, the point at which light incident on the receiving optics assembly (1860) is focused by the receiving optics assembly (1860) may vary depending on the direction of the light incident on the receiving optics assembly (1860).

[0491] For example, light (1871) incident in a first direction onto the receiving optics assembly (1860) is focused by the receiving optics assembly (1860) to a point where the first detecting element (1851) is located, and light (1872) incident in a second direction onto the receiving optics assembly (1860) is focused by the receiving optics assembly (1860) to a point where the second detecting element (1852) is located.

[0492] That is, depending on the relative positional relationship between the receiving optical assembly (1860) and the detecting element, the direction or angle of incidence of light that can be focused by the detecting element among the light incident on the receiving optical assembly (1860) can be determined.

[0493] For example, when the receiving optics assembly (1860) is implemented as a symmetrical lens, the angle between the incident direction of light that can be focused by the detecting element after passing through the receiving optics assembly (1860) and the optical axis (1861) of the receiving optics assembly (1860) may vary depending on the distance between the detecting element located within the focal plane of the receiving optics assembly (1860) and the optical axis (1861) of the receiving optics assembly.

[0494] For a more specific example, when the receiving optics assembly (1860) is implemented as a symmetrical lens, as the distance between the optical axis (1861) of the receiving optics assembly (1860) and the detecting element positioned within the focal plane of the receiving optics assembly (1860) increases, the angle between the incident direction of light that can be focused by the detecting element after passing through the receiving optics assembly (1860) and the optical axis (1861) of the receiving optics assembly (1860) may increase.

[0495] Additionally, for example, when the receiving optics assembly (1860) is implemented as a symmetrical lens, the direction of incidence of light that can be focused by the detecting element after passing through the receiving optics assembly (1860) may vary depending on the direction in which the detecting element located within the focal plane of the receiving optics assembly (1860) is arranged from the optical axis (1861) of the receiving lens assembly (1860).

[0496] As described above, the incident direction of light that can be focused onto the detecting element after passing through the receiving lens assembly (1860) can be determined according to the relative positional relationship between the detecting element and the receiving optics assembly (1860). Therefore, when a plurality of detecting elements having different relative positional relationships with the receiving optics assembly (1860) are used in a lidar device, light incident in different incident directions can pass through the receiving optics assembly (1860) and be focused onto each of the plurality of detecting elements.

[0497] Therefore, utilizing the detection element array (1850) and the receiving optics assembly (1860) enables expanding the area in which light can be detected.

[0498] Relationship between the detecting element array and the receiving optics assembly

[0499] Layout relationship between the receiving optics assembly and the detecting element array

[0500] The detecting element array (1850) can be positioned on the focal plane of the receiving optics assembly (1860).

[0501] Of course, the detecting array (1850) may be positioned to have a preset offset from the focal plane of the receiving optics assembly (1860) as needed, but for convenience of explanation, the description will be based on the detection element array (1850) being positioned on the focal plane of the receiving optics assembly (1860).

[0502] The direction of incidence of light to the receiving optics assembly, which can be focused onto the array of detecting elements after passing through the receiving optics assembly.

[0503] Light incident in different directions on the receiving optics assembly (1860) can pass through the receiving optics assembly (1860) and be focused onto each of the plurality of detecting elements of the detecting element array (1850).

[0504] At this time, the direction of incidence of light to the receiving optics assembly (1860) that can be focused by each of the plurality of detecting elements varies depending on the relative positional relationship between the receiving optics assembly (1860) and each of the plurality of detecting elements.

[0505] That is, the direction of light (incident direction with respect to the receiving optical assembly) that each of the plurality of detecting elements can detect can be determined depending on the relative positions of the receiving optical assembly (1860) and each of the plurality of detecting elements.

[0506] For example, the direction of incidence of light detectable by the first detecting element (1851) included in the detecting element array (1850) on the receiving optical assembly (1860) is determined based on the relative position between the optical axis (1861) of the receiving optical assembly (1860) and the first detecting element (1851).

[0507] Additionally, for example, the direction of incidence of light detectable by the second detecting element (1852) included in the detecting element array (1850) on the receiving optical assembly (1860) is determined based on the relative position between the optical axis (1861) of the receiving optical assembly (1860) and the second detecting element (1852).

[0508] In other words, light incident in a specific direction on the receiving optical assembly (1860) is focused on a specific detecting element among a plurality of detecting elements, and which detecting element it is focused on is determined by the direction of the light incident on the receiving optical assembly (1860).

[0509] This can be explained by determining the direction or angle of incidence of light to the receiving optical assembly (1860) that each of the plurality of detecting elements can detect based on the relative positions of the receiving optical assembly (1860) and each of the plurality of detecting elements.

[0510] Light detection area of ​​a lidar device

[0511] Light detection area of ​​a lidar device

[0512] In this specification, the light detection area of ​​the lidar device (1800) is a concept for comprehensively describing a space in which light can be detected by the lidar device (1800).

[0513] At this time, the light detection area of ​​the lidar device (1800) may include not only a space where light can be detected by the lidar device (1800) at one point in time, but also a space where light can be detected by the lidar device (1800) for a certain period of time.

[0514] For a more detailed description of the light detection area of ​​the lidar device, see Fig. 13.

[0515] Figure 13 is a drawing for explaining the light detection area of ​​a lidar device.

[0516] More specifically, FIG. 13 is a drawing for explaining a light detection area of ​​a lidar device based on a simplified illustration of light incident in different directions on a receiving optical assembly passing through the receiving optical assembly and being focused onto each of a plurality of detecting elements of a detecting element array, for convenience of explanation.

[0517] Referring to FIG. 13, light incident from different directions on the receiving optics assembly of the lidar device (1880) passes through the receiving optics assembly and is focused onto each of the plurality of detecting elements of the lidar device (1880).

[0518] That is, the first light (1881) incident on the lidar device (1880) in the first direction is focused on the first detecting element as it passes through the receiving optical assembly, the second light (1882) incident on the second direction is focused on the second detecting element as it passes through the receiving optical assembly, the third light (1883) incident on the third direction is focused on the third detecting element as it passes through the receiving optical assembly, and the fourth light (1884) incident on the fourth direction is focused on the fourth detecting element as it passes through the receiving optical assembly.

[0519] At this time, referring again to FIG. 13, it can be seen that the light focused by the detection element array of the lidar device (1880) is incident on the lidar device (1880) within a specific space, and to express this again, the set of light focused by the detection element array of the lidar device (1880) can be expressed as being defined as a specific space.

[0520] Therefore, in this specification, a specific space where light focused by the detection element array of the lidar device (1880) is incident is described as a light detection area (1885).

[0521] That is, in the example illustrated in FIG. 13, a square pyramid space with the lidar device (1880) as its vertex can become a light detection area (1845).

[0522] At this time, referring again to FIG. 13, a specific space where light focused by the detection element array of the lidar device (1880) is incident may be a space having a shape in which the lidar device (1880) is gathered as the origin.

[0523] That is, the light focused by the detection element array of the lidar device (1880) may be incident from different directions toward the lidar device (1880), and accordingly, a specific space where the light focused by the detection element array of the lidar device (1880) is incident may be a space having a shape in which the lidar device (1880) is gathered as the origin.

[0524] Therefore, a coordinate system with the lidar device (1880) as the origin can be effectively used to mathematically describe the light detection area (1885) of the above-described lidar device.

[0525] For example, in order to mathematically describe the size of the light detection area (1885) of the above-described lidar device, the angle between the light incident at the outermost edge and focused onto the detection element array on a coordinate system with the lidar device (1880) as the origin can be used.

[0526] More specifically, in order to mathematically describe the size of the light detection area (1885) in the horizontal direction, the angle between the direction in which the first light (1881) is incident and the direction in which the second light (1882) is incident on a coordinate system with the LIDAR device (1880) as the origin can be used, and in order to mathematically describe the size of the light detection area (1885) in the vertical direction, the angle between the direction in which the third light (1883) is incident and the direction in which the fourth light (1884) is incident on a coordinate system with the LIDAR device (1880) as the origin can be used.

[0527] At this time, in this specification, the size of the light detection area (1885) of the lidar device is expressed in terms of the concept of angle, and is described as the angle of view of the light detection area (1885). Below, the horizontal angle of view and the vertical angle of view of the light detection area of ​​the fixed lidar device will be described in more detail.

[0528]

[0529] Horizontal and vertical field of view of the light detection area of ​​a fixed lidar device

[0530] Figure 14 is a drawing for explaining the horizontal and vertical angles of view of the light detection area of ​​a fixed lidar device.

[0531] For convenience of explanation, Fig. 14 shows only the detecting element array (2000) and the receiving optics assembly (2050) among the configurations of a fixed lidar device.

[0532] As described above, the light detection area (2060) of the lidar device is defined as an area in which the lidar device can detect light.

[0533] Therefore, the horizontal field of view and the vertical field of view of the light detection area (2060) of the lidar device mean the range of angles at which light can be detected by the lidar device, and can be defined by the outermost incident directions among the incident directions for the light receiving optical assembly that can be detected by the lidar device.

[0534] At this time, in a fixed lidar device including a detecting element array (2000) and a receiving optics assembly (2050), the direction or angle of incidence of light that can be detected by each of the plurality of detecting elements with respect to the receiving optics assembly can be determined by the relative positional relationship between the receiving optics assembly (2050) and each of the plurality of detecting elements.

[0535] Accordingly, in a fixed lidar device including a detecting element array (2000) and a receiving optics assembly (2050), a horizontal field of view of a light detection area (2060) can be defined by a third angle (2061), which is an angle between a first incident direction of light (2011) focused on a first detecting element (2010) disposed at a first end among a plurality of detecting elements arranged in a central row, and a second incident direction of light (2021) focused on a second detecting element (2020) disposed at a second end, relative to the receiving optics assembly (2050).

[0536] Additionally, in a fixed lidar device including a detecting element array (2000) and a receiving optics assembly (2050), a vertical field of view of a light detection area (2060) may be defined by a fourth angle (2062), which is an angle between a third incident direction of light (2031) focused on a third detecting element (2030) disposed at a third end among a plurality of detecting elements arranged in a central row, and a fourth incident direction of light focused on a fourth detecting element (2040) disposed at a fourth end, relative to the receiving optics assembly (2050).

[0537] Angle of view of the lidar device

[0538] As described above, since the lidar device is a device for measuring the distance between the lidar device and an object using a laser, the lidar device can measure the distance between the lidar device and the object only when the following conditions are satisfied.

[0539] i) The target is located within the area where the laser output from the lidar device is irradiated.

[0540] ii) The laser reflected from the target is received by the detecting element of the lidar device.

[0541] Therefore, the measurable area of ​​the lidar device is the area where the laser irradiation area of ​​the lidar device described above and the light detection area of ​​the lidar device described above overlap.

[0542] At this time, the field of view of the lidar device is a concept that expresses the measurable area of ​​the lidar device as an angle based on a specific origin.

[0543] Also, at this time, when manufacturing a lidar device, the laser irradiation area of ​​the lidar device and the light detection area of ​​the lidar device are manufactured to be aligned with each other at a specific distance.

[0544] Therefore, the field of view of the lidar device can be defined as the vertical field of view and the horizontal field of view of the laser irradiation area described above, and can also be defined as the vertical field of view and the horizontal field of view of the light detection area described above.

[0545]

[0546] Although omitted in FIG. 10, the lidar device (1800) disclosed by the present application may further include a band pass filter.

[0547] Band pass filter

[0548] A bandpass filter is configured to pass only light of a specific wavelength band.

[0549] At this time, the transmission band of the band pass filter is configured to include the wavelength band of the laser output from the laser emitting element.

[0550] Additionally, at this time, the band pass filter may be located within the receiving optics assembly, and more specifically, may be located between a plurality of lenses constituting the receiving optics assembly.

[0551] Additionally, at this time, the bandpass filter may be located outside the receiving optics assembly, or may be located between the receiving optics assembly and the detecting element array.

[0552]

[0553] [Optical connection between the laser emitting element array and the detecting element array]

[0554] Definition of optical connection

[0555] As described above, each of the plurality of lasers output from the plurality of laser emitting elements of the laser emitting element array can be collimated and steered to irradiate in different directions as it passes through the transmitting optical assembly, and light incident in different directions on the receiving optical assembly can pass through the receiving optical assembly and be focused onto each of the plurality of detecting elements of the detecting element array.

[0556] At this time, the lidar device may be configured such that a laser output from a specific laser emitting element of the laser emitting element array passes through a transmission optical assembly and is irradiated in a specific direction, and when the laser is reflected from an object located at a preset distance from the lidar device, the laser is focused onto a specific detecting element of the detecting element array through a receiving optical assembly.

[0557] In this specification, the relationship between the specific laser emitting element and the specific detecting element described above is described as a relationship in which the specific laser emitting element and the specific detecting element are optically connected to each other.

[0558] That is, in this specification, the laser emitting element and the detecting element are defined as being optically connected to each other in a relationship in which the laser irradiation direction and the light detection direction, which are determined according to the relationship between the optical configurations of the lidar device, match each other.

[0559] Various optical connections between the laser emitting element array and the detecting element array

[0560] The lidar device is configured such that a plurality of laser emitting elements of a laser emitting element array and a plurality of detecting elements of a detecting element array are optically connected to each other, and at this time, the optical connection relationship between the plurality of laser emitting elements and the plurality of detecting elements may vary.

[0561] For example, a lidar device may be configured such that one laser emitting element is optically coupled to one detecting element.

[0562] That is, the lidar device can be configured such that each of the plurality of laser emitting elements of the laser emitting element array is optically connected to each of the plurality of detecting elements of the detecting element array.

[0563] As an example of a more specific configuration of a lidar device, when a plurality of laser emitting elements of a laser emitting element array are arranged in a two-dimensional array consisting of M rows and N columns, and a plurality of detecting elements of a detecting element array are arranged in a two-dimensional array consisting of M rows and N columns, a laser emitting element located at (X, Y) can be optically connected to a detecting element located at (X, Y).

[0564] Additionally, for example, a lidar device may be configured such that one laser emitting element is optically connected to a plurality of detecting elements.

[0565] That is, the lidar device can be configured such that each of the plurality of laser emitting elements of the laser emitting element array is optically connected to each of some groups of the plurality of detecting elements of the detecting element array.

[0566] As an example of a more specific configuration of a lidar device, when a plurality of laser emitting elements of a laser emitting element array are arranged in a two-dimensional array consisting of M rows and N columns, and a plurality of detecting elements of a detecting element array are arranged in a two-dimensional array consisting of 3M rows and 3N columns, one laser emitting element can be optically connected to nine detecting elements.

[0567] Additionally, for example, the lidar device may be configured such that multiple laser emitting elements are optically connected to one detecting element.

[0568] That is, the lidar device can be configured such that each of some groups of a plurality of laser emitting elements of the laser emitting element array is optically connected to each of a plurality of detecting elements of the detecting element array.

[0569] As an example of a more specific configuration of a lidar device, when a plurality of laser emitting elements of a laser emitting element array are arranged in a two-dimensional array consisting of 3M rows and 3N columns, and a plurality of detecting elements of a detecting element array are arranged in a two-dimensional array consisting of M rows and N columns, nine laser emitting elements can be optically connected to one detecting element.

[0570] Additionally, for example, the lidar device may be configured such that a plurality of laser emitting elements are optically connected to a plurality of detecting elements.

[0571] That is, the lidar device can be configured such that each of some groups of the plurality of laser emitting elements of the laser emitting element array is optically connected to each of some groups of the plurality of detecting elements of the detecting element array.

[0572] As an example of a more specific configuration of a lidar device, when a plurality of laser emitting elements of a laser emitting element array are arranged in a two-dimensional array consisting of A*M rows and B*N columns, and a plurality of detecting elements of a detecting element array are arranged in a two-dimensional array consisting of C*M rows and D*N columns, the A*B laser emitting elements can be optically connected to the C*D detecting elements.

[0573]

[0574] [Lidar data]

[0575] Definition of LiDAR data

[0576] Through Figures 1 to 8, the process of generating a histogram through a series of operations of one laser emitting element and one detecting element that are optically connected to each other was explained, and further, through the generated histogram, how an echo signal is determined, how a distance to a target is estimated, and how the reflection intensity of a laser for a target is estimated were explained in detail.

[0577] Meanwhile, it was explained that the laser emitting elements can be provided in the form of an array, and that the detecting elements can also be provided in the form of an array, and in this case, each of the laser emitting elements has its own unique direction of orientation, and further, it was explained in detail that each of the detecting elements also has its own unique direction of orientation, and at least one laser emitting element and at least one detecting element can be optically connected.

[0578] Ultimately, in a lidar where both laser emitting elements and detecting elements are implemented in an array form, the optically connected laser emitting elements and detecting elements can be conceptually defined as a laser-detector pair or a laser-detector set.

[0579] In this specification, the set of histograms, echo signals, distances and / or reflection intensities acquired by each laser-detector pair over a predetermined, very short period of time is defined as lidar data.

[0580] At this time, by interpreting the lidar data acquired by all laser-detector pairs, information about a specific scene within the field of view of the lidar device (hereinafter, information about a specific scene acquired through interpretation of lidar data, etc. may be referred to as frame information) can be acquired, and by controlling the cycle for acquiring lidar data, the time axis resolution (e.g., frame per second (fps)) of information about scenes within the field of view of the lidar device can be controlled.

[0581] Below, we will explain the lidar data in more detail.

[0582]

[0583] Composition of LiDAR data

[0584] Figure 15 is a drawing for explaining lidar data disclosed through the present application.

[0585] Referring to FIG. 15, the lidar data (2100) disclosed through the present application is composed of a plurality of pixel position coordinates (2110) and at least one pixel value (2120) corresponding to the plurality of pixel position coordinates (2110).

[0586] At this time, the lidar data (2100) disclosed through the present application can be generated or output in frame units, and the following descriptions will be based on the lidar data (2100) of one frame.

[0587] Definition of a pixel and its relationship to the array of detecting elements.

[0588] As described above, in this specification, lidar data (2100) is described as a set of pixel values ​​corresponding to each of a plurality of pixels. In general, a pixel is a concept used in the display field, and similar to the concept used in the display field, each pixel can be distinguished from the other by a coordinate value corresponding to the pixel, and in this specification, the coordinates of the pixels are coordinates that can be defined within a detection element array of a detection element used to obtain the pixel values ​​corresponding to the pixels.

[0589] For example, the first coordinate of the first detecting element is different from the second coordinate of the second detecting element.

[0590] At this time, a single pixel value may be obtained from a single detecting device, but a single pixel value may also be obtained from multiple detecting devices. For convenience of explanation, in the following, we will not clearly distinguish whether a pixel value is obtained from a single detecting device or from multiple detecting devices.

[0591] Pixel position coordinates

[0592] In general, the array of detecting elements can be implemented in the form of a grid having rows and columns, where the coordinates of one detecting element can be defined by the row number of the row to which the detecting element belongs and the column number of the column to which the detecting element belongs.

[0593] For example, in a grid-shaped detection element array consisting of M rows and N columns, if a specific detection element is arranged in the x-th row and the y-th column, the coordinates of the specific detection element can be defined as (x,y), and the pixel coordinates corresponding to the pixel value obtained from the specific detection element can be used as (x,y).

[0594] Of course, at this time, coordinate values ​​converted based on the coordinates of the detecting elements may be used as pixel coordinates. For example, if the position of the detecting element and the direction in which the light received by the detecting element is incident on the receiving optical assembly are reversed by the above-described receiving optical assembly, the position coordinate of the first pixel corresponding to the first detecting element located at (1,1) in the detecting element array may be used as (M,N), and the position coordinate of the M*Nth pixel corresponding to the M*Nth detecting element located at (M,N) in the detecting element array may be used as (1,1).

[0595] pixel value

[0596] Referring again to FIG. 15, at least one pixel value (2120) constituting the lidar data (2100) may include any one of a histogram (2121), an echo signal (2122), a distance (2123), a reflection intensity (2124), or a representative counting value (2125).

[0597] At this time, a histogram (2121) of a specific pixel of lidar data (2100) can be generated based on an electrical signal output from a detecting element corresponding to the specific pixel, and the above-described contents can be applied to this, so redundant descriptions will be omitted.

[0598] In addition, at this time, the echo signal (2122) of a specific pixel of the lidar data (2100) can be generated based on a histogram for a detecting element corresponding to the specific pixel, and the above-described contents can be applied to this, so redundant descriptions will be omitted.

[0599] In addition, at this time, the distance (2123) of a specific pixel of lidar data (2100) can be measured based on an echo signal generated based on a histogram for a detecting element corresponding to the specific pixel, and the above-described contents can be applied to this, so redundant descriptions will be omitted.

[0600] In addition, at this time, the reflection intensity (2124) of a specific pixel of the lidar data (2100) can be estimated based on an echo signal generated based on a histogram for a detecting element corresponding to the specific pixel, and the above-described contents can be applied to this, so redundant descriptions will be omitted.

[0601] Additionally, at this time, a representative counting value (2125) of a specific pixel of lidar data (2100) can be generated based on a histogram for a detecting element corresponding to a specific pixel, and can be estimated based on an echo signal generated based on the histogram.

[0602] For example, the representative counting value (2125) can be obtained as the maximum counting value, average counting value, etc. among the counting values ​​included in the histogram or echo signal.

[0603] Specific examples of lidar data (types of lidar data)

[0604] Lidar data (2100) can be distinguished depending on what the pixel values ​​mentioned above are.

[0605] For example, if the pixel value (2120) is a distance, the lidar data may be referred to as a distance map or a depth map.

[0606] For another example, if the pixel value (2120) is a reflection intensity, the lidar data may be referred to as a reflection intensity map or an intensity map.

[0607] For another example, if the pixel value (2120) is an echo signal, the lidar data may be referred to as an echo signal map.

[0608] For another example, if the pixel value (2120) is a count value, the lidar data may be referred to as a count value map.

[0609] Additionally, lidar data (2100) can be distinguished in various ways according to the pixel values ​​described above in addition to the examples described above.

[0610]

[0611] Below, we describe in more detail the frame information that can be obtained from lidar data.

[0612]

[0613] [Frame Information]

[0614] Definition of frame information

[0615] As described above, the LiDAR device emits a laser beam around the LiDAR device and detects the laser beam reflected from the target object to measure the distance to the target object located around the LiDAR device. Therefore, the LiDAR device can measure the distance to the points where the target object is located.

[0616] Accordingly, in this specification, frame information is described as a set of data about points where an object whose distance is measured by a lidar device is located, and as information about a specific scene within the field of view of the lidar device obtained through interpretation of lidar data, etc.

[0617] Types of frame information

[0618] The frame information includes a point cloud, which is a set of position coordinates for points where objects whose distances are measured by the lidar device are located, and an enhanced point cloud that includes additional information related to the points in addition to the position coordinates.

[0619] Of course, point cloud and enhanced point cloud are concepts explained separately for convenience of explanation, and in this specification, data including information related to a point in addition to location coordinates can be expressed as a point cloud.

[0620] Below, we will explain point clouds and enhanced point clouds in more detail.

[0621]

[0622] point cloud

[0623] Point data in the point cloud

[0624] Figure 16 is a drawing for explaining a point cloud disclosed through the present application.

[0625] As described above, the point cloud (2200) is one type of frame information and refers to a set of location coordinates for points where an object whose distance is measured by a lidar device is located.

[0626] Accordingly, in this specification, data for each point of the point cloud (2200) is described as point data.

[0627] Accordingly, the point cloud (2200) illustrated in FIG. 16 can be described as including first point data (2211) for the first point and K-th point data (2212) for the K-th point.

[0628]

[0629] Location coordinates of point data

[0630] As illustrated in FIG. 16, each point data of the point cloud (2200) includes position coordinates (2220).

[0631] At this time, the position coordinates (2200) of the above point data are generally expressed using a coordinate system based on the optical origin of the lidar device.

[0632] For example, in Fig. 16, the position coordinates (2220) of each point data of the point cloud (2200) are expressed using an orthogonal coordinate system based on the optical origin of the lidar device.

[0633] Of course, the coordinate system for expressing the position coordinates (2200) of the above point data may be a cylindrical coordinate system, a spherical coordinate system, etc. in addition to the rectangular coordinate system illustrated in FIG. 16, and may also be various other coordinate systems.

[0634]

[0635] The Relationship Between Point Cloud and LiDAR Data

[0636] As described above, the point cloud (2200) is one type of frame information, and the frame information is information about a specific scene within the field of view of the lidar device obtained through interpretation of lidar data, etc.

[0637] Therefore, a point cloud (2200) can be acquired based on lidar data.

[0638] More specifically, the point cloud (2200) can be acquired based on pixels in which an object is detected among pixels included in the lidar data.

[0639] At this time, pixels where an object is detected may mean pixels having a distance value as a pixel value, and having a distance value may mean that the distance to the object has been measured.

[0640] Additionally, at this time, the location coordinates (2220) of each point data included in the point cloud (2200) can be obtained based on the pixel coordinates and corresponding distance values ​​of the pixels included in the lidar data.

[0641] More specifically, the point cloud (2200) can be obtained by specifying pixels in which an object is detected among pixels included in the lidar data and using the pixel coordinates and corresponding distance values ​​of each of the specified pixels.

[0642] Below, we will describe in more detail how to obtain the position coordinates (2220) of point data based on lidar data.

[0643] First, as described above, one laser-detector set has a unique pointing direction, and accordingly, the distance value of a pixel corresponding to one laser-detector set can mean the distance to an object located in the unique pointing direction.

[0644] Therefore, the lidar device can store information about the direction corresponding to each pixel position coordinate of the lidar data.

[0645] For example, the first pixel position coordinate (1,1) and the first direction vector ( _1, _1) can be matched and stored, and the K pixel position coordinates (M,N) and the K-th direction vector ( _M, _N) can be matched and saved.

[0646] Accordingly, the position coordinates (2220) of the point data included in the point cloud (2200) are obtained by matching and storing direction information for each pixel coordinate based on the pixel coordinates of the pixels included in the lidar data, and can be obtained based on a distance value corresponding to the obtained direction information.

[0647] For example, the first position coordinates (X_1, Y_1, Z_1) of the first point data (2211) are matched with (1,1), which is the position coordinates of the first pixel corresponding to the first point data, and are stored as the first direction vector ( _1, _1) and the first distance value (R_1) corresponding to the first pixel.

[0648] Additionally, when a point cloud is acquired based on pixels in which an object is detected among pixels included in the lidar data, the number of pixels included in the lidar data and the number of point data included in the point cloud may be different from each other.

[0649] That is, the number of pixels included in the lidar data may correspond to the number of detecting elements in the detecting element array regardless of whether pixel values ​​are acquired or distances are measured, but the number of point data included in the point cloud may be acquired based on pixels among the pixels included in the lidar data for which distance values ​​are acquired.

[0650] Enhanced point cloud

[0651] Enhanced point cloud and enhanced point data

[0652] FIG. 17 is a drawing for explaining the enhanced point cloud disclosed through the present application.

[0653] As described above, the enhanced point cloud (2300) is one type of frame information, which means a set of position coordinates and information related to points at which an object whose distance is measured by a lidar device is located.

[0654] Accordingly, in this specification, data including location coordinates for each point of the enhanced point cloud (2300) and information related to the point matching the position coordinates are described as enhanced point data.

[0655] At this time, since the location coordinates of the reinforced point data can be applied to the location coordinates of the point data described above, redundant descriptions will be omitted.

[0656] Also, at this time, information related to the branch is described as a point value (2330).

[0657] Accordingly, each enhanced point data included in the enhanced point cloud (2300) includes position coordinates and point values ​​(2330) matching the position coordinates.

[0658] At this time, the point value (2330) included in the enhanced point data may be one as shown in Fig. 17, but is not limited thereto and may be multiple.

[0659] Below, the point value (2330) included in the enhanced point data will be described in more detail.

[0660] Point values ​​of enhanced point data

[0661] The point value (2330) of the enhanced point data can be obtained based on the lidar data.

[0662] For example, the point value (2330) of the enhanced point data can be used as the pixel value of multiple pixels of the lidar data.

[0663] For a more specific example, the point value (2330) of the enhanced point data may be any one of a histogram, echo signal, distance, reflection intensity, or representative counting value of the corresponding pixel.

[0664] Additionally, for example, the point value (2330) of the enhanced point data may be a processed value of the pixel values ​​of multiple pixels of the lidar data.

[0665] For a more specific example, the point value (2330) of the enhanced point data may be a value obtained by processing, such as by weighting one of the histogram, echo signal, distance, reflection intensity, or representative counting value of the corresponding pixel.

[0666] For another more specific example, the point value (2330) of the enhanced point data may be a value adjusted by considering the pixel values ​​of the surrounding pixels, one of the histogram, echo signal, distance, reflection intensity, or representative counting value of the corresponding pixel.

[0667] Additionally, the point value (2330) of the enhanced point data can be obtained based on the point cloud.

[0668] For example, the point value (2330) of the enhanced point data may be a normal vector value for a virtual plane calculated by considering the position coordinates of the corresponding point data and the position coordinates of the surrounding point data.

[0669] Additionally, for example, the point value (2330) of the enhanced point data may be a value obtained by adjusting the position coordinates of the corresponding point data by considering the position coordinates of the surrounding point data.

[0670]

[0671] [Operation timing of the lidar device to generate lidar data]

[0672] Histogram acquisition interval

[0673] It has already been described above that the pixel values ​​of the corresponding pixels are obtained by the operation of the laser-detector pair (multiple sampling cycles).

[0674] In this specification, a period in which a histogram is acquired by performing multiple sampling cycles for one laser-detector pair is described as a histogram acquisition period.

[0675] Of course, the above histogram acquisition interval can be expressed as a distance acquisition interval, a pixel value acquisition interval, etc., but in the following, it is expressed as a histogram acquisition interval for clarity of explanation.

[0676] At this time, the length of the histogram acquisition interval of all laser-detector pairs may be the same, but is not limited thereto, and the length of the histogram acquisition interval of some laser-detector pairs may be different.

[0677] The need for operating timing control of lidar devices

[0678] As described above, lidar data is a set of pixel values ​​acquired by each laser-detector pair over a predetermined, very short period of time, and frame information is information about a specific scene obtained through interpretation of lidar data, etc.

[0679] Therefore, lidar data or frame information is acquired only after passing through the histogram acquisition interval for all laser-detector pairs. Of course, lidar data or frame information for a specific scene of only a portion of the entire scene can be acquired using pixels for some laser-detector pairs. However, for convenience of explanation, the lidar data or frame information is described based on the assumption that it is acquired only after passing through the histogram acquisition interval for all laser-detector pairs.

[0680] At this time, the timing of operation of all laser-detector pairs can be related to frame rate, interference, measurable range, eye safety, etc., and can be a strategic design matter of the lidar device.

[0681] Various examples of the timing of operation of a lidar device

[0682] According to the first example of the operation timing of the lidar device, the histogram acquisition intervals for all laser-detector pairs are different from each other.

[0683] This means that after the histogram acquisition period for one laser-detector pair has elapsed, an operation for acquiring a histogram for another laser-detector pair is performed.

[0684] However, in this case, the histogram acquisition intervals for all laser-detector pairs may overlap to some extent.

[0685] Additionally, according to the first example of the operation timing of the lidar device, the arrangement of the histogram acquisition sections for all laser-detector pairs can follow a preset order.

[0686] Of course, the arrangement of histogram acquisition intervals for all laser-detector pairs can be determined randomly.

[0687] Additionally, according to the first example of the operation timing of the lidar device, the arrangement of histogram acquisition sections for all laser-detector pairs for acquiring lidar data of each frame may be identical to each other.

[0688] For example, the arrangement of histogram acquisition intervals for all laser-detector pairs for acquiring the first lidar data of the first frame may be the same as the arrangement of histogram acquisition intervals for all laser-detector pairs for acquiring the second lidar data of the second frame.

[0689] Of course, the arrangement of histogram acquisition intervals for all laser-detector pairs for acquiring lidar data for each frame may be different.

[0690] For example, the arrangement of histogram acquisition intervals for all laser-detector pairs for acquiring the first lidar data of the first frame may be different from the arrangement of histogram acquisition intervals for all laser-detector pairs for acquiring the second lidar data of the second frame.

[0691] Additionally, according to the second example of the operation timing of the lidar device, the histogram acquisition intervals for the laser-detector pairs of some groups among all laser-detector pairs are the same, but are different from the histogram acquisition intervals for the laser-detector pairs of other groups.

[0692] This means that after the histogram acquisition period for the laser-detector pairs of some groups has elapsed, the operation for acquiring the histograms for the laser-detector pairs of other groups is performed.

[0693] However, in this case, the fact that the histogram acquisition intervals for the laser-detector pairs of some groups are identical does not only mean that the laser-detector pairs of some groups operate at physically completely identical timings, but also includes the fact that they operate at physically slightly different timings but substantially operate at the same timings.

[0694] At this time, the laser-detector pairs of some groups may vary.

[0695] For example, some groups of laser-detector pairs may include laser-detector pairs arranged in a single row.

[0696] Additionally, for example, some groups of laser-detector pairs may include laser-detector pairs arranged in a single column.

[0697] Additionally, for example, some groups of laser-detector pairs may include laser-detector pairs arranged in at least two rows.

[0698] Additionally, for example, some groups of laser-detector pairs may include laser-detector pairs arranged in at least two columns.

[0699] Additionally, in addition to the examples described above, some groups of laser-detector pairs can be grouped in various ways.

[0700] However, for the convenience of explanation, in the following description, it is assumed that some groups of laser-detector pairs include laser-detector pairs arranged in one row.

[0701] Additionally, according to the second example of the operation timing of the lidar device, the arrangement of the histogram acquisition sections for the laser-detector pairs of all groups can follow a preset order.

[0702] Of course, the arrangement of histogram acquisition intervals for all groups of laser-detector pairs can be determined randomly.

[0703] Additionally, according to the second example of the operation timing of the lidar device, the arrangement of the histogram acquisition intervals for the laser-detector pairs of all groups for acquiring lidar data of each frame may be identical to each other.

[0704] For example, the arrangement of histogram acquisition intervals for all groups of laser-detector pairs for acquiring the first lidar data of the first frame may be the same as the arrangement of histogram acquisition intervals for all groups of laser-detector pairs for acquiring the second lidar data of the second frame.

[0705] Of course, the arrangement of histogram acquisition intervals for all groups of laser-detector pairs for acquiring lidar data for each frame may be different from each other.

[0706] For example, the arrangement of histogram acquisition intervals for all groups of laser-detector pairs for acquiring the first lidar data of the first frame may be different from the arrangement of histogram acquisition intervals for all groups of laser-detector pairs for acquiring the second lidar data of the second frame.

[0707] Additionally, according to the third example of the operation timing of the lidar device, the histogram acquisition intervals for all laser-detector pairs are identical.

[0708] This means that the operation to acquire histograms for all laser-detector pairs is performed simultaneously.

[0709] However, in this case, the fact that the operation for acquiring histograms for all laser-detector pairs is performed simultaneously not only means that all laser-detector pairs operate at physically completely identical timings, but also includes operating at physically slightly different timings but substantially identical timings.

[0710]

[0711] II. Problems occurring in a lidar device located within a space equipped with an optical window on one side.

[0712] [Why is the lidar device located within a space with an optical window on one side?]

[0713] As described above, a lidar device is a device for measuring the distance between the lidar device and an object using a laser.

[0714] Such lidar devices are used to measure the distance to nearby objects in various industrial fields such as autonomous vehicles, unmanned vehicles, drones, industrial facilities, and security facilities.

[0715] When a lidar device is used in an actual industrial field, the lidar device is often located in a space with an optical window that transmits light on one side due to the exterior design of a moving object or facility, or is located in a space with an optical window that transmits light on one side for reasons such as protection of the lidar device.

[0716] [Problems that arise when a lidar device is located within a space with an optical window on one side]

[0717] Reception problem of laser reflected from optical window (back beam problem)

[0718] Figure 18 is a drawing for explaining a problem that occurs when a lidar device is positioned in a space having an optical window on one side.

[0719] For convenience of explanation, FIG. 18 illustrates a space (3050) having a lidar device (3000) and an optical window (3051) on one side.

[0720] At this time, the lidar device (3000) includes a laser output element array (3010), a transmission optics assembly (3030), a detection element array (3020), and a reception optics assembly (3040). Since the above-described contents can be applied to each configuration, redundant descriptions will be omitted.

[0721] Referring again to FIG. 18, lasers output from the laser output element array (3010) included in the lidar device (3000) and steered by the transmission optics assembly may be reflected or scattered from the optical window (3051).

[0722] This is because, even if the optical window (3051) is configured to transmit light, since the optical window (3051) is composed of a material, it cannot transmit 100% of the light, and at least some of the incident light cannot be reflected or scattered.

[0723] Referring again to FIG. 18, a portion (3061) of the lasers (3060) reflected from the optical window (3051) may reach the receiving optics assembly (3040).

[0724] At this time, some of the lasers reaching the receiving optics assembly (3040) may be transmitted to the detecting element array (3020).

[0725] And, as the laser is transmitted to the detecting element array (3020), an electrical signal is output from the detecting element array (3020), and a counting value on a histogram is generated based on the electrical signal output from the detecting element array (3020).

[0726] At this time, since the above-described contents can be applied to the electrical signal output from the detecting element array (3020) and the counting value generated on the histogram, redundant descriptions are omitted.

[0727] However, when an object is located at a short distance from the lidar device (3000), the counting value by the laser reflected from the object and the counting value by the laser reflected from the optical window (3051) are located in the same or similar time bins on the histogram.

[0728] That is, when an object is located at a short distance from the lidar device (3000), it may be difficult to distinguish whether the counting value on the histogram is a counting value by a laser reflected from the object or a counting value by a laser reflected from the optical window (3051).

[0729] Therefore, as in the situation described in FIG. 18, the lasers reflected from the optical window (3051) reach the receiving optical assembly (3040) and are transmitted to the detecting element array (3020), which hinders the determination of the distance value for a target located at a close distance.

[0730]

[0731] Why Installing a Screen Won't Solve the Problem

[0732] To address the above-described issues, adding a shield between the transmitting optics assembly and the receiving optics assembly of the lidar device may be considered.

[0733] However, adding a shield between the transmitting optics assembly and the receiving optics assembly is difficult to solve the above-described problem, and this will be explained in more detail with reference to FIG. 19.

[0734] FIG. 19 is a drawing illustrating a scenario in which a shield is further provided between the transmitting optical assembly and the receiving optical assembly when the lidar device is positioned within a space having an optical window on one side.

[0735] For convenience of explanation, FIG. 19 illustrates a space (3150) having a lidar device (3100) and an optical window (3151) on one side.

[0736] At this time, the lidar device (3100) includes a laser output element array (3110), a transmission optics assembly (3130), a detection element array (3120), and a reception optics assembly (3140). Since the above-described contents can be applied to each configuration, redundant descriptions will be omitted.

[0737] Referring again to FIG. 19, lasers output from the laser output element array (3110) included in the lidar device (3100) and steered by the transmission optics assembly can be reflected from the optical window (3151).

[0738] This is because, even if the optical window (3151) is configured to transmit light, since the optical window (3151) is composed of a material, it cannot transmit 100% of the light and must inevitably reflect at least a portion of the incident light.

[0739] Referring again to FIG. 19, a portion (3161) of the lasers (3160) reflected from the optical window (3151) is reflected in a direction toward the receiving optical assembly (3140), but is blocked by the shield (3170) and does not reach the receiving optical assembly (3140).

[0740] However, another portion (3162) of the lasers (3160) reflected from the optical window (3151) may be reflected by the side walls forming the space (3150) and eventually reach the receiving optical assembly (3140).

[0741] At this time, some of the lasers reaching the receiving optics assembly (3140) may be transmitted to the detecting element array (3120).

[0742] Therefore, the same problem that occurs when a lidar device is positioned within a space having an optical window on one side as described above through FIG. 18 still occurs.

[0743] That is, the shield (3170) positioned between the transmitting optical assembly (3130) and the receiving optical assembly (3140) can block the laser reflected from the optical window (3151) toward the receiving optical assembly (3140), but cannot block the laser reflected by the side walls constituting the space (3150) and reaching the receiving optical assembly (3140), making it difficult to solve the above-described problem.

[0744] Below, an adapter and a lidar device equipped with an adapter for solving the above-described problems will be described in more detail.

[0745]

[0746] III. Lidar device having an adapter according to one embodiment

[0747] [Configuration of a lidar device with an adapter]

[0748] FIG. 20 is a block diagram illustrating a lidar device having an adapter according to one embodiment.

[0749] Referring to FIG. 20, a lidar device (3200) having an adapter according to one embodiment includes a laser output element array (3210), a detecting element array (3220), a transmitting optics assembly (3230), a receiving optics assembly (3240), and an adapter (3250).

[0750] At this time, the above-described contents can be applied to the laser output element array (3210), the detecting element array (3220), the transmitting optics assembly (3230), and the receiving optics assembly (3240), so redundant descriptions will be omitted.

[0751] Also, at this time, the adapter (3250) will be described in more detail below.

[0752] [adapter]

[0753] Adapter functions

[0754] When the lidar device (3200) is positioned within a space having an optical window on one side, the adapter (3250) is configured to separate an optical path from a transmitting optical assembly (3230) of the lidar device (3200) to the optical window and an optical path from the optical window to a receiving optical assembly (3240) of the lidar device (3200).

[0755] The structure of the above adapter (3250) will be described in more detail with reference to Fig. 21.

[0756] Fig. 21 is a drawing for explaining the structure of an adapter according to one embodiment.

[0757] Structure of the bottom side of the adapter

[0758] Figure 21 (a) is a drawing for explaining the structure of the bottom side of an adapter according to one embodiment.

[0759] Referring to (a) of FIG. 21, the lower side (3260) of the adapter (3250) according to one embodiment includes a first opening (3261) and a second opening (3262).

[0760] Definition of opening

[0761] At this time, the above-mentioned opening may mean a space defined by being surrounded by sides, and includes a concept commonly understood as an opening.

[0762] Relationship between the shape and size of the aperture and the shape and size of the optical assembly

[0763] Additionally, at this time, the shape and size of the first opening (3261) correspond to the shape and size of the cross-section of the transmission optics assembly (3230) of the lidar device (3200).

[0764] For example, if the shape of the cross-section of the transmission optic assembly (3230) is circular, the shape of the first opening (3261) may be circular, and if the shape of the cross-section of the transmission optic assembly (3230) is square, the shape of the first opening (3261) may be square.

[0765] Additionally, for example, when the shape of the cross-section of the transmission optic assembly (3230) is circular, the diameter of the first opening (3261) and the diameter of the shape of the cross-section of the transmission optic assembly (3230) may correspond to each other.

[0766] Accordingly, the first opening (3261) allows the transmission optics assembly (3230) to be inserted, and at least a portion of the transmission optics assembly (3230) is allowed to be in close contact with the side surface surrounding the first opening (3261).

[0767] In this way, the transmission optic assembly (3230) is inserted through the first opening (3261) and adheres closely to the side surrounding the first opening (3261) to prevent light from escaping between the first opening (3261) and the transmission optic assembly (3230).

[0768] At this time, the cross-section of the transmission optic assembly (3230) means a cross-section cut along an imaginary plane perpendicular to the optical axis of the transmission optic assembly (3230).

[0769] Additionally, at this time, the shape and size of the second opening (3262) correspond to the shape and size of the cross-section of the receiving optics assembly (3240) of the lidar device (3200).

[0770] For example, if the shape of the cross-section of the receiving optic assembly (3240) is circular, the shape of the second opening (3262) may be circular, and if the shape of the cross-section of the receiving optic assembly (3240) is square, the shape of the second opening (3262) may be square.

[0771] Additionally, for example, when the shape of the cross-section of the receiving optic assembly (3240) is circular, the diameter of the second opening (3262) and the diameter of the shape of the cross-section of the receiving optic assembly (3240) may correspond to each other.

[0772] Accordingly, the second opening (3262) allows the receiving optics assembly (3240) to be inserted, and at least a portion of the receiving optics assembly (3240) is allowed to be pressed against the side surface surrounding the second opening (3262).

[0773] In this way, the receiving optics assembly (3240) is inserted through the second opening (3262) and is pressed against the side surface surrounding the second opening (3262), thereby preventing light from escaping between the second opening (3262) and the receiving optics assembly (3240).

[0774] At this time, the cross-section of the receiving optic assembly (3240) means a cross-section obtained by cutting the receiving optic assembly (3240) along an imaginary plane perpendicular to the optical axis of the receiving optic assembly (3240).

[0775] The relationship between the distance between the first and second apertures and the distance between the optical axes of the transmitting / receiving optics

[0776] Additionally, at this time, the distance between the center of the first opening (3161) and the center of the second opening (3262) corresponds to the distance between the optical axis of the transmitting optical assembly (3230) and the optical axis of the receiving optical assembly (3240) of the lidar device (3200).

[0777] For example, the distance in the direction along the x-axis between the center of the first opening (3161) and the center of the second opening (3262) corresponds to the distance in the direction along the x-axis between the optical axis of the transmitting optics assembly (3230) and the optical axis of the receiving optics assembly (3240) of the lidar device (3200).

[0778] Additionally, at this time, the minimum distance between the first opening (3161) and the second opening (3162) corresponds to the minimum distance between the transmitting optical assembly (3230) and the receiving optical assembly (3240) of the lidar device (3200).

[0779] For example, the minimum distance in the x-axis direction between the first opening (3161) and the second opening (3162) corresponds to the minimum distance in the x-axis direction between the transmitting optics assembly (3230) and the receiving optics assembly (3240) of the lidar device (3200).

[0780] Structure of the top side of the adapter

[0781] Figure 21 (b) is a drawing for explaining the structure of the top side of an adapter according to one embodiment.

[0782] More specifically, (b) of FIG. 21 is a drawing showing the adapter in a state where the adapter shown in (a) of FIG. 21 is rotated 180 degrees around the y-axis.

[0783] Referring to (b) of FIG. 21, the upper side (3270) of the adapter (3250) according to one embodiment includes a third opening (3271) and a fourth opening (3272).

[0784] At this time, the above-mentioned opening may mean a space defined by being surrounded by sides, and includes a concept commonly understood as an opening.

[0785] In addition, at this time, as shown in FIG. 21, the shape of the third opening (3271) may correspond to the shape of the first opening (3261), but is not limited thereto, and may have various shapes different from the shape of the first opening (3261).

[0786] In addition, at this time, as shown in FIG. 21, the shape of the fourth opening (3272) may correspond to the shape of the second opening (3262), but is not limited thereto, and may have various shapes different from the shape of the second opening (3262).

[0787] In addition, at this time, as shown in FIG. 21, the size of the third opening (3271) may correspond to the size of the first opening (3261), but is not limited thereto, and may be different from the size of the first opening (3261).

[0788] In addition, at this time, as shown in FIG. 21, the size of the fourth opening (3272) may correspond to the size of the second opening (3262), but is not limited thereto, and may be different from the size of the second opening (3262).

[0789] In addition, at this time, as shown in FIG. 21, the distance between the center of the third opening (3171) and the center of the fourth opening (3272) may correspond to the distance between the center of the first opening (3161) and the center of the second opening (3262), but is not limited thereto, and may be different from the distance between the center of the first opening (3161) and the center of the second opening (3262).

[0790] In addition, at this time, as shown in FIG. 21, the minimum distance between the third opening (3171) and the fourth opening (3172) may correspond to the minimum distance between the first opening (3161) and the second opening (3162), but is not limited thereto, and may be different from the minimum distance between the first opening (3161) and the second opening (3162).

[0791] First optical passage and second optical passage structures of the adapter

[0792] FIG. 21 (c) is a drawing for explaining the first optical passage and the second optical passage of the adapter according to one embodiment.

[0793] More specifically, (c) of FIG. 21 is a drawing showing a cross-section of the adapter shown in (a) of FIG. 21, rotated 90 degrees around the x-axis so that the lower side of the adapter is positioned below and the upper side is positioned above.

[0794] Referring to (c) of FIG. 21, an adapter (3250) according to one embodiment may include a first optical passage (3281) and a second optical passage (3282).

[0795] At this time, the optical passage described above is a space defined by being surrounded by at least one side surface, and may mean a passage through which light enters and exits, and includes a concept commonly understood as an optical passage.

[0796] For example, the first optical passage (3281) is a space surrounded by a first side wall (3291) forming a first side, and may be a passage through which light enters the inlet and exits the outlet.

[0797] Additionally, for example, the second optical passage (3282) may be a space surrounded by a second side wall (3292) forming a second side, and may be a passage through which light enters the inlet and exits the outlet.

[0798] At this time, at least one side wall surrounding the first optical passage (3281) does not allow light that has entered the first optical passage (3281) of the adapter (3250) to exit to a place other than the entrance or exit of the first optical passage (3281), and does not allow light to enter the first optical passage (3281) through a place other than the entrance or exit of the first optical passage (3281).

[0799] Additionally, at this time, at least one side wall surrounding the second optical passage (3282) does not allow light that has entered the second optical passage (3282) of the adapter (3250) to exit to a location other than the entrance or exit of the second optical passage (3282), and does not allow light to enter the second optical passage (3282) through a location other than the entrance or exit of the second optical passage (3282).

[0800] Accordingly, the first optical passage (3281) of the adapter (3250) is surrounded by at least one side wall and separated from the second optical passage (3282), and the second optical passage (3282) of the adapter (3250) is surrounded by at least one side wall and separated from the first optical passage (3281).

[0801]

[0802] At this time, the first opening (3261) of the adapter (3250) can function as an entrance to the first optical passage (3281), and the third opening (3271) can function as an exit to the first optical passage (3281).

[0803] Additionally, the second opening (3262) of the adapter (3250) can function as an outlet of the second optical passage (3282), and the fourth opening (3272) can function as an inlet of the second optical passage (3282).

[0804] Accordingly, light entering the first optical passage (3281) of the adapter (3250) can enter only through the first opening (3261) or the third opening (3271), and light exiting from the first optical passage (3281) can exit only through the first opening (3261) or the third opening (3271).

[0805] In addition, light entering the second optical passage (3282) of the adapter (3250) can enter only through the second opening (3262) or the fourth opening (3272), and light exiting from the second optical passage (3282) can exit only through the second opening (3262) or the fourth opening (3272).

[0806] At this time, the entrance and exit of the optical passage of the adapter (3250) are described based on the direction of the laser when the lidar device (3200) including the adapter (3250) operates for convenience of explanation, and do not mean that light cannot exit through the entrance of the optical passage or enter through the exit of the optical passage.

[0807]

[0808] Adapter material

[0809] An adapter (3250) according to one embodiment may be positioned so that one end contacts the optical window, and thus may be made of a flexible material so as to adapt to the curved surface of the optical window.

[0810] For example, the adapter (3250) may be provided with rubber, but is not limited thereto.

[0811] Additionally, the adapter (3250) according to one embodiment is made of a material that does not transmit light.

[0812] For example, an adapter (3250) according to one embodiment may be composed of a material that absorbs or scatters light.

[0813]

[0814] [Connection structure between the transmitting optics assembly and the receiving optics assembly and the adapter]

[0815] FIG. 22 is a drawing for explaining a lidar device having an adapter according to one embodiment.

[0816] At this time, for convenience of explanation, the lidar device (3200) and the optical window (3290) are illustrated together in Fig. 22.

[0817] Referring to FIG. 22, a lidar device (3200) having an adapter according to one embodiment includes a laser output element array (3210), a detecting element array (3220), a transmitting optics assembly (3230), a receiving optics assembly (3240), and an adapter (3250).

[0818] At this time, the above-described contents can be applied to the laser output element array (3210), the detecting element array (3220), the transmitting optics assembly (3230), the receiving optics assembly (3240), and the adapter (3250), so redundant descriptions will be omitted.

[0819] Referring again to FIG. 22, the transmitting optics assembly (3230) is inserted into the first opening (3261) of the adapter (3250), and the receiving optics assembly (3240) is inserted into the second opening (3262) of the adapter (3250).

[0820] Accordingly, the first optical passage (3281) of the adapter (3250) is used as a transmission passage of the lidar device (3200), and the second optical passage (3282) of the adapter (3250) is used as a reception passage of the lidar device (3200).

[0821] At this time, the transmission path of the lidar device (3200) may mean a path through which a laser output from the laser output element array (3210) of the lidar device (3200) and steered through the transmission optics assembly (3230) passes.

[0822] Additionally, at this time, the receiving passage of the lidar device (3200) may mean a passage through which light that is incident on the receiving optical assembly (3240) of the lidar device (3200) and transmitted to the detecting element array (3220) passes.

[0823] In addition, as the first optical passage (3281) of the adapter (3250) is used as a transmission passage of the lidar device (3200), the first opening (3261) of the adapter (3250) functions as an entrance to the transmission passage, and the third opening (3271) functions as an exit to the transmission passage.

[0824] In addition, as the second optical passage (3282) of the adapter (3250) is used as a receiving passage of the lidar device (3200), the second opening (3262) of the adapter (3250) functions as an exit of the receiving passage, and the fourth opening (3272) functions as an entrance of the receiving passage.

[0825] As described above, light entering the first optical passage (3281) of the adapter (3250) can enter only through the first opening (3261) or the third opening (3271), and light exiting from the first optical passage (3281) can exit only through the first opening (3261) or the third opening (3271).

[0826] In this situation, the transmission optics assembly (3230) is inserted into the first opening (3261) and is pressed against the side surrounding the first opening (3261), so that the passage of light between the first opening (3261) and the transmission optics assembly (3230) is blocked.

[0827] Accordingly, the laser output from the laser output element array (3210) and steered through the transmission optics assembly (3230) can enter the first optical passage (3281) through the first opening (3261) and then exit the first optical passage (3281) only through the second opening (2371).

[0828] In addition, as described above, light entering the second optical passage (3282) of the adapter (3250) can enter only through the second opening (3262) or the fourth opening (3272), and light exiting from the second optical passage (3282) can exit only through the second opening (3262) or the fourth opening (3272).

[0829] In this situation, the receiving optics assembly (3240) is inserted into the second opening (3262) and is pressed against the side surrounding the second opening (3262), so that light is blocked from entering and exiting between the second opening (2362) and the receiving optics assembly (3240).

[0830] Accordingly, light that enters the second optical passage (3282) and is transmitted to the receiving optics assembly (3240) can only enter through the fourth opening (3272).

[0831] Ultimately, since the laser output from the laser output element array (3210) and steered through the transmission optics assembly (3230) cannot enter the second optical path (3282) through the fourth opening (2372) and be transmitted to the reception optics assembly (3240) before exiting through the second opening (2371), the transmission path and the reception path are separated from each other.

[0832] [Why the above problem is solved when the lidar device with the adapter is located within a space with an optical window on one side]

[0833] Referring again to FIGS. 20 to 22, the first opening (3261) and the second opening (3262) located at the lower side (3260) of the adapter (3250) are physically separated, and the inlet of the transmission passage and the outlet of the reception passage are separated as the transmission optics assembly (3230) of the lidar device (3200) is inserted into the first opening (3261) and the reception optics assembly (3240) of the lidar device (3200) is inserted into the second opening (3262).

[0834] Also, referring to FIGS. 20 to 22, the third opening (3271) and the fourth opening (3272) located on the upper side (3270) of the adapter (3250) are physically separated, thereby separating the exit of the transmission passage and the entrance of the reception passage.

[0835] In addition, referring to FIGS. 20 to 22, since the third opening (3271) is positioned to be in close contact with the optical window (3290), lasers output from the laser output element array (3210) of the lidar device (3200) can exit only through an area corresponding to the third opening (3271) of the optical window (3290).

[0836] That is, even if the lasers are reflected from the optical window (3290), the lasers reflected from the optical window (3290) are not allowed to go out to any other area other than the area corresponding to the third opening (3271) of the optical window (3290) for the following reasons.

[0837] (i) At least one side wall surrounding the first optical passage (3281) does not allow the laser to exit anywhere other than the first opening (3261) and the third opening (3271).

[0838] (ii) The transmission optics assembly (3230) is inserted into the first opening (3261) and adheres closely to the side surrounding the first opening (3261), thereby not allowing the laser to exit between the first opening (3261) and the transmission optics assembly (3230).

[0839] Also, referring to FIGS. 20 to 22, since the fourth opening (3272) is positioned to be in close contact with the optical window (3290), light reaching the receiving optics assembly (3240) of the lidar device (3200) enters only through an area corresponding to the fourth opening (3272) of the optical window (3290).

[0840] That is, light is not allowed to enter the second optical passage (3282) through a region other than the area corresponding to the fourth opening (3272) of the optical window (3290) and reach the receiving optical assembly (3240) for the following reasons.

[0841] (i) At least one side wall surrounding the second optical passage (3282) does not allow light to enter through any other opening than the second opening (3262) and the fourth opening (3272).

[0842] (ii) The receiving optics assembly (3240) is inserted into the second opening (3262) and is in close contact with the side surrounding the second opening (3262), thereby not allowing light to enter between the second opening (3262) and the receiving optics assembly (3240).

[0843] Ultimately, the lasers reflected from the optical window (3290) are not allowed to go anywhere other than the area corresponding to the third opening (3271) of the optical window (3290), and the lights are not allowed to enter the second optical passage (3282) through anywhere other than the area corresponding to the fourth opening (3272) of the optical window (3290) and reach the receiving optical assembly (3240), so the transmitting passage and the receiving passage are completely separated from each other.

[0844] Such complete separation of the transmission path and the reception path can prevent lasers steered by the transmission optical assembly from being reflected on the optical window and then transmitted to the reception optical assembly.

[0845] That is, the adapter (3250) according to one embodiment solves the above-described problems by blocking lasers output from the lidar device (3200) and reflected by the optical window (3290) from reaching the receiving optical assembly when the lidar device (3200) is positioned in a space having an optical window (3290) on one side.

[0846] Modified embodiment

[0847] Above, an adapter (3250) having both a first optical passage (3281) and a second optical passage (3282) has been described.

[0848] However, adapters having only one optical path can also be considered to solve the same problem, and these are described in more detail below.

[0849] An adapter having only an optical path to the receiving optics assembly

[0850] The lower side of the 'adapter A' according to the modified embodiment includes 'opening A', and the upper side includes 'opening B'.

[0851] At this time, the shape and size of the above 'opening A' correspond to the shape and size of the cross-section of the receiving optics assembly (3240).

[0852] Therefore, when the receiving optics assembly (3240) is inserted into the above-described 'opening A', light is blocked from escaping between the above-described 'opening A' and the receiving optics assembly (3240).

[0853] Additionally, the 'adapter A' includes an 'optical passage A', the 'optical passage A' being defined by being surrounded by 'side A', and the 'aperture A' and the 'aperture B' function as an entrance or an exit of the 'optical passage A'.

[0854] At this time, the 'side A' surrounding the 'optical passage A' does not allow light to enter the 'optical passage A' through a location other than the entrance or exit of the 'optical passage A'.

[0855] Therefore, light entering the 'optical passage A' of the 'adapter A' can only enter through the 'aperture A' or the 'aperture B'.

[0856] In this situation, the receiving optics assembly (3240) is inserted into the 'opening A' and is in close contact with the 'side A' surrounding the 'opening A', so that the passage of light between the 'opening A' and the receiving optics assembly (3240) is blocked.

[0857] Accordingly, light that enters the above-mentioned 'optical passage A' and is transmitted to the above-mentioned receiving optics assembly (3240) can enter only through the above-mentioned 'opening B'.

[0858] At this time, since the 'opening B' is positioned so as to be in close contact with the optical window (3290), light reaching the receiving optics assembly (3240) enters only through the area corresponding to the 'opening B' of the optical window (3290).

[0859] Ultimately, since light is not allowed to enter the 'optical passage A' through any other area other than the area corresponding to the 'opening B' of the optical window (3290) and reach the receiving optical assembly (3240), the receiving passage is completely separated from any other area other than the area corresponding to the 'opening B' of the optical window (3290).

[0860] Such complete separation of the receiving paths prevents lasers steered by the transmitting optical assembly from being reflected off the optical window and then transmitted to the receiving optical assembly.

[0861] An adapter having only an optical path for the transmission optics assembly

[0862] The lower side of the 'adapter B' according to the modified embodiment includes an 'opening C' and the upper side includes an 'opening D'.

[0863] At this time, the shape and size of the above 'opening C' correspond to the shape and size of the cross-section of the transmission optics assembly (3230).

[0864] Therefore, when the transmission optics assembly (3230) is inserted into the 'opening C', the passage of light between the 'opening C' and the transmission optics assembly (3230) is blocked.

[0865] Additionally, the 'adapter B' includes an 'optical passage B', wherein the 'optical passage B' is defined by being surrounded by 'sides B', and the 'aperture C' and the 'aperture D' function as an entrance or an exit of the 'optical passage B'.

[0866] At this time, the 'side B' surrounding the 'optical passage B' does not allow light to exit from the 'optical passage B' through a location other than the entrance or exit of the 'optical passage B'.

[0867] Therefore, light exiting from the 'optical passage B' of the 'adapter B' can only exit through the 'aperture C' or the 'aperture D'.

[0868] In this situation, the transmission optic assembly (3230) is inserted into the 'opening C' and is in close contact with the 'side C' surrounding the 'opening C', so that the passage of light between the 'opening C' and the transmission optic assembly (3230) is blocked.

[0869] Accordingly, the laser output from the laser output element array (3210) and steered through the transmission optics assembly (3230) can enter the 'optical passage B' through the 'opening C' and then exit only through the 'opening D'.

[0870] At this time, since the 'opening D' is positioned so as to be in close contact with the optical window (3290), the lasers output from the laser output element array (3210) of the lidar device (3200) can only exit through the area corresponding to the 'opening D' of the optical window (3290).

[0871] Ultimately, since the lasers reflected from the optical window (3290) are not allowed to go anywhere other than the area corresponding to the 'aperture D' of the optical window (3290), the transmission path is completely separated from anywhere other than the area corresponding to the 'aperture D' of the optical window (3290).

[0872] Such complete separation of the transmission paths prevents lasers steered by the transmission optics assembly from being reflected off the optical window and then transmitted to the reception optics assembly.

[0873] However, in one embodiment, the adapter (3250) may be configured to have both a first optical passage (3281) and a second optical passage (3282) to more effectively block light that may pass through small gaps and cause problems.

[0874] Accordingly, although the present specification has described the adapter (3250) as having both a first optical passage (3281) and a second optical passage (3282), the technical concept described through the present specification includes adapters according to modified embodiments having only one optical passage.

[0875] [Problems with a lidar device equipped with an adapter according to one embodiment]

[0876] In the case of a lidar device having an adapter according to an embodiment described through FIGS. 20 to 22, the angle of view of the lidar device may be limited due to the adapter.

[0877] FIG. 23 is a drawing for explaining a problem that may occur in a lidar device equipped with an adapter according to one embodiment.

[0878] Referring to FIG. 23, a lidar device (3300) having an adapter according to one embodiment includes a laser output element array (3310), a detecting element array (3320), a transmitting optics assembly (3330), a receiving optics assembly (3340), and an adapter (3350). Since the above-described contents can be applied to each component, redundant descriptions will be omitted.

[0879] The Relationship Between Adapter and Lidar Field of View - Uncovering Potential Problems

[0880] Referring again to FIG. 23, in a lidar device (3300) having an adapter according to one embodiment, a phenomenon may occur in which at least some of the lasers (3360) output from the laser output element array (3310) and steered by the transmission optics assembly (3330) are blocked by the adapter (3350) before reaching the optical window (3390).

[0881] That is, at least some of the lasers (3360) output from the laser output element array (3310) and steered by the transmission optics assembly (3330) may be blocked by the first sidewall defining the first optical path of the adapter (3350) and may not reach the optical window (3390).

[0882] Therefore, in the case of a lidar device (3300) equipped with an adapter according to one embodiment, a problem may arise in which the angle of view of the laser irradiation area is limited due to the adapter (3350).

[0883] Also, referring back to FIG. 23, in a lidar device (3300) having an adapter according to one embodiment, a phenomenon may occur where at least some of the light (3370) that is incident on the receiving optics assembly (3340) and is to be focused onto the detecting element array (3320) is blocked by the adapter (3350) before reaching the receiving optics assembly (3340).

[0884] That is, at least some of the light (3370) that is incident on the receiving optics assembly (3340) and is to be focused onto the detecting element array (3320) may be blocked by the second sidewall defining the second optical path of the adapter (3350) and may not reach the receiving optics assembly (3340).

[0885] Therefore, in the case of a lidar device (3300) equipped with an adapter according to one embodiment, a problem may arise in which the angle of view of the light detection area is limited due to the adapter (3350).

[0886] Finally, in the case of a lidar device (3300) equipped with an adapter according to one embodiment, a problem may arise in which the angle of view of the lidar device is limited due to the adapter (3350).

[0887] Therefore, when designing the adapter (3350), it is necessary to design it so as not to limit the angle of view of the laser irradiation area and the angle of view of the light detection area of ​​the lidar device (3310), and an adapter for solving this problem and a lidar device equipped with an adapter for solving this problem will be described in more detail below.

[0888]

[0889] IV. Lidar device having an adapter according to another embodiment

[0890] [Configuration of a lidar device with an adapter]

[0891] A lidar device having an adapter according to one embodiment includes a laser output element array, a detection element array, a transmission optics assembly, a reception optics assembly, and an adapter. In this case, the above-described contents may be applied to the laser output element array, the detection element array, the transmission optics assembly, and the reception optics assembly, so redundant descriptions will be omitted.

[0892] In addition, at this time, the adapter is designed to solve the problems caused by the adapter described through FIGS. 20 to 22, and more specific details will be described below.

[0893] [adapter]

[0894] Fig. 24 is a drawing for explaining the structure of an adapter according to one embodiment.

[0895] Structure of the bottom side of the adapter

[0896] Figure 24 (a) is a drawing for explaining the structure of the bottom side of an adapter according to one embodiment.

[0897] Referring to (a) of FIG. 24, the lower side (3410) of the adapter (3400) according to one embodiment includes a first opening (3411) and a second opening (3412).

[0898] At this time, the above-described contents can be applied to the shape and size of the first opening (3411) and the second opening (3412), so redundant descriptions will be omitted.

[0899] Structure of the top side of the adapter

[0900] Figure 24 (b) is a drawing for explaining the structure of the top side of an adapter according to one embodiment.

[0901] More specifically, (b) of FIG. 24 is a drawing showing the adapter in a state where the adapter shown in (a) of FIG. 24 is rotated 180 degrees around the y-axis.

[0902] Referring to (b) of FIG. 24, the upper side (3420) of the adapter (3400) according to one embodiment includes a third opening (3421) and a fourth opening (3422).

[0903] At this time, the above-mentioned opening may mean a space defined by being surrounded by sides, and includes a concept commonly understood as an opening.

[0904] In addition, at this time, the third opening (3421) and the fourth opening (3422) are configured to have a preset relationship with the first opening (3411) and the second opening (3412) in order to solve the problems described above.

[0905] This will be described in more detail in a separate table of contents below.

[0906] First optical passage and second optical passage structures of the adapter

[0907] FIG. 24(c) is a drawing for explaining the first optical passage and the second optical passage of the adapter according to one embodiment.

[0908] More specifically, (c) of FIG. 24 is a drawing showing a cross-section of the adapter shown in (a) of FIG. 24, rotated 90 degrees around the x-axis so that the lower side of the adapter is positioned below and the upper side is positioned above.

[0909] Referring to (c) of FIG. 24, an adapter (3400) according to one embodiment may include a first optical passage (3430) and a second optical passage (3440).

[0910] At this time, the optical passage described above is a space defined by being surrounded by at least one side surface, and may mean a passage through which light enters and exits, and includes a concept commonly understood as an optical passage.

[0911] For example, the first optical passage (3430) is a space in which a first space surrounded by a first side wall (3431) forming a first side and a second space surrounded by a second side wall (3432) forming a second side are connected, and may be a passage through which light enters through an inlet and exits through an outlet.

[0912] Additionally, for example, the second optical passage (3440) may be a space in which a third space surrounded by a third side wall (3441) forming a third side and a fourth space surrounded by a fourth side wall (3442) forming a fourth side are connected, and may be a passage in which light enters through an inlet and exits through an outlet.

[0913]

[0914] At this time, at least one side wall surrounding the first optical passage (3430) does not allow light that has entered the first optical passage (3430) of the adapter (3400) to exit to a location other than the entrance or exit of the first optical passage (3430), and does not allow light to enter the first optical passage (3430) through a location other than the entrance or exit of the first optical passage (3430).

[0915] Additionally, at this time, at least one side wall surrounding the second optical passage (3440) does not allow light that has entered the second optical passage (3440) of the adapter (3400) to exit to a location other than the entrance or exit of the second optical passage (3440), and does not allow light to enter the second optical passage (3440) through a location other than the entrance or exit of the second optical passage (3440).

[0916] Accordingly, the first optical passage (3430) of the adapter (3400) is surrounded by at least one side wall and separated from the second optical passage (3440), and the second optical passage (3440) of the adapter (3400) is surrounded by at least one side wall and separated from the first optical passage (3430).

[0917] At this time, the first opening (3411) of the adapter (3400) can function as an entrance to the first optical passage (3430), and the third opening (3421) can function as an exit to the first optical passage (3430).

[0918] Additionally, the second opening (3412) of the adapter (3400) can function as an exit of the second optical passage (3440), and the fourth opening (3422) can function as an entrance of the second optical passage (3440).

[0919] Accordingly, light entering the first optical passage (3430) of the adapter (3400) can only enter through the first opening (3411) or the third opening (3421), and light exiting from the first optical passage (3430) can only exit through the first opening (3411) or the third opening (3421).

[0920] In addition, light entering the second optical passage (3440) of the adapter (3400) can only enter through the second opening (3412) or the fourth opening (3422), and light exiting from the second optical passage (3440) can only exit through the second opening (3412) or the fourth opening (3422).

[0921]

[0922] At this time, the inlet and outlet of the optical passage of the adapter (3400) are described based on the direction of the laser when the lidar device including the adapter (3400) operates for convenience of explanation, and do not mean that light cannot exit through the inlet of the optical passage or enter through the outlet of the optical passage.

[0923] Adapter material

[0924] Since the above-described contents can be applied to the material of the adapter (3400), redundant descriptions will be omitted.

[0925]

[0926] [The connection structure between the transmitting optics assembly and the receiving optics assembly and the adapter, and the design of the length of the opening located on the upper side of the adapter in the first axis (x-axis) direction and the length of the adapter in the second axis (z-axis) direction to solve the above-described problem]

[0927] FIG. 25 is a drawing for explaining a lidar device having an adapter according to one embodiment.

[0928] Explanation of drawing symbols and terms for convenience of explanation

[0929] Referring to FIG. 25, a lidar device (3500) having an adapter according to one embodiment includes a laser output element array (3510), a detecting element array (3520), a transmitting optics assembly (3530), a receiving optics assembly (3540), and an adapter (3400).

[0930] At this time, the above-described contents can be applied to the laser output element array (3510), the detecting element array (3520), the transmitting optics assembly (3530), and the receiving optics assembly (3540), so redundant descriptions will be omitted.

[0931] In addition, at this time, the drawing symbols shown in FIG. 24 and the contents described through FIG. 24 may be applied to the adapter (3400).

[0932] Also, at this time, in order to secure the visibility of the drawing, some of the drawing symbols shown in FIG. 24 are omitted in FIG. 25, but for the convenience of explanation, the drawing symbols shown in FIG. 24 may be used together to explain FIG. 25.

[0933] Referring again to FIG. 25, the transmission optics assembly (3530) has a first optical axis (3531) and a first entrance pupil (3532).

[0934] At this time, the first entrance pupil (3532) of the transmission optic assembly (3530) may be defined by points where the direction of travel of the main light beam of the lasers output from the laser output element array (3510) and steered by the transmission optic assembly (3530) meets the first optical axis (3531) when extended in the direction opposite to the direction of travel of the main light beam (the side opposite to the side where the laser output element array (3510) is located with respect to the transmission optic assembly (3530), and may typically mean a point defined as the entrance pupil of the optic assembly.

[0935] Referring again to FIG. 25, the receiving optics assembly (3540) has a second optical axis (3541) and a second entrance pupil (3542).

[0936] At this time, the second incident pupil (3542) of the receiving optics assembly (3540) may be defined by points where the direction of travel of the light focused by the receiving optics assembly (3540) and transmitted to the detecting element array (3520) extends and meets the second optical axis (3541), and may typically mean a point defined as the incident pupil of the optics assembly.

[0937] Referring again to FIG. 25, the lower side of the adapter (3400) includes a first opening (3411) and a second opening (3412), and the upper side of the adapter (3400) includes a third opening (3421) and a fourth opening (3422).

[0938] Referring again to FIG. 25, the first axis (x-axis) directional field of view of the laser irradiation area of ​​the lidar device (3500) is 'k degrees', and the first axis (x-axis) directional field of view of the light detection area of ​​the lidar device (3500) is 'l degrees'.

[0939] At this time, the center (3451) of the first opening (3411) is illustrated in FIG. 25, and the center (3452) of the second opening (3412) is illustrated.

[0940] Also, referring to FIGS. 24 and 25, FIG. 25 illustrates a first end (3471) and a second end (3472) of a second side wall (3432) forming a part of a first optical passage (3430) of the adapter (3400), and illustrates a third end (3473) and a fourth end (3474) of a fourth side wall (3442) forming a part of a second optical passage (3440) of the adapter (3400).

[0941] In addition, for the convenience of explanation, the lengths and distances required to explain Fig. 25 are defined and explained as follows.

[0942] First length (3461): Length (3461) of the first opening (3411) of the adapter (3400) in the direction of the first axis (x-axis)

[0943] Second length (3462): Length (3462) of the second opening (3412) of the adapter (3400) in the direction of the first axis (x-axis)

[0944] Third Length (3480): Length (3480) of the third opening (3421) of the adapter (3400) in the direction of the first axis (x-axis)

[0945] 4th Length (3490): Length (3490) of the 4th opening (3422) of the adapter (3400) in the direction of the 1st axis (x-axis)

[0946] First distance (3463): The distance (3463) in the direction of the first axis (x-axis) between the first opening (3411) and the second opening (3412) of the adapter (3400)

[0947] Second Distance (3481): The distance (3481) in the direction of the first axis (x-axis) between the first optical axis (3531) of the transmission optics assembly (3530) and the first end (3471) of the second side wall (3432) of the adapter (3400)

[0948] Third Distance (3482): Distance (3482) in the direction of the first axis (x-axis) between the first optical axis (3531) of the transmission optics assembly (3530) and the second end (3472) of the second side wall (3432) of the adapter (3400)

[0949] Fourth Distance (3491): Distance (3491) in the direction of the first axis (x-axis) between the second optical axis (3541) of the receiving optics assembly (3540) and the third end (3473) of the fourth side wall (3442) of the adapter (3400)

[0950] Fifth Distance (3492): Distance (3492) in the direction of the first axis (x-axis) between the second optical axis (3541) of the receiving optics assembly (3540) and the fourth end (3474) of the fourth side wall (3442) of the adapter (3400)

[0951] 6th Distance (3551): The distance (3551) in the direction of the second axis (z-axis) between the first entrance pupil (3532) of the transmission optics assembly (3530) and the first end (3471) of the second side wall (3432) of the adapter (3400)

[0952] (However, since the position of the plane where the first entrance pupil (3532) of the transmission optics assembly (3530) is located and the position of the lower side of the adapter (3400) may not be significantly different, and in some cases, a design margin may be left, in the case of the sixth distance (3551), it may be replaced with the distance in the second axis (z-axis) direction between the lower side of the adapter (3400) and the first end (3471) of the second side wall (3432).)

[0953] 7th Distance (3552): The distance (3552) in the direction of the second axis (z-axis) between the second entrance pupil (3542) of the receiving optics assembly (3540) and the third end (3473) of the fourth side wall (3442) of the adapter (3400).

[0954] (However, since the position of the plane where the second entrance pupil (3542) of the receiving optics assembly (3540) is located and the position of the lower side of the adapter (3400) may not be significantly different, and in some cases, a design margin may be left, in the case of the seventh distance (3552), it may be replaced with the distance in the second axis (z-axis) direction between the lower side of the adapter (3400) and the third end (3473) of the fourth side wall (3442).)

[0955]

[0956] The connection structure between the transmitting optics assembly and the receiving optics assembly and the adapter.

[0957] Referring again to FIG. 25, the transmitting optics assembly (3530) is inserted into the first opening (3411) of the adapter (3400), and the receiving optics assembly (3540) is inserted into the second opening (3412) of the adapter (3400).

[0958] At this time, since the shape of the first opening (3411) corresponds to the shape of the transmission optics assembly (3530), the first optical axis (3531) of the transmission optics assembly (3530) passes through the center (3451) of the first opening (3411).

[0959] In addition, at this time, since the shape of the second opening (3412) corresponds to the shape of the receiving optics assembly (3540), the second optical axis (3541) of the receiving optics assembly (3540) passes through the center (3452) of the second opening (3412).

[0960] In addition, accordingly, the first optical passage (3430) of the adapter (3400) is used as a transmission passage of the lidar device (3500), and the second optical passage (3440) of the adapter (3400) is used as a reception passage of the lidar device (3500).

[0961] At this time, the transmission path of the lidar device (3500) may mean a path through which a laser output from the laser output element array (3510) of the lidar device (3500) and steered through the transmission optics assembly (3530) passes.

[0962] Additionally, at this time, the receiving passage of the lidar device (3500) may mean a passage through which light that is incident on the receiving optical assembly (3540) of the lidar device (3500) and transmitted to the detecting element array (3520) passes.

[0963] In addition, as the first optical passage (3430) of the adapter (3400) is used as a transmission passage of the lidar device (3500), the first opening (3411) of the adapter (3400) functions as an entrance to the transmission passage, and the third opening (3421) functions as an exit to the transmission passage.

[0964] In addition, as the second optical passage (3440) of the adapter (3400) is used as a receiving passage of the lidar device (3500), the second opening (3412) of the adapter (3400) functions as an exit of the receiving passage, and the fourth opening (3422) functions as an entrance of the receiving passage.

[0965] In addition, the first optical passage (3430) of the adapter (3400) is surrounded by at least one side wall and separated from the second optical passage (3440), and the second optical passage (3440) of the adapter (3400) is surrounded by at least one side wall and separated from the first optical passage (3430), so that the transmission passage and the reception passage of the lidar device (3500) can be separated.

[0966] Design of the length of the opening located on the upper side of the adapter in the first axis (x-axis) direction and the length of the adapter in the second axis (z-axis) direction to solve the above-mentioned problem

[0967] First, the third length (3480), which is the length in the first axis (x-axis) direction of the third opening (3421) located on the upper side of the adapter (3400), is designed to be longer than the first length (3461), which is the length in the first axis (x-axis) direction of the first opening (3411) located on the lower side of the adapter (3400), so as not to limit the field of view in the first axis (x-axis) direction of the laser irradiation area of ​​the lidar device (3500).

[0968] And, in order to solve the above-described problem, the length of the third opening (3421) located on the upper side of the adapter (3400) in the first axis (x-axis) direction is designed in consideration of the field of view of the laser irradiation area of ​​the lidar device (3500) in the first axis (x-axis) direction.

[0969] More specifically, the second distance (3481), which is a distance in the first axis (x-axis) direction between the first optical axis (3531) of the transmission optics assembly (3530) and the first end (3471) of the second side wall (3432) of the adapter (3400), the sixth distance (3551), which is a distance in the second axis (z-axis) direction between the first entrance pupil (3532) of the transmission optics assembly (3530) and the first end (3471) of the second side wall (3432) of the adapter (3400), and the first axis (x-axis) direction field of view of the laser irradiation area of ​​the lidar device (3500) 'k degree' satisfy the following relational expression 2.

[0970] [Relationship 2]

[0971] 2nd street (3481) / 6th street (3551) > tan(k degrees / 2)

[0972] This is a relational expression for designing the distance in the first axis (x-axis) direction between the first optical axis (3531) and the first end (3471) in comparison to the distance in the second axis (z-axis) direction between the first entrance pupil (3532) and the first end (3471) of the second side wall (3432) so that the outermost laser in the first axis (x-axis) direction of the laser irradiation area of ​​the lidar device (3500) is not restricted by the adapter (3400).

[0973] At this time, when the lidar device is positioned in a space having an optical window on one side, the distance in the direction of the second axis (z-axis) between the first entrance pupil (3532) and the first end (3471) of the second side wall (3432) is a factor corresponding to the distance from the lidar device to the optical window.

[0974] Also, at this time, the distance in the first axis (x-axis) direction between the first optical axis (3531) and the first end (3471) is a factor corresponding to the length in the first axis (x-axis) direction of the third opening (3421).

[0975] Therefore, [Relationship 2] can be understood as a relationship regarding the minimum length of the third opening (3421) in the first axis (x) direction that prevents the adapter (3400) from limiting the angle of view of the laser irradiation area of ​​the lidar device when the distance between the lidar device and the optical window is determined.

[0976] At this time, the length in the second axis (z-axis) direction from the lower side of the adapter to the upper side of the adapter is designed based on the distance between the lidar device and the optical window, so [Relationship 2] can be understood as "length in the first axis (x) direction of the third opening (3421) / (2 * (length in the second axis (z) direction from the lower side (3410) of the adapter (3400) to the upper side (3420) of the adapter (3400))) > tan(k degree / 2)".

[0977] In addition, more specifically, a third distance (3482) which is a distance (3482) in the first axis (x-axis) direction between a first optical axis (3531) of the transmission optics assembly (3530) and a second end (3472) of a second side wall (3432) of the adapter (3400), an eighth distance (not shown) which is a distance in the second axis (z-axis) direction between a first entrance pupil (3532) of the transmission optics assembly (3530) and a second end (3472) of a second side wall (3432) of the adapter (3400), and a first axis (x-axis) direction field of view of a laser irradiation area of ​​the lidar device (3500) 'k degree' satisfy the following relational expression 3.

[0978] [Relationship 3]

[0979] 3rd Street (3482) / 8th Street (not shown) > tan(k degrees / 2)

[0980] This is a relational expression for designing the distance in the first axis (x-axis) direction between the first optical axis (3531) and the second end (3472) in comparison to the distance in the second axis (z-axis) direction between the first entrance pupil (3532) and the second end (3472) of the second side wall (3432) so that the outermost laser in the first axis (x-axis) direction of the laser irradiation area of ​​the lidar device (3500) is not restricted by the adapter (3400).

[0981] At this time, when the lidar device is positioned in a space having an optical window on one side, the distance in the direction of the second axis (z-axis) between the first entrance pupil (3532) and the second end (3472) of the second side wall (3432) is a factor corresponding to the distance from the lidar device to the optical window.

[0982] Also, at this time, the distance in the first axis (x-axis) direction between the first optical axis (3531) and the second end (3472) is a factor corresponding to the length in the first axis (x-axis) direction of the third opening (3421).

[0983] Accordingly, [Relationship 3] can be understood as a relationship regarding the minimum length in the first axis (x) direction of the third opening (3421) that prevents the adapter (3400) from limiting the angle of view of the laser irradiation area of ​​the lidar device when the distance between the lidar device and the optical window is determined.

[0984] At this time, the length in the second axis (z-axis) direction from the lower side of the adapter to the upper side of the adapter is designed based on the distance between the lidar device and the optical window, so [Relationship 3] can be understood as "length in the first axis (x) direction of the third opening (3421) / (2 * (length in the second axis (z) direction from the lower side (3410) of the adapter (3400) to the upper side (3420) of the adapter (3400))) > tan(k degree / 2)".

[0985]

[0986] In addition, the fourth length (3490), which is the length in the first axis (x-axis) direction of the fourth opening (3422) located on the upper side of the adapter (3400), is designed to be longer than the second length (3462), which is the length in the first axis (x-axis) direction of the second opening (3412) located on the lower side of the adapter (3400), so as not to limit the field of view in the first axis (x-axis) direction of the light detection area of ​​the lidar device (3500).

[0987] And, in order to solve the above-described problem, the length of the fourth opening (3422) located on the upper side of the adapter (3400) in the first axis (x-axis) direction is designed in consideration of the angle of view in the first axis (x-axis) direction of the light detection area of ​​the lidar device (3500).

[0988] More specifically, the fourth distance (3491), which is a distance in the first axis (x-axis) direction between the second optical axis (3541) of the receiving optics assembly (3540) and the third end (3473) of the fourth side wall (3442) of the adapter (3400), the seventh distance (3552), which is a distance in the second axis (z-axis) direction between the second entrance pupil (3542) of the receiving optics assembly (3540) and the third end (3473) of the fourth side wall (3442) of the adapter (3400), and the first axis (x-axis) direction field of view of the light detection area of ​​the lidar device (3500) 'l degree' satisfy the following relational expression 4.

[0989] [Relationship 4]

[0990] 4th Street (3491) / 7th Street (3552) > tan(l degree / 2)

[0991] This is a relational expression for designing the distance in the first axis (x-axis) direction between the second optical axis (3541) and the third end (3473) in comparison to the distance in the second axis (z-axis) direction between the second entrance pupil (3542) and the third end (3473) of the fourth side wall (3442) so that the light entering from the outermost part in the first axis (x-axis) direction of the light detection area of ​​the lidar device (3500) is not restricted by the adapter (3400).

[0992] At this time, when the lidar device is positioned in a space having an optical window on one side, the distance in the direction of the second axis (z-axis) between the second entrance pupil (3542) and the third end (3473) of the fourth side wall (3442) is a factor corresponding to the distance from the lidar device to the optical window.

[0993] Also, at this time, the distance in the first axis (x-axis) direction between the second optical axis (3531) and the third end (3473) is a factor corresponding to the length in the first axis (x-axis) direction of the fourth opening (3422).

[0994] Accordingly, [Relationship 4] can be understood as a relationship regarding the minimum length of the fourth opening (3422) in the first axis (x) direction that prevents the adapter (3400) from limiting the angle of view of the light detection area of ​​the lidar device when the distance between the lidar device and the optical window is determined.

[0995] At this time, the length in the second axis (z-axis) direction from the lower side of the adapter to the upper side of the adapter is designed based on the distance between the lidar device and the optical window, so [Relationship 4] can be understood as "length in the first axis direction of the fourth opening / (2 * (length in the second axis direction from the lower side of the adapter to the upper side of the adapter)) > tan(l degree / 2)".

[0996]

[0997] In addition, more specifically, a fifth distance (3492) which is a distance in the first axis (x-axis) direction between the second optical axis (3541) of the receiving optics assembly (3540) and the fourth end (3474) of the fourth side wall (3442) of the adapter (3400), a ninth distance (not shown) which is a distance in the second axis (z-axis) direction between the second entrance pupil (3542) of the receiving optics assembly (3540) and the fourth end (3474) of the fourth side wall (3442) of the adapter (3400), and a first axis (x-axis) direction field of view of the light detection area of ​​the lidar device (3500) 'l degree' satisfy the following relational expression 5.

[0998] [Relationship 5]

[0999] 5th Street (3492) / 9th Street (not shown) > tan(l degree / 2)

[1000] This is a relational expression for designing the distance in the first axis (x-axis) direction between the second optical axis (3541) and the fourth end (3474) in comparison to the distance in the second axis (z-axis) direction between the second entrance pupil (3542) and the fourth end (3474) of the fourth side wall (3442) so that the light entering from the outermost part in the first axis (x-axis) direction of the light detection area of ​​the lidar device (3500) is not restricted by the adapter (3400).

[1001] At this time, when the lidar device is positioned in a space having an optical window on one side, the distance in the direction of the second axis (z-axis) between the second entrance pupil (3542) and the fourth end (3474) of the fourth side wall (3442) is a factor corresponding to the distance from the lidar device to the optical window.

[1002] Also, at this time, the distance in the first axis (x-axis) direction between the second optical axis (3531) and the fourth end (3474) is a factor corresponding to the length in the first axis (x-axis) direction of the fourth opening (3422).

[1003] Therefore, [Relationship 5] can be understood as a relationship regarding the minimum length of the fourth opening (3422) in the first axis (x) direction that prevents the adapter (3400) from limiting the angle of view of the light detection area of ​​the lidar device when the distance between the lidar device and the optical window is determined.

[1004] At this time, the length in the second axis (z-axis) direction from the lower side of the adapter to the upper side of the adapter is designed based on the distance between the lidar device and the optical window, so [Relationship 5] can be understood as "length in the first axis direction of the fourth opening / (2 * (length in the second axis direction from the lower side of the adapter to the upper side of the adapter)) > tan(l degree / 2)".

[1005] At this time, when the adapter (3400) is designed to satisfy the above-described relationships, the adapter (3400) does not limit the angle of view in the first axis (x-axis) direction of the laser irradiation area of ​​the lidar device (3500) and the angle of view in the first axis (x-axis) direction of the light detection area.

[1006] That is, when the adapter (3400) is designed to satisfy the above-described relationships, the adapter (3400) is not positioned on the path of the laser between the transmitting optical assembly and the optical window, so that the angle of view in the first axis (x-axis) direction of the laser irradiation area is not limited, and the adapter (3400) is not positioned on the path of light between the receiving optical assembly and the optical window, so that the angle of view in the first axis (x-axis) direction of the light detection area is not limited.

[1007] However, when the adapter (3400) is formed to have both the first optical passage (3430) and the second optical passage (3440), the lengths that the third distance (3482) and the fifth distance (3492) can have are inevitably limited.

[1008] For adapters designed in such limited circumstances, the size of the opening located on the upper side and the size of the opening located on the lower side have a predetermined relationship.

[1009] Therefore, below, the preset relationships between the size of the opening located on the upper side of the adapter and the size of the opening located on the lower side according to various embodiments will be described in more detail.

[1010] Of course, the embodiments described below can satisfy all of [Relationship 2] to [Relationship 5] described above.

[1011] [Various preset relationships between the size of the opening located on the upper side of the adapter in the first axis (x-axis) direction and the size of the opening located on the lower side in the first axis (x-axis) direction]

[1012] FIG. 26 is a drawing for explaining the preset relationships between the size of an opening located on the upper side of an adapter and the size of an opening located on the lower side of the adapter according to various embodiments.

[1013] Before explaining Fig. 26, for the convenience of explanation, the drawing symbols and terms explained in Figs. 24 and 25 will be used in the explanation of Fig. 26.

[1014] Pre-established relationships between the size of the opening located on the upper side of the adapter and the size of the opening located on the lower side according to the first embodiment

[1015] Figure 26 (a) is a drawing for explaining the preset relationships between the size of the opening located on the upper side and the size of the opening located on the lower side of the adapter according to the first embodiment.

[1016] Referring to (a) of FIG. 26 together with FIGS. 24 and 25, the adapter (3400) according to the first embodiment is connected to the transmission optics assembly (3530) of the lidar device (3500) such that the first optical axis (3531) of the transmission optics assembly (3530) passes through the center (3453) of the third opening (3421).

[1017] In this case, the length (3461) of the first opening (3411) of the adapter (3400) in the first axis (x-axis) direction and the length (3480) of the third opening (3421) in the first axis (x-axis) direction satisfy the following relationships.

[1018] [Relationship 6]

[1019] Length (3480) in the first axis (x-axis) direction of the third opening (3421) > Length (3461) in the first axis (x-axis) direction of the first opening (3411).

[1020] [Relationship 7]

[1021] Length (3480) in the direction of the first axis (x-axis) of the third opening (3421) The length (3461) of the first opening (3411) in the first axis (x-axis) direction + the distance (3463) between the first opening (3411) and the second opening (3412) of the adapter (3400) in the first axis (x-axis) direction.

[1022] Referring again to (a) of FIG. 26 together with FIGS. 24 and 25, the adapter (3400) according to the first embodiment is coupled to the receiving optics assembly (3540) of the lidar device (3500) such that the second optical axis (3541) of the receiving optics assembly (3540) passes through the center (3454) of the fourth opening (3422).

[1023] In this case, the length (3462) of the second opening (3412) of the adapter (3400) in the first axis (x-axis) direction and the length (3490) of the fourth opening (3422) of the adapter (3400) in the first axis (x-axis) direction satisfy the following relationships.

[1024] [Relationship 8]

[1025] Length (3490) in the first axis (x-axis) direction of the fourth opening (3422) > length (3462) in the first axis (x-axis) direction of the second opening (3412).

[1026] [Relationship 9]

[1027] Length (3490) in the direction of the first axis (x-axis) of the fourth opening (3422) The length (3462) of the second opening (3412) in the first axis (x-axis) direction + the distance (3463) between the first opening (3411) and the second opening (3412) of the adapter (3400) in the first axis (x-axis) direction.

[1028] Pre-established relationships between the size of the opening located on the upper side of the adapter and the size of the opening located on the lower side according to the second embodiment

[1029] Figure 26 (b) is a drawing for explaining the preset relationships between the size of the opening located on the upper side and the size of the opening located on the lower side of the adapter according to the second embodiment.

[1030] Referring to (b) of FIG. 26 together with FIGS. 24 and 25, the adapter (3400) according to the second embodiment is coupled to the transmission optics assembly (3530) such that the center (3453) of the third opening (3421) is away from the first optical axis (3531) of the transmission optics assembly (3530) of the lidar device (3500) in the direction in which the fourth opening (3422) is located.

[1031] In this case, the length (3461) of the first opening (3411) of the adapter (3400) in the first axis (x-axis) direction and the length (3480) of the third opening (3421) in the first axis (x-axis) direction satisfy the following relationships.

[1032] [Relationship 10]

[1033] Length (3480) in the first axis (x-axis) direction of the third opening (3421) > Length (3461) in the first axis (x-axis) direction of the first opening (3411).

[1034] [Relationship 11]

[1035] The length (3480) of the third opening (3421) in the first axis (x-axis) direction < the length (3461) of the first opening (3411) in the first axis (x-axis) direction + the distance (3463) between the first opening (3411) and the second opening (3412) of the adapter (3400) in the first axis (x-axis) direction.

[1036] Referring again to (b) of FIG. 26 together with FIGS. 24 and 25, the adapter (3400) according to the second embodiment is coupled to the receiving optics assembly (3540) such that the center (3454) of the fourth opening (3422) is away from the second optical axis (3541) of the receiving optics assembly (3540) of the lidar device (3500) in the direction in which the third opening (3421) is located.

[1037] In this case, the length (3462) of the second opening (3412) of the adapter (3400) in the first axis (x-axis) direction and the length (3490) of the fourth opening (3422) of the adapter (3400) in the first axis (x-axis) direction satisfy the following relationships.

[1038] [Relationship 12]

[1039] Length (3490) in the first axis (x-axis) direction of the fourth opening (3422) > length (3462) in the first axis (x-axis) direction of the second opening (3412).

[1040] [Relationship 13]

[1041] The length (3490) of the fourth opening (3422) in the first axis (x-axis) direction < the length (3462) of the second opening (3412) in the first axis (x-axis) direction + the distance (3463) between the first opening (3411) and the second opening (3412) of the adapter (3400) in the first axis (x-axis) direction.

[1042] Pre-established relationships between the size of the opening located on the upper side of the adapter and the size of the opening located on the lower side according to the third embodiment

[1043] Figure 26 (c) is a drawing for explaining the preset relationships between the size of the opening located on the upper side and the size of the opening located on the lower side of the adapter according to the third embodiment.

[1044] Referring to (c) of FIG. 26 together with FIGS. 24 and 25, the adapter (3400) according to the third embodiment is coupled to the transmission optics assembly (3530) such that the center (3453) of the third opening (3421) is away from the first optical axis (3531) of the transmission optics assembly (3530) of the lidar device (3500) in the opposite direction of the direction in which the fourth opening (3422) is located.

[1045] In this case, the length (3461) of the first opening (3411) of the adapter (3400) in the first axis (x-axis) direction and the length (3480) of the third opening (3421) in the first axis (x-axis) direction satisfy the following relationships.

[1046] [Relationship 14]

[1047] Length (3480) in the first axis (x-axis) direction of the third opening (3421) > Length (3461) in the first axis (x-axis) direction of the first opening (3411).

[1048] [Relationship 15]

[1049] The length (3480) of the third opening (3421) in the first axis (x-axis) direction > the length (3461) of the first opening (3411) in the first axis (x-axis) direction + the distance (3463) between the first opening (3411) and the second opening (3412) of the adapter (3400) in the first axis (x-axis) direction.

[1050] Referring again to (c) of FIG. 26 together with FIGS. 24 and 25, the adapter (3400) according to the third embodiment is coupled to the receiving optics assembly (3540) such that the center (3454) of the fourth opening (3422) is away from the second optical axis (3541) of the receiving optics assembly (3540) of the lidar device (3500) in the opposite direction of the direction in which the third opening (3421) is located.

[1051] In this case, the length (3462) of the second opening (3412) of the adapter (3400) in the first axis (x-axis) direction and the length (3490) of the fourth opening (3422) of the adapter (3400) in the first axis (x-axis) direction satisfy the following relationships.

[1052] [Relationship 16]

[1053] Length (3490) in the first axis (x-axis) direction of the fourth opening (3422) > length (3462) in the first axis (x-axis) direction of the second opening (3412).

[1054] [Relationship 17]

[1055] The length (3490) of the fourth opening (3422) in the first axis (x-axis) direction > the length (3462) of the second opening (3412) in the first axis (x-axis) direction + the distance (3463) between the first opening (3411) and the second opening (3412) of the adapter (3400) in the first axis (x-axis) direction.

[1056] Combination of preset relationships between the size of the opening located on the upper side of the adapter and the size of the opening located on the lower side according to the first to third embodiments

[1057] The preset relationships between the size of the opening located on the upper side and the size of the opening located on the lower side of the adapter according to the first to third embodiments described through (a) to (c) of FIG. 26 can be combined with each other.

[1058] More specifically, the relationship between the first opening (3411) and the third opening (3421) of each of the adapters according to the first to third embodiments can be combined with the relationship between the second opening (3412) and the fourth opening (3422) of each of the adapters according to the first to third embodiments.

[1059] For example, the relationship between the first opening (3411) and the third opening (3421) of the adapter according to the first embodiment can be combined with the relationship between the second opening (3412) and the fourth opening (3422) of the adapter according to the first embodiment, the second embodiment or the third embodiment.

[1060] Additionally, for example, the relationship between the first opening (3411) and the third opening (3421) of the adapter according to the second embodiment can be combined with the relationship between the second opening (3412) and the fourth opening (3422) of the adapter according to the first embodiment, the second embodiment or the third embodiment.

[1061] Additionally, for example, the relationship between the first opening (3411) and the third opening (3421) of the adapter according to the third embodiment can be combined with the relationship between the second opening (3412) and the fourth opening (3422) of the adapter according to the first embodiment, the second embodiment or the third embodiment.

[1062] Another method of specifying the first to third embodiments

[1063] The adapter according to the first to third embodiments described above through (a) to (c) of FIG. 26 is specifically described using the transmitting optical assembly and the receiving optical assembly of the lidar device according to the first to third embodiments.

[1064] However, the adapter according to the first to third embodiments can be specified without using a transmitting optics assembly and a receiving optics assembly.

[1065] For example, the adapter according to the first embodiment described above through (a) of FIG. 26 may be specified as an embodiment in which an imaginary line connecting the center (3451) of the first opening (3411) and the center (3453) of the third opening (3421) is parallel to the second axis (z-axis), and in this case, the second axis (z-axis) may mean an axis that faces upward from the lower side of the adapter.

[1066] In addition, for example, the adapter according to the first embodiment described above through (a) of FIG. 26 may be specified as an embodiment in which an imaginary line connecting the center (3452) of the second opening (3412) and the center (3454) of the fourth opening (3422) is parallel to the second axis (z-axis), and in this case, the second axis (z-axis) may mean an axis that faces upward from the lower side of the adapter.

[1067] In addition, for example, the adapter according to the second embodiment described above through (b) of FIG. 26 may be specified as an embodiment in which an imaginary line connecting the center (3451) of the first opening (3411) and the center (3453) of the third opening (3421) is not parallel to the second axis (z-axis), and the center (3453) of the third opening (3421) is moved in the +x direction compared to the center (3451) of the first opening (3411). In this case, the +x direction may be a direction from the center (3451) of the first opening (3411) toward the center (3452) of the second opening (3412).

[1068] In addition, for example, the adapter according to the second embodiment described above through (b) of FIG. 26 may be specified as an embodiment in which an imaginary line connecting the center (3452) of the second opening (3412) and the center (3454) of the fourth opening (3422) is not parallel to the second axis (z-axis), and the center (3454) of the fourth opening (3422) is moved in the -x direction compared to the center (3452) of the second opening (3412). In this case, the -x direction may be a direction from the center (3452) of the second opening (3412) toward the center (3451) of the first opening (3411).

[1069] In addition, for example, the adapter according to the third embodiment described above through (c) of FIG. 26 may be specified as an embodiment in which an imaginary line connecting the center (3451) of the first opening (3411) and the center (3453) of the third opening (3421) is not parallel to the second axis (z-axis), and the center (3453) of the third opening (3421) is moved in the -x direction compared to the center (3451) of the first opening (3411). In this case, the -x direction may be a direction from the center (3452) of the second opening (3412) toward the center (3451) of the first opening (3411).

[1070] In addition, for example, the adapter according to the third embodiment described above through (c) of FIG. 26 may be specified as an embodiment in which an imaginary line connecting the center (3452) of the second opening (3412) and the center (3454) of the fourth opening (3422) is not parallel to the second axis (z-axis), and the center (3454) of the fourth opening (3422) is moved in the +x direction compared to the center (3452) of the second opening (3412). In this case, the +x direction may be a direction from the center (3451) of the first opening (3411) toward the center (3452) of the second opening (3412).

[1071]

[1072] Above, the preset relationships between the size of the opening located on the upper side of the adapter in the first axis (x-axis) direction and the size of the opening located on the lower side in the first axis (x-axis) direction are described.

[1073] Below, the predetermined relationships between the size of the opening located on the upper side of the adapter in the third axis (y-axis) direction and the size of the opening located on the lower side in the second axis (y-axis) direction are described in more detail.

[1074] [Various preset relationships between the size of the opening located on the upper side of the adapter in the third axis (y-axis) direction and the size of the opening located on the lower side in the third axis (y-axis) direction]

[1075] FIG. 27 is a drawing for explaining various predetermined relationships between the size of an opening located on the upper side of an adapter in the third axis (y-axis) direction and the size of an opening located on the lower side in the third axis (y-axis) direction according to one embodiment.

[1076] Referring to FIG. 27, an adapter (3600) according to one embodiment includes a lower side (3610) and an upper side (3620), the lower side (3610) of the adapter (3600) includes a first opening (3611) and a second opening (3612), and the upper side (3620) of the adapter (3600) includes a third opening (3621) and a fourth opening (3622).

[1077] At this time, the above-described contents can be applied to the adapter (3600), the lower side (3610) of the adapter (3600), the upper side (3610) of the adapter (3600), the first opening (3611), the second opening (3612), the third opening (3621), and the fourth opening (3622), so overlapping descriptions will be omitted.

[1078] At this time, the length (3631) of the first opening (3611) in the third axis (y-axis) direction and the length (3641) of the third opening (3621) in the third axis (y-axis) direction can satisfy [Relationship 18] below.

[1079] [Relationship 18]

[1080] The length (3641) in the third axis (y-axis) direction of the third opening (3621) < the length (3631) in the third axis (y-axis) direction of the first opening (3611).

[1081] This may be to reduce noise caused by external light, etc. when the first opening (3611) located on the lower side (3610) of the adapter (3600) must be designed to correspond to the size of the transmission optics assembly, while the sizes of the laser output element array and the detecting element array of the lidar device are designed to be longer in the first axis (x-axis) direction than in the third axis (y-axis) direction.

[1082] In addition, at this time, the length (3632) of the second opening (3612) in the third axis (y-axis) direction and the length (3642) of the fourth opening (3622) in the third axis (y-axis) direction can satisfy [Relationship 19] below.

[1083] [Relationship 19]

[1084] The length (3642) in the third axis (y-axis) direction of the fourth opening (3622) < the length (3632) in the third axis (y-axis) direction of the second opening (3612).

[1085] This may be to reduce noise caused by external light, etc. when the second opening (3612) located on the lower side (3610) of the adapter (3600) must be designed to correspond to the size of the transmission optics assembly, while the sizes of the laser output element array and the detecting element array of the lidar device are designed to be longer in the first axis (x-axis) direction than in the third axis (y-axis) direction.

[1086] Of course, [Relationship 18] and [Relationship 19] may not be satisfied for the convenience of design.

[1087] That is, the length (3641) of the third opening (3621) in the third axis (y-axis) direction may be equal to or greater than the length (3631) of the first opening (3611) in the third axis (y-axis) direction, and the length (3642) of the fourth opening (3622) in the third axis (y-axis) direction may be equal to or greater than the length (3632) of the second opening (3612) in the third axis (y-axis) direction.

[1088]

[1089] [Various designs of the sidewalls defining the optical path of the adapter]

[1090] Above, the design of the adapter to solve the problems was described.

[1091] Below, various designs of side walls of adapters that satisfy the design of the adapter to solve the above-described problems will be described.

[1092] At this time, before explaining the various designs of the side walls of the adapter, we will first define and explain each side wall of the adapter required for explanation.

[1093] Figure 28 is a drawing for explaining each side wall of the adapter required to explain various designs of the side wall of the adapter.

[1094] Referring to FIG. 28, an adapter (3700) according to one embodiment includes a first optical passage (3710), which is comprised of a first space (3711) surrounded by a first side wall (3731) and a second side wall (3732), and a second space (3712) surrounded by a third side wall (3733) and a fourth side wall (3734).

[1095] At this time, the first space (3711) is a space close to the lower side of the adapter (3700), and the second space (3712) is a space close to the upper side of the adapter (3700).

[1096] Additionally, at this time, the first space (3711) and the second space (3712) can be expressed as a first hole and a second hole.

[1097] In addition, at this time, the first side wall (3731) means a side wall that defines a first space (3711) that is closer to the lower side among the side walls defining the first optical passage (3710), and is located closest to the second optical passage (3720), the second side wall (3732) means a side wall that defines a first space (3711) that is closer to the lower side among the side walls defining the first optical passage (3710), and is located farthest from the second optical passage (3720), the third side wall (3733) means a side wall that defines a second space (3712) that is closer to the upper side among the side walls defining the first optical passage (3710), and is located closest to the second optical passage (3720), and the fourth side wall (3734) means a side wall that is closer to the upper side among the side walls defining the first optical passage (3710). Defines a second near space (3712), which means the side wall located furthest from the second optical passage (3720).

[1098] However, the meaning of the first to fourth side walls (3731 to 3734) is defined only for the convenience of explanation, and the definitions understood as the first to fourth side walls (3731 to 3734) through FIG. 28 are not excluded.

[1099] Referring again to FIG. 28, an adapter (3700) according to one embodiment includes a second optical passage (3720), which is comprised of a third space (3721) surrounded by a fifth sidewall (3741) and a sixth sidewall (3742), and a fourth space (3722) surrounded by a seventh sidewall (3743) and an eighth sidewall (3744).

[1100] At this time, the third space (3721) is a space close to the lower side of the adapter (3700), and the fourth space (3722) is a space close to the upper side of the adapter (3700).

[1101] Additionally, at this time, the third space (3721) and the fourth space (3722) can be expressed as a third hole and a fourth hole.

[1102] In addition, at this time, the fifth side wall (3741) defines a third space (3721) closer to the lower side among the side walls defining the second optical passage (3720), and means a side wall positioned closest to the first optical passage (3710), the sixth side wall (3742) defines a third space (3721) closer to the lower side among the side walls defining the second optical passage (3720), and means a side wall positioned farthest from the first optical passage (3710), the seventh side wall (3743) defines a fourth space (3722) closer to the upper side among the side walls defining the second optical passage (3720), and means a side wall positioned closest to the second optical passage (3710), and the eighth side wall (3744) defines a fourth space (3722) closer to the upper side among the side walls defining the second optical passage (3720). Defines a nearby fourth space (3722), meaning the side wall located furthest from the first optical passage (3710).

[1103] However, the meaning of the fifth to eighth side walls (3741 to 3744) is defined only for the convenience of explanation, and the definitions understood as the fifth to eighth side walls (3741 to 3744) through FIG. 28 are not excluded.

[1104] In addition, since the above-described contents can be applied to the adapter (3700), the first optical passage (3710), and the second optical passage (3720), redundant descriptions will be omitted.

[1105] Hereinafter, various designs of the side walls of the adapter will be described using the first to eighth side walls (3731 to 3734 and 3741 to 3744) described above.

[1106] FIGS. 29 and 30 are drawings illustrating various designs of the side walls of an adapter according to one embodiment.

[1107] Referring to (a) of FIG. 29, the first to eighth side walls (3731 to 3734 and 3741 to 3744) on a cross-section cut along the xz plane of the adapter according to one embodiment can all be parallel to the second axis (z-axis).

[1108] Also, referring to (b) of FIG. 29, the first side wall (3731) and the second side wall (3732) on the cross-section cut along the xz plane of the adapter according to one embodiment are both parallel to the second axis (z-axis), but the third side wall (3733) and the fourth side wall (3734) may not be parallel to each other.

[1109] More specifically, the third side wall (3733) may be parallel to the second axis (z-axis), but the fourth side wall (3734) may not be parallel to the second axis (z-axis).

[1110] That is, in this case, the fourth side wall (3734) can be formed to have an inclination with respect to the second axis (z-axis).

[1111] Also, referring to (b) of FIG. 29, the fifth side wall (3741) and the sixth side wall (3742) on the cross-section cut along the xz plane of the adapter according to one embodiment are both parallel to the second axis (z-axis), but the seventh side wall (3743) and the eighth side wall (3744) may not be parallel to each other.

[1112] More specifically, the seventh side wall (3743) may be parallel to the second axis (z-axis), but the eighth side wall (3744) may not be parallel to the second axis (z-axis).

[1113] That is, in this case, the eighth side wall (3744) can be formed to have a slope with respect to the second axis (z-axis).

[1114] Also, referring to (c) of FIG. 29, the first side wall (3731) and the second side wall (3732) on the cross-section cut along the xz plane of the adapter according to one embodiment may both be parallel to the second axis (z-axis), but the third side wall (3733) and the fourth side wall (3734) may not both be parallel to the second axis (z-axis).

[1115] That is, in this case, the third side wall (3733) and the fourth side wall (3734) can be formed to have an inclination with respect to the second axis (z-axis).

[1116] At this time, the directions of the inclinations of the third side wall (3733) and the fourth side wall (3734) with respect to the second axis (z-axis) may be different from each other.

[1117] Also, referring to (c) of FIG. 29, the fifth side wall (3741) and the sixth side wall (3742) on a cross-section cut along the xz plane of the adapter according to one embodiment may both be parallel to the second axis (z-axis), but the seventh side wall (3743) and the eighth side wall (3744) may not both be parallel to the second axis (z-axis).

[1118] That is, in this case, the seventh side wall (3743) and the eighth side wall (3744) can be formed to have an inclination with respect to the second axis (z-axis).

[1119] At this time, the directions of the inclinations of the seventh side wall (3743) and the eighth side wall (3744) with respect to the second axis (z-axis) may be different from each other.

[1120] Also, referring to (a) of FIG. 30, the first side wall (3731) and the fifth side wall (3741) of the adapter according to one embodiment may be formed separately from each other, but the third side wall (3733) and the seventh side wall (3743) may be formed integrally with each other.

[1121] This may be to reflect the fact that, as described above, the length of the third opening of the adapter in the first axis (x-axis) direction must be longer than the length of the first opening in the first axis (x-axis) direction, and the length of the fourth opening in the first axis (x-axis) direction must be longer than the length of the second opening in the first axis (x-axis) direction.

[1122] Also, referring to (b) of FIG. 30, the first side wall (3731) and the fifth side wall (3741) of the adapter according to one embodiment may be formed integrally with each other, while the third side wall (3733) and the seventh side wall (3743) may be formed integrally with each other.

[1123] Also, referring to (c) of FIG. 30, the first side wall (3731) and the fifth side wall (3741) of the adapter according to one embodiment may be formed separately from each other, while the third side wall (3733) and the seventh side wall (3743) may be formed separately from each other.

[1124] At this time, the distance between the third side wall (3733) and the seventh side wall (3743) is designed to be closer than the distance between the first side wall (3731) and the fifth side wall (3741).

[1125] This may be to reflect the fact that, as described above, the length of the third opening of the adapter in the first axis (x-axis) direction must be longer than the length of the first opening in the first axis (x-axis) direction, and the length of the fourth opening in the first axis (x-axis) direction must be longer than the length of the second opening in the first axis (x-axis) direction.

[1126]

[1127] [Design of the upper side of the adapter to conform to the shape of the optical window]

[1128] Above, the design and design conditions of the adapter to solve the problem that occurs when a lidar device is located in a space equipped with an optical window on one side are described in detail.

[1129] However, as described above, the industrial fields in which lidar devices are used are very diverse, and the shape of the space in which the lidar device is located and the shape of the optical window are also very diverse.

[1130] Therefore, below, the design of the upper side of the adapter to adapt to the shape of the optical window when the lidar device is positioned in a space having an optical window on one side will be described in more detail.

[1131] According to one embodiment, the shape of the upper side of the adapter of the lidar device having the adapter can be determined by considering the shape of the optical window of the space in which the lidar device having the adapter is positioned and the relative positional relationship between the optical window and the lidar device.

[1132] More specifically, the upper side of the adapter of the lidar device having the adapter may be formed to have a slope or correspond to a curvature, taking into account the shape of the optical window and the relative positional relationship between the optical window and the lidar device.

[1133] Some exemplary situations for this are illustrated in Fig. 31.

[1134] FIG. 31 is a drawing illustrating exemplary shapes of the upper side of an adapter of a lidar device having an adapter according to one embodiment.

[1135] FIG. 31 (a) is a drawing showing an exemplary shape of the upper side (3820) of the adapter (3800) when the optical window (3910) is provided flat and the lidar device is positioned so that the optical window (3910) is parallel to the plane (3830) on which the laser output element array and the detecting element array of the lidar device are arranged.

[1136] Referring to (a) of FIG. 31, the lower side (3810) of the adapter (3800) according to one embodiment is flat, and the upper side (3820) of the adapter (3800) is also flat.

[1137] At this time, the shape of the upper side (3820) of the adapter (3800) is formed to correspond to the optical window (3910).

[1138] In addition, at this time, the plane (3830) on which the laser output element array and the detecting element array of the lidar device are arranged and the lower side (3810) of the adapter (3800) are parallel to each other, and the plane (3830) on which the laser output element array and the detecting element array of the lidar device are arranged and the optical window (3910) are parallel to each other, so the upper side (3820) of the adapter (3800) is parallel to the lower side (3810) of the adapter (3800).

[1139] That is, in this case, the distance from the lower side (3810) of the adapter (3800) to the upper side (3820) of the adapter (3800) can be uniform.

[1140] (b) of FIG. 31 is a drawing showing an exemplary shape of the upper side (3820) of the adapter (3800) when the optical window (3920) is provided flat, but the lidar device is positioned so that the optical window (3920) has an incline with respect to the plane (3830) on which the laser output element array and the detecting element array of the lidar device are arranged.

[1141] Referring to (b) of FIG. 31, the lower side (3810) of the adapter (3800) according to one embodiment is flat, and the upper side (3820) of the adapter (3800) is also flat.

[1142] At this time, the shape of the upper side (3820) of the adapter (3800) is formed to correspond to the optical window (3910).

[1143] However, since the plane (3830) on which the laser output element array and the detecting element array of the lidar device are arranged and the lower side (3810) of the adapter (3800) are parallel to each other, and the optical window (3910) has an incline with respect to the plane (3830) on which the laser output element array and the detecting element array of the lidar device are arranged, the upper side (3820) of the adapter (3800) has an incline with respect to the lower side (3810) of the adapter (3800).

[1144] That is, in this case, the distance from the lower side (3810) of the adapter (3800) to the upper side (3820) of the adapter (3800) may not be uniform.

[1145] Figure 31 (c) is a drawing showing an exemplary shape of the upper side (3820) of the adapter (3800) when the optical window (3930) is provided to have a curvature.

[1146] Referring to (b) of FIG. 31, the lower side (3810) of the adapter (3800) according to one embodiment is flat, and the upper side (3820) of the adapter (3800) has a curvature corresponding to the curvature of the optical window (3930).

[1147] In the above, it has been described that the upper side of the adapter of the lidar device equipped with the adapter through Fig. 31 can be formed to have a slope or correspond to a curvature, taking into account the shape of the optical window and the relative positional relationship between the optical window and the lidar device.

[1148] However, since the examples described in FIG. 31 also require that the relationships described in this specification be satisfied to resolve problems that arise when a lidar device is positioned within a space having an optical window on one side, the relationships described in this specification are also applied to the examples described in FIG. 31.

[1149]

[1150] V. Lidar system applied to a vehicle (lidar system including multiple lidar devices with adapters)

[1151] Introduction of LiDAR Systems

[1152] In the case of autonomous vehicles, multiple lidar devices may be placed at different locations on the autonomous vehicle to detect potential hazards in the surroundings.

[1153] For example, a lidar device may be placed near the windshield of an autonomous vehicle, a lidar device may be placed in each of the right and left headlights, and a lidar device may be placed near the backlight.

[1154] In this way, a plurality of lidar devices are placed on a vehicle, etc. to form a single system, which is described in this specification as a lidar system.

[1155]

[1156] [Combination of multiple lidar devices included in a lidar system]

[1157] FIG. 32 is a drawing for explaining a lidar system according to one embodiment.

[1158] Referring to FIG. 32, a lidar system (4000) according to one embodiment may include a first lidar device (4010) positioned near a windshield of an autonomous vehicle, a second lidar device (4020) positioned near a left headlight of the autonomous vehicle, a third lidar device (4030) positioned near a right headlight of the autonomous vehicle, and a fourth lidar device (4040) positioned near a backlight of the autonomous vehicle.

[1159] At this time, the lidar system (4000) according to one embodiment can be configured by combining a plurality of lidar devices having the necessary specifications at each location.

[1160] At this time, the specifications refer to the performance indicators of the lidar device, such as the field of view of the lidar device, the field of view of the laser irradiation area, the field of view of the light detection area, the maximum measurement distance, the minimum measurement distance, the angular resolution, the laser output power, the frame rate, and the laser output wavelength.

[1161] For example, a lidar system (4000) according to one embodiment may be configured to place a first lidar device (4010) having a first specification near a windshield of a vehicle, a second lidar device (4020) having a second specification near a left headlight of the vehicle, a third lidar device (4030) having the second specification near a right headlight of the vehicle, and a fourth lidar device (4040) having the third specification near a backlight of the vehicle.

[1162]

[1163] [Design of an adapter for multiple lidar devices included in a lidar system]

[1164] Referring again to FIG. 32, each of the plurality of lidar devices included in the lidar system (4000) according to one embodiment includes an adapter.

[1165] For example, a first lidar device (4010) includes a first adapter (4011), a second lidar device (4020) includes a second adapter (4021), a third lidar device (4030) includes a third adapter (4031), and a fourth lidar device (4040) includes a fourth adapter (4041).

[1166] At this time, the shape of the adapter of each of the plurality of lidar devices is designed in consideration of the configuration of each of the plurality of lidar devices and the position at which each of the plurality of lidar devices is placed.

[1167] At this time, the shape of the adapter includes the size of the opening, the distance between the openings, the slope, the size, etc.

[1168] More specifically, the shape of the lower side of the adapter of lidar devices with the same specifications is identical to each other.

[1169] For example, the shape of the lower side of the second adapter (4021) of the second lidar device (4020) having the same second specification and the lower side of the third adapter (4031) of the third lidar device (4030) may be identical to each other.

[1170] Additionally, more specifically, the shapes of the lower sides of the adapters of lidar devices with different specifications are different from each other.

[1171] For example, the shapes of the lower sides of the first adapter (4011) of the first lidar device (4010) and the second adapter (4021) of the second lidar device (4020), which have different specifications, are different from each other.

[1172] Additionally, for example, the shapes of the lower sides of the first adapter (4011) of the first lidar device (4010) and the fourth adapter (4041) of the fourth lidar device (4040), which have different specifications, are different from each other.

[1173] Also, more specifically, even if the adapters of lidar devices have the same specifications, the shapes of the upper sides are different if the positions where they are placed are different.

[1174] For example, although they have the same specifications, the upper shapes of the second adapter (4021) of the second lidar device (4020) positioned near the left headlight and the upper shapes of the third adapter (4031) of the third lidar device (4030) positioned near the right headlight are different from each other.

[1175] In addition, for example, even if the second specification and the third specification are the same, the upper shapes of the second adapter (4021) of the second lidar device (4020) positioned near the left headlight, the third adapter (4031) of the third lidar device (4030) positioned near the right headlight, and the fourth adapter (4041) of the fourth lidar device (4040) positioned near the backlight are different from each other.

[1176] Additionally, more specifically, when lidar devices with different specifications are placed at different locations, the shapes of the upper sides of the adapters of the lidar devices are different from each other.

[1177] For example, the upper shapes of the first adapter (4011) of the first lidar device (4010) positioned near the windshield and the upper shapes of the second adapter (4021) of the second lidar device (4020) positioned near the left headlight are different from each other, although they have different specifications.

[1178]

[1179] The contents described above through FIG. 32 are related to a lidar system (4000) according to an embodiment applied to an autonomous vehicle, but the technical idea that the shape of the lower side of each adapter is determined depending on whether the specifications of the plurality of lidar devices included in the lidar system (4000) according to an embodiment are the same, and the shape of the upper side of the adapter is determined depending on the position where each of the plurality of lidar devices is arranged can be equally applied to a lidar system composed of a plurality of lidar devices including an adapter as well as an autonomous vehicle.

[1180]

[1181] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium 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 floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[1182] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above description. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[1183] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

[1184]

[1185] As described above, the relevant matters have been described in the best possible form for carrying out the invention.

Claims

1. As a lidar device, A laser emitting element array comprising a plurality of laser emitting elements; A transmission optical assembly for steering a laser output from the plurality of laser light emitting elements; A detecting element array comprising a plurality of detecting elements; A receiving optical assembly, wherein the receiving optical assembly is configured to focus light incident on the receiving optical assembly onto the detecting element array, and the receiving optical assembly is positioned spaced apart from the transmitting optical assembly in a first axial direction, wherein a minimum distance in the first axial direction between the receiving optical assembly and the transmitting optical assembly is a first distance; and An adapter including a first optical passage and a second optical passage, wherein a first opening and a second opening separated from the first opening are located on a bottom side of the adapter, a third opening and a fourth opening separated from the third opening are located on a top side of the adapter, the first optical passage is a passage from the first opening to the third opening, the second optical passage is a passage from the second opening to the fourth opening, the first optical passage is surrounded by at least one side wall and separated from the second optical passage, and the second optical passage is surrounded by at least one side wall and separated from the first optical passage; The above transmitting optics assembly is inserted into the first opening and engaged with the adapter, As the above transmission optics assembly is inserted into the first opening, the optical axis of the above transmission optics assembly passes through the center of the first opening, The above receiving optics assembly is inserted into the second opening and engaged with the adapter, As the receiving optics assembly is inserted into the second opening, the optical axis of the receiving optics assembly passes through the center of the second opening. The length of the third opening in the first axial direction and the length of the first opening in the first axial direction satisfy relational expression 1, and the length of the fourth opening in the first axial direction and the length of the second opening in the first axial direction satisfy relational expression 2. [Relationship 1] The length of the first opening in the first axis direction < the length of the third opening in the first axis direction The length of the first opening in the first axis direction + the first distance [Relationship 2] The length of the second opening in the first axis direction < the length of the fourth opening in the first axis direction The length of the second opening in the first axis direction + the first distance Lidar device.

2. In paragraph 1, The direction from the lower side to the upper side of the above adapter is defined as the second axis direction, When the angle of view in the first axis direction of the laser irradiation area of ​​the above lidar device is 'k degrees', The length of the third opening in the first axial direction and the length in the second axial direction from the lower side of the adapter to the upper side of the adapter satisfy relational expression 3. [Relationship 3] The length of the third opening in the first axial direction / (2 * (the length in the second axial direction from the lower side of the adapter to the upper side of the adapter)) > tan(k degree / 2) Lidar device.

3. In paragraph 2, If the angle of view in the first axis direction of the light detection area of ​​the above lidar device is 'l degree', The length of the fourth opening in the first axial direction and the length in the second axial direction from the lower side of the adapter to the upper side of the adapter satisfy relational expression 4. [Relationship 4] The length of the fourth opening in the first axial direction / (2 * (the length in the second axial direction from the lower side of the adapter to the upper side of the adapter)) > tan(l degree / 2) Lidar device.

4. In paragraph 1, The first optical passage includes a first hole surrounded by a first side wall and a second hole surrounded by a second side wall, The second optical passage includes a third hole surrounded by a third side wall and a fourth hole surrounded by a fourth side wall. Lidar device.

5. In paragraph 4, The first hole is located closer to the lower side of the adapter than the second hole, The second hole is located closer to the upper side of the adapter than the first hole, The third hole is located closer to the lower side of the adapter than the fourth hole, The fourth hole is located closer to the upper side of the adapter than the third hole. Lidar device.

6. In paragraph 5, The above transmitting optics assembly is inserted into the first hole, and the above receiving optics assembly is inserted into the third hole. Lidar device.

7. In paragraph 5, The second side wall forms a first side adjacent to the fourth side wall and a second side disposed opposite the first side, The first side is parallel to the optical axis of the transmission optics assembly, The second side is not parallel to the optical axis of the transmission optics assembly. Lidar device.

8. In paragraph 5, The first side wall and the third side wall are configured to be physically separated, The second side wall and the fourth side wall are formed as one piece. Lidar device.

9. As a lidar device, A laser emitting element array comprising a plurality of laser emitting elements; A transmission optical assembly for steering a laser output from the plurality of laser light emitting elements; A detecting element array comprising a plurality of detecting elements; A receiving optical assembly, wherein the receiving optical assembly is configured to focus light incident on the receiving optical assembly onto the detecting element array, and the receiving optical assembly is positioned spaced apart from the transmitting optical assembly in a first axial direction, wherein a minimum distance in the first axial direction between the receiving optical assembly and the transmitting optical assembly is a first distance; and An adapter including a first optical passage and a second optical passage, wherein a first opening and a second opening separated from the first opening are located on a bottom side of the adapter, a third opening and a fourth opening separated from the third opening are located on a top side of the adapter, the first optical passage is a passage from the first opening to the third opening, the second optical passage is a passage from the second opening to the fourth opening, the first optical passage is surrounded by at least one side wall and separated from the second optical passage, and the second optical passage is surrounded by at least one side wall and separated from the first optical passage; The above transmitting optics assembly is inserted into the first opening and engaged with the adapter, The above receiving optics assembly is inserted into the second opening and engaged with the adapter, When the length of the third opening in the first axial direction is greater than the sum of the length of the first opening in the first axial direction and the first distance, the distance between the optical axis of the transmission optic assembly and the center of the third opening is greater than the distance between the optical axis of the transmission optic assembly and the center of the first opening. When the length of the fourth opening in the first axial direction is greater than the sum of the length of the second opening in the first axial direction and the first distance, the distance between the optical axis of the receiving optic assembly and the center of the fourth opening is greater than the distance between the optical axis of the receiving optic assembly and the center of the second opening. Lidar device.

10. In paragraph 9, The direction from the lower side to the upper side of the above adapter is defined as the second axis direction, When the angle of view in the first axis direction of the laser irradiation area of ​​the above lidar device is 'k degrees', The length of the third opening in the first axial direction and the length in the second axial direction from the lower side of the adapter to the upper side of the adapter satisfy relational expression 1. [Relationship 1] The length of the third opening in the first axial direction / (2 * (the length in the second axial direction from the lower side of the adapter to the upper side of the adapter)) > tan(k degree / 2) Lidar device.

11. In paragraph 10, If the angle of view in the first axis direction of the light detection area of ​​the above lidar device is 'l degree', The length of the fourth opening in the first axial direction and the length in the second axial direction from the lower side of the adapter to the upper side of the adapter satisfy relational expression 2. [Relationship 2] The length of the fourth opening in the first axial direction / (2 * (the length in the second axial direction from the lower side of the adapter to the upper side of the adapter)) > tan(l degree / 2) Lidar device.

12. An adapter placed between a lidar device and an optical window located in a space having an optical window on one side, Bottom side where the first opening and the second opening separated from the first opening are located; Top side where the third opening and the fourth opening separated from the third opening are located; a first optical passage which is a passage from the first opening to the third opening; and A second optical passage, which is a passage from the second opening to the fourth opening; including, The first optical passage is surrounded by at least one side wall and separated from the second optical passage, and the second optical passage is surrounded by at least one side wall and separated from the first optical passage, The second opening is spaced apart from the first opening in the first axial direction, and the minimum distance in the first axial direction between the first opening and the second opening is the first distance, When the first virtual line passing through the center of the first opening and the center of the third opening and the second virtual line passing through the center of the second opening and the center of the fourth opening are parallel to each other, The length of the third opening in the first axial direction and the length of the first opening in the first axial direction satisfy relational expression 1, The length of the fourth opening in the first axial direction and the length of the second opening in the first axial direction satisfy relational expression 2. [Relationship 1] The length of the first opening in the first axis direction < the length of the third opening in the first axis direction The length of the first opening in the first axis direction + the first distance [Relationship 2] The length of the second opening in the first axis direction < the length of the fourth opening in the first axis direction The length of the second opening in the first axis direction + the first distance adapter.

13. In paragraph 12, The shape of the upper side of the above adapter corresponds to the shape of the optical window. adapter.

14. In paragraph 13, If the optical window has a curvature, the curvature of the upper side of the adapter corresponds to the curvature of the optical window. adapter.

15. An adapter placed between a lidar device and an optical window located in a space having an optical window on one side, Bottom side where the first opening and the second opening separated from the first opening are located; Top side where the third opening and the fourth opening separated from the third opening are located; a first optical passage which is a passage from the first opening to the third opening; and A second optical passage, which is a passage from the second opening to the fourth opening; including, The first optical passage is surrounded by at least one side wall and separated from the second optical passage, and the second optical passage is surrounded by at least one side wall and separated from the first optical passage, The second opening is spaced apart from the first opening in the first axial direction, and the minimum distance in the first axial direction between the first opening and the second opening is the first distance, If the length of the third opening in the first axial direction is greater than the sum of the length of the first opening in the first axial direction and the first distance, and the length of the fourth opening in the first axial direction is greater than the sum of the length of the second opening in the first axial direction and the first distance, the distance between the center of the third opening and the center of the fourth opening is greater than the distance between the center of the first opening and the center of the second opening. adapter.

16. In paragraph 15, The shape of the upper side of the above adapter corresponds to the shape of the optical window. adapter.

17. In paragraph 16, If the optical window has a curvature, the curvature of the upper side of the adapter corresponds to the curvature of the optical window. adapter.

18. As a lidar device, A laser emitting element array comprising a plurality of laser emitting elements; A transmission optical assembly for steering a laser output from the plurality of laser light emitting elements; A detecting element array comprising a plurality of detecting elements; A receiving optical assembly, wherein the receiving optical assembly is configured to focus light incident on the receiving optical assembly onto the detecting element array, and the receiving optical assembly is positioned spaced apart from the transmitting optical assembly in a first axial direction, wherein a minimum distance in the first axial direction between the receiving optical assembly and the transmitting optical assembly is a first distance; and An adapter including a first optical passage, wherein a first opening is located on a bottom side of the adapter, a second opening is located on a top side of the adapter, and the first optical passage is a passage from the first opening to the second opening, and the first optical passage is defined by at least one side wall surrounding the first optical passage; The above receiving optics assembly is inserted into the first opening and engaged with the adapter, As the receiving optics assembly is inserted into the first opening, the optical axis of the receiving optics assembly passes through the center of the first opening. The length of the second opening in the first axial direction and the length of the first opening in the first axial direction satisfy the relationship [Relationship] The length of the first opening in the first axis direction < the length of the second opening in the first axis direction The length of the first opening in the first axis direction + the first distance Lidar device.

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