Lidar device including window module

Abstract

A LIDAR device according to the present invention comprises: a transmission module including a laser emitting array and transmission optics, the transmission optics having a first optical axis and a transmission entrance pupil; a reception module including a laser detecting array and reception optics, the reception optics having a second optical axis; a case functioning to accommodate at least a portion of the transmission module and at least a portion of the reception module; and a window module coupled to the case and functioning to provide an inner space for accommodating the transmission optics and the reception optics.

Description

LiDAR device including a window module

[0001] The present invention relates to a lidar device, and more particularly, to a lidar device including a window module.

[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 the three-dimensional surrounding space without a mechanically moving component.

[0005] As these lidar devices are used in various industrial fields, there is a need to manufacture them to meet the requirements required in the industrial field, such as waterproofing and dustproofing. To this end, the internal configuration of the lidar device can be sealed, but it can be provided with a configuration that includes a window module to enable distance measurement.

[0006] However, when a conventional flat window module is used in a solid-state lidar device, problems of back beam phenomenon, deterioration of minimum detection distance performance, and deterioration of maximum detection distance performance may occur.

[0007] Therefore, it is necessary to develop a lidar device that can solve the above problems.

[0008]

[0009] One object of the present invention is to provide a lidar device in which the back beam phenomenon is solved.

[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 transmission module including a laser emitting array and a transmission optic, wherein the transmission optic has a first optical axis and a transmission entrance pupil; a reception module including a laser detecting array and a reception optic, wherein the reception optic has a second optical axis; a case functioning to accommodate at least a portion of the transmission module and at least a portion of the reception module; And a window module coupled to the case and functioning to provide an internal space for accommodating the transmitting optic and the receiving optic; wherein the window module includes a first optical window for allowing light output from the transmitting module to exit from the internal space and a second optical window for allowing light to be received by the receiving module to enter the internal space, and a first laser emitting unit included in the laser emitting array functions to output a first laser, and the first laser emitting unit is arranged in a central region of the laser emitting array, and the first laser passes through the first region of the first optical window, and a second laser emitting unit included in the laser emitting array functions to output a second laser, and the second laser emitting unit is arranged at an edge of the laser emitting array, and the second region of the first optical window has a curvature, and a radius of curvature of the first region is larger than a distance between the transmitting incident pupil and the first region.

[0013] 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.

[0014]

[0015] According to one embodiment of the present invention, a lidar device in which the back beam phenomenon is resolved can be provided.

[0016] 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.

[0017]

[0018] FIG. 1 is a drawing for explaining a lidar device according to one embodiment.

[0019] FIG. 2 is a drawing for explaining a lidar device according to one embodiment.

[0020] FIG. 3 is a drawing for explaining a laser emitting array and a laser detecting array included in a lidar device according to one embodiment.

[0021] FIGS. 4 and 5 are drawings for explaining a lidar device according to one embodiment.

[0022] FIGS. 6 and 7 are drawings for explaining a laser emitting module and a laser detecting module according to one embodiment.

[0023] FIGS. 8 and 9 are drawings for explaining an emitting optics module and a detecting optics module according to one embodiment.

[0024] Fig. 10 is a drawing for explaining a problem occurring in a lidar device according to one embodiment.

[0025] FIG. 11 is a drawing for explaining a problem occurring in a lidar device according to one embodiment.

[0026] FIG. 12 is a drawing for explaining the incident angle and transmittance of light for a window module according to one embodiment.

[0027] Fig. 13 is a drawing for explaining a lidar device according to one embodiment.

[0028] Fig. 14 is a drawing for explaining a lidar device according to one embodiment.

[0029] Fig. 15 is a drawing for explaining a lidar device according to one embodiment.

[0030] FIG. 16 is a drawing for explaining a lidar device according to one embodiment.

[0031] FIG. 17 is a drawing for explaining a lidar device according to one embodiment.

[0032] FIG. 18 is a drawing for explaining a lidar device according to one embodiment.

[0033] FIG. 19 is a drawing for explaining the angle of a laser output from a lidar device according to one embodiment and the angle of a laser incident on a window module.

[0034]

[0035] 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.

[0036] 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.

[0037] 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 understanding of the present invention, and therefore the present invention is not limited by the drawings.

[0038] 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 is another layer or other component interposed therebetween.

[0039] Throughout this specification, identical reference numbers may, in principle, represent identical components.

[0040] 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.

[0041] 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.

[0042] 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.

[0043]

[0044] According to one embodiment of the present invention, a lidar device comprises: a transmission module including a laser emitting array and a transmission optic, wherein the transmission optic has a first optical axis and a transmission entrance pupil; a reception module including a laser detecting array and a reception optic, wherein the reception optic has a second optical axis; a case functioning to accommodate at least a portion of the transmission module and at least a portion of the reception module; And a window module coupled to the case and functioning to provide an internal space for accommodating the transmitting optic and the receiving optic; wherein the window module includes a first optical window for allowing light output from the transmitting module to exit from the internal space and a second optical window for allowing light to be received by the receiving module to enter the internal space, and a first laser emitting unit included in the laser emitting array functions to output a first laser, and the first laser emitting unit is arranged in a central region of the laser emitting array, and the first laser passes through the first region of the first optical window, and a second laser emitting unit included in the laser emitting array functions to output a second laser, and the second laser emitting unit is arranged at an edge of the laser emitting array, and the second region of the first optical window has a curvature, and a radius of curvature of the first region is larger than a distance between the transmitting incident pupil and the first region.

[0045] Here, the second laser passes through the second region of the first optical window, and the distance between the first optical axis and the second region may be less than half the distance between the first optical axis and the second optical axis.

[0046] Here, all lasers output from the laser emitting array can exit from the internal space without passing through the second optical window.

[0047] Here, the first laser passes through a third region of the outermost lens of the transmission optic, and a distance between a virtual plane where the laser emitting array is positioned and the third region may be greater than a distance between the virtual plane and the second region of the first optical window.

[0048] Here, the second laser passes through the fourth region of the outermost lens of the transmission optic, and the distance between the first region and the third region may be different from the distance between the second region and the fourth region.

[0049]

[0050] *Here, the first optical window and the second optical window can be physically formed as one body.

[0051] Here, the direction in which the laser output from the laser emitting array moves while passing through the first optical window may be different from the direction in which the laser moves while passing through the second optical window.

[0052] Here, the second laser emitting unit can be arranged in the same row as the first laser emitting unit.

[0053] Here, the second laser emitting unit and the first laser emitting unit can function to output lasers simultaneously.

[0054] Here, the first laser output from the first laser emitting unit is steered in a first direction through the transmission optics and exits the internal space through the first optical window, and when the first laser is reflected from an object located in the first direction, the reflected first laser enters the internal space through the second optical window and is focused through the receiving optics and can be detected by the first laser detecting unit.

[0055] Here, the second laser passes through the second region of the first optical window, and when the second laser is incident on the second region of the first optical window, the angle between the second region and the second laser may be smaller than the angle between the second laser irradiated to the outside of the lidar device and the first optical axis of the transmission optic.

[0056] Here, the transmission entrance pupil may be defined as a position of a virtual plane perpendicular to the first optical axis, through which an imaginary line extending backward in the direction of travel of a chief ray among the light bundle constituting the second laser output from the second laser emitting unit after being steered through the transmission optics intersects the first optical axis.

[0057] Here, the lidar device may include an optic hood for providing a transmitting internal space for accommodating at least a portion of the transmitting optic and a receiving internal space for accommodating at least a portion of the receiving optic.

[0058] Here, the first region may be a region through which a chief ray of a light bundle constituting the first laser output from the first laser emitting unit passes.

[0059] Here, the first region may be a region through which a light bundle constituting the first laser output from the first laser emitting unit passes.

[0060] Here, the center of curvature defined by the curvature of the first region of the first optical window can be located between the first region and the laser emitting array.

[0061] Here, the center of curvature defined by the curvature of the first region of the first optical window can be located inside the transmission optic.

[0062]

[0063] Below, a lidar device according to the present invention is described.

[0064] However, the LiDAR device described in this specification can be understood as a concept that includes various devices that measure distance using lasers, and can be understood as a concept that includes, for example, LiDAR (Light Detection And Ranging), TOF sensor (Time-of-Flight sensor), etc., but is not limited thereto.

[0065]

[0066] A LIDAR device is a device that uses a laser to detect the distance to an object and the position of the object. For example, the LIDAR device can output a laser, and when the output laser is reflected from the object, the reflected laser can be received to measure the distance between the object and the LIDAR device and the position of the object. At this time, the distance and position of the object can be expressed through a coordinate system. For example, the distance and position of the object can be expressed in a spherical coordinate system (r, θ, φ). However, the present invention is not limited thereto, and can be expressed in a rectangular coordinate system (X, Y, Z) or a cylindrical coordinate system (r, θ, z).

[0067] Additionally, at this time, the target may mean at least one object, but is not limited thereto, and may also mean a part of an object for reflecting at least a part of the laser output from the lidar device.

[0068] Additionally, a lidar device according to one embodiment may utilize a laser output from the lidar device and reflected from the object to measure the distance to the object.

[0069] For example, a lidar device according to one embodiment may utilize the time of flight (TOF) of a laser from the time the laser is output until it is detected to measure the distance to an object.

[0070] For a more specific example, a lidar device according to one embodiment can measure the distance to an object by using the difference between a time value based on the output time of an output laser and a time value based on the detected time of a laser reflected from an object and detected.

[0071] At this time, a time value based on the output time of the laser can be obtained based on a control unit included in a lidar device according to one embodiment.

[0072] For example, the time value based on the laser output time may be obtained based on the generation time of a trigger signal generated by a control unit included in a lidar device according to one embodiment, but is not limited thereto.

[0073] Additionally, a time value based on the output time of the laser can be obtained based on a laser output unit included in a lidar device according to one embodiment.

[0074] For example, a time value based on the output time of the laser may be obtained by detecting the operation of a laser output unit included in a lidar device according to one embodiment, but is not limited thereto.

[0075] At this time, detection of the operation of the laser output unit may mean detection of the flow of current of the laser output unit, change in electric field, etc., but is not limited thereto.

[0076] Additionally, a time value based on the output time of the laser can be obtained based on a detector unit included in a lidar device according to one embodiment.

[0077] For example, the time value based on the laser output time may be obtained based on the time value at which the detector unit included in the lidar device according to one embodiment detects a laser that is not reflected from the target object, but is not limited thereto.

[0078] At this time, a reference optical path may be provided for the laser output from the laser output unit to be received by the detector unit, but is not limited thereto.

[0079] Additionally, a time value based on the detected time of the laser reflected from the target object can be obtained based on a detector unit included in a lidar device according to one embodiment.

[0080] For example, a time value based on the detected time of a laser reflected from the target object may be obtained based on a time value of a laser reflected from the target object detected by a detector unit included in a lidar device according to one embodiment, but is not limited thereto.

[0081]

[0082] In addition, the lidar device according to one embodiment may use, but is not limited to, a triangulation method, an interferometry method, a phase shift measurement method, etc. in addition to the time of flight to measure the distance to the target object.

[0083]

[0084] According to one embodiment, the lidar device may be installed on a vehicle. For example, the lidar device may be installed on the roof, hood, headlamp, or bumper of the vehicle.

[0085] Additionally, multiple lidar devices according to one embodiment may be installed on a vehicle. For example, if two lidar devices are installed on the roof of a vehicle, one lidar device may be for observing the front and the other may be for observing the rear, but the invention is not limited thereto. Additionally, for example, if two lidar devices are installed on the roof of a vehicle, one lidar device may be for observing the left side and the other may be for observing the right side, but the invention is not limited thereto.

[0086] Additionally, a lidar device according to one embodiment may be installed in a vehicle. For example, if the lidar device is installed inside the vehicle, it may be used to recognize the driver's gestures while driving, but is not limited thereto. Furthermore, for example, if the lidar device is installed inside or outside the vehicle, it may be used to recognize the driver's face, but is not limited thereto.

[0087] According to one embodiment, a lidar device may be installed on an unmanned aerial vehicle. For example, the lidar device may be installed on an unmanned aerial vehicle system (UAV System), a drone, a remote piloted vehicle (RPV), an unmanned aerial vehicle system (UAVs), an unmanned aircraft system (UAS), a remote piloted air / aerial vehicle (RPAV), or a remote piloted aircraft system (RPAS).

[0088] Additionally, multiple lidar devices according to one embodiment may be installed on an unmanned aerial vehicle. For example, if two lidar devices are installed on an unmanned aerial vehicle, one lidar device may be for observing the front, and the other may be for observing the rear, but the invention is not limited thereto. Additionally, for example, if two lidar devices are installed on an unmanned aerial vehicle, one lidar device may be for observing the left, and the other may be for observing the right, but the invention is not limited thereto.

[0089] According to one embodiment, a lidar device may be installed on a robot. For example, the lidar device may be installed on a personal robot, a professional robot, a public service robot, other industrial robots, or a manufacturing robot.

[0090] Additionally, multiple lidar devices according to one embodiment may be installed on a robot. For example, if two lidar devices are installed on a robot, one lidar device may be for observing the front, and the other may be for observing the rear, but the invention is not limited thereto. Furthermore, for example, if two lidar devices are installed on a robot, one lidar device may be for observing the left, and the other may be for observing the right, but the invention is not limited thereto.

[0091] Additionally, a lidar device according to one embodiment may be installed on a robot. For example, when a lidar device is installed on a robot, it may be for recognizing a human face, but is not limited thereto.

[0092]

[0093] Additionally, a lidar device according to one embodiment may be installed for industrial security. For example, a lidar device may be installed in a smart factory for industrial security.

[0094] Additionally, according to one embodiment, multiple LiDAR devices may be installed in a smart factory for industrial security. For example, if two LiDAR devices are installed in a smart factory, one LiDAR device may be for observing the forward direction and the other for observing the rear direction, but the invention is not limited thereto. Furthermore, for example, if two LiDAR devices are installed in a smart factory, one LiDAR device may be for observing the left side and the other may be for observing the right side, but the invention is not limited thereto.

[0095] Additionally, a lidar device according to one embodiment may be installed for industrial security purposes. For example, if a lidar device is installed for industrial security purposes, it may be for recognizing human faces, but is not limited thereto.

[0096]

[0097] FIG. 1 is a drawing for explaining a lidar device according to one embodiment.

[0098] Referring to FIG. 1, a lidar device (1000) according to one embodiment may include a laser output unit (100).

[0099] At this time, the laser output unit (100) according to one embodiment can generate or output a laser.

[0100] Additionally, the laser output unit (100) according to one embodiment may include one or more laser emitting elements.

[0101] For example, the laser output unit (100) according to one embodiment may include a single laser emitting element, or may include a plurality of laser emitting elements.

[0102] In addition, the laser output unit (100) according to one embodiment may be configured as an array in which a plurality of laser emitting elements are arranged in an array form, but is not limited thereto.

[0103] For example, the laser output unit (100) according to one embodiment may be implemented as a VCSEL array in which a plurality of VCSELs (Vertical Cavity Surface Emitting Lasers) are arranged in an array form, but is not limited thereto.

[0104] In addition, the laser output unit (100) according to one embodiment may include a laser emitting element such as a laser diode (LD), a solid-state laser, a high power laser, a light entitling diode (LED), a vertical cavity surface emitting laser (VCSEL), an external cavity diode laser (ECDL), etc., but is not limited thereto.

[0105] Additionally, the wavelength of the laser output from the laser output unit (100) according to one embodiment may be located within a specific wavelength range.

[0106] For example, the wavelength of the laser output from the laser output unit (100) according to one embodiment may be located in the 905 nm band, may be located in the 940 nm band, or may be located in the 1550 nm band, but is not limited thereto.

[0107] At this time, the wavelength band may mean a band within a certain range based on the center wavelength.

[0108] For example, a 905 nm band may mean a band within a range of 10 nm difference based on 905 nm, a 940 nm band may mean a band within a range of 10 nm difference based on 940 nm, and a 1550 nm band may mean a band within a range of 10 nm difference based on 1550 nm, but is not limited thereto.

[0109] Additionally, the wavelength of the laser output from the laser output unit (100) according to one embodiment may be located in various wavelength ranges.

[0110] For example, the wavelength of the first laser output from the first laser emitting element included in the laser output unit (100) according to one embodiment may be located in the 905 nm band, and the wavelength of the second laser output from the second laser emitting element included in the laser output unit (100) according to one embodiment may be located in the 1550 nm band, but is not limited thereto.

[0111] Additionally, the wavelength of the laser output from the laser output unit (100) according to one embodiment may be within a specific wavelength range but may be different wavelengths.

[0112] For example, the wavelength of the first laser output from the first laser emitting element included in the laser output unit (100) according to one embodiment may be located in the 940 nm band and may have a wavelength of 939 nm, and the wavelength of the second laser output from the second laser emitting element included in the laser output unit (100) according to one embodiment may be located in the 940 nm band and may have a wavelength of 943 nm, but is not limited thereto.

[0113]

[0114] Referring again to FIG. 1, a lidar device (1000) according to one embodiment may include an optical unit (200).

[0115] At this time, the optical part may be expressed in various ways, such as a steering part, a scanning part, etc., for the purpose of explaining the present invention, but is not limited thereto.

[0116] According to one embodiment, the optical unit (200) may function to change the flight path of the laser.

[0117] For example, the optical unit (200) according to one embodiment may function to change the flight path of the laser output from the laser output unit (100), and when the laser output from the laser output unit (100) is reflected from the object, may function to change the flight path of the laser reflected from the object, but is not limited thereto.

[0118] Additionally, the optical unit (200) according to one embodiment can function to change the flight path of the laser by reflecting the laser.

[0119] For example, the optical unit (200) according to one embodiment may function to change the flight path by reflecting the laser output from the laser output unit (100), and when the laser output from the laser output unit (100) is reflected from an object, the optical unit (200) may function to change the flight path by reflecting the laser reflected from the object, but is not limited thereto.

[0120] At this time, the optical unit (200) according to one embodiment may include at least one optical means among various optical means for reflecting a laser.

[0121] For example, the optical unit (200) according to one embodiment may include at least one optical means among optical means such as a mirror, a resonance scanner, a MEMS mirror, a VCM (Voice Coil Motor), a polygonal mirror, a rotating mirror, or a Galvano mirror, but is not limited thereto.

[0122] Additionally, the optical unit (200) according to one embodiment can change the flight path of the laser by refracting the laser.

[0123] For example, the optical unit (200) according to one embodiment may function to change the flight path by refracting the laser output from the laser output unit (100), and when the laser output from the laser output unit (100) is reflected from an object, may function to change the flight path by refracting the laser reflected from the object, but is not limited thereto.

[0124] At this time, the optical unit (200) according to one embodiment may include at least one optical means among various optical means for refracting a laser.

[0125] For example, the optical unit (200) according to one embodiment may include at least one optical means such as a lens, a prism, a micro lens, a microfluidic lens, or a metasurface, but is not limited thereto.

[0126] Additionally, the optical unit (200) according to one embodiment can change the flight path of the laser by changing the phase of the laser.

[0127] For example, the optical unit (200) according to one embodiment may function to change the phase of the laser output from the laser output unit (100) to change the flight path, and when the laser output from the laser output unit (100) is reflected from an object, may function to change the phase of the laser reflected from the object to change the flight path, but is not limited thereto.

[0128] At this time, the optical unit (200) according to one embodiment may include at least one optical means among various optical means for changing the phase of the laser.

[0129] For example, the optical unit (200) according to one embodiment may include at least one optical means such as an optical phased array (OPA), a meta lens, or a meta surface, but is not limited thereto.

[0130] Additionally, the optical unit (200) according to one embodiment may include two or more optical units.

[0131] For example, the optical unit (200) according to one embodiment may include, but is not limited to, a transmitting optic unit for irradiating a laser output from a laser output unit (100) according to one embodiment to a scan area of ​​a lidar device and a receiving optic unit for transmitting a laser reflected from a target to a detector unit (300).

[0132] In addition, for example, the optical unit (200) according to one embodiment may include a first optical unit for changing the flight path of the laser output from the laser output unit (100) according to one embodiment in the direction of the first group and a second optical unit for changing the flight path of the laser output from the laser output unit (100) according to one embodiment in the direction of the second group, but is not limited thereto.

[0133] In addition, in addition to the examples described above, the optical unit (200) according to one embodiment may be provided in a combination of various configurations to expand the scan area of ​​the lidar device using the laser output from the laser output unit (100) according to one embodiment and transmit the laser reflected from the target object to the detector unit (300) according to one embodiment.

[0134]

[0135] Referring again to FIG. 1, a lidar device (100) according to one embodiment may include a detector unit (300).

[0136] At this time, the detector unit may be expressed in various ways as a light receiving unit, a receiving unit, a sensor unit, etc., for the purpose of explaining the present invention, but is not limited thereto.

[0137] According to one embodiment, the detector unit (300) can function to detect a laser.

[0138] For example, the detector unit (300) according to one embodiment can detect a laser reflected from an object located within a scan area of ​​the lidar device (100) according to one embodiment.

[0139] Additionally, the detector unit (300) according to one embodiment may be arranged to receive a laser and may function to generate an electrical signal based on the received laser.

[0140] For example, the detector unit (300) according to one embodiment may be arranged to receive a laser reflected from an object located within a scan area of ​​the lidar device (100) according to one embodiment, and may generate an electrical signal based on the laser.

[0141] At this time, the detector unit (300) according to one embodiment may be arranged to receive a laser reflected from an object located within a scan area of ​​the lidar device (100) according to one embodiment through at least one optical means, and the at least one optical means may be included in the above-described optical unit and may include an optical filter or the like, but is not limited thereto.

[0142] Additionally, the detector unit (300) according to one embodiment can generate laser detection information based on the generated electrical signal.

[0143] For example, the detector unit (300) according to one embodiment may generate laser detection information by comparing a predetermined threshold value with the rising edge, falling edge, or median of the rising edge and falling edge of the generated electrical signal, but is not limited thereto.

[0144] In addition, for example, the detector unit (300) according to one embodiment may generate histogram data corresponding to the detection information of the laser based on the generated electrical signal, but is not limited thereto.

[0145] Additionally, the detector unit (300) according to one embodiment can determine the laser detection time based on the detection information of the generated laser.

[0146] For example, the detector unit (300) according to one embodiment may determine the detection point of the laser based on the detection information of the generated laser based on the rising edge of the generated electrical signal, may determine the detection point of the laser based on the detection information of the generated laser based on the falling edge of the generated electrical signal, and may determine the detection point of the laser based on the detection information of the generated laser based on the rising edge of the generated electrical signal and the detection information of the generated laser based on the falling edge, but is not limited thereto.

[0147] In addition, for example, the detector unit (300) according to one embodiment may determine the detection point of the laser based on histogram data generated based on the generated electrical signal, but is not limited thereto.

[0148] For a more specific example, the detector unit (300) according to one embodiment may determine the detection point of the laser based on, but is not limited to, the peak of the generated histogram data, the judgment of the rising edge and the falling edge based on a predetermined value, etc.

[0149] At this time, the histogram data may be generated based on an electrical signal generated from a detector unit (300) according to one embodiment for at least one scan cycle.

[0150] Additionally, the detector unit (300) according to one embodiment may include at least one detector element among various detector elements.

[0151] For example, the detector unit (300) according to one embodiment may include at least one detector element among detector elements such as a PN photodiode, a phototransistor, a PIN photodiode, an APD (Avalanche Photodiode), a SPAD (Single-photon avalanche diode), SiPM (Silicon PhotoMultipliers), a comparator, a CMOS (Complementary metal-oxide-semiconductor), or a CCD (charge coupled device), but is not limited thereto.

[0152] Additionally, the detector unit (300) according to one embodiment may include one or more detector elements.

[0153] For example, the detector unit (300) according to one embodiment may include a single detector element or may include a plurality of detector elements.

[0154] In addition, the detector unit (300) according to one embodiment may be configured as an array in which a plurality of detector elements are arranged in an array form, but is not limited thereto.

[0155] For example, the detector unit (300) according to one embodiment may be implemented as a SPAD array in which a plurality of SPADs (Single Photon Avalanche Diodes) are arranged in an array form, but is not limited thereto.

[0156]

[0157] Referring again to FIG. 1, a lidar device (1000) according to one embodiment may include a control unit (400).

[0158] At this time, the control unit may be expressed in various ways, such as a controller, etc., to explain the present invention, but is not limited thereto.

[0159] According to one embodiment, a control unit (400) can control the operation of a laser output unit (100), an optical unit (200), or a detector unit (300).

[0160] Additionally, the control unit (400) according to one embodiment can control the operation of the laser output unit (100).

[0161] For example, the control unit (400) can control the output timing of the laser output from the laser output unit (100). In addition, the control unit (400) can control the power of the laser output from the laser output unit (100). In addition, the control unit (400) can control the pulse width of the laser output from the laser output unit (100). In addition, the control unit (400) can control the cycle of the laser output from the laser output unit (100). In addition, when the laser output unit (100) includes a plurality of laser emitting elements, the control unit (400) can control the laser output unit (100) so that some of the plurality of laser emitting elements are operated.

[0162] Additionally, the control unit (400) according to one embodiment can control the operation of the optical unit (200).

[0163] For example, the control unit (400) can control the operating speed of the optical unit (200). Specifically, if the optical unit (200) includes a rotational mirror, the rotational speed of the rotational mirror can be controlled, and if the optical unit (200) includes a MEMS mirror, the repetition cycle of the MEMS mirror can be controlled, but is not limited thereto.

[0164] Additionally, for example, the control unit (400) can control the degree of operation of the optical unit (200). Specifically, when the optical unit (200) includes a MEMS mirror, the operating angle of the MEMS mirror can be controlled, but is not limited thereto.

[0165] Additionally, the control unit (400) according to one embodiment can control the operation of the detector unit (300).

[0166] For example, the control unit (400) can control the sensitivity of the detector unit (300). Specifically, the control unit (400) can control the sensitivity of the detector unit (300) by adjusting a predetermined threshold value, but is not limited thereto.

[0167] In addition, for example, the control unit (400) can control the operation of the detector unit (300). Specifically, the control unit (400) can control the On / Off of the detector unit (300), and when the control unit (300) includes a plurality of sensor elements, the control unit (400) can control the operation of the detector unit (300) so that some of the plurality of sensor elements are operated.

[0168] Additionally, the control unit (400) according to one embodiment can generate laser detection information based on an electrical signal generated from the detector unit (300).

[0169] For example, the control unit (400) according to one embodiment may generate laser detection information by comparing a predetermined threshold value with the rising edge, falling edge, or median of the rising edge and falling edge of the electrical signal generated from the detector unit (300), but is not limited thereto.

[0170] In addition, for example, the control unit (400) according to one embodiment may generate histogram data corresponding to the detection information of the laser based on the electrical signal generated from the detector unit (300), but is not limited thereto.

[0171] Additionally, the control unit (400) according to one embodiment can determine the laser detection time based on the laser detection information generated from the detector unit (300).

[0172] For example, the control unit (400) according to one embodiment may determine the detection point of the laser based on the detection information of the laser generated based on the rising edge of the electrical signal generated from the detector unit (300), may determine the detection point of the laser based on the detection information of the laser generated based on the falling edge of the electrical signal generated, and may determine the detection point of the laser based on the detection information of the laser generated based on the rising edge of the electrical signal generated and the detection information of the laser generated based on the falling edge, but is not limited thereto.

[0173] In addition, for example, the control unit (400) according to one embodiment may determine the detection point of the laser based on histogram data generated based on the electrical signal generated from the detector unit (300), but is not limited thereto.

[0174] For a more specific example, the control unit (400) according to one embodiment may determine the detection point of the laser based on the peak of the histogram data generated from the detector unit (300), the judgment of the rising edge and falling edge based on a predetermined value, etc., but is not limited thereto.

[0175] At this time, the histogram data may be generated based on an electrical signal generated from a detector unit (300) according to one embodiment for at least one scan cycle.

[0176] Additionally, the control unit (400) according to one embodiment can obtain distance information to the target based on the detection point of the determined laser.

[0177] For example, the control unit (400) according to one embodiment can obtain distance information to the target based on the determined output time of the laser and the determined detection time of the laser, but is not limited thereto.

[0178]

[0179] FIG. 2 is a drawing for explaining a lidar device according to one embodiment.

[0180] Referring to FIG. 2, a lidar device (1100) according to one embodiment may include a transmitting module (1110) and a receiving module (1120).

[0181] Additionally, the transmitting module (1110) may include, but is not limited to, a laser emitting array (1111) and a first lens assembly (1112).

[0182] At this time, since the contents of the above-described laser output section, etc. can be applied to the above-described laser emitting array (1111), redundant descriptions will be omitted.

[0183] In addition, at this time, the first lens assembly (1112) may be conveniently expressed as a transmission lens assembly, a transmission optic, a transmission optic unit, a transmission optic module, an emitting optic, an emitting optic unit, an emitting optic module, etc., but is not limited thereto.

[0184] Additionally, the laser emitting array (1111) can output at least one laser. For example, the laser emitting array (1111) can output multiple lasers, but is not limited thereto.

[0185] In addition, the laser emitting array (1111) can output at least one laser with a first wavelength. For example, the laser emitting array (1111) can output at least one laser with a wavelength of 940 nm, and can output multiple lasers with a wavelength of 940 nm, but is not limited thereto.

[0186] At this time, the first wavelength may be a wavelength range including an error range. For example, the first wavelength may be a 940 nm wavelength with an error range of 5 nm, meaning a wavelength range from 935 nm to 945 nm, but is not limited thereto.

[0187] Additionally, the laser emitting array (1111) can output at least one laser at the same time. For example, the laser emitting array (1111) can output a first laser at a first time, or can output the first and second lasers at a second time, and so on.

[0188] Additionally, the first lens assembly (1112) may include at least two lens layers. For example, the first lens assembly (1112) may include at least four lens layers, but is not limited thereto.

[0189] In addition, the first lens assembly (1112) can collimate the laser output from the laser emitting array (1111). For example, the first lens assembly (1112) can change the divergence of the first laser by collimating the first laser output from the laser emitting array (1111), but is not limited thereto.

[0190] In addition, the first lens assembly (1112) can steer the laser output from the laser emitting array (1111). For example, the first lens assembly (1112) can steer the first laser output from the laser emitting array (1111) in a first direction, and can steer the second laser output from the laser emitting array (1111) in a second direction, but is not limited thereto.

[0191] In addition, the first lens assembly (1112) can steer the plurality of lasers output from the laser emitting array (1111) to irradiate the plurality of lasers at different angles within a range of (x) degrees to (y) degrees. For example, the first lens assembly (1112) can steer the first laser output from the laser emitting array (1111) in a first direction to irradiate the first laser in an (x) degree, and can steer the second laser in a second direction to irradiate the second laser in an (y) degree, but is not limited thereto.

[0192] Additionally, the receiving module (1120) may include, but is not limited to, a laser detecting array (1121) and a second lens assembly (1122).

[0193] At this time, since the contents of the above-described detector unit, etc. can be applied to the laser detecting array (1121), redundant descriptions will be omitted.

[0194] In addition, at this time, the second lens assembly (1122) may be conveniently expressed as a receiving lens assembly, receiving optics, receiving optics unit, receiving optics module, receiving optics, receiving optics unit, receiving optics module, etc., but is not limited thereto.

[0195] Additionally, the laser detection array (1121) can detect at least one laser. For example, the laser detection array (1121) can detect multiple lasers.

[0196] Additionally, the laser detecting array (1121) may include a plurality of detectors. For example, the laser detecting array (1121) may include a first detector and a second detector, but is not limited thereto.

[0197] In addition, each of the plurality of detectors included in the laser detecting array (1121) can receive different lasers. For example, a first detector included in the laser detecting array (1121) can receive a first laser received in a first direction, and a second detector can receive a second laser received in a second direction, but the present invention is not limited thereto.

[0198] In addition, the laser detecting array (1121) can detect at least a portion of the laser emitted from the transmission module (1110). For example, the laser detecting array (1121) can detect at least a portion of the first laser emitted from the transmission module (1110) and can detect at least a portion of the second laser, but is not limited thereto.

[0199] In addition, the second lens assembly (1122) can transmit the laser irradiated from the transmission module (1110) to the laser detecting array (1121). For example, the second lens assembly (1122) can transmit the first laser to the laser detecting array (1121) when the first laser irradiated from the transmission module (1110) in a first direction is reflected from an object located in the first direction, and can transmit the second laser to the laser detecting array (1121) when the second laser irradiated in a second direction is reflected from an object located in the second direction, but is not limited thereto.

[0200] In addition, the second lens assembly (1122) can distribute the laser irradiated from the transmission module (1110) to at least two different detectors. For example, the second lens assembly (1122) can distribute the first laser to the first detector included in the laser detecting array (1121) when the first laser irradiated from the transmission module (1110) in a first direction is reflected from an object located in the first direction, and can distribute the second laser to the first detector included in the laser detecting array (1121) when the second laser irradiated in a second direction is reflected from an object located in the second direction.

[0201]

[0202] The second laser may be distributed to a second detector included in the laser detecting array (1121), but is not limited thereto.

[0203] In addition, the laser emitting array (1111) and the laser detecting array (1121) may be at least partially matched. For example, a first laser output from a first laser emitting element included in the laser emitting array (1111) may be detected by a first detector included in the laser detecting array (1121), and a second laser output from a second laser emitting element included in the laser emitting array (1111) may be detected by a second detector included in the laser detecting array (1121), but is not limited thereto.

[0204]

[0205] FIG. 3 is a drawing for explaining a laser emitting array and a laser detecting array included in a lidar device according to one embodiment.

[0206] Referring to FIG. 3, a lidar device (1200) according to one embodiment may include a laser emitting array (1210) and a laser detecting array (1220).

[0207] At this time, since the above-described contents can be applied to the laser emitting array (1210) and the laser detecting array (1220), redundant descriptions will be omitted.

[0208] The above laser emitting array (1210) may include a plurality of laser emitting units.

[0209] For example, the laser emitting array (1210) may include a first laser emitting unit (1211) and a second laser emitting unit (1212).

[0210] Additionally, the laser emitting array (1210) may be an array in which a plurality of laser emitting units are arranged in a two-dimensional matrix form.

[0211] For example, the laser emitting array (1210) may be an array in which a plurality of laser emitting units are arranged in a two-dimensional matrix form having M rows and N columns, but is not limited thereto.

[0212] Additionally, each of the plurality of laser emitting units may include at least one laser emitting element.

[0213] For example, the first laser emitting unit (1211) included in the plurality of laser emitting units may be configured with one laser emitting element, and the second laser emitting unit (1212) may be configured with one laser emitting element, but is not limited thereto.

[0214] In addition, for example, the first laser emitting unit (1211) included in the plurality of laser emitting units may be composed of two or more laser emitting elements, and the second laser emitting unit (1212) may be composed of two or more laser emitting elements, but is not limited thereto.

[0215] Additionally, the lasers output from each of the plurality of laser emitting units can be irradiated in different directions.

[0216] For example, the first laser output from the first laser emitting unit (1211) included in the plurality of laser emitting units may be irradiated in a first direction, and the second laser output from the second laser emitting unit (1212) may be irradiated in a second direction, but is not limited thereto.

[0217] Additionally, the lasers output from each of the plurality of laser emitting units may not overlap each other at the target position.

[0218] For example, the first laser output from the first laser emitting unit (1211) included in the plurality of laser emitting units may not overlap with the second laser output from the second laser emitting unit (1212) at a distance of 100 m, but is not limited thereto.

[0219] The above laser detecting array (1220) may include a plurality of detecting units.

[0220] For example, the laser detecting array (1220) may include a first detecting unit (1221) and a second detecting unit (1222).

[0221] Additionally, the laser detecting array (1220) may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix form.

[0222] For example, the laser detecting array (1220) may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix form having M rows and N columns, but is not limited thereto.

[0223] Additionally, each of the plurality of detecting units may include at least one laser detecting element.

[0224] For example, the first detecting unit (1221) included in the plurality of detecting units may be configured with one laser detecting element, and the second detecting unit (1222) may be configured with one laser detecting element, but is not limited thereto.

[0225] In addition, for example, the first detecting unit (1221) included in the plurality of detecting units may be composed of two or more laser detecting elements, and the second detecting unit (1222) may be composed of two or more laser detecting elements, but is not limited thereto.

[0226] Additionally, each of the plurality of detection units can detect lasers irradiated in different directions.

[0227] For example, the first detecting unit (1221) included in the plurality of laser emitting units can detect a first laser irradiated in a first direction, and the second detecting unit (1222) can detect a second laser irradiated in a second direction, but is not limited thereto.

[0228] Additionally, each of the plurality of detecting units can detect a laser output from a correspondingly arranged laser emitting unit.

[0229] For example, the first detecting unit (1221) included in the plurality of detecting units can detect the first laser output from the first laser emitting unit (1211) arranged to correspond to the first detecting unit (1221), and the second detecting unit (1222) can detect the second laser output from the second laser emitting unit (1212) arranged to correspond to the second detecting unit (1222), but is not limited thereto.

[0230] Additionally, each of the plurality of detecting units can detect lasers output from at least two laser emitting units depending on the location of the target object.

[0231] For example, the second detecting unit (1222) included in the plurality of detecting units can detect the second laser output from the second laser emitting unit (1212) when the target is located in the first distance range, and can detect the first laser output from the first laser emitting unit (1211) when the target is located in the second distance range, but is not limited thereto.

[0232] Additionally, at least one detection value can be generated based on a signal obtained from each of the plurality of detection units.

[0233] At this time, the detection value may include, but is not limited to, a depth value (distance value), an intensity value, etc.

[0234] Additionally, the coordinates of the detection value can be determined based on the arrangement of each of the plurality of detection units.

[0235] For example, the first detecting unit (1221) included in the plurality of detecting units may be placed at a position of (1,1) within the laser detecting array, and the coordinates of the first detecting value generated based on the signal obtained from the first detecting unit (1221) may be determined as (1,1), but are not limited thereto.

[0236] In addition, for example, the second detecting unit (1222) included in the plurality of detecting units may be placed at a position of (2,1) within the laser detecting array, and the coordinates of the second detecting value generated based on the signal obtained from the second detecting unit (1222) may be determined as (2,1), but are not limited thereto.

[0237] In addition, the examples described above only describe examples in which coordinate values ​​directly corresponding to the arrangement positions of each of the plurality of detecting units are calculated, and the content of the present invention is not limited thereto, and may include various rules by which the coordinates of the detection values ​​can be determined based on the arrangement of each of the plurality of detecting units.

[0238] Additionally, point data can be generated based on the detection value and the coordinates of the detection value.

[0239] For example, first point data may be generated based on a first detection value generated based on a signal obtained from the first detection unit (1221) included in the plurality of detection units and a first coordinate value which is a coordinate value of the first detection value, and the first point data may include a three-dimensional position coordinate value and an intensity value, but is not limited thereto.

[0240] In addition, for example, second point data may be generated based on a second detection value generated based on a signal obtained from the second detection unit (1222) included in the plurality of detection units and a second coordinate value which is a coordinate value of the second detection value, and the second point data may include a three-dimensional position coordinate value and an intensity value, but is not limited thereto.

[0241] Additionally, the laser emitting array (1210) and the laser detecting array (1220) can be arranged as arrays having the same dimensions.

[0242] For example, the laser emitting array (1210) and the laser detecting array (1220) may be arranged as an array having M rows and N columns, respectively, with a plurality of laser emitting units and a plurality of detecting units, but are not limited thereto.

[0243] Additionally, the laser emitting array (1210) and the laser detecting array (1220) may be arranged as arrays having different dimensions.

[0244] For example, the laser emitting array (1210) may be arranged as an array in which a plurality of laser emitting units have M rows and N columns, and the laser detecting array (1220) may be arranged as an array in which a plurality of detecting units have M+3 rows and N columns, but is not limited thereto.

[0245] Additionally, the number of multiple laser emitting units included in the laser emitting array (1210) may be the same as the number of multiple detecting units included in the laser detecting array (1220).

[0246] For example, the laser emitting array (1210) may include M*N laser emitting units, and the laser detecting array (1220) may include M*N detecting units, but is not limited thereto.

[0247] Additionally, the number of multiple laser emitting units included in the laser emitting array (1210) may be different from the number of multiple detecting units included in the laser detecting array (1220).

[0248] For example, the laser emitting array (1210) may include M*N laser emitting units, and the laser detecting array (1220) may include (M+3)*N detecting units, but is not limited thereto.

[0249] Additionally, for example, the laser emitting array (1210) may include (M*N) / 2 laser emitting units, and the laser detecting array (1220) may include M*N detecting units, but is not limited thereto.

[0250] Additionally, for example, the laser emitting array (1210) may include (M*N) / 2 laser emitting units, and the laser detecting array (1220) may include (M+3)*N detecting units, but is not limited thereto.

[0251] Additionally, the number of laser emitting elements included in each of the plurality of laser emitting units included in the laser emitting array (1210) may be different from the number of laser detecting elements included in each of the plurality of laser detecting units included in the laser detecting array (1220).

[0252] For example, when the number of laser emitting elements included in the first laser emitting unit (1211) is 1, the number of laser detecting elements included in the first laser detecting unit (1221) may be 9, but is not limited thereto.

[0253] Additionally, for example, when the number of laser emitting elements included in the second laser emitting unit (1212) is 1, the number of laser detecting elements included in the second laser detecting unit (1222) may be 9, but is not limited thereto.

[0254]

[0255] FIGS. 4 and 5 are drawings for explaining a lidar device according to one embodiment.

[0256] Referring to FIGS. 4 and 5, a lidar device (1300) according to one embodiment may include a transmitting module (1310) and a receiving module (1320).

[0257] Additionally, referring to FIGS. 4 and 5, the transmitting module (1310) may include a laser emitting module (1311), an emitting optics module (1312), and an emitting optics holder (1313).

[0258] At this time, the laser emitting module (1311) may include a laser emitting array, and the above-described contents may be applied to the laser emitting array, so redundant descriptions will be omitted.

[0259] In addition, the above-described emitting optics module (1312) may include a lens assembly, and the contents of the first lens assembly described above may be applied to the lens assembly, so redundant descriptions will be omitted.

[0260] Additionally, the emitting optics holder (1313) may be positioned between the laser emitting module (1311) and the emitting optics module (1312).

[0261] For example, the emitting optics holder (1313) may be positioned between the laser emitting module (1311) and the emitting optics module (1312) to fix the relative positional relationship between the laser emitting module (1311) and the emitting optics module (1312), but is not limited thereto.

[0262] Additionally, the emitting optics holder (1313) can be formed to fix the movement of the emitting optics module (1312).

[0263] For example, the emitting optics holder (1313) may be formed to include a hole into which at least a portion of the emitting optics module (1312) is inserted so as to restrict movement of the emitting optics module (1312), but is not limited thereto.

[0264] Also, referring to FIGS. 4 and 5, a receiving module (1320) according to one embodiment may include a laser detecting module (1321), a detecting optics module (1322), and a detecting optics holder (1323).

[0265] At this time, the laser detecting module (1321) may include a laser detecting array, and the above-described contents may be applied to the laser detecting array, so redundant descriptions will be omitted.

[0266] In addition, the detecting optics module (1322) may include a lens assembly, and the contents of the second lens assembly described above may be applied to the lens assembly, so redundant descriptions will be omitted.

[0267] Additionally, the detecting optics holder (1323) may be positioned between the laser detecting module (1321) and the detecting optics module (1322).

[0268] For example, the detecting optics holder (1323) may be positioned between the laser detecting module (1321) and the detecting optics module (1322) to fix the relative positional relationship between the laser detecting module (1321) and the detecting optics module (1322), but is not limited thereto.

[0269] Additionally, the detecting optics holder (1323) can be formed to fix the movement of the detecting optics module (1322).

[0270] For example, the detecting optics holder (1323) may be formed to include a hole into which at least a portion of the detecting optics module (1322) is inserted so as to restrict movement of the detecting optics module (1322), but is not limited thereto.

[0271] Additionally, the above-mentioned emitting optics holder (1313) and the above-mentioned detecting optics holder (1323) can be formed as one piece.

[0272] For example, the emitting optics holder (1313) and the detecting optics holder (1323) may be formed as one piece so that each of the two holes of one optics holder is formed such that at least a portion of the emitting optics module (1312) and the detecting optics module (1313) are inserted into each hole, but the present invention is not limited thereto.

[0273] Additionally, the above-described emitting optics holder (1313) and the above-described detecting optics holder (1323) may not be physically distinct, and may conceptually mean a first part and a second part of one optics holder, but are not limited thereto.

[0274] In addition, FIG. 5 is a drawing for explaining one embodiment of the lidar device of FIG. 4, and the contents described in FIG. 4 and the present invention are not limited by the shape illustrated in FIG. 5.

[0275]

[0276] FIGS. 6 and 7 are drawings for explaining a laser emitting module and a laser detecting module according to one embodiment.

[0277] Referring to FIGS. 6 and 7, a lidar device (1400) according to one embodiment may include a laser emitting module (1410) and a laser detecting module (1420).

[0278] Also, referring to FIGS. 6 and 7, a laser emitting module (1410) according to one embodiment may include a laser emitting array (1411) and a first substrate (1412).

[0279] At this time, since the above-described contents can be applied to the laser emitting array (1411), redundant descriptions will be omitted.

[0280] According to one embodiment, the laser emitting array (1411) may be provided in the form of a chip in which a plurality of laser emitting units are arranged in an array form, but is not limited thereto.

[0281] For example, the laser emitting array (1411) may be provided in the form of a laser emitting chip, but is not limited thereto.

[0282] Additionally, the laser emitting array (1411) may be positioned on the first substrate (1412), but is not limited thereto.

[0283] Additionally, the first substrate (1412) may include, but is not limited to, a laser emitting driver for controlling the operation of the laser emitting array (1411).

[0284] Also, referring to FIGS. 6 and 7, a laser detecting module (1420) according to one embodiment may include a laser detecting array (1421) and a second substrate (1422).

[0285] At this time, since the above-described contents can be applied to the laser detecting array (1421), redundant descriptions will be omitted.

[0286] A laser detecting array (1421) according to one embodiment may be provided in the form of a chip in which a plurality of laser detecting units are arranged in an array form, but is not limited thereto.

[0287] For example, the laser detecting array (1421) may be provided in the form of a laser detecting chip, but is not limited thereto.

[0288] Additionally, the laser detecting array (1421) may be positioned on the second substrate (1422), but is not limited thereto.

[0289] Additionally, the second substrate (1422) may include, but is not limited to, a laser detecting driver for controlling the operation of the laser detecting array (1421).

[0290] In addition, the first substrate (1412) and the second substrate (1422) may be provided separately from each other as shown in FIG. 6, but are not limited thereto and may be provided as a single substrate.

[0291] In addition, FIG. 7 is a drawing for explaining one embodiment of the lidar device of FIG. 6, and the contents described in FIG. 6 and the present invention are not limited by the shape illustrated in FIG. 7.

[0292]

[0293] FIGS. 8 and 9 are drawings for explaining an emitting optics module and a detecting optics module according to one embodiment.

[0294] Referring to FIGS. 8 and 9, a lidar device (1500) according to one embodiment may include an emitting optics module (1510) and a detecting optics module (1520).

[0295] Also, referring to FIGS. 8 and 9, an emitting optics module (1510) according to one embodiment may include an emitting lens assembly (1511) and an emitting lens mounting tube (1512).

[0296] At this time, since the above-described contents can be applied to the above-described emitting lens assembly (1511), redundant descriptions will be omitted.

[0297] An emitting lens assembly (1511) according to one embodiment can be placed within the emitting lens mounting tube (1512).

[0298] Additionally, the above-described emitting lens mounting tube (1512) may refer to a barrel surrounding the above-described emitting lens assembly (1511), but is not limited thereto.

[0299] Also, referring to FIGS. 8 and 9, a detecting optics module (1520) according to one embodiment may include a detecting lens assembly (1521) and a detecting lens mounting tube (1522).

[0300] At this time, since the above-described contents can be applied to the detecting lens assembly (1521), redundant descriptions will be omitted.

[0301] A detecting lens assembly (1521) according to one embodiment may be placed within the detecting lens mounting tube (1522).

[0302] Additionally, the detecting lens mounting tube (1522) may refer to a tube surrounding the detecting lens assembly (1521), but is not limited thereto.

[0303] Additionally, referring to FIG. 9, the emitting optics module (1510) may be arranged to be aligned with the laser emitting module described above.

[0304] At this time, the meaning that the above-described emitting optics module (1510) is arranged to be aligned with the above-described laser emitting module may include, but is not limited to, the meaning that it is arranged to have a physically preset relative positional relationship and the meaning that it is aligned to be able to irradiate the laser at an optically targeted angle.

[0305] Additionally, referring to FIG. 9, the detecting optics module (1520) can be arranged to be aligned with the laser detecting module described above.

[0306] At this time, the meaning that the detecting optics module (1520) is arranged to be aligned with the above-described laser detecting module may include, but is not limited to, the meaning that it is arranged to have a physically preset relative positional relationship and the meaning that it is aligned to be able to detect a laser that is received at an optically targeted angle.

[0307] In addition, FIG. 9 is a drawing for explaining one embodiment of the lidar device of FIG. 8, and the contents described in FIG. 8 and the present invention are not limited by the shape illustrated in FIG. 9.

[0308]

[0309] Fig. 10 is a drawing for explaining a problem occurring in a lidar device according to one embodiment.

[0310] Referring to FIG. 10, a lidar device (1600) according to one embodiment may include a transmitting module (1610) and a receiving module (1620), wherein the transmitting module (1610) includes a laser emitting array (1611) and a transmitting optic (1612), and the receiving module (1620) may include a laser detecting array (1621) and a receiving optic (1622).

[0311] At this time, the above-described contents may be applied to the transmitting module (1610) and the receiving module (1620), the contents related to the laser emitting array (1611) and the laser detecting array (1621) may be applied, and the contents related to the transmitting optic (1612) and the receiving optic (1622) may be applied, and therefore, redundant descriptions may be omitted.

[0312] Additionally, referring to FIG. 10, the lidar device (1600) according to one embodiment may further include a window module (1630).

[0313]

[0314] According to one embodiment, the laser (1641) output from the laser emitting array (1611) can be irradiated in a first direction through the transmission optic (1612).

[0315] At this time, the laser (1641) output from the laser emitting array (1611) can pass through the window module (1630) of the lidar device (1600), and the laser (1641) can be reflected at least partially at the boundary of the window module (1630).

[0316] In one embodiment, when the laser (1641) output from the laser emitting array (1611) is at least partially reflected at the boundary of the window module (1630), the reflected laser (1642) can be detected by the laser detecting array (1621) through the receiving optics (1622).

[0317] In this case, as the reflected laser (1642) is detected by the laser detecting array (1621), false detection point data may be generated, and accordingly, an object that is not actually located may be incorrectly determined to be located.

[0318] Additionally, in this case, at least some of the laser detecting elements included in the laser detecting array (1621) may be saturated by the reflected laser (1642), which may result in failure to detect an object corresponding to a nearby location when the object is actually located nearby.

[0319]

[0320] As described above, the phenomenon of causing false detection or false judgment of the lidar device (1600) due to the laser being reflected from the window module (1630) included in the lidar device (1600) is also referred to as a back beam phenomenon, and this back beam phenomenon can be a major cause of reducing the reliability of the lidar device (1600).

[0321] Therefore, a physical structure needs to be established to prevent this back beam phenomenon.

[0322]

[0323] FIG. 11 is a drawing for explaining a problem occurring in a lidar device according to one embodiment.

[0324] Referring to FIG. 11, a lidar device (1700) according to one embodiment may include a transmitting module (1710) and a receiving module (1720), wherein the transmitting module (1710) includes a laser emitting array (1711) and a transmitting optic (1712), and the receiving module (1720) may include a laser detecting array (1721) and a receiving optic (1722).

[0325] At this time, the above-described contents may be applied to the transmitting module (1710) and the receiving module (1720), the contents related to the laser emitting array (1711) and the laser detecting array (1721) may be applied, and the contents related to the transmitting optic (1712) and the receiving optic (1722) may be applied, and therefore, redundant descriptions may be omitted.

[0326] In addition, referring to FIG. 11, the lidar device (1700) according to one embodiment may further include a window module (1730), and the above-described contents may be applied to the window module (1730), so redundant descriptions will be omitted.

[0327] In addition, referring to FIG. 11, the lidar device (1700) according to one embodiment may further include a back beam prevention unit (1750) to prevent the back beam phenomenon described above.

[0328]

[0329] According to one embodiment, the laser (1741) output from the laser emitting array (1711) can be irradiated in a first direction through the transmission optic (1712).

[0330] However, as illustrated in FIG. 11, the laser (1741) output from the laser emitting array (1711) may be blocked by the back beam prevention unit (1750) and may not reach the window module (1730).

[0331] This may mean that the laser going out of the lidar device may be blocked by the back beam prevention unit (1750) to prevent the back beam phenomenon described above, and as shown in FIG. 11, in order for the laser (1741) output from the laser emitting array (1711) to not be blocked by the back beam prevention unit (1750), the angle at which the laser (1741) output from the laser emitting array (1711) is steered may need to be reduced.

[0332] Therefore, the field of view of the lidar device (1700) may be reduced by the back beam prevention unit (1750) to prevent the back beam phenomenon described above, and the reduction in the field of view of the lidar device (1700) may mean a deterioration in the performance of the lidar device (1700).

[0333]

[0334] Additionally, in order for the laser (1741) output from the laser emitting array (1711) not to be blocked by the back beam prevention unit (1750), the distance between the transmitting module (1710) and the receiving module (1720) may need to be increased.

[0335] If the distance between the transmitting module (1710) and the receiving module (1720) increases, the blind area occurring at a short distance may increase depending on the distance between the transmitting module (1710) and the receiving module (1720), and the overall size of the lidar device (1700) may increase.

[0336] Accordingly, the short-range measurable area of ​​the lidar device (1700) may be reduced by the back beam prevention unit (1750) to prevent the back beam phenomenon described above, and the size of the lidar device (1700) may be increased, which may result in a deterioration in the overall performance of the lidar device (1700).

[0337]

[0338] As described above through FIGS. 10 and 11, it is clear that the back beam phenomenon occurring in the lidar device (1600, 1700) is a problem that must be solved, but the performance of the lidar device (1600, 1700) may be degraded due to the back beam prevention unit for solving the back beam phenomenon.

[0339] Therefore, it is also necessary to develop a physical structure to prevent the back beam phenomenon occurring in the lidar device (1600, 1700) and minimize the performance degradation of the lidar device (1600, 1700).

[0340]

[0341] FIG. 12 is a drawing for explaining the incident angle and transmittance of light for a window module according to one embodiment.

[0342] The window module described through FIGS. 10 and 11 may be formed of a light-transmitting material capable of transmitting light, but the transmittance may vary depending on the incident angle of light incident on the window module.

[0343] FIG. 12 is a drawing showing a table for explaining the transmittance that varies depending on the incident angle of light incident on the window module, and in FIG. 12, the transmittance is shown for each of a window module without AR coating (Anti-reflection coating) and a window module with AR coating.

[0344]

[0345] In the case of a lidar device including a window module as described through FIGS. 10 and 11, the laser output from the laser emitting array passes through the transmission optics, the window module, and is irradiated to the outside, and the laser reflected from the outside from the target passes through the window module, the receiving optics, and reaches the laser detecting array.

[0346] At this time, the laser irradiated at 0 degrees through the transmission optics is incident on the window module at 0 degrees, passes through the window module, and is irradiated to the outside, and the laser reflected from the object from the outside is incident on the window module at 0 degrees, passes through the window module, passes through the receiving optics, and reaches the laser detecting array.

[0347] In addition, at this time, the laser irradiated at 60 degrees through the transmission optics is incident on the window module at 60 degrees, passes through the window module, and is irradiated to the outside, and the laser reflected from the object from the outside is incident on the window module at 60 degrees, passes through the window module, passes through the receiving optics, and reaches the laser detecting array.

[0348]

[0349] Below, based on the above, we will describe the problems of the window module described through FIGS. 10 and 11.

[0350] Even if the window module according to one embodiment is formed of a light-transmitting material, 100% of light cannot be transmitted, and the transmittance may be formed differently depending on the material.

[0351] Additionally, AR (Anti-reflection) coating can be performed to increase light transmittance.

[0352] However, even if AR coating is performed, the light transmittance cannot be 100%, and as shown in the table in Fig. 12, the light transmittance may decrease as the incident angle on the window module increases.

[0353]

[0354] Therefore, when manufacturing a lidar device to secure a 120-degree field of view, a laser that is irradiated at 60 degrees with respect to the optical axis of the transmission optics is required, and this laser is incident on the window module at 60 degrees.

[0355] In addition, the laser beam, which is irradiated at an angle of 60 degrees relative to the optical axis of the transmitting optic, is reflected from the target and is incident on the lidar device as parallel light at an angle of 60 degrees relative to the optical axis of the receiving optic, so the reflected laser beam is incident on the window module at an angle of 60 degrees.

[0356] That is, when a laser is irradiated at an angle of 60 degrees with respect to the optical axis of the transmission optics, only 81.1% of the photons can pass through the window module when exiting the lidar device based on the window module without AR coating, and only 81.1% of the photons can pass through the window module when entering the lidar device.

[0357] Therefore, for a window module without AR coating, a laser beam irradiated at 60 degrees relative to the optical axis of the transmission optics can only reach the laser detecting module with 65.77% of the photons reaching the lidar device even if all photons are reflected from the target.

[0358] Additionally, even with a window module having an AR coating as a reference, a laser beam irradiated at a 60-degree angle relative to the optical axis of the transmission optics can only reach the laser detecting module with 82.8% of the photons reaching the lidar device even if all photons are reflected from the target.

[0359]

[0360] As described above, the lidar device may be a device for irradiating a laser and detecting the laser reflected from the target to obtain a distance value to the target. Therefore, as the number of photons obtained by the lidar device decreases, the maximum measurable distance from the lidar device may decrease.

[0361] That is, the maximum measurable distance of the lidar device may be reduced due to the window module described through FIGS. 10 and 11, which directly leads to a decrease in the performance of the lidar device.

[0362]

[0363] Therefore, the above-mentioned problems may also be issues that need to be addressed.

[0364]

[0365] Below, a lidar device according to various embodiments that can solve the problems described through FIGS. 10 to 12 will be described.

[0366]

[0367] Fig. 13 is a drawing for explaining a lidar device according to one embodiment.

[0368] Referring to FIG. 13, a lidar device (1800) according to one embodiment includes a transmitting module (1810) and a receiving module (1820), wherein the transmitting module (1810) includes a laser emitting array (1811) and a transmitting optic (1812), and the receiving module (1820) may include a laser detecting array (1821) and a receiving optic (1822).

[0369] At this time, the above-described contents may be applied to the transmitting module (1810) and the receiving module (1820), the contents related to the laser emitting array (1811) and the laser detecting array (1821) may be applied, and the contents related to the transmitting optic (1812) and the receiving optic (1822) may be applied, and therefore, redundant descriptions are omitted.

[0370] Additionally, referring to FIG. 13, the lidar device (1800) according to one embodiment may further include a case (1840).

[0371] A case (1840) according to one embodiment may be functional to accommodate at least a portion of the transmitting module (1810) and the receiving module (1820).

[0372] For example, a case (1840) according to one embodiment may be functional to accommodate at least a portion of the transmitting optic (1812) included in the transmitting module (1810) and the receiving optic (1822) included in the receiving module (1820).

[0373] Additionally, for example, the case (1840) according to one embodiment may function to accommodate at least a portion of the laser emitting array (1811) included in the transmitting module (1810) and the laser detecting array (1812) included in the receiving module (1820).

[0374]

[0375] Additionally, referring to FIG. 13, the lidar device (1800) according to one embodiment may further include a window module (1830).

[0376] According to one embodiment, the window module (1830) may be coupled with the case (1840) to function as providing an internal space for accommodating at least a portion of the transmitting module (1810) and the receiving module (1820).

[0377] For example, a window module (1830) according to one embodiment may be coupled with the case (1840) to function as providing an internal space for accommodating at least a portion of the transmitting optic (1812) and the receiving optic (1822).

[0378] Additionally, for example, a window module (1830) according to one embodiment may be coupled with the case (1840) to function as providing an internal space for accommodating at least a portion of the laser emitting array (1811) and the laser detecting array (1812).

[0379] At this time, the internal space according to one embodiment may be provided to be physically blocked from the external space, which may be for waterproofing / dustproofing the lidar device, but is not limited thereto.

[0380] Additionally, the window module (1830) according to one embodiment may include a first optical window (1831) that allows light output from the transmitting module (1810) to exit the internal space and a second optical window (1832) that allows light to be received by the receiving module (1820) to enter the internal space.

[0381] For example, a window module (1830) according to one embodiment may include a first optical window (1831) that allows a laser output from the laser emitting array (1811) included in the transmission module (1810) and steered by the transmission optics (1812) to exit the internal space.

[0382] Additionally, for example, the window module (1830) according to one embodiment may include a second optical window (1832) that allows a laser to enter the interior space to be focused by the receiving optics (1822) included in the receiving module (1820) and detected by the laser detecting array (1812).

[0383] At this time, the first optical window (1831) and the second optical window (1832) may be provided with a light-transmitting material.

[0384] Additionally, at this time, at least a portion of the first optical window (1831) and the second optical window (1832) may be formed to have a curvature.

[0385] Additionally, the first optical window (1831) and the second optical window (1832) can be formed physically as one piece.

[0386]

[0387]

[0388] In addition, referring to FIG. 13, the lidar device (1800) according to one embodiment may further include a separation unit (1850) for separating the transmitting module (1810) and the receiving module (1820).

[0389] According to one embodiment, a separation unit (1850) may be positioned between the transmitting module (1810) and the receiving module (1820).

[0390] For example, the separation unit (1850) according to one embodiment may be positioned between the transmission optic (1812) included in the transmission module (1810) and the reception optic (1822) included in the reception module (1820).

[0391] Additionally, the separation unit (1850) according to one embodiment may be provided in the shape of a lens hood including a transmission hood unit for accommodating at least a portion of the transmission module (1810) and a reception hood unit for accommodating at least a portion of the reception module (1820).

[0392] For example, a separation unit (1850) according to one embodiment may be provided in the shape of a lens hood in which a transmission hood for accommodating the transmission optic (1812) included in the transmission module (1810) and a reception hood for accommodating the reception optic (1822) included in the reception module (1820) are formed integrally, but a space for accommodating the transmission optic (1812) and a space for accommodating the reception optic (1822) are formed separately.

[0393]

[0394] According to one embodiment, all lasers output from the transmission module (1810) may exit from the internal space without passing through the second optical window.

[0395] For example, according to one embodiment, a first laser output from a first laser emitting unit disposed in a central region of the laser emitting array (1811) and a second laser output from a second laser emitting unit disposed in an edge region of the laser emitting array (1811) both pass through the first optical window and exit from the internal space, and both the first and second lasers may pass through the second optical window and not exit from the internal space.

[0396]

[0397] Below, a more specific design of a lidar device (1800) according to one embodiment will be described.

[0398] In addition, for the convenience of explanation, the above-mentioned reference numbers will be used as they are in the explanation below.

[0399] However, this is only for convenience of explanation, and the contents described below describe various embodiments of the lidar device, and it is made clear that the lidar device according to one embodiment of the present application can be applied with not only all of the various contents described below, but also at least some of the various contents described below.

[0400]

[0401] Fig. 14 is a drawing for explaining a lidar device according to one embodiment.

[0402] Referring to FIG. 14, a lidar device (1800) according to one embodiment includes a transmitting module (1810), a receiving module (1820), a window module (1830), and a case (1840). The transmitting module (1810) includes a laser emitting array (1811) and a transmitting optic (1812). The receiving module (1820) includes a laser detecting array (1821) and a receiving optic (1822). The window module (1830) may include a first optical window (1831) and a second optical window (1832).

[0403] At this time, since the contents described through Fig. 13 can be applied to the above-described configurations, redundant descriptions will be omitted.

[0404]

[0405] Referring again to FIG. 14, a laser emitting array (1811) according to one embodiment may include a plurality of laser emitting units.

[0406] For example, a laser emitting array (1811) according to one embodiment may include a first laser emitting unit (1911) and a second laser emitting unit (1912).

[0407] At this time, the first laser emitting unit (1911) according to one embodiment is placed in the central region of the laser emitting array (1811) and can function to output the first laser (1931).

[0408] Additionally, at this time, a second laser emitting unit (1912) according to one embodiment is placed in an edge region of the laser emitting array (1811) and can function to output a second laser (1932).

[0409] Additionally, the first laser emitting unit (1911) and the second laser emitting unit (1912) according to one embodiment may be arranged in the same row.

[0410] For example, according to one embodiment, the first laser emitting unit (1911) may be disposed in a central region of a central row of the laser emitting array (1811), and the second laser emitting unit (1912) may be disposed in an edge region of the central row of the laser emitting array (1811), but is not limited thereto.

[0411] Additionally, the first laser emitting unit (1911) and the second laser emitting unit (1912) according to one embodiment can be operated simultaneously.

[0412] For example, a laser emitting array (1811) according to one embodiment may be designed so that laser emitting units arranged in rows operate simultaneously, and the first laser emitting unit (1911) and the second laser emitting unit (1912) arranged in the same row may operate simultaneously to output the first laser (1931) and the second laser (1932) simultaneously, but is not limited thereto.

[0413] Additionally, the second laser emitting unit (1912) according to one embodiment may be positioned closer to the receiving module (1820) than the first laser emitting unit (1911).

[0414] That is, the second laser emitting unit (1912) according to one embodiment may be a laser emitting unit placed in an edge area close to the receiving module (1920).

[0415]

[0416] Additionally, according to one embodiment, the first laser (1931) output from the first laser emitting unit (1911) can be irradiated in a first direction through the transmission optic (1812) and can be reflected from an object positioned in the first direction.

[0417] At this time, the first laser (1933) reflected from the object located in the first direction can reach the laser detecting array (1821) through the receiving optic (1822).

[0418] Additionally, according to one embodiment, the second laser (1932) output from the second laser emitting unit (1912) can be irradiated in a second direction through the transmission optic (1812) and can be reflected from an object positioned in the second direction.

[0419] At this time, the second laser (1934) reflected from the object located in the second direction can reach the laser detecting array (1821) through the receiving optic (1822).

[0420]

[0421] Referring again to FIG. 14, a laser detecting array (1821) according to one embodiment may include a plurality of laser detecting units.

[0422] For example, a laser detecting array (1812) according to one embodiment may include a first laser detecting unit (1921) and a second laser detecting unit (1922).

[0423] At this time, the first laser detecting unit (1921) according to one embodiment is placed in the central region of the laser detecting array (1921) and can be optically connected to the first laser emitting unit (1911).

[0424] Additionally, at this time, a second laser detecting unit (1922) according to one embodiment is placed in an edge area of ​​the laser detecting array (1921) and can be optically connected to the second laser emitting unit (1912).

[0425] At this time, the meaning that one laser detecting unit is optically connected to one laser emitting unit may mean that one laser detecting unit is aligned with one another so as to function to detect a laser output from one laser emitting unit.

[0426] For example, the meaning that the first laser detecting unit (1921) is optically connected to the first laser emitting unit (1911) may mean that when the first laser (1931) output from the first laser emitting unit (1911) and irradiated in the first direction through the transmission optic (1812) is reflected from an object located in the first direction, the first laser detecting unit (1921) is aligned with each other so that it detects the reflected first laser (1933).

[0427] Also, for example, the meaning that the second laser detecting unit (1922) is optically connected to the second laser emitting unit (1912) may mean that when the second laser (1932) output from the second laser emitting unit (1912) and irradiated in the second direction through the transmission optic (1812) is reflected from an object located in the second direction, the second laser detecting unit (1922) is aligned with each other so that it detects the reflected second laser (1934).

[0428]

[0429] Referring again to FIG. 14, a transmitting optic (1812) according to one embodiment may have a first optical axis (1950), and a receiving optic (1822) according to one embodiment may have a second optical axis (1960), and the optical axes of each of the transmitting optic (1812) and the receiving optic (1822) may be understood as concepts understood by those of ordinary skill in the art to be optical axes.

[0430] Additionally, the transmission optic (1812) according to one embodiment may include a transmission entrance pupil (1970).

[0431] At this time, the transmission entrance pupil (1970) may be defined as an imaginary plane perpendicular to the first optical axis (1950) of the transmission optic (1812), which passes through a point where an imaginary line extending backward in the direction of travel of the chief ray of the second laser (1932) output from the second laser emitting unit (1912) and steered by the transmission optic (1812) intersects with the first optical axis (1950).

[0432] At this time, the main light beam of the second laser (1932) may refer to a light ray passing through the first optical axis (1950) of the transmission optic (1812) inside the transmission optic (1812) among the light bundles constituting the second laser (1932), but is not limited thereto.

[0433] However, the definition of the above-described transmission entrance pupil (1970) is only defined for specific convenience, and the definition of the above-described transmission entrance pupil (1970) is not limited to the above-described definition, and may be defined as a concept understood by a person of ordinary skill in the art as the entrance pupil of the above-described transmission optic (1812).

[0434]

[0435] Referring again to FIG. 14, the first laser (1931) output from the first laser emitting unit (1911) according to one embodiment can be steered through the transmission optics (1812) and pass through the first region (1940) of the first optical window (1831) to exit from the internal space.

[0436] At this time, the first region (1940) of the first optical window (1831) may mean a region through which the light bundle constituting the first laser (1931) passes, and may mean a region through which the main light beam among the light bundles constituting the first laser (1931) passes, but is not limited thereto, and may be understood as a region of the first optical window (1831) through which the first laser (1931) passes.

[0437]

[0438] Additionally, the first region (1940) of the first optical window (1831) according to one embodiment may be formed to have a curvature.

[0439] For example, the first region (1940) of the first optical window (1831) according to one embodiment may be formed to have a first curvature.

[0440] At this time, the first region (1940) of the first optical window (1831) may include an inner surface and an outer surface, and when the inner surface and the outer surface are provided to have different curvatures, the curvature of the first region (1940) of the first optical window (1831) may be specified as the curvature of either the inner surface or the outer surface. However, for the convenience of explanation, the curvature of the inner surface or the outer surface of the first region (1940) of the first optical window (1831) will be described below as the curvature of the first region (1940) of the first optical window (1831).

[0441] Additionally, since the first region (1940) of the first optical window (1831) according to one embodiment is formed to have a curvature, the radius of curvature of the first region (1940) can be defined.

[0442] For example, as the first region (1940) of the first optical window (1831) according to one embodiment is formed to have a first curvature, the radius of curvature of the first region (1940) can be a first distance (1991).

[0443] Additionally, the radius of curvature of the first region (1940) of the first optical window (1831) according to one embodiment may be defined by a center of curvature.

[0444] For example, the radius of curvature of the first region (1940) of the first optical window (1831) according to one embodiment may be a first distance (1991) which is a distance from a center of curvature (1980) of the curvature of the first region (1940) to the first region (1940).

[0445]

[0446] Referring again to FIG. 14, the curvature of the first region (1940) of the first optical window (1831) according to one embodiment may be provided such that the radius of curvature of the first region (1940) of the first optical window (1831) is greater than the distance between the transmission entrance pupil (1970) and the first region (1940).

[0447] For example, when the distance between the first region (1940) and the transmission entrance pupil (1970) according to one embodiment is the second distance (1992), the first region (1940) may be provided to have a first curvature, and the curvature of the first region (1940) may be formed such that the first distance (1991), which is the length of the first curvature radius defined by the first curvature, is greater than the second distance (1992).

[0448] Additionally, the curvature of the first region (1940) of the first optical window (1831) according to one embodiment may be provided such that the radius of curvature of the first region (1940) of the first optical window (1831) is smaller than the distance between the first region (1940) and the laser emitting array (1811).

[0449] For example, when the distance between the first region (1940) and the laser emitting array (1811) according to one embodiment is a third distance, the first region (1940) may be provided to have a first curvature, and the curvature of the first region (1940) may be formed such that a first distance (1991), which is a length of a first curvature radius defined by the first curvature, is smaller than the third distance.

[0450] Additionally, unlike as illustrated in FIG. 14, the curvature of the first region (1940) of the first optical window (1831) according to one embodiment may be provided such that the radius of curvature of the first region (1940) of the first optical window (1831) is greater than the distance between the first region (1940) and the laser emitting array (1811).

[0451] For example, when the distance between the first region (1940) and the laser emitting array (1811) according to one embodiment is a third distance, the first region (1940) may be provided to have a first curvature, and the curvature of the first region (1940) may be formed such that a first distance (1991), which is a length of a first curvature radius defined by the first curvature, is greater than the third distance.

[0452] Additionally, the curvature of the first region (1940) of the first optical window (1831) according to one embodiment may be formed such that the center of curvature (1980) defined by the curvature of the first region (1940) is located between the transmission entrance pupil (1970) and the laser emitting array (1811).

[0453] Additionally, unlike that illustrated in FIG. 14, the curvature of the first region (1940) of the first optical window (1831) according to one embodiment may be formed such that the center of curvature (1980) defined by the curvature of the first region (1940) is located on a plane where the laser emitting array (1811) is located.

[0454] Additionally, unlike that illustrated in FIG. 14, the curvature of the first region (1940) of the first optical window (1831) according to one embodiment may be formed such that the center of curvature (1980) defined by the curvature of the first region (1940) is located further from the first region (1940) than the plane on which the laser emitting array (1811) is located.

[0455] In addition, the curvature of the first region (1940) of the first optical window (1831) according to the best embodiment of the present application may be formed such that a radius of curvature defined by the curvature of the first region (1940) is larger than a second distance (1992) which is a distance between the first region (1940) and the transmission entrance pupil (1970), but smaller than a third distance which is a distance between the first region (1940) and the laser emitting array (1811), and a center of curvature (1980) defined by the curvature of the first region (1940) is located between the transmission entrance pupil (1970) and the laser emitting array (1811).

[0456] In addition, the description of the curvature of the first region (1940) of the first optical window (1831) described above can be satisfied for both the curvature of the inner surface and the curvature of the outer surface of the first region (1940) of the first optical window (1831).

[0457]

[0458] Fig. 15 is a drawing for explaining a lidar device according to one embodiment.

[0459] Referring to FIG. 15, a lidar device (1800) according to one embodiment includes a transmitting module (1810), a receiving module (1820), a window module (1830), and a case (1840). The transmitting module (1810) includes a laser emitting array (1811) and a transmitting optic (1812). The receiving module (1820) includes a laser detecting array (1821) and a receiving optic (1822). The window module (1830) may include a first optical window (1831) and a second optical window (1832).

[0460] At this time, since the contents described through FIGS. 13 and 14 can be applied to the above-described configurations, redundant descriptions will be omitted.

[0461] Also, referring to FIG. 15, the transmitting optic (1812) according to one embodiment has a first optical axis (1950), and the receiving optic (1822) has a second optical axis (1960), and the above-described contents can be applied to this, so redundant descriptions will be omitted.

[0462] Also, referring to FIG. 15, the laser emitting array (1811) according to one embodiment includes a second laser emitting unit (1912), to which the above-described contents may be applied, and therefore, redundant descriptions will be omitted.

[0463]

[0464] Referring again to FIG. 15, the second laser (1932) output from the second laser emitting unit (1912) according to one embodiment can be steered through the transmission optics (1812) and pass through the second region (2000) of the first optical window (1831) to exit from the internal space described above.

[0465] At this time, the second region (2000) of the first optical window (1831) may mean a region through which the light bundle constituting the second laser (1932) passes, and may mean a region through which the main light beam of the light bundle constituting the second laser (1932) passes, but is not limited thereto, and may be understood as a region of the first optical window (1831) through which the second laser (1932) passes.

[0466] Additionally, the second region (2000) of the first optical window (1831) according to one embodiment may be formed to have a curvature.

[0467] For example, the second region (2000) of the first optical window (1831) according to one embodiment may be formed to have a second curvature.

[0468] At this time, the curvature of the second region (2000) of the first optical window (1831) may be formed to be the same as the curvature of the first region (1940) of the first optical window (1831) described above, but is not limited thereto.

[0469] In addition, at this time, the curvature of the second region (2000) of the first optical window (1831) can be applied to the disclosures on the curvature of the first region (1940) of the first optical window (1831) described above, and concepts understood by replacing the curvature of the first region (1940) of the first optical window (1831) with the curvature of the second region (2000) can be applied to the contents on the curvature of the first region (1940) of the first optical window (1831) described above, so redundant descriptions will be omitted.

[0470]

[0471] Referring again to FIG. 14, the distance between the second region (2000) of the first optical window (1831) and the first optical axis (1950) of the transmitting optic (1812) according to one embodiment may be less than half the distance between the first optical axis (1950) of the transmitting optic (1812) and the second optical axis (1960) of the receiving optic (1822).

[0472] For example, in one embodiment, when the distance between the second region (2000) of the first optical window (1831) and the first optical axis (1950) of the transmission optic (1812) is a fourth distance (2010), and the distance between the first optical axis (1950) of the transmission optic (1812) and the second optical axis (1960) of the reception optic (1822) is a fifth distance (2020), the fourth distance (2010) may be less than half of the fifth distance (2020).

[0473] This may be a condition for all lasers output from the laser emitting array (1811) in the lidar device (1800) including the transmitting optic (1812) and the receiving optic (1822) to pass through the first optical window (1831) but not pass through the second optical window (1832) and exit from the internal space.

[0474]

[0475] Referring again to FIG. 14, in one embodiment, the distance between the second region (2000) of the first optical window (1831) and the first optical axis (1950) of the transmission optic (1812) may be less than half the distance between the center of the laser emitting array (1811) and the center of the laser detecting array (1821).

[0476] For example, if the distance between the second region (2000) of the first optical window (1831) and the first optical axis (1950) of the transmission optic (1812) according to one embodiment is a fourth distance (2010), and the distance between the center of the laser emitting array (1811) and the center of the laser detecting array (1821) is a sixth distance, the fourth distance (2010) may be less than half of the sixth distance.

[0477]

[0478] FIG. 16 is a drawing for explaining a lidar device according to one embodiment.

[0479] Referring to FIG. 16, a lidar device (1800) according to one embodiment includes a transmitting module (1810), a receiving module (1820), a window module (1830), and a case (1840). The transmitting module (1810) includes a laser emitting array (1811) and a transmitting optic (1812). The receiving module (1820) includes a laser detecting array (1821) and a receiving optic (1822). The window module (1830) may include a first optical window (1831) and a second optical window (1832).

[0480] At this time, since the contents described through Figs. 13, 14 and 15 can be applied to the above-described configurations, redundant descriptions will be omitted.

[0481] Also, referring to FIG. 16, a laser emitting array (1811) according to one embodiment includes a first laser emitting unit (1911) and a second laser emitting unit (1912), and the first laser emitting unit (1911) can function to output a first laser (1931), and the second laser emitting unit (1912) can function to output a second laser (1932). Since the above-described contents can be applied to the above-described configurations, redundant descriptions will be omitted.

[0482]

[0483] Referring again to FIG. 16, the first laser (1931) output from the first laser emitting unit (1911) according to one embodiment is steered through the transmission optic (1812), passes through the third region (2110) of the outermost lens of the transmission optic (1812), and passes through the first optical window (1831) to exit from the internal space described above.

[0484] At this time, the third region (2110) of the outermost lens of the transmission optic (1812) may mean a region through which the light bundle constituting the first laser (1931) passes, and may mean a region through which the main light beam of the light bundle constituting the first laser (1931) passes, but is not limited thereto, and may be understood as a region of the outermost lens of the transmission optic (1812) through which the first laser (1931) passes.

[0485] In addition, the second laser (1932) output from the second laser emitting unit (1912) according to one embodiment is steered through the transmission optics (1812) and can pass through the second region (2000) of the first optical window (1831) and exit from the internal space described above, and since the above-described contents can be applied to the second region (2000), redundant descriptions will be omitted.

[0486]

[0487] Referring again to FIG. 16, a virtual plane (2100) can be defined on which a laser emitting array (1811) according to one embodiment is positioned.

[0488] At this time, the virtual plane (2100) on which the laser emitting array (1811) according to one embodiment is positioned may mean a plane that is a virtual extension of the plane on which the laser emitting array (1811) is positioned, but is not limited thereto.

[0489]

[0490] Referring again to FIG. 16, the first optical window (1831) according to one embodiment can be designed such that the distance between the third region (2110) of the outermost lens of the transmission optic (1812) from the virtual plane (2100) and the distance between the second region (2000) of the first optical window (1831) from the virtual plane (2100) have a specific relationship.

[0491] For example, the first optical window (1831) according to one embodiment may be designed such that the seventh distance (2120), which is the distance between the third region (2110) of the outermost lens of the transmission optic (1812) from the virtual plane (2100), is greater than the eighth distance (2130), which is the distance between the second region (2000) of the first optical window (1831) from the virtual plane (2100).

[0492]

[0493] FIG. 17 is a drawing for explaining a lidar device according to one embodiment.

[0494] Referring to FIG. 17, a lidar device (1800) according to one embodiment includes a transmitting module (1810), a receiving module (1820), a window module (1830), and a case (1840). The transmitting module (1810) includes a laser emitting array (1811) and a transmitting optic (1812). The receiving module (1820) includes a laser detecting array (1821) and a receiving optic (1822). The window module (1830) may include a first optical window (1831) and a second optical window (1832).

[0495] At this time, the contents described through FIGS. 13, 14, 15 and 16 can be applied to the above-described configurations, so redundant descriptions will be omitted.

[0496] Also, referring to FIG. 17, a laser emitting array (1811) according to one embodiment includes a first laser emitting unit (1911) and a second laser emitting unit (1912), and the first laser emitting unit (1911) can function to output a first laser (1931), and the second laser emitting unit (1912) can function to output a second laser (1932). Since the above-described contents can be applied to the above-described configurations, redundant descriptions will be omitted.

[0497]

[0498] Referring again to FIG. 16, the first laser (1931) output from the first laser emitting unit (1911) according to one embodiment is steered through the transmission optics (1812) and can pass through the first region (1940) of the first optical window (1831) and exit from the internal space described above, and since the above-described contents can be applied to the first region (1940), any redundant description will be omitted.

[0499] In addition, the first laser (1931) output from the first laser emitting unit (1911) according to one embodiment is steered through the transmission optic (1812), passes through the third region (2110) of the outermost lens of the transmission optic (1812), and passes through the first optical window (1831) to exit from the internal space described above. Since the above-described contents can be applied to the third region (2110), redundant descriptions will be omitted.

[0500] In addition, the second laser (1932) output from the second laser emitting unit (1912) according to one embodiment is steered through the transmission optics (1812) and can pass through the second region (2000) of the first optical window (1831) and exit from the internal space described above, and since the above-described contents can be applied to the second region (2000), redundant descriptions will be omitted.

[0501] Additionally, the second laser (1932) output from the second laser emitting unit (1912) according to one embodiment is steered through the transmission optic (1812), passes through the fourth region (2200) of the outermost lens of the transmission optic (1812), and passes through the first optical window (1831) to exit from the internal space described above.

[0502] At this time, the fourth region (2200) of the outermost lens of the transmission optic (1812) may mean a region through which the light bundle constituting the second laser (1932) passes, and may mean a region through which the main light beam of the light bundle constituting the second laser (1932) passes, but is not limited thereto, and may be understood as a region of the outermost lens of the transmission optic (1812) through which the second laser (1932) passes.

[0503]

[0504] Referring again to FIG. 16, a first optical window (1831) according to one embodiment can be designed such that the first region (1940), the second region (2000) of the first optical window (1831), the third region (2110) and the fourth region (2200) of the outermost lens of the transmission optic (1812) have a specific relationship.

[0505] For example, according to one embodiment, the first optical window (1831) may be designed such that the distance between the first region (1940) of the first optical window (1831) and the third region (2110) of the outermost lens of the transmission optic (1812) is different from the distance between the second region (2000) of the first optical window (1831) and the fourth region (2200) of the outermost lens of the transmission optic (1812).

[0506] Additionally, for example, the first optical window (1831) according to one embodiment may be designed such that the distance between the first region (1940) of the first optical window (1831) and the third region (2110) of the outermost lens of the transmission optic (1812) is equal to the distance between the second region (2000) of the first optical window (1831) and the fourth region (2200) of the outermost lens of the transmission optic (1812).

[0507] Additionally, for example, the first optical window (1831) according to one embodiment may be designed such that the distance between the first region (1940) of the first optical window (1831) and the third region (2110) of the outermost lens of the transmission optic (1812) is smaller than the distance between the second region (2000) of the first optical window (1831) and the fourth region (2200) of the outermost lens of the transmission optic (1812).

[0508] Additionally, for example, the first optical window (1831) according to one embodiment may be designed such that the distance between the first region (1940) of the first optical window (1831) and the third region (2110) of the outermost lens of the transmission optic (1812) is greater than the distance between the second region (2000) of the first optical window (1831) and the fourth region (2200) of the outermost lens of the transmission optic (1812).

[0509]

[0510] FIG. 18 is a drawing for explaining a lidar device according to one embodiment.

[0511] Referring to FIG. 18, a lidar device (2300) according to one embodiment may include a transmitting module (2310), a receiving module (2320), an optical hood (2330), a window module (2340), and a case (2350).

[0512] At this time, the above-described transmitting module (2310) may include a laser emitting module (2311), an emitting optics module (2312), and an emitting optics holder (2313), and the above-described contents may be applied to these, so redundant descriptions will be omitted.

[0513] In addition, at this time, the receiving module (2320) may include a laser detecting module (2321), a detecting optics module (2322), and a detecting optics holder (2323), and the above-described contents may be applied to these, so redundant descriptions will be omitted.

[0514]

[0515] An optical hood (2330) according to one embodiment may be provided to form a transmitting internal space and a receiving internal space by being combined with the emitting optics holder (2313) and the detecting optics holder (2323) to accommodate at least a portion of the emitting optics module (2312) and the detecting optics module (2322).

[0516] Additionally, the optical hood (2330) according to one embodiment may include at least one optical window that allows the laser output from the transmission module (2310) to exit from the transmission internal space.

[0517] For example, the optical hood (2330) according to one embodiment may include, but is not limited to, a hole for passing a laser output from the laser emitting module (2311) and steered by the emitting optics module (2312).

[0518] Additionally, for example, the optical hood (2330) according to one embodiment may include, but is not limited to, an optically transparent material for transmitting a laser output from the laser emitting module (2311) and steered by the emitting optics module (2312).

[0519]

[0520] Additionally, the optical hood (2330) according to one embodiment may include at least one optical window that allows the laser to be detected by the receiving module (2320) to enter the receiving internal space.

[0521] For example, the optical hood (2330) according to one embodiment may include, but is not limited to, a hole for passing a laser to be focused by the detecting optics module (2322) and detected by the laser detecting module (2321).

[0522] Additionally, for example, the optical hood (2330) according to one embodiment may include, but is not limited to, an optically transparent material for transmitting a laser to be focused by the directing optics module (2322) and detected by the laser detecting module (2321).

[0523]

[0524] Additionally, the optical hood (2330) according to one embodiment may be formed so that the transmitting internal space and the receiving internal space are separated.

[0525] Additionally, the optical hood (2330) according to one embodiment may have a configuration corresponding to the separation unit (1850) described through FIG. 13.

[0526]

[0527] In addition, the window module (2340) according to one embodiment may be combined with the case (2350) according to one embodiment to form an internal space that accommodates at least a portion of the transmitting module (2310) and the receiving module (2320), and since the above-described contents may be applied to the window module (2340) and the case (2350), redundant descriptions will be omitted.

[0528]

[0529] FIG. 19 is a drawing for explaining the angle of a laser output from a lidar device according to one embodiment and the angle of a laser incident on a window module.

[0530] More specifically, (a) of FIG. 19 is a table showing the angle of incidence for a window module according to the angle between the first optical axis of the transmission optic and the laser for the flat window module described through FIGS. 10 and 11, and (b) of FIG. 19 is a table showing the angle of incidence for a window module according to the angle between the first optical axis of the transmission optic and the laser for the curved window module described through FIGS. 13 to 18.

[0531]

[0532] Referring to FIG. 19, it can be seen that, according to the design of the curved window module according to various embodiments of the present application, the incident angle incident on the window module is significantly reduced compared to the flat window module, and referring to the transmittance of the window module according to the incident angle described through FIG. 12, it can be seen that the transmission / reception efficiency of the laser of the lidar device including the curved window module according to various embodiments of the present application is increased compared to the lidar device including the flat window module.

[0533] For a more specific explanation, let's use a laser with a 60 degree angle between the first optical axis and the laser.

[0534] For a flat window, the angle at which a laser is incident on the window at an angle of 60 degrees between the first optical axis and the laser may be 60 degrees, and accordingly, the transmittance of the window for a laser at an angle of 60 degrees between the first optical axis and the laser may be i) 83.1% when there is no AR coating, and ii) 91% when there is an AR coating. (See Fig. 12)

[0535] Additionally, in the case of a curved window, the angle at which a laser is incident on the window when the angle between the first optical axis and the laser is 60 degrees can be 37 degrees, and accordingly, the transmittance of the window for the laser when the angle between the first optical axis and the laser is 60 degrees can be i) a transmittance between 89.8% and 90.39% when there is no AR coating, and ii) a transmittance between 97.4% and 98.1% when there is an AR coating.

[0536] That is, it can be seen that a lidar device including a curved window module according to various embodiments of the present application has increased laser transmission / reception efficiency compared to a lidar device including a flat window module.

[0537]

[0538] Referring to the above, it is clear that when using the window module according to various embodiments of the present application, a lidar device can be provided that physically prevents the back beam phenomenon that may occur in a fixed lidar device, but does not deteriorate the performance of the minimum detection distance of the lidar device and does not deteriorate the performance of the maximum detection distance of the lidar device.

[0539]

[0540] 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.

[0541] 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 teachings. 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.

[0542] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

[0543]

[0544] 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 transmission module comprising a laser emitting array and a transmission optic, wherein the transmission optic has a first optical axis and a transmission entrance pupil; A reception module comprising a laser detecting array and a receiving optic, wherein the receiving optic has a second optical axis; A case functional to accommodate at least a portion of the transmitting module and at least a portion of the receiving module; and A window module coupled to the case and functioning to provide an internal space for accommodating the transmitting optic and the receiving optic; The window module includes a first optical window that allows light output from the transmitting module to exit the internal space and a second optical window that allows light to be received by the receiving module to enter the internal space. A first laser emitting unit included in the laser emitting array functions to output a first laser, the first laser emitting unit is arranged in a central region of the laser emitting array, and the first laser passes through a first region of the first optical window. A second laser emitting unit included in the above laser emitting array functions to output a second laser, and the second laser emitting unit is arranged at an edge of the laser emitting array, The second region of the first optical window has a curvature, and the radius of curvature of the first region is greater than the distance between the transmission entrance pupil and the first region. Lidar device.

2. In paragraph 1, The second laser passes through the second region of the first optical window, The distance between the first optical axis and the second region is less than half the distance between the first optical axis and the second optical axis. Lidar device.

3. In paragraph 1, All lasers output from the above laser emitting array exit from the internal space without passing through the second optical window. Lidar device.

4. In paragraph 1, The above first laser passes through the third region of the outermost lens of the above transmission optic, The distance between the virtual plane where the laser emitting array is positioned and the third region is greater than the distance between the virtual plane and the second region of the first optical window. Lidar device.

5. In paragraph 4, The second laser passes through the fourth region of the outermost lens of the transmission optic, The distance between the first region and the third region is different from the distance between the second region and the fourth region. Lidar device.

6. In paragraph 1, The first optical window and the second optical window are physically formed as one body. Lidar device.

7. In paragraph 1, The direction in which the laser output from the laser emitting array moves while passing through the first optical window is different from the direction in which the laser moves while passing through the second optical window. Lidar device.

8. In paragraph 1, The second laser emitting unit is arranged in the same row as the first laser emitting unit. Lidar device.

9. In paragraph 8, The above second laser emitting unit and the above first laser emitting unit function to output lasers simultaneously. Lidar device.

10. In paragraph 1, The first laser output from the first laser emitting unit is steered in a first direction through the transmission optics and exits the internal space through the first optical window, When the first laser is reflected from an object located in the first direction, the reflected first laser enters the internal space through the second optical window and is focused through the receiving optic and detected by the first laser detecting unit. Lidar device.

11. In paragraph 1, The second laser passes through the second region of the first optical window, When the second laser is incident on the second region of the first optical window, the angle between the second region and the second laser is smaller than the angle between the second laser irradiated to the outside of the lidar device and the first optical axis of the transmission optic. Lidar device.

12. In paragraph 1, The above transmission entrance pupil is defined as the position of an imaginary plane perpendicular to the first optical axis, through which an imaginary line extending backward in the direction of travel of a chief ray among the light bundle constituting the second laser output from the second laser emitting unit after being steered through the transmission optics intersects the first optical axis. Lidar device.

13. In paragraph 1, The above lidar device An optic hood comprising an optic hood for providing a transmitting internal space for accommodating at least a portion of the transmitting optic and a receiving internal space for accommodating at least a portion of the receiving optic. Lidar device.

14. In paragraph 1, The above first region is an region through which a chief ray of the light bundle constituting the first laser output from the first laser emitting unit passes. Lidar device.

15. In paragraph 1, The above first region is an region through which a light bundle constituting the first laser output from the first laser emitting unit passes. Lidar device.

16. In paragraph 1, The center of curvature defined by the curvature of the first region of the first optical window is located between the first region and the laser emitting array. Lidar device.

17. In paragraph 1, The center of curvature defined by the curvature of the first region of the first optical window is located inside the transmission optic. Lidar device.

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