Lidar module and lidar device

Abstract

The present invention provides a LiDAR module comprising: a light emitting unit for emitting light and a light receiving unit for receiving the light reflected by an object, wherein the light emitting unit includes a first short axis parallel to a first direction and a second long axis parallel to a second direction, the light receiving unit includes a second short axis parallel to the first direction and a second long axis parallel to the second direction, the light emitting unit includes a plurality of light sources arranged along the first direction, the light receiving unit includes a plurality of channels arranged along the first direction, and the first direction and the second direction are perpendicular to each other.

Description

Lidar modules and lidar devices

[0001] The present invention relates to a lidar module and a lidar device.

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

[0003] For example, it can be used for detection and ranging or laser imaging, detection and ranging, and it can be used in various ways such as scanning by firing millions of laser pulses per second and measuring the time it takes for them to return, or receiving light and determining the shape of the reflected object.

[0004] In order to increase the efficiency of light transmission, the size ratio of the light source and the receiver of the lidar device may be different. In such cases, a change in the volume of the optical system may occur, such as by including a diffuser or a separate lens in the receiver.

[0005] In addition, when the field of view of the lidar device exceeds 160 degrees, there is a problem that the performance of the lidar device deteriorates due to the performance of the relative illumination (RI) being significantly reduced.

[0006] The present invention is an invention devised to solve the problems of the above-described prior art, and has as its task the matching of the ratio of the receiving part and the light emitting part at an angle of view of 160 degrees or more.

[0007] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned herein will be clearly understood by those skilled in the art from the description below.

[0008] According to an embodiment of the present invention for achieving the above-described object, a lidar module includes a light emitting unit that irradiates light and a light receiving unit that receives the light reflected from an object, wherein the light emitting unit includes a first short axis parallel to a first direction and a second long axis parallel to a second direction, the light receiving unit includes a second short axis parallel to the first direction and a second long axis parallel to the second direction, the light emitting unit includes a plurality of light sources arranged in the first direction, the light receiving unit includes a plurality of channels arranged in the first direction, and the first direction and the second direction are perpendicular.

[0009] The light emitting portion and the light receiving portion may be spaced apart in the first direction.

[0010] The above light emitting unit and the light receiving unit can be aligned in the first direction.

[0011] The light emitting unit may sequentially drive the plurality of light sources in the first direction, and the light receiving unit may sequentially drive the plurality of channels in the first direction.

[0012] The length of the light emitting portion in the second direction may be 3 to 5 times the length of the light emitting portion in the first direction.

[0013] The length of the light-receiving portion in the second direction may be 3 to 5 times the length of the light-receiving portion in the first direction.

[0014] The light emitting portion and the light receiving portion may be spaced apart in the second direction.

[0015] The light-emitting unit includes a first optical system formed by a plurality of lenses, and the light-receiving unit includes a second optical system formed by a plurality of lenses, and the arrangement of the plurality of lenses of the first optical system and the second optical system may be at least partially the same.

[0016] The above first optical system may not include a diffuser that diffuses the light.

[0017] The angle of view of the above light emitting part may be 160 degrees or more.

[0018] The angle of view of the above light-emitting part may be 180 degrees or more, and the relative illumination ratio of the above light-receiving part may be 0.5 or more.

[0019] A lidar device according to an embodiment of the present invention includes a first lidar module, a second lidar module, a third lidar module, and a fourth lidar module, wherein each of the first lidar module, the second lidar module, the third lidar module, and the fourth lidar module includes a light-emitting unit and a light-receiving unit, wherein the light-emitting unit includes a first short axis parallel to a first direction and a second long axis parallel to a second direction, the light-receiving unit includes a second short axis parallel to the first direction and a second long axis parallel to the second direction, the light-emitting unit includes a plurality of light sources arranged in the first direction, and the light-receiving unit includes a plurality of channels arranged in the first direction, wherein the first direction and the second direction are perpendicular.

[0020] The light emitting portion of the first lidar module and the light emitting portion of the second lidar module may overlap in the second direction, and the light emitting portion of the third lidar module and the light emitting portion of the fourth lidar module may overlap in a third direction perpendicular to the first direction and the second direction.

[0021] The light receiving unit of the first lidar module and the light receiving unit of the second lidar module may overlap in the second direction, and the light receiving unit of the third lidar module and the light receiving unit of the fourth lidar module may overlap in a third direction perpendicular to the first direction and the second direction.

[0022] The lidar module and lidar device according to an embodiment of the present invention for solving the above problem can have the effect of matching the ratio of the receiving part and the light emitting part at an angle of view of 160 degrees or more.

[0023] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

[0024] In addition, the effects of the present invention may be described in more detail in the detailed description of the present invention, and may not necessarily be limited to what is presented above.

[0025] The summary set forth above, as well as the detailed description of preferred embodiments of the present application described below, will be better understood when read in conjunction with the accompanying drawings.

[0026] For the purpose of illustrating the present invention, preferred embodiments are shown in the drawings.

[0027] However, it should be understood that the present application is not limited to the precise arrangements and means illustrated.

[0028] FIG. 1 is a drawing illustrating a general description of a lidar module according to one embodiment of the present invention;

[0029] FIG. 2 is a drawing illustrating a comparison between a conventional lidar device according to one embodiment of the present invention and the present invention;

[0030] FIG. 3 is a drawing illustrating a second direction arrangement relationship of a lidar device according to one embodiment of the present invention;

[0031] FIG. 4 is a drawing illustrating a third direction arrangement relationship of a lidar device according to one embodiment of the present invention;

[0032] FIG. 5 is a drawing illustrating the ambient light ratio of a lidar module according to one embodiment of the present invention; and

[0033] FIG. 6 is a drawing illustrating a first optical system of a lidar module according to one embodiment of the present invention.

[0034] The present invention is susceptible to various modifications and embodiments, and specific embodiments are illustrated and described in detail in the drawings. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. In describing the present invention, detailed descriptions of related known technologies will be omitted if they are deemed to obscure the gist of the present invention.

[0035] Terms such as first, second, etc. may be used to describe various components, but these components should not be limited by these terms. These terms are used solely to distinguish one component from another.

[0036] The terminology used in this application is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, it should be understood that the terms "comprises" or "has" indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0037] Additionally, throughout the specification, when we say "connected," this does not only mean that two or more components are directly connected, but also that two or more components are indirectly connected through other components, that they are electrically connected as well as physically connected, or that they are referred to by different names depending on location or function but are one.

[0038] Additionally, when described as being formed or arranged "above or below" each component, "above" or "below" includes not only cases where the two components are in direct contact with each other, but also cases where one or more other components are formed or arranged between the two components. Furthermore, when expressed as "above" or "below," it can include the meaning of a downward direction as well as an upward direction based on one component.

[0039] Hereinafter, preferred embodiments of the present invention, in which the purpose of the present invention can be specifically realized, will be described with reference to the attached drawings 1 to 6.

[0040] Specifically, FIG. 1 is a drawing for explaining a general description of a lidar module according to an embodiment of the present invention, FIG. 2 is a drawing for comparing a prior art lidar device according to an embodiment of the present invention with the present invention, FIG. 3 is a drawing for explaining an arrangement relationship in a second direction of a lidar device according to an embodiment of the present invention, FIG. 4 is a drawing for explaining an arrangement relationship in a third direction of a lidar device according to an embodiment of the present invention, FIG. 5 is a drawing for explaining an ambient light ratio of a lidar module according to an embodiment of the present invention, and FIG. 6 is a drawing for explaining a first optical system of a lidar module according to an embodiment of the present invention.

[0041] A lidar device according to an embodiment of the present invention may refer to a lidar device mounted on a vehicle to measure the distance between the vehicle and an object, but is not limited thereto. A lidar device according to an embodiment of the present invention may extract depth information using the Time of Flight (ToF) principle or the phase shift principle. In this specification, a lidar device may also be referred to as an information generating device, a depth information generating device, or a camera device.

[0042] Referring to Fig. 1, a lidar module (1000) according to an embodiment of the present invention includes a light emitting unit (100) and a light receiving unit (200). In addition, it may further include an information generating unit and a control unit.

[0043] The light emitting unit (100) can generate and output an output light signal in the form of a pulse wave or a continuous wave. The continuous wave may be in the form of a sinusoid wave or a square wave. By generating the output light signal in the form of a pulse wave or a continuous wave, the lidar module (1000) can detect a time difference or phase difference between the output light signal output from the light emitting unit (100) and the input light signal reflected from the target area and then input to the light receiving unit (200).

[0044] In this specification, output light may refer to light output from the light emitting unit (100) and incident on an object, and input light may refer to light output from the light emitting unit (100), reaches a target area, is reflected from the target area, and is input to the light receiving unit (200). From the perspective of the target area, the output light may be incident light, and the input light may be reflected light. In this specification, the target area may be used interchangeably with an object or a thing.

[0045] The light emitting unit (100) includes a first short axis parallel to a first direction and a first long axis parallel to a second direction. In addition, the light emitting unit (100) includes a plurality of light sources (110) for irradiating light, and each of the plurality of light sources (110) has a third short axis parallel to the first direction and a third long axis parallel to the second direction, and may be arranged side by side in the first direction. That is, the plurality of light sources (110) may be arranged in the first direction so that the third short axis forms the first short axis. However, this is one embodiment, and the third short axis and the third long axis of the plurality of light sources (110) may be different from the mentioned directions, and may not necessarily be limited to what is mentioned.

[0046] In addition, a plurality of light sources (110) are arranged to have a first short axis in a first direction, and a plurality of light sources (110) can be sequentially driven in the first direction to irradiate light.

[0047] At this time, the light emitting part (100) may have a length of a first width (W1) in the second direction and a length of a first height (H1) in the first direction. Here, the length of the first width (W1) may be 3 to 5 times the length of the first height (H1). Preferably, it may be 3 to 4 times. More preferably, the length of the first width (W1) may be 3.4 to 3.5 times the length of the first height (H1).

[0048] In addition, the light emitting unit (100) may include a first optical system formed by a plurality of lenses. Here, the first optical system may not include a diffuser that diffuses light.

[0049] In addition, the field of view (FOV) of the light emitting unit (100) may be 160 degrees or more. Preferably, the field of view of the light emitting unit (100) is 180 degrees or more, and more preferably, it may have an angle of view close to 190 degrees. Here, since the light emitting unit (100) has an angle of view of 180 degrees or more, and preferably, an angle of view close to 190 degrees, it can irradiate light over a wide range in a fixed form rather than in a rotating manner.

[0050] In this way, when utilizing a fixed form rather than a rotating one, the problem of minimizing blind spots can be solved by arranging multiple lidar modules (1000) according to the angle of view on the light-emitting unit (100). This will be explained in more detail with reference to the drawings to be described later.

[0051] In addition, the angle of view here may mean the angle of view in the horizontal direction perpendicular to the first direction based on the lidar module (1000) according to the embodiment of the present invention.

[0052] The light receiving unit (200) can receive an optical signal reflected from the target area. At this time, the received optical signal may be an optical signal output by the light emitting unit (100) reflected from the target area.

[0053] The light receiving unit (200) may include a light receiving unit (200), a second optical system formed by a plurality of lenses arranged on the light receiving unit (200), and a filter. At this time, an optical signal reflected from the target area may pass through the lens group of the light receiving unit (200).

[0054] The optical axes of the plurality of lenses of the light receiving unit (200) may be aligned with the optical axis of the light receiving unit (200). A filter may be placed on the optical path between the target area and the light receiving unit (200). The filter may filter light having a predetermined wavelength range. The filter may allow light of a specific wavelength to pass through.

[0055] For example, a filter may allow light in the infrared or near-infrared band to pass through and block light outside the infrared or near-infrared band.

[0056] The light receiving unit (200) receives an optical signal and can output the received optical signal as an electrical signal. The light receiving unit (200) can detect light having a wavelength corresponding to the wavelength of light output by the light emitting unit (100). For example, the light receiving unit (200) can detect light in the infrared or near-infrared band.

[0057] The light receiving unit (200) may be configured with a structure in which multiple pixels are arranged in a grid shape.

[0058] In addition, the light receiving unit (200) includes a second short axis parallel to the first direction and a second long axis parallel to the second direction. In addition, the light receiving unit (200) includes a plurality of channels for receiving light, each of the plurality of channels having a fourth short axis parallel to the first direction and a fourth long axis parallel to the second direction, and may be arranged in parallel in the first direction. That is, the plurality of channels may be arranged in the first direction such that the fourth short axis forms the second short axis. However, this is one embodiment, and the third short axis and the third long axis of the plurality of light sources (110) may be different from the mentioned directions, and may not necessarily be limited to what has been mentioned.

[0059] Additionally, the plurality of channels are arranged to have a fourth short axis parallel to the first direction, and the plurality of channels can be sequentially driven in the first direction to irradiate light.

[0060] At this time, the light receiving unit (200) may have a length of a second width (W2) in the second direction and a length of a second height (H2) in the first direction. Here, the length of the second width (W2) may be 3 to 5 times the length of the second height (H2). Preferably, it may be 3 to 4 times. More preferably, the length of the second width (W2) may be 3.4 to 3.5 times the length of the second height (H2).

[0061] Meanwhile, the light emitting unit (100) and the light receiving unit (200) may be arranged in a first direction on a single board (300). For example, the board (300) according to an embodiment of the present invention may be a PCB (Printed Circuit Board). Alternatively, the light emitting unit (100) and the light receiving unit (200) may be arranged to be aligned with each other in the first direction within the lidar module (1000), and the light emitting unit (100) and the light receiving unit (200) may be arranged on different boards (300). The relationship in which the light emitting unit (100) and the light receiving unit (200) are arranged on the board (300) may not necessarily be limited to what has been mentioned.

[0062] However, the light emitting unit (100) and the light receiving unit (200) according to the embodiment of the present invention may be aligned in the first direction, or alternatively, the light emitting unit (100) and the light receiving unit (200) may be arranged to overlap at least partly in the first direction, and may be arranged to be aligned or overlap at least partly in the second direction depending on the design.

[0063] In addition, the plurality of light sources (110) of the light emitting unit (100) are sequentially driven in the first direction, the plurality of channels of the light receiving unit (200) are sequentially driven in the first direction, and the plurality of light sources (110) and the plurality of channels may be matched with each other.

[0064] For example, one of the plurality of light sources (110) operating at a first time is defined as a first light source (110), another of the plurality of light sources (110) operating at a second time is defined as a second light source (110), the first time is earlier than the second time, and the first light source (110) and the second light source (110) can be arranged side by side. Correspondingly, when one of the plurality of channels is defined as a first channel and another of the plurality of channels is defined as a second channel, the output light of the first light source (110) at the first time can be incident on the first channel, and the output light of the second light source (110) can be incident on the second channel.

[0065] That is, depending on the arrangement of the plurality of light sources (110) in the first direction, the arrangement of the plurality of channels in the first direction corresponds to each other and a matching operation can be performed sequentially over time.

[0066] Meanwhile, although not shown, the information generation unit generates information about the target area using the input light signal input to the light receiving unit (200). The information about the target area may include three-dimensional information about the target area.

[0067] For example, information about a target area may include depth information about the target area or shape information about the target area. For example, the information generation unit may calculate depth information about an object by using the time it takes for an output light signal output from the light emitting unit (100) to be reflected from the object and then input to the light receiving unit (200).

[0068] Alternatively, the information generation unit may calculate the time difference between the output light signal and the input light signal using the electric signal received by the light receiving unit (200), and calculate the distance between the target area and the lidar module (1000) using the calculated time difference. Alternatively, the information generation unit may calculate the phase difference between the output light signal and the input light signal using the electric signal received from the light receiving unit (200), and calculate the distance between the target area and the lidar module (1000) using the calculated phase difference.

[0069] In addition, the control unit can control the operation of the light-emitting unit (100), the light-receiving unit (200), and the information generation unit. The information generation unit and the control unit can be implemented in the form of a PCB (Printed Circuit Board). Alternatively, the information generation unit and the control unit can be implemented in the form of a different configuration. Alternatively, the control unit can be included in the terminal or vehicle (C) according to an embodiment of the present invention.

[0070] For example, the control unit may be implemented in the form of an application processor (AP) of a smartphone equipped with a lidar module (1000) according to an embodiment of the present invention, or may be implemented in the form of an electronic control unit (ECU) of a vehicle (C) equipped with a lidar device according to an embodiment of the present invention.

[0071] Meanwhile, referring to FIG. 2, as illustrated in FIG. 2(a), the first angle (A1) corresponding to the angle of view of the lidar module (1000) according to the prior art has an angle of view of about 120 degrees, and three lidar modules (1000) are arranged in front of the vehicle (C) to irradiate output light in all directions of the camera through the angle of view of 120 degrees, and receive light reflected from an object, three lidar modules (1000) are arranged in the rear of the vehicle (C), and two lidar modules (1000) are arranged on the side of the vehicle (C). At this time, the lidar modules (1000) arranged at the corners of the vehicle (C), that is, the side and the front or the side and the rear, are not arranged with their axes facing the front and the rear, but are arranged so that their axes are inclined toward the side at a predetermined angle, so that the output light can be irradiated to a part of the side and a part of the front or the rear.

[0072] This has the advantage of being able to identify objects in all directions of the vehicle (C), but it is economically inefficient because the number of lidar modules (1000) deployed is large, and since the field of view of the lidar module (1000) has a first angle (A1) close to 120 degrees, there may also be the inconvenience of making it relatively difficult to manage the lidar module (1000).

[0073] However, the lidar device according to the embodiment of the present invention includes a first lidar module (1000a), a second lidar module (1000b), a third lidar module (1000c), and a fourth lidar module (1000d), as illustrated in FIG. 2(b), and the first lidar module (1000a) and the second lidar module (1000b) may be spaced apart in a second direction from the front to the rear of the vehicle (C), and the third lidar module (1000c) and the fourth lidar module (1000d) may be spaced apart in a third direction from one side of the vehicle (C) to the other side.

[0074] At this time, each of the first lidar module (1000a), the second lidar module (1000b), the third lidar module (1000c), and the fourth lidar module (1000d) has a second angle (A2) of an angle of view of 160 degrees or more, preferably an angle of view of 180 degrees or more, and more preferably an angle of view of 190 degrees or more, so that the first lidar module (1000a) disposed at the front of the vehicle (C) can sense the front area of ​​the vehicle (C), and the second lidar module (1000b) can sense the rear of the vehicle (C).

[0075] Additionally, the third lidar module (1000c) and the fourth lidar module (1000d) can sense the side of the vehicle (C).

[0076] Compared to the prior art, when the field of view of each lidar module (1000) is connected with a line in Fig. 2(a) to form a virtual area, there is a disadvantage in that the range not covered by the field of view of the lidar module (1000) is not formed close to the vehicle (C), and some areas form a blind area that extends to a part somewhat far from the vehicle (C).

[0077] However, in FIG. 2(b), when the first lidar module (1000a), the second lidar module (1000b), the third lidar module (1000c), and the fourth lidar module (1000d) have the same field of view, that is, a field of view of 180 degrees or more, the virtual area where the field of view of the first lidar module (1000a) to the fourth lidar module (1000d) is connected is an area adjacent to the vehicle (C), and as long as the vehicle (C) is not in close contact, there may be an advantage in that the blind area can be significantly reduced compared to the prior art.

[0078] To explain this in more detail, referring to FIG. 3, as shown in FIG. 3, the first lidar module (1000a) may include a first light-emitting unit (100a) and a first light-receiving unit (200a), and the second lidar module (1000b) may include a second light-emitting unit (100b) and a second light-receiving unit (200b).

[0079] Here, the first light-emitting portion (100a) and the second light-emitting portion (100b) may overlap each other at least partially in the second direction, and the first light-receiving portion (200a) and the second light-receiving portion (200b) may overlap each other at least partially in the second direction.

[0080] In addition, the first light-emitting unit (100a) and the first light-receiving unit (200a) overlap in the first direction, the second light-emitting unit (100b) and the second light-receiving unit (200b) also overlap in the first direction, the first light-emitting unit (100a) and the first light-receiving unit (200a) are spaced apart from each other in the first direction, and the second light-emitting unit (100b) and the second light-receiving unit (200b) are also spaced apart from each other in the first direction.

[0081] Such an arrangement may have a problem in that the ratio between the light emitting unit (100) and the light receiving unit (200) in the lidar module (1000) according to the prior art is different, so that light reflected from an object is not properly received, or the light incident on one of the multiple channels has a large difference in the amount of light between the periphery and the center of the channel, so that the performance of the lidar module (1000) is greatly reduced.

[0082] However, in the lidar module (1000) according to the embodiment of the present invention, the ratio of the length of the light-emitting unit (100) in the first direction to the length of the light-emitting unit (100) in the second direction is the same or similar to the ratio of the length of the light-receiving unit (200) in the first direction to the length of the light-receiving unit (200) in the second direction, so that the difference in light quantity between the periphery and the center of the channel can be significantly reduced, which may have the advantage of improving the performance of the lidar module (1000).

[0083] Referring to FIG. 4, as shown in FIG. 4, the third lidar module (1000c) may include a third light-emitting unit (100c) and a third light-receiving unit (200c), and the fourth lidar module (1000d) may include a fourth light-emitting unit (100d) and a fourth light-receiving unit (200d).

[0084] Here, the third light-emitting unit (100c) and the fourth light-emitting unit (100d) may overlap each other at least partially in the third direction, and the third light-receiving unit (200c) and the fourth light-receiving unit (200d) may overlap each other at least partially in the third direction.

[0085] In addition, the third light-emitting unit (100c) and the third light-receiving unit (200c) overlap in the first direction, the fourth light-emitting unit (100d) and the fourth light-receiving unit (200d) also overlap in the first direction, the third light-emitting unit (100c) and the third light-receiving unit (200c) are spaced apart from each other in the first direction, and the fourth light-emitting unit (100d) and the fourth light-receiving unit (200d) are also spaced apart from each other in the first direction.

[0086] Accordingly, in the lidar module (1000) according to the embodiment of the present invention, the ratio of the length of the light-emitting unit (100) in the first direction to the length of the light-emitting unit (100) in the second direction is the same or similar to the ratio of the length of the light-receiving unit (200) in the first direction to the length of the light-receiving unit (200) in the second direction, so that the difference in light quantity between the periphery and the center of the channel can be significantly reduced, which may have the advantage of improving the performance of the lidar module (1000).

[0087] In a lidar module (1000) according to the prior art, the ratio of the amount of light in the periphery and the center of the channel may exhibit a phenomenon in which the ratio of the amount of light in the center and the amount of light in the periphery decreases as the angle of view increases.

[0088] To explain this, please refer to [Table 1] and Figure 5 below.

[0089] Item 120x30190x45centeredgecenteredgeRecognition distance (m)703019.74.6Ambient light ratio10.910.55F number0.81.1

[0090] First, let's explain [Table 1]. The recognition distance (Calculated Distance) corresponds to the average distance at which an object can be recognized. When the field of view is 120x30, the center can recognize a distance of 70 m, and the edge can recognize a distance of 30 m. However, in the case of a lidar module (1000) having a field of view of 190x45 according to an embodiment of the present invention, the center can recognize a distance of about 19.7 m, and the edge can recognize a distance of 4.6 m.

[0091] Although the recognition distance is expressed in meters here, a more accurate comparison can be made by comparing performance using the ratio between center points, and the range may not necessarily be limited to the stated values. Furthermore, while precise data values ​​are mentioned, it may be advisable to interpret them with a 5% margin of error due to various errors in the measurement process. In other words, the values ​​presented may not necessarily be accurate.

[0092] The lidar module (1000) according to the embodiment of the present invention has a lower recognition distance than the conventional lidar module (1000), but this is caused by the angle at which light is incident when the angle is greater than 180 degrees, preferably close to 190 degrees, and therefore, due to its characteristic of having a wide range of angles of view, it cannot help but have a lower recognition distance.

[0093] Nonetheless, in the case of a lidar module (1000) having a field of view of 190x45 according to an embodiment of the present invention, when the light quantity at the center is assumed to be 1, the light quantity at the periphery is 0.55 times the light quantity at the center, and in the case of 120x30, when the light quantity at the center is assumed to be 1, the light quantity at the periphery may be 0.9 times the light quantity at the center.

[0094] In addition, a lidar module (1000) according to the prior art having a field of view of 120x30 may have an F number of 0.8, and a lidar module (1000) according to the embodiment of the present invention having a field of view of 190x45 may have an F number of 1.1.

[0095] Based on the above, when the field of view is 190x45, it can be confirmed that the recognition distance and ambient light ratio are lower than those of 120x30, but when the field of view exceeds 180 degrees, it can be confirmed that the ambient light ratio is not 0%, and a significant difference can be confirmed compared to the field of view of 120x30.

[0096] Specifically, when the angle of view is 180 degrees or more, the light incident from the side is generally not diffracted inward, so the peripheral light ratio converges to 0%, which can be physically clearly predicted by considering that 120x30 has a general angle of view of less than 180 degrees. However, the lidar module (1000) according to the embodiment of the present invention has an peripheral light ratio of 50% or more at an angle of view of 180 degrees or more, which can be confirmed through FIG. 5.

[0097] Here, the Y-axis of Fig. 5 corresponds to the ambient light ratio (%), and the X-axis can be an angle corresponding to half of the angle of view. Specifically, the deg of the X-axis corresponds to the angle to the limit of the angle of view based on the axis, and twice the deg can be interpreted as corresponding to the angle of view.

[0098] Based on this, it can be seen that the ambient light ratio should generally be quite low or close to 0% for a field of view of 180 degrees or more, but the lidar module (1000) according to the embodiment of the present invention has an ambient light ratio of 70% to 50% when the deg is 90 degrees or more, that is, when the field of view is 180 degrees or more, and has an angle of view of about 55% based on a field of view of 190 degrees. Here, about 55% based on a field of view of 190 degrees can be preferably interpreted as a range of 58% to 52%.

[0099] Meanwhile, as described above, since it is generally somewhat difficult to form an angle of view of more than 180 degrees, the first optical system may have an arrangement as illustrated in Fig. 6. Here, the first optical system may include a plurality of lenses, but may not include a diffuser that diffuses light, and may include at least one aspherical lens.

[0100] The first lens (101) adjacent to the object may have a convex surface facing the object and an inner surface facing the light source (110) that may be concave. In addition, the second lens (102) disposed adjacent to the first lens (101) may also have a convex surface facing the water and an inner surface facing the light source (110) that may be concave.

[0101] In addition, the water-side surface of the third lens (103) adjacent to the second lens (102) is concave, and the inner surface facing the light source (110) may also be concave. The water-side surface of the fourth lens (104) adjacent to the third lens (103) may be concave, and the inner surface facing the light source (110) may be convex.

[0102] In addition, the water-side surface of the fifth lens (105) adjacent to the fourth lens (104) may be convex, and the inner surface facing the light source (110) may also be convex. In addition, the water-side surface of the sixth lens (106) adjacent to the fifth lens (105) may be convex, and the inner surface facing the light source (110) may also be convex. In addition, the seventh lens (107) adjacent to the sixth lens (106) and adjacent to the light source (110) may be a micro lens array. That is, the micro lens array may be arranged between the sixth lens (106) and the light source (110) on the optical path.

[0103] In this way, the angle of view of the lidar module (1000) can be implemented to be 180 degrees or more through the arrangement of the first lens (101) to the seventh lens (107). This is one embodiment for implementing an angle of view of 180 degrees or more, and may not necessarily be limited to the arrangement, shape, and configuration mentioned above.

[0104] In addition, the lens arrangement of the first optical system and the lens arrangement of the second optical system may be at least partially the same. For example, the first optical system may have the first lens (101) to the seventh lens (107) arranged along the optical axis as illustrated in FIG. 6, and the lens arrangement of the second optical system may have the first lens (101) to the seventh lens (107) arranged along the optical axis in the same manner as the first optical system. Alternatively, the second optical system may have one of the first lens (101) to the seventh lens (107) arranged differently.

[0105] Here, only the arrangement of the lenses of the first optical system and the second optical system is mentioned, but both the first optical system and the second optical system may have the same arrangement and arrangement of lenses with the same features, such as the shape and focal length of the first lens (101) to the seventh lens (107). If necessary, the arrangement and properties of some lenses may be different depending on the design, and may not necessarily be limited to what has been mentioned.

[0106] In addition, the F numbers of the first optical system and the second optical system may be designed differently. Since the first optical system of the light-emitting unit (100) does not require an F number as low as the second optical system of the light-receiving unit (200), the F number of the first optical system may be larger than the F number of the second optical system.

[0107] Having described preferred embodiments of the invention, it will be apparent to those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or scope thereof, in addition to the embodiments described above.

[0108] Therefore, the above-described embodiments should be considered as illustrative rather than restrictive, and accordingly, the present invention is not limited to the above description but may be modified within the scope of the appended claims and their equivalents.

Claims

1. A light-emitting part that irradiates light; and Includes a light receiving unit that receives the light reflected from the object, The above light emitting portion includes a first short axis parallel to the first direction and a second long axis parallel to the second direction, The above light receiving portion includes a second short axis parallel to the first direction and a second long axis parallel to the second direction, The above light emitting portion includes a plurality of light sources arranged along the first direction, The above light receiving unit includes a plurality of channels arranged along the first direction, The above first direction and the above second direction are perpendicular lidar modules.

2. In paragraph 1, A lidar module in which the light emitting portion and the light receiving portion are spaced apart and aligned in the first direction.

3. In paragraph 1, A lidar module wherein the length of the light emitting portion in the second direction is 3 to 5 times the length of the light emitting portion in the first direction.

4. In paragraph 1, A lidar module wherein the length of the light-receiving portion in the second direction is 3 to 5 times the length of the light-receiving portion in the first direction.

5. In paragraph 1, The above light emitting portion includes a first optical system formed by a plurality of lenses, The above light receiving unit includes a second optical system formed by a plurality of lenses, A lidar module in which the arrangement of the plurality of lenses of the first optical system and the second optical system is at least partially the same.

6. In paragraph 5, A lidar module in which the first optical system does not include a diffuser that diffuses the light.

7. In paragraph 1, The angle of view of the above light emitting part is 160 degrees or more, A lidar module having a relative illumination ratio of the above light receiving unit of 0.5 or greater.

8. Including a first lidar module, a second lidar module, a third lidar module and a fourth lidar module, Each of the first lidar module, the second lidar module, the third lidar module and the fourth lidar module includes a light emitting unit and a light receiving unit, The above light emitting portion includes a first short axis parallel to the first direction and a second long axis parallel to the second direction, The above light receiving portion includes a second short axis parallel to the first direction and a second long axis parallel to the second direction, The above light emitting part includes a plurality of light sources arranged in the first direction, The above light receiving unit includes a plurality of channels arranged in the first direction, The above first direction and the above second direction are vertical lidar devices.

9. In paragraph 8, The light emitting portion of the first lidar module and the light emitting portion of the second lidar module overlap in the second direction, A lidar device in which the light emitting portion of the third lidar module and the light emitting portion of the fourth lidar module overlap in a third direction perpendicular to the first direction and the second direction.

10. In paragraph 8, The light receiving unit of the first lidar module and the light receiving unit of the second lidar module overlap in the second direction, A lidar device in which the light receiving unit of the third lidar module and the light receiving unit of the fourth lidar module overlap in a third direction perpendicular to the first direction and the second direction.

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