Lidar device

Abstract

A LiDAR device according to an embodiment of the present invention comprises: a sensor unit; a lens unit disposed on the sensor unit; and a filter unit disposed on the lens unit, wherein the lens unit is composed of a first lens and second lens sequentially disposed in a direction from the filter unit toward the sensor unit. At least one of an object-side surface of the first lens, an image-side surface of the first lens, an object-side surface of the second lens, or an image-side surface of the second lens is aspherical, the average of a refractive index of the first lens and a refractive index of the second lens is 1.65 to 1.85, and the filter unit transmits light having a wavelength of 900 nm to 2,500 nm.

Description

Lidar device

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

[0002] The light emitted from the light source of the lidar device can be utilized in a variety of 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 particular, in the case of detection or distance measurement, it can be utilized to detect chemical gases, smoke, or things that cannot be detected visually in dark conditions by utilizing the characteristics of the wavelength of light.

[0005] In order to investigate light in this way, the light must be irradiated through a separate lens to control the field of view of the light.

[0006] However, based on a specific wavelength band, the LiDAR device may have problems with the arrangement of lenses due to securing an overall narrow space and an increase in the overall length of the device due to the distance between lenses increasing or the number of lenses increasing depending on the field of view.

[0007] The present invention is an invention devised to solve the problems of the above-described prior art, and has as its task the miniaturization by reducing the overall length of the lens.

[0008] 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.

[0009] According to an embodiment of the present invention for achieving the above-described object, a lidar device includes a sensor unit, a lens unit disposed on the sensor unit, and a filter unit disposed on the lens unit, wherein the lens unit is composed of a first lens and a second lens sequentially disposed in a direction from the filter unit toward the sensor unit, wherein at least one of a water-side surface of the first lens, an image-side surface of the first lens, a water-side surface of the second lens, and an image-side surface of the second lens is an aspherical surface, and an average of a refractive index of the first lens and a refractive index of the second lens is 1.65 to 1.85, and the filter unit transmits light having a wavelength of 900 nm to 2,500 nm.

[0010] At this time, the second lens may have positive power.

[0011] Additionally, the field of view (FOV) can be 5 to 15 degrees.

[0012] Here, the edge thickness T1 of the first lens may be 0.5 to 1.5 times the center thickness T2 of the first lens, and the edge thickness T3 of the second lens may be 0.8 to 1.8 times the center thickness T4 of the second lens.

[0013] Additionally, the air gap between the first lens and the second lens may be 30 to 60 mm.

[0014] In addition, the first lens may have positive power, the water-side surface of the first lens may be convex, the image-side surface of the first lens may be concave, the water-side surface of the second lens may be convex, and the image-side surface of the second lens may be concave.

[0015] At this time, the upper side of the second lens may have a portion of the circumference parallel to the vertical direction, and the vertical direction may be a direction perpendicular to the direction from the filter unit toward the sensor unit.

[0016] Additionally, the aperture may further include an aperture disposed adjacent to the first lens between the object and the water side of the first lens.

[0017] Meanwhile, the field of view (FOV) can be 25 to 35 degrees.

[0018] Here, the edge thickness T5 of the first lens may be 0.5 to 1.5 times the center thickness T6 of the first lens, and the edge thickness T7 of the second lens may be 1.5 to 2.5 times the center thickness T8 of the second lens.

[0019] Additionally, the air gap between the first lens and the second lens may be 15 to 40 mm.

[0020] In addition, the first lens may have negative power, the water-side surface of the first lens may be convex, the image-side surface of the first lens may be concave, the water-side surface of the second lens may be convex, and the image-side surface of the second lens may be convex.

[0021] At this time, the upper side of the first lens may have a portion of the circumference parallel to the vertical direction, and the vertical direction may be a direction perpendicular to the direction from the filter unit toward the sensor unit.

[0022] Additionally, the aperture may further be included, and the aperture may be positioned between the object and the first lens and the second lens.

[0023] Additionally, only the surface of the second lens facing the sensor unit may have an aspherical shape.

[0024] Meanwhile, the filter unit may be a band pass filter that transmits light having a wavelength of 1350 nm to 1450 nm.

[0025] The lidar device according to an embodiment of the present invention for solving the above problem can have the effect of miniaturization by reducing the length of the entire lens.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] For the purpose of illustrating the present invention, preferred embodiments are shown in the drawings.

[0030] However, it should be understood that the present application is not limited to the precise arrangements and means illustrated.

[0031] FIG. 1 is a block diagram of a lidar device according to one embodiment of the present invention;

[0032] FIG. 2 is a cross-sectional view of a light receiving portion of a lidar device according to an embodiment of the present invention;

[0033] FIG. 3 is a top view of a sensor section of a lidar device according to an embodiment of the present invention;

[0034] FIG. 4 is a diagram illustrating a bottom view of a micro lens array of a lidar device according to an embodiment of the present invention;

[0035] FIG. 5 is a drawing illustrating a lens group of a lidar device according to an embodiment of the present invention;

[0036] FIG. 6 is a drawing illustrating a first lens of a lidar device according to an embodiment of the present invention;

[0037] FIG. 7 is a drawing illustrating a second lens of a lidar device according to an embodiment of the present invention;

[0038] FIG. 8 is a diagram illustrating the Ensquared Energy simulation results of a lidar device according to an embodiment of the present invention;

[0039] FIG. 9 is a drawing illustrating a lens group of a lidar device according to another embodiment of the present invention;

[0040] FIG. 10 is a drawing illustrating a first lens of a lidar device according to another embodiment of the present invention;

[0041] FIG. 11 is a drawing illustrating a second lens of a lidar device according to another embodiment of the present invention;

[0042] FIG. 12 is a diagram illustrating the Ensquared Energy simulation results of a lidar device according to another embodiment of the present invention;

[0043] FIG. 13 is a perspective view of a lidar system including a lidar device according to an embodiment of the present invention;

[0044] FIG. 14 is an exploded view of a lidar system including a lidar device according to an embodiment of the present invention; and

[0045] Figure 15 is an exploded view of a lidar device according to an embodiment of the present invention.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] The 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. The 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, the lidar device may also be referred to as an information generating device, a depth information generating device, or a camera device.

[0053] FIG. 1 is a block diagram of a lidar device according to one embodiment of the present invention.

[0054] Referring to FIG. 1, a lidar device (1000) according to an embodiment of the present invention includes a light emitting unit (100), a light receiving unit (200), an information generating unit (300), and a control unit (400).

[0055] 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 device (1000) can detect a time difference or a phase difference between the output light signal output from the light emitting unit (100) and the input light signal reflected from the target area and then input to the light receiving unit (200). In this specification, the output light refers to light output from the light emitting unit (100) and incident on an object, and the input light refers to light output from the light emitting unit (100) and reaching the target area, reflected from the target area, and then 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.

[0056] 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.

[0057] The light receiving unit (200) includes a sensor unit, a lens group arranged on the sensor unit, and a filter.

[0058] An optical signal reflected from the target area can pass through the lens group of the light receiving unit (200). The optical axis of the lens group of the light receiving unit (200) can be aligned with the optical axis of the sensor unit. A filter can be placed on the optical path between the target area and the sensor unit. The filter can filter light having a predetermined wavelength range. The filter can pass light of a specific wavelength. For example, the filter can pass light in the infrared or near-infrared band and block light other than the infrared or near-infrared band. The sensor unit can receive an optical signal and output the received optical signal as an electrical signal. The sensor unit can detect light of a wavelength corresponding to the wavelength of light output by the light emitting unit (100). For example, the sensor unit can detect light in the infrared or near-infrared band.

[0059] The sensor unit may be configured with a structure in which multiple pixels are arranged in a grid shape.

[0060] The light receiving unit (200) and the light emitting unit (100) may be arranged side by side. The light receiving unit (200) may be arranged next to the light emitting unit (100). The light receiving unit (200) may be arranged to face the same direction as the light emitting unit (100). Alternatively, the light receiving unit (200) and the light emitting unit (100) may be arranged to face different directions. When the light receiving unit (200) and the light emitting unit (100) are arranged to face different directions, an optical path conversion member may be further arranged between the light receiving unit (200) and the light emitting unit (100).

[0061] The information generating unit (300) generates information about a target area using an 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. For example, the information about the target area may include depth information about the target area or shape information about the target area. For example, the information generating unit (300) may calculate depth information about an object using the flight time it takes for an output light signal output from the light emitting unit (100) to be input to the light receiving unit (200) after being reflected from an object. For example, the information generating unit (300) may calculate a time difference between an output light signal and an input light signal using an electrical signal received by the sensor unit, and may calculate a distance between the target area and the LIDAR device (1000) using the calculated time difference. For example, the information generating unit (300) may calculate a phase difference between an output light signal and an input light signal using an electrical signal received from the sensor unit, and may calculate a distance between the target area and the LIDAR device (1000) using the calculated phase difference.

[0062] The control unit (400) controls the operation of the light emitting unit (100), the light receiving unit (200), and the information generating unit (300). The information generating unit (300) and the control unit (400) may be implemented in the form of a PCB (printed circuit board). Alternatively, the information generating unit (300) and the control unit (400) may be implemented in the form of other configurations. Alternatively, the control unit (400) may be included in a terminal or vehicle in which the lidar device (1000) according to an embodiment of the present invention is installed. For example, the control unit (400) may be implemented in the form of an application processor (AP) of a smartphone in which the lidar device (1000) according to an embodiment of the present invention is installed, or may be implemented in the form of an electronic control unit (ECU) of a vehicle in which the lidar device (1000) according to an embodiment of the present invention is installed.

[0063] The lidar device (1000) according to an embodiment of the present invention may be a mechanical lidar that rotates 360°. To this end, the lidar device (1000) may further include a rotating unit (500). The rotating unit (500) may further include a plate (510) on which a light-emitting unit (100) and a light-receiving unit (200) are mounted, and a motor (520) that rotates the plate (510). Accordingly, the lidar device (1000) may have a 360° FOV.

[0064] FIG. 2 is a cross-sectional view of a light receiving unit according to an embodiment of the present invention, FIG. 3 is a top view of a sensor unit according to an embodiment of the present invention, and FIG. 4 is a bottom view of a micro lens array according to an embodiment of the present invention.

[0065] Referring to FIGS. 2 to 4, a light receiving unit (200) included in a lidar device (1000) according to an embodiment of the present invention includes a sensor unit (210), a micro lens array (220) disposed on the sensor unit (210), a lens unit (230) disposed on the micro lens array (220), a filter unit (240) disposed on the lens unit (230), and a window (250) disposed on the filter unit (240). In this case, the sensor unit (210) may be an image sensor.

[0066] According to an embodiment of the present invention, the sensor unit (210) includes a pixel array. Here, the pixel array may be a single photon avalanche detector (SPAD) array, and the SPAD array may include a plurality of SPADs. When the SPAD receives an optical signal, a photon may be detected by the avalanche phenomenon.

[0067] Here, the sensor unit (210) includes a pixel array arranged along a first direction and a second direction, and the number of pixels arranged along the first direction may be greater than the number of pixels arranged along the second direction. For example, the sensor unit (210) according to an embodiment of the present invention includes an m*n pixel array, and m may be greater than n. When the ratio of m to n is 8 or more, it may be referred to as a one-dimensional pixel array or a one-dimensional SPAD array.

[0068] According to an embodiment of the present invention, the sensor unit (210) may include a one-dimensional pixel array. For example, the sensor unit (210) according to an embodiment of the present invention may include a 16*2 pixel array, a 32*2 pixel array, a 64*2 pixel array, a 128*2 pixel array, a 256*2 pixel array, a 512*2 pixel array, or a 1024*2 pixel array.

[0069] According to an embodiment of the present invention, a micro lens array (220) is arranged on the sensor unit (210) to be spaced apart from the sensor unit (210). The micro lens array (220) includes a first surface (220A) arranged to face the sensor unit (210) and a second surface opposite the first surface (220A), and a plurality of micro lenses protrude from the first surface (220A) to face the sensor unit (210). For convenience of explanation, the first surface (220A) of the micro lens array (220) may be referred to as a lower surface of the micro lens array (220), and the second surface of the micro lens array (220) may be referred to as an upper surface of the micro lens array (220). According to an embodiment of the present invention, a plurality of micro lenses may be formed on the first surface (220A) of the micro lens array (220), and the second surface of the micro lens array (220) may be a flat surface.

[0070] A first surface (220A) of a micro lens array (220) according to an embodiment of the present invention includes an effective area (220A1) including a plurality of micro lenses corresponding to the pixel array of the sensor unit (210), a buffer area (220A2) including a plurality of micro lenses arranged to surround the effective area (220A1), and a peripheral area (220A3) arranged to surround the buffer area (220A2).

[0071] Here, the effective area (220A1) can be matched one-to-one with the pixel array. That is, when the sensor unit (210) includes an m*n pixel array, the effective area (220A1) includes m*n micro lenses, and the pixels of the sensor unit (210) and the micro lenses of the effective area (220A1) can be matched one-to-one. Accordingly, among the optical signals incident on the light receiving unit (200), the optical signals incident on the effective area (220A1) can be detected by the sensor unit (210) and used to recognize an object. The optical signals incident on the light receiving unit (200) can be collected by the micro lenses of the effective area (220A1) of the micro lens array (220), so that the optical reception efficiency for each pixel can be increased. Accordingly, the micro lens array (220) may also be referred to as a sensor window.

[0072] Meanwhile, the buffer area (220A2) may be arranged to surround the effective area (220A1) around the effective area (220A1). For example, if the sensor unit (210) includes an m*n pixel array and the effective area (220A1) includes m*n micro lenses, the first surface (220A) of the micro lens array (220) may include a total of (m+2a)*(n+2b) micro lenses, including the buffer area (220A2). Here, a and b may be the same or different. For example, a and b may be 1 or more and 10 or less, preferably 1 or more and 5 or less, and more preferably 2 or more and 3 or less. For example, a may be 3 and b may be 2. In this way, if the first surface (220A) of the micro lens array (220) includes a buffer area (220A2) surrounding the effective area (220A1), the light collection efficiency of the effective area (220A1) can be improved and the loss of the optical signal can be reduced.

[0073] Meanwhile, the peripheral region (220A3) may be arranged to surround the buffer region (220A2) around the buffer region (220A2). At this time, the peripheral region (220A3) may be a flat surface. Accordingly, the micro lens array (220) may be attached to a structure within the sensor unit (210) or the light receiving unit (200) through the peripheral region (220A3).

[0074] Referring to FIG. 2, a lens unit (230), a filter unit (240), and a window (250) are sequentially arranged on the sensor unit (210) and the micro lens array (220). Here, the lens unit (230) may include a plurality of lenses. For example, the lens unit (230) may include two lenses arranged to be spaced apart from each other, but is not limited thereto. The filter unit (240) arranged on the lens unit (230) may be a band pass filter. For example, it may be a band pass filter that transmits only SWIR optical signals among the optical signals input to the receiver (200). Although not illustrated, the lens unit (230) and the filter unit (240) may be arranged in a lens barrel. Although the sensor unit (210), micro lens array (220), lens unit (230), and filter unit (240) are shown to be arranged sequentially, this is not limited thereto, and the sensor unit (210), micro lens array (220), filter unit (240), and lens unit (230) may be arranged in that order.

[0075] The window (250) is positioned outside the lens barrel, and the light signal reflected from the object passes through the window (250) and is sequentially incident on the filter unit (240), lens unit (230), micro lens array (220), and sensor unit (210). Accordingly, the window (250) may be referred to as a glass window or an external window. The light signal output from the light emitting unit (100) may also be output to the outside through the window (250).

[0076] Based on the above-described content, a lidar device according to an embodiment of the present invention can be described with reference to FIGS. 5 to 8.

[0077] Specifically, FIG. 5 is a drawing illustrating a lens group of a lidar device according to an embodiment of the present invention, FIG. 6 is a drawing illustrating a first lens of a lidar device according to an embodiment of the present invention, FIG. 7 is a drawing illustrating a second lens of a lidar device according to an embodiment of the present invention, and FIG. 8 is a drawing illustrating an Ensquared Energy simulation result of a lidar device according to an embodiment of the present invention.

[0078] First, before describing a lidar device (1000) according to one embodiment of the present invention, it has the basic structure described above, and among them, the structure of the light receiving unit (200) will be described in detail, and in order to help understand the present invention, the structure excluding the window (250) will be described.

[0079] Here, an embodiment may be interpreted as an example, and may not mean the first embodiment, but may mean an example embodiment that includes a process that satisfies the contents described below for a lidar device (1000) according to an embodiment of the present invention.

[0080] In addition, the light receiving unit (200) according to one embodiment of the present invention includes a micro lens array (220) and a sensor unit (210) as illustrated in FIG. 2. However, in order to help understand the present invention in detail, the micro lens array (220) and the sensor unit (210) will be described together as a sensor unit (210) in the process of explaining FIGS. 5 to 8. This is only to help understand the invention, and may not necessarily be limited to what has been mentioned and illustrated.

[0081] First, as illustrated in FIG. 5, a lidar device (1000) according to an embodiment of the present invention includes a sensor unit (210), a lens unit (230), and a filter unit (240), and the lens unit (230) may be composed of a first lens (231) and a second lens (234).

[0082] Here, the sensor unit (210) may form an image by incident light that has passed through the filter unit (240), the first lens (231), and the second lens (234), and if the path of light movement is defined as going from the water side to the upper side based on FIG. 5, the sensor unit (210) may be positioned at the very end of the optical path.

[0083] Meanwhile, the filter unit (240) may be a band pass filter that transmits light in the SWIR wavelength band as described above, and specifically, may transmit light in the wavelength band of 900 nm to 2,500 nm.

[0084] Here, it may be most desirable for the filter unit (240) to transmit light in the wavelength band of 1350 nm to 1450 nm among the wavelength bands of 900 nm to 2,500 nm.

[0085] Meanwhile, the first lens (231) and the second lens (234) are arranged between the filter unit (240) and the sensor unit (210), and the filter unit (240), the first lens (231), the second lens (234), and the sensor unit (210) can be arranged sequentially along the optical path.

[0086] Here, the first lens (231) is divided into a water side (231) facing the water side and an upper side (233) facing the sensor unit (210), and the second lens (234) can also be divided into a water side (235) facing the water side and an upper side (236) facing the sensor unit (210).

[0087] At this time, the first lens (231) has positive power, the second lens (234) also has positive power, and the field of view (FOV) that the light receiving unit (200) secures at a long distance by the filter unit (240), the first lens (231), the second lens (234), and the sensor unit (210) can be 5 to 15 degrees.

[0088] In addition, the water-side surface (232) of the first lens (231) may be convex, the upper-side surface (233) of the first lens (231) may be concave, the water-side surface (235) of the second lens (234) may be convex, and the upper-side surface (236) of the second lens (234) may be concave.

[0089] At this time, the water-side surface (232) of the first lens (231) may be convex from the upper side toward the water side, the upper side surface (233) of the first lens (231) may be concave from the upper side toward the water side, the water-side surface (235) of the second lens (234) may be convex from the upper side toward the water side, and the upper side surface (236) of the second lens (234) may be concave from the upper side toward the water side.

[0090] This is explained in this way because there is a possibility that the upper surface (233) of the first lens (231) and the upper surface (236) of the second lens (234) may be judged as convex surfaces toward the water side depending on the viewing angle based on FIG. 5, and this is only a difference in the expression and understanding of words, and since the shape is the same, it is not necessarily limited to what has been mentioned, and if the same shape is explained with different expressions and standards based on the criteria described above, it is not limited thereto, but an explanation that deviates from the shape in the description of the shape may not be included here.

[0091] Meanwhile, a part of the circumference of the upper surface (236) of the second lens (234) may be formed with a first parallel surface (236a) that is parallel to a direction perpendicular to the direction from the water side toward the upper side, or alternatively, a direction perpendicular to the direction from the filter section (240) toward the sensor section (210).

[0092] In addition, at least one of the water side surface (232) of the first lens (231), the image side surface (233) of the first lens (231), the water side surface (235) of the second lens (234), and the image side surface of the second lens (234) is provided in an aspherical shape, and preferably, the image side surface (233) of the first lens (231) and the image side surface (236) of the second lens (234) can be provided in an aspherical shape.

[0093] This is because the lens unit (230) in the lidar device (1000) according to one embodiment of the present invention is composed of a first lens (231) and a second lens (234), and the upper side surface (233) of the first lens (231) and the upper side surface (236) of the second lens (234) are each provided in an aspherical shape, thereby reducing the number of lenses between the filter unit (240) and the sensor unit (210), thereby reducing the overall mechanical length.

[0094] Additionally, the air gap between the first lens (231) and the second lens (234) is spaced apart by the first air gap (L1), and the first air gap (L1) may be 30 to 60 mm.

[0095] Here, the first air gap (L1) between the first lens (231) and the second lens (234) is described as an air gap because a separate lens is not arranged between the first lens (231) and the second lens (234). If a separate lens is arranged between the first lens (231) and the second lens (234), the prerequisites and functions of the lidar device (1000) according to the overall embodiment may not be able to be achieved.

[0096] For example, the air gap of the first air gap (L1) according to one embodiment of the present invention is a matter in which various factors including the refractive index of each of the first lens (231) and the second lens (234), the range of the first air gap (L1), the wavelength band filter range of the filter unit (240), etc. are taken into consideration, without providing a separate lens between the first lens (231) and the second lens (234), and it may not be desirable to add a separate lens between the first lens (231) and the second lens (234), or to provide a separate lens other than the first lens (231) and the second lens (234).

[0097] Meanwhile, for this purpose, the field of view (FOV) of the lidar device (1000) according to one embodiment of the present invention may be 5 to 15 degrees, the first air gap (L1) may be 30 to 60 mm, and the average of the refractive index of the first lens (231) and the refractive index of the second lens (234) may be 1.65 to 1.85.

[0098] That is, by satisfying the conditions described above to increase the efficiency of the lidar device (1000) while reducing the overall number of lenses, there may be an advantage in that the overall optical system, specifically the mechanical length, can be reduced.

[0099] Meanwhile, although not shown, the lidar device (1000) according to one embodiment of the present invention may further include an aperture, and the aperture may be positioned adjacent to the first lens (231) between the object and the first lens (231).

[0100] Specifically, it can be placed in front of the first lens (231), and can be placed in front of the filter unit (240) as needed, where the front can mean the direction toward the object based on the first lens (231) or the filter unit (240). That is, based on FIG. 5, the front can mean the water side.

[0101] Meanwhile, as illustrated in FIG. 6, since the upper surface (233) of the first lens (231) is formed in an aspherical shape, the edge thickness of the first lens (231) and the center thickness of the first lens (231) may be formed differently from each other, and specifically, the edge thickness (T1) of the first lens (231) may be 0.5 to 1.5 times the center thickness (T2) of the first lens (231).

[0102] At this time, the edge thickness (T1) of the first lens (231) may mean the distance between the water side (232) of the first lens (231) and the upper side (233) of the first lens (231) based on a point located at the outermost end in the vertical direction.

[0103] In addition, the center thickness (T2) of the first lens (231) may be the distance between the water-side surface (232) of the first lens (231) and the upper side surface (233) of the first lens (231) in the direction from the water side to the upper side based on the center of an imaginary line connecting a point at the uppermost position and a point at the lowermost position in the vertical direction.

[0104] At this time, the center thickness (T2) of the first lens (231) may be the thickness at a position where the same standard is applied in the second direction perpendicular to the first direction corresponding to the optical axis direction facing upward from the water side based on FIG. 6.

[0105] Meanwhile, as illustrated in FIG. 7, the upper surface (236) of the second lens (234) is formed in an aspherical shape, and in particular, a first parallel surface (236a) is formed on the periphery of the upper surface (236) of the second lens (234), so that the edge thickness of the second lens (234) and the center thickness of the second lens (234) may be formed differently from each other, and specifically, the edge thickness (T3) of the second lens (234) may be 0.8 to 1.8 times the center thickness (T4) of the second lens (234).

[0106] In addition, the center thickness (T4) of the second lens (234) is the same as the standard applied to the center thickness (T2) of the first lens (231) as described above, and may be the distance from the water side (235) of the second lens (234) to the upper side (236) of the second lens (234) at the center position in the vertical direction, which is the first direction, and the center position in the second direction.

[0107] Meanwhile, the light receiving unit (200) including the first lens (231) and the second lens (234) of the lidar device (1000) according to one embodiment of the present invention may have the following specifications.

[0108] Item Specifications Field of View (FOV) 5 to 15 degrees F Number 3.5 Effective Focal Length (EFL) 73.21 μm F-theta Distortion -14.3 μm Relative Illumination (RI) 98.8% Ensquared Energy (25 μm square) >92.1% Chiar Ray Angle (CRA) 2.80 deg TTL (including filter (240)) 110.17 mm BFL (including sensor (210)) 26.35 mm

[0109] As explained based on the presented [Table 1], the lidar device (1000) according to one embodiment of the present invention may have an F number of 3.5 when the field of view (FOV) is 5 to 15 degrees.

[0110] Additionally, the effective focal length (EFL) can be 73.21 μm and can have a range of 72 to 74 μm, and the distortion based on F-theta can be -14.3 μm and can have a range of -13.5 to -15 μm.

[0111] At this time, the focus, which is the standard for the effective focal length, can be determined based on the front of the sensor unit (210).

[0112] In addition, the relative illumination (RI) refers to the ratio of the amount of light incident on the periphery of the sensor unit (210) to the amount of light incident on the center of the sensor unit (210), and the relative illumination ratio may be 98.8%, or in other words, the amount of light incident on the periphery of the sensor unit (210) is 98.8% of the amount of light incident on the center, and preferably, the amount of light incident on the periphery of the sensor unit (210) may be 97.5% to 99% of the amount of light incident on the center.

[0113] In addition, the in-squared energy may exceed 92.1% based on a square of 25 μm, and as described above, the amount of incident energy based on a square area of ​​25 μm may exceed 92.1% of the total amount of energy, and preferably, the in-squared energy may be 92 to 95% based on a square of 25 μm.

[0114] In addition, the Chier Ray Angle (CRA) is a sensor unit (210) in which there are light-sensitive and light-insensitive areas, that is, areas that receive light and areas that do not receive light, and light must be introduced within a certain angle range to ensure a clear image without shading, and the angle range in which light must be incident on the sensor unit (210) may be 2.8 deg.

[0115] In other words, the light must pass through the second lens (234) and be incident in the range of 2.8 deg, and preferably the Chiere ray angle can be 2.5 to 3.0 deg.

[0116] Meanwhile, the total track distance (Total Top Length or Total Track Length, TTL) is the distance from the sensor unit (210) to the first surface of the lidar device (1000) based on the focus, the lidar device (1000) according to one embodiment of the present invention, including the filter unit (240), and preferably, the total track distance may be 120 to 130 mm.

[0117] Here, the filter unit (240), the first lens (231), and the second lens (234) are included within the total track distance.

[0118] Meanwhile, the back focal length (BFL) may be the distance from the first parallel surface (236a) of the second lens (234) to the front surface of the sensor unit (210), and the distance from the first parallel surface (236a) of the second lens (234) to the front surface of the sensor unit (210) is 26.35 mm, and preferably, the back focal length may be 25.5 to 27 mm.

[0119] In the detailed description of the present invention, the specific specifications of the present invention are presented and explained in this way to explain that, in order to solve the problem of a plurality of lenses being provided in the past or the length of the optical system itself becoming excessively long, the lidar device (1000) according to one embodiment is composed of only two lenses, a first lens (231) and a second lens (234), and thus it is desirable to satisfy the presented conditions. In addition, when two or more lenses, the first lens (231) and the second lens (234), which are prerequisites of the lidar device (1000) according to one embodiment of the present invention, are provided, it is difficult to exhibit specifications similar to those of the present invention.

[0120] For example, if the number of lenses increases, there is a problem that the weight of the overall device increases along with the economic burden, and even if the number of lenses is reduced, if the preferred examples presented in one embodiment of the present invention are not satisfied, there may be a problem that the length of the entire optical system becomes longer, making it impossible to miniaturize the device.

[0121] As a result, the lidar device (1000) according to one embodiment of the present invention may have the advantage of reducing cost and weight and effectively reducing the length of the entire optical system by having a minimum number of lenses with a field of view of 5 to 15 degrees, preferably 10 degrees, while satisfying the specifications presented above.

[0122] At this time, if the field of view (FOV) of the lidar device (1000) according to one embodiment of the present invention is 5 to 15 degrees and the above-described conditions are satisfied, a result as in FIG. 8 can be obtained.

[0123] Specifically, FIG. 8 shows a simulation result of Ensquared Energy according to one embodiment of the present invention. Specifically, Ensquared Energy is energy that enters a certain area, and FIG. 8 shows a simulation result for the amount of Ensquared Energy.

[0124] More specifically, as illustrated in FIG. 8a, when the field of view (FOV) is defined as 10 degrees, light incident on the lidar device (1000) at 20 degrees can have an in-square air ratio of 92 to 95% when the length in one direction of the square is 25 μm as described above, and can exceed 88% when the length in one direction of the square is 15 μm.

[0125] In addition, as shown in FIG. 8b, when the field of view (FOV) is defined as 10 degrees, light incident on the lidar device (1000) at 85 degrees can exceed 85% when it is 16 μm as shown, and when the length of one direction of the square is 25 μm, the in-squared energy can be 92 to 95%, similar to light incident at 20 degrees.

[0126] That is, when the length in one direction of the square is set to 25 μm, the light incident on the lidar device (1000) according to one embodiment of the present invention has a similar range in the range of 20 to 85 degrees, and this may have the advantage of securing a similar squared energy and thus a higher resolution when the length in one direction of the square is set to 25 μm regardless of the range of the light incident on the lidar device (1000).

[0127] Meanwhile, in order to explain a lidar device according to another embodiment of the present invention based on the lidar device according to the above-described embodiment, reference may be made to FIGS. 9 to 12.

[0128] Specifically, FIG. 9 is a drawing illustrating a lens group of a lidar device according to another embodiment of the present invention, FIG. 10 is a drawing illustrating a first lens of a lidar device according to another embodiment of the present invention, FIG. 11 is a drawing illustrating a second lens of a lidar device according to another embodiment of the present invention, and FIG. 12 is a drawing illustrating an Ensquared Energy simulation result of a lidar device according to another embodiment of the present invention.

[0129] First, a lidar device (1000) according to another embodiment of the present invention will be described. It basically has a structure similar to that of the first embodiment, and in order to help understand the present invention similarly to the above, the description will be based on a configuration excluding the window (1250).

[0130] In addition, the light receiving unit (1200) according to another embodiment of the present invention includes a micro lens array (1220) and a sensor unit (1210) as illustrated in FIG. 2. However, in order to help understand the present invention in detail, the micro lens array (1220) and the sensor unit (1210) will be described together as a sensor unit (1210) in the process of explaining FIGS. 9 to 12. This is only to help understand the invention, and may not be limited to what is necessarily mentioned and illustrated.

[0131] First, as illustrated in FIG. 9, a lidar device (1000) according to another embodiment of the present invention includes a sensor unit (1210), a lens unit (1230), and a filter unit (1240), and the lens unit (1230) may be composed of a first lens (1231) and a second lens (1234).

[0132] Here, the sensor unit (1210) may form an image by incident light that has passed through the filter unit (1240), the first lens (1231), and the second lens (1234), and if the path of light movement is defined as going from the water side to the upper side based on FIG. 9, the sensor unit (1210) may be positioned at the very end of the optical path.

[0133] Meanwhile, the filter unit (1240) may be a band pass filter that transmits light in the SWIR wavelength band as described above, and specifically, may transmit light in the wavelength band of 900 nm to 2,500 nm.

[0134] Here, it may be most desirable for the filter unit (1240) to transmit light in the wavelength band of 1350 nm to 1450 nm among the wavelength bands of 900 nm to 2,500 nm.

[0135] Meanwhile, the first lens (1231) and the second lens (1234) are arranged between the filter unit (1240) and the sensor unit (1210), and the filter unit (1240), the first lens (1231), the second lens (1234), and the sensor unit (1210) can be arranged sequentially along the optical path.

[0136] Here, the first lens (1231) is divided into a water side (1232) facing the water side and an upper side (1233) facing the sensor unit (1210), and the second lens (1234) can also be divided into a water side (1235) facing the water side and an upper side (1236) facing the sensor unit (1210).

[0137] At this time, the first lens (1231) has negative power, the second lens (1234) has positive power, and the field of view (FOV) secured at a long distance by the light receiving unit (1200) through the filter unit (1240), the first lens (1231), the second lens (1234) and the sensor unit (1210) may be 25 to 35 degrees.

[0138] In addition, the water-side surface (1232) of the first lens (1231) may be convex, the upper-side surface (1233) of the first lens (1231) may be concave, the water-side surface (1235) of the second lens (1234) may be convex, and the upper-side surface (1236) of the second lens (1234) may be convex.

[0139] At this time, the water-side surface (1232) of the first lens (1231) is provided to be convex from the upper side toward the water side, the upper side surface (1233) of the first lens (1231) is provided to be concave from the upper side toward the water side, the water-side surface (1235) of the second lens (1234) is convex from the upper side toward the water side, and the upper side surface (1236) of the second lens (1234) may be convex from the water side toward the upper side.

[0140] This is because, similar to the above-described FIG. 5, there is a possibility that the upper surface (1233) of the first lens (1231) and the upper surface (1236) of the second lens (1234) may be judged as convex surfaces toward the water side depending on the angle from which the image is viewed based on FIG. 9, and thus, it is explained in this limited manner. This is only a difference in the expression and understanding of words, and since the shape is the same, it is not necessarily limited to what has been mentioned, and if the same shape is explained with different expressions and standards based on the criteria described above, it is not limited thereto, but an explanation that deviates from the shape in the description of the shape may not be included here.

[0141] Meanwhile, a part of the circumference of the upper surface (1233) of the first lens (1231) may be formed with a second parallel surface (1233a) that is parallel to a direction perpendicular to the direction from the water side toward the upper side, or alternatively, a direction perpendicular to the direction from the filter part (1240) toward the sensor part (1210).

[0142] In addition, at least one of the water-side surface (1232) of the first lens (1231), the image-side surface (1233) of the first lens (1231), the water-side surface (1235) of the second lens (1234), and the image-side surface (1236) of the second lens (1234) is provided in an aspherical shape, and preferably, only the image-side surface (1236) of the second lens (1234) can be provided in an aspherical shape.

[0143] This is because the lens unit (1230) in the lidar device (1000) according to another embodiment of the present invention is composed of a first lens (1231) and a second lens (1234), and only the upper surface (1236) of the second lens (1234) is formed in an aspherical shape, thereby reducing the number of lenses between the filter unit (1240) and the sensor unit (1210), thereby reducing the overall mechanical length.

[0144] Additionally, the air gap between the first lens (1231) and the second lens (1234) is spaced apart by the second air gap (L2), and the second air gap (L2) may be 15 to 40 mm.

[0145] Here, the second air gap (L2) between the first lens (1231) and the second lens (1234) is described as an air gap because a separate lens is not arranged between the first lens (1231) and the second lens (1234). If a separate lens is arranged between the first lens (1231) and the second lens (1234), the prerequisites and functions of the lidar device (1000) according to other embodiments may not be able to be achieved.

[0146] For example, the air gap of the second air gap (L2) according to another embodiment of the present invention is a matter in which various factors including the refractive index of each of the first lens (1231) and the second lens (1234), the range of the second air gap (L2), the wavelength band filter range of the filter unit (1240), etc. are taken into consideration, without providing a separate lens between the first lens (1231) and the second lens (1234), and it may not be desirable to add a separate lens between the first lens (1231) and the second lens (1234), or to provide a separate lens other than the first lens (1231) and the second lens (1234).

[0147] Meanwhile, for this purpose, the field of view (FOV) of the lidar device (1000) according to another embodiment of the present invention may be 25 to 35 degrees, the second air gap (L2) may be 15 to 40 mm, and the average of the refractive index of the first lens (1231) and the refractive index of the second lens (1234) may be 1.65 to 1.85.

[0148] That is, by satisfying the conditions described above to increase the efficiency of the lidar device (1000) while reducing the overall number of lenses, there may be an advantage in that the overall optical system, specifically the mechanical length, can be reduced.

[0149] Meanwhile, although not shown, a lidar device (1000) according to another embodiment of the present invention may further include an aperture, and the aperture may be positioned between the first lens (1231) and the second lens (1234).

[0150] Meanwhile, as illustrated in FIG. 10, the edge thickness (T5) of the first lens (1231) and the center thickness (T6) of the first lens (1231) may be formed differently from each other, and in particular, since a second parallel surface (1233a) is formed around the upper surface (1233) of the first lens (1231), specifically, the edge thickness (T5) of the first lens (1231) may be 0.5 to 1.5 times the center thickness (T6) of the first lens (1231).

[0151] At this time, the edge thickness (T5) of the first lens (1231) may mean the distance between the water side (1232) of the first lens (1231) and the upper side (1233) of the first lens (1231) based on a point located at the outermost end in the vertical direction.

[0152] In addition, the center thickness (T6) of the first lens (1231) may be the distance between the water-side surface (1232) of the first lens (1231) and the upper side surface (1233) of the first lens (1231) in the direction from the water side to the upper side based on the center of an imaginary line connecting a point at the uppermost position and a point at the lowermost position in the vertical direction.

[0153] At this time, the center thickness (T6) of the first lens (1231) may be the thickness at a position where the same standard is applied in the second direction perpendicular to the first direction corresponding to the optical axis direction facing upward from the water side based on FIG. 10.

[0154] Meanwhile, as illustrated in FIG. 11, the upper surface (1236) of the second lens (1234) is formed in an aspherical shape, and the edge thickness (T7) of the second lens (1234) and the center thickness (T8) of the second lens (1234) may be formed differently from each other, and specifically, the edge thickness (T7) of the second lens (1234) may be 1.5 to 2.5 times the center thickness (T8) of the second lens (1234).

[0155] In addition, the center thickness (T8) of the second lens (1234) is the same as the standard applied to the center thickness (T6) of the first lens (1231) as described above, and may be the distance from the water-side surface (1235) of the second lens (1234) to the upper side surface (1236) of the second lens (1234) at the center position in the vertical direction, which is the first direction, and the center position in the second direction.

[0156] Meanwhile, the light receiving unit (1200) including the first lens (1231) and the second lens (1234) of the lidar device (1000) according to another embodiment of the present invention may have the following specifications.

[0157] Item Specifications Field of View (FOV) 25 to 35 degrees F Number 3.5 Effective Focal Length (EFL) 24.47 μm F-theta Distortion -19.0 μm Relative Illumination (RI) 95.4% Ensquared Energy (25 μm square) >91.5% Chiar Ray Angle (CRA) 2.88 deg TTL (including filter (1240)) 79.03 mm BFL (including sensor (1210)) 32.85 mm

[0158] As explained based on the presented [Table 2], the lidar device (1000) according to another embodiment of the present invention may have an F number of 3.5 when the field of view (FOV) is 25 to 35 degrees.

[0159] Additionally, the effective focal length (EFL) can be 24.47 μm and can have a range of 23.5 to 25.5 μm, and the distortion based on F-theta can be -19.0 μm and can have a range of -18.5 to -19.5 μm.

[0160] At this time, the focus, which is the standard for the effective focal length, can be determined based on the front of the sensor unit (1210).

[0161] In addition, the relative illumination (RI) refers to the ratio of the amount of light incident on the periphery of the sensor unit (1210) to the amount of light incident on the center of the sensor unit (1210), and the relative illumination ratio may be 95.4%, or in other words, the amount of light incident on the periphery of the sensor unit (1210) is 95.4% of the amount of light incident on the center, and preferably, the amount of light incident on the periphery of the sensor unit (1210) may be 94.5% to 96.5% of the amount of light incident on the center.

[0162] In addition, the in-squared energy may exceed 91.5% based on a square of 25 μm, and as described above, the amount of incident energy based on a square area of ​​25 μm may exceed 91.5% of the total amount of energy, and preferably, the in-squared energy may be 90 to 93% based on a square of 25 μm.

[0163] In addition, the Chier Ray Angle (CRA) is a sensor unit (1210) in which there are light-sensitive and light-insensitive areas, that is, light-receiving and light-non-receiving areas, and light must be introduced within a certain angle range to clearly confirm the image without shading, and the angle range in which light must be incident on the sensor unit (1210) may be 2.88 deg.

[0164] In other words, the light must pass through the second lens (1234) and be incident in the range of 2.88 deg, and preferably the Chiere ray angle can be 2.5 to 3.0 deg.

[0165] Meanwhile, the total track distance (Total Top Length or Total Track Length, TTL) is the distance from the sensor unit (1210) to the first surface of the lidar device (1000) based on the focus, the lidar device (1000) according to another embodiment of the present invention, including the filter unit (1240), and preferably, the total track distance may be 75 to 85 mm.

[0166] Here, the filter unit (1240), the first lens (1231), and the second lens (1234) are included within the total track distance.

[0167] Meanwhile, the back focal length (BFL) may be the distance from the upper surface (1236) of the second lens (1234) to the front surface of the sensor unit (1210), and the distance from the upper surface (1236) of the second lens (1234) to the front surface of the sensor unit (1210) is 32.85 mm, and preferably, the back focal length may be 31.5 to 34.5 mm.

[0168] In the detailed description of the present invention, the specific specifications of the present invention are presented and explained in this way to explain that, in order to solve the problem of a plurality of lenses being provided in the past or the length of the optical system itself being excessively long, the lidar device (1000) according to another embodiment is composed of only two lenses, a first lens (1231) and a second lens (1234), and thus it is desirable to satisfy the presented conditions, and in order to explain that it is difficult to exhibit specifications similar to those of the present invention when two or more lenses, a first lens (1231) and a second lens (1234), which are prerequisites of the lidar device (1000) according to another embodiment of the present invention, are provided.

[0169] For example, if the number of lenses increases, there is a problem that the weight of the overall device increases along with the economic burden, and even if the number of lenses is reduced, if the preferred examples presented in other embodiments of the present invention are not satisfied, there may be a problem that the length of the entire optical system becomes longer, making it difficult to miniaturize the device.

[0170] As a result, the lidar device (1000) according to another embodiment of the present invention may have the advantage of reducing cost and weight and effectively reducing the length of the entire optical system by having a minimum number of lenses with a field of view of 25 to 35 degrees, preferably 30 degrees, while satisfying the specifications presented above.

[0171] At this time, when the field of view (FOV) of the lidar device (1000) according to another embodiment of the present invention is 25 to 35 degrees, if the above-described conditions are satisfied, a result as in FIG. 12 can be obtained.

[0172] Specifically, FIG. 12 shows a simulation result of Ensquared Energy according to another embodiment of the present invention. Specifically, Ensquared Energy is energy that enters a certain area, and FIG. 12 shows a simulation result for the amount of Ensquared Energy.

[0173] More specifically, as previously described, when 25 μm is used as the standard, the in-square air content can be 90 to 93%, and when 16 μm is used, it can exceed 88%.

[0174] Specifically, as shown in FIG. 12a, when the field of view (FOV) is defined as 30 degrees, light incident on the lidar device (1000) at 20 degrees can have an in-square air ratio of 90 to 93% when the length in one direction of the square is 25 μm as described above, and can exceed 88% when the length in one direction of the square is 15 μm.

[0175] In addition, as shown in FIG. 12b, when the field of view (FOV) is defined as 10 degrees, light incident on the lidar device (1000) at 85 degrees can exceed 85% when it is 17.5 μm as shown, and when the length in one direction of the square is 25 μm, the in-squared energy can be 90 to 93%, similar to light incident at 20 degrees.

[0176] That is, when the length in one direction of the square is set to 25 μm, there may be an effect having a similar range in the range of 20 to 85 degrees of light incident on the lidar device (1000) according to another embodiment of the present invention.

[0177] Meanwhile, reference may be made to FIGS. 13 to 15 to explain a lidar system according to an embodiment of the present invention.

[0178] FIG. 13 is a perspective view of a lidar system according to an embodiment of the present invention, FIG. 14 is an exploded view of a lidar system according to an embodiment of the present invention, and FIG. 15 is an exploded view of a lidar device according to an embodiment of the present invention.

[0179] Referring to FIGS. 13 to 15, the light emitting unit (100) and the light receiving unit (200) may be accommodated within a housing (50) of a lidar system (1200). As illustrated, one lidar system (1200) may include a plurality of lidar devices (1000). For example, each lidar device (1000) included within one lidar system (1200) may include a light emitting unit (100) and a light receiving unit (200), and the two lidar devices (1000) may be arranged to face opposite directions. One of the two lidar devices may be a mid-range lidar device, and the other may be a long-range lidar device.

[0180] A plurality of openings may be formed in the housing (50). Among the plurality of openings, a first opening (51) may be arranged to correspond to a window (250) of a lidar device (1000) and may serve as a passage for light emission and light reception. Among the plurality of openings, a second opening (52) may serve as a passage for dissipating heat generated from a lidar device (1000) housed within the housing (50).

[0181] The number of first openings (51) may be less than the number of second openings (52), and the diameter of the first opening (51) may be greater than the diameter of the second opening (52). Since the first openings (51) are arranged to correspond to the windows (250) of the lidar device (1000), the number of first openings (51) formed in the housing (50) may be equal to the number of lidar devices (1000) accommodated in the housing (50).

[0182] Each lidar device (1000) includes a light emitting unit (100) and a light receiving unit (200), and for this purpose, each lidar device (1000) may further include a mount (600) on which the light emitting unit (100) and the light receiving unit (200) are mounted. The light emitting unit (100) is placed on the side of the light receiving unit (200), and both light emitted from the light emitting unit (100) and light reflected from an object and then incident on the light receiving unit (200) can pass through the window (250).

[0183] Although not specifically illustrated, the light emitting unit (100) may include a substrate, a light source, an optical member, a shield member, and a diffusion member. The substrate may include a printed circuit board (PCB). The substrate may also be connected to a connector via an FPCB. The light source is disposed on the substrate, and the substrate may include a terminal. The light source may correspond to the light source (110) of the light emitting unit (100) described above. That is, the light source may include a plurality of emitters disposed in an array shape. The operation of the plurality of emitters may be individually controlled or integrated. Alternatively, the light source may be an edge emitting laser diode (EEL). The optical member may collect light emitted from the light source or convert the optical path of the light emitted from the light source. For example, when the light source is not disposed to face the window (250), the optical member may convert the optical path so that the light emitted from the light source is emitted through the window (250). The optical member may correspond to the condenser lens (120) of the light-emitting unit (100) described above. The shield member surrounds the substrate and the light source, may be referred to as a cover can, may be non-magnetic, and may thus block electromagnetic interference (EMI). The diffusion member may be a diffuser lens or a homogenizer. The diffusion member may be arranged on the optical path of light emitted from the light source. The diffusion member may correspond to the first and second homogenizer lenses (130, 140) of the light-emitting unit (100) described above.

[0184] In addition, as described above, the light receiving unit (200) may include a sensor unit (210) and a lens unit (230). The sensor unit (210) may include a substrate, a sensor unit (210) disposed on the substrate, and a micro lens array (220) disposed on the sensor unit (210). The sensor unit (210) may detect infrared or near-infrared light. The sensor unit (210) may detect light of a specific wavelength among infrared or near-infrared light. The lens unit (230) may include a lens barrel, a plurality of lenses, a filter, and a lens hood. The sensor unit (210) may detect light that has passed through the filter. The sensor unit (210) may detect light in the wavelength band of the light source. Through this, the sensor unit (210) may detect light emitted from the light source and reflected on the subject, thereby sensing 3D image information of the subject.

[0185] As described above, the lidar device according to an embodiment of the present invention may be a mechanical lidar device. Accordingly, the lidar device according to an embodiment of the present invention may be designed to rotate 360 ​​degrees by a motor.

[0186] 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.

[0187] 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. Sensor part; A lens part arranged on the above sensor part, and Including a filter part arranged on the above lens part, The above lens unit is composed of a first lens and a second lens sequentially arranged in a direction from the filter unit toward the sensor unit, At least one of the water-side surface of the first lens, the image-side surface of the first lens, the water-side surface of the second lens, and the image-side surface of the second lens is aspherical, The average of the refractive index of the first lens and the refractive index of the second lens is 1.65 to 1.85, The above filter unit is a lidar device that transmits light with a wavelength of 900 nm to 2,500 nm.

2. In paragraph 1, The above second lens is a lidar device having positive power.

3. In paragraph 2, A lidar device with a field of view (FOV) of 5 to 15 degrees.

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

5. In paragraph 3, A lidar device wherein the air gap between the first lens and the second lens is 30 to 60 mm.

6. In paragraph 3, The above first lens has positive power, A lidar device in which the water-side surface of the first lens is convex, the image-side surface of the first lens is concave, the water-side surface of the second lens is convex, and the image-side surface of the second lens is concave.

7. In paragraph 6, The upper surface of the second lens is such that a portion of the circumference is parallel to the vertical direction, A lidar device in which the vertical direction is perpendicular to the direction from the filter unit to the sensor unit.

8. In paragraph 3, Including more aperture, A lidar device wherein the aperture is positioned adjacent to the first lens between the object and the water side of the first lens.

9. In paragraph 2, A lidar device with a field of view (FOV) of 25 to 35 degrees.

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

11. In paragraph 9, A lidar device wherein the air gap between the first lens and the second lens is 15 to 40 mm.

12. In paragraph 9, The above first lens has negative power, A lidar device wherein the water-side surface of the first lens is convex, the image-side surface of the first lens is concave, the water-side surface of the second lens is convex, and the image-side surface of the second lens is convex.

13. In paragraph 12, The upper surface of the first lens is such that a portion of the circumference is parallel to the vertical direction, A lidar device in which the vertical direction is perpendicular to the direction from the filter unit to the sensor unit.

14. In paragraph 9, Including more aperture, A lidar device wherein the aperture is positioned between the object and the first lens and the second lens.

15. In paragraph 9, A lidar device in which only the surface of the second lens facing the sensor unit has an aspherical shape.

16. In paragraph 1, The above filter unit is a lidar device which is a band pass filter that transmits light with a wavelength of 1350 nm to 1450 nm.

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