Lidar device comprising laser emitting assembly and laser detecting assembly

Abstract

The present disclosure discloses a light detection and ranging (LiDAR) device. In particular, the LiDAR device comprises: a two-dimensional vertical cavity surface emitting laser (VCSEL) array including a plurality of VCSELs; a two-dimensional detector array including a plurality of detectors; an emitting lens assembly that steers each of a plurality of laser beams generated from the two-dimensional VCSEL array in predetermined directions corresponding thereto; and a detecting lens assembly that transmits incoming light to the LiDAR device to the two-dimensional detector array, wherein the detecting lens assembly is composed of at least one symmetrical lens, and the emitting lens assembly includes at least one cylindrical lens.

Description

A lidar device comprising a laser emitting assembly and a laser detecting assembly

[0001] The present disclosure relates to a lidar device including a laser emitting assembly that outputs a laser and a laser detecting assembly, and more particularly, to a laser emitting assembly that can minimize a difference in resistance according to the positions of laser emitting units included in the laser emitting assembly and ensure an area of ​​interest of the laser emitting assembly, and a lidar device including the same.

[0002]

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

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

[0005]

[0006] The present disclosure relates to a laser emitting assembly capable of reducing the difference in resistance according to the position of laser emitting units and efficiently outputting laser.

[0007] The present disclosure relates to a laser emitting assembly for securing a sufficient area in which a lidar device can measure a distance to a target.

[0008] The problems to be solved in this disclosure are not limited to the problems described above, and problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which this disclosure pertains from this specification and the attached drawings.

[0009]

[0010] In an embodiment of the present disclosure, a LiDAR (Light Detection and Ranging) device comprises a two-dimensional VCSEL array including a plurality of VCSELs (Vertical Cavity Surface Emitting Arrays), wherein a VCSEL arranged in a first column of an X-th row of the two-dimensional VCSEL array is spaced apart from a VCSEL arranged in a last column of the X-th row by a first distance, a VCSEL arranged in a first row of a Y-th column of the two-dimensional VCSEL array is spaced apart from a VCSEL arranged in a last row of the Y-th column by a second distance, and all VCSELs arranged in the X-th row of the two-dimensional VCSEL array are supplied with electrical energy through the same electrical contact; A two-dimensional detector array comprising a plurality of detectors, wherein a detector arranged in a first column of an M-th row of the two-dimensional detector array is spaced apart from a detector arranged in a last column of the M-th row by a third distance, a detector arranged in a first row of an N-th column of the two-dimensional detector array is spaced apart from a detector arranged in a last row of the N-th column by a fourth distance, the third distance being greater than the fourth distance, and a first aspect ratio of the two-dimensional pixel array defined by {(the first distance) / (the second distance)} is less than a second aspect ratio of the two-dimensional detector array defined by {(the third distance) / (the fourth distance)};An emitting lens assembly for steering each of a plurality of laser beams generated from the two-dimensional pixel array in predetermined directions corresponding thereto, wherein the plurality of laser beams steered by the emitting lens assembly illuminate a rectangular illumination area, the rectangle having a horizontal length and a vertical length shorter than the horizontal length, and the illumination area having a third aspect ratio defined by {(the horizontal length) / (the vertical length)}; and a receiving lens assembly for transmitting incoming light to the lidar device to the two-dimensional detector array, wherein the detecting lens assembly focuses the light at a focal position determined according to the incident direction of the light; The detecting lens assembly comprises at least one symmetrical lens, and the emitting lens assembly comprises at least one cylindrical lens, wherein the at least one cylindrical lens has an optical center line parallel to the Y-th column such that the third aspect ratio is greater than the first aspect ratio, and a difference between the third aspect ratio and the first aspect ratio may be greater than a difference between the third aspect ratio and the second aspect ratio.

[0011]

[0012] According to the present disclosure, the difference in resistance according to the position of the laser emitting units can be reduced, and the laser can be output efficiently.

[0013] In addition, according to the present disclosure, it is possible to sufficiently secure an area of ​​interest formed by steering the laser beams output by the laser emitting units.

[0014] The effects of the present disclosure are not limited to the effects described above, and effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present disclosure pertains from this specification and the attached drawings.

[0015]

[0016] FIG. 1 is a drawing for explaining a lidar device according to one embodiment.

[0017] Figure 2 is a drawing showing various embodiments of a lidar device.

[0018] FIG. 3 is a diagram for explaining the operation of a lidar device and lidar data according to one embodiment.

[0019] Figures 4 to 6 are drawings for explaining the lighting area, detection area, and measurable area to be described in the present disclosure.

[0020] FIG. 7 is a diagram for explaining lidar data according to one embodiment.

[0021] FIG. 8 is a diagram for explaining lidar data according to one embodiment.

[0022] FIG. 9 is a diagram for explaining information included in attribute data according to one embodiment.

[0023] Fig. 10 is a drawing for explaining a lidar device according to one embodiment.

[0024] FIG. 11 is a drawing for explaining a laser emitting array and a laser detecting array included in a lidar device according to one embodiment.

[0025] FIG. 12 and FIG. 13 are drawings for explaining a lidar device according to one embodiment.

[0026] FIG. 14 and FIG. 15 are drawings for explaining a laser emitting module and a laser detecting module according to one embodiment.

[0027] FIG. 16 and FIG. 17 are drawings for explaining an emitting lens module and a detecting lens module according to one embodiment.

[0028] FIG. 18 is a drawing for explaining a pixel element that can be used as a laser emitting element according to one embodiment.

[0029] FIGS. 19 to 21 are drawings for explaining a laser emitting array according to an embodiment of the present disclosure.

[0030] FIGS. 22 to 29 are drawings for explaining the resistance of a laser emitting unit according to an embodiment of the present disclosure.

[0031] FIGS. 30 to 33 are drawings for explaining a method for reducing the resistance of a laser emitting unit included in a laser emitting array in the present disclosure and problems resulting therefrom.

[0032] Figure 34 is a drawing for explaining the structure of the emitting lens assembly and the detecting lens assembly.

[0033] FIGS. 35 to 38 are drawings for explaining the arrangement of the emitting lens assembly and the detecting lens assembly according to an embodiment of the present disclosure and the resulting effects.

[0034] FIG. 39 is a drawing for explaining a method of connecting a voltage supply unit and a common contact through a transmission line according to an embodiment of the present disclosure.

[0035] Figures 40 and 41 are drawings for explaining the eye-safety of the lidar device.

[0036] FIG. 42 is a drawing illustrating another example of a laser emitting array according to an embodiment of the present disclosure.

[0037]

[0038] Since the embodiments described in this specification are intended to clearly explain the spirit of the present disclosure to a person having ordinary skill in the art to which the present disclosure pertains, the present disclosure is not limited to the embodiments described in this specification, and the scope of the present disclosure should be interpreted to include modified or altered examples that do not depart from the spirit of the present disclosure.

[0039] The terms used in this specification have been selected from widely used terms as much as possible, taking into account the functions of the present disclosure. However, this may vary depending on the intentions of those skilled in the art, precedents, or the emergence of new technologies. However, if a specific term is defined and used with an arbitrary meaning, the meaning of that term will be described separately. Therefore, the terms used in this specification should be interpreted based on the actual meaning of the term and the overall content of this specification, rather than simply the name of the term.

[0040] The drawings attached to this specification are intended to facilitate explanation of the present disclosure, and the shapes depicted in the drawings may be exaggerated as necessary to help understanding of the present disclosure, and thus the present disclosure is not limited by the drawings.

[0041] When an element or layer described herein is referred to as being “on” or “on” another element or layer, it may include not only directly on top of the other element or layer, but also cases where there is another layer or other component interposed therebetween.

[0042] Throughout this specification, identical reference numbers may, in principle, represent identical components.

[0043] The numbers (e.g., first, second, etc.) used in the description of this specification can be understood as identification symbols to distinguish one component from another.

[0044] The suffixes “module” and “part” used for components in the description of this specification are used or used interchangeably depending on the ease of writing the specification, and may not have distinct meanings or roles in themselves.

[0045] In this specification, if it is determined that a detailed description of the structure or function of the notice related to the present disclosure may obscure the gist of the present disclosure, a detailed description thereof will be omitted as necessary.

[0046]

[0047] Meanwhile, the present disclosure discloses embodiments of a LiDAR (Light Detection and Ranging) device. According to an embodiment of the present disclosure, the LiDAR device includes a two-dimensional VCSEL array including a plurality of VCSELs (Vertical Cavity Surface Emitting Arrays), wherein a VCSEL arranged in a first column of an X-th row of the two-dimensional VCSEL array is spaced apart from a VCSEL arranged in a last column of the X-th row by a first distance, a VCSEL arranged in a first row of a Y-th column of the two-dimensional VCSEL array is spaced apart from a VCSEL arranged in a last row of the Y-th column by a second distance, and all VCSELs arranged in the X-th row of the two-dimensional VCSEL array are supplied with electrical energy through the same electrical contact; A two-dimensional detector array comprising a plurality of detectors, wherein a detector arranged in a first column of an M-th row of the two-dimensional detector array is spaced apart from a detector arranged in a last column of the M-th row by a third distance, a detector arranged in a first row of an N-th column of the two-dimensional detector array is spaced apart from a detector arranged in a last row of the N-th column by a fourth distance, the third distance being greater than the fourth distance, and a first aspect ratio of the two-dimensional pixel array defined by {(the first distance) / (the second distance)} is less than a second aspect ratio of the two-dimensional detector array defined by {(the third distance) / (the fourth distance)};An emitting lens assembly for steering each of a plurality of laser beams generated from the two-dimensional pixel array in predetermined directions corresponding thereto, wherein the plurality of laser beams steered by the emitting lens assembly illuminate a rectangular illumination area, the rectangle having a horizontal length and a vertical length shorter than the horizontal length, and the illumination area having a third aspect ratio defined by {(the horizontal length) / (the vertical length)}; and a detecting lens assembly for transmitting incoming light to the lidar device to the two-dimensional detector array, wherein the detecting lens assembly focuses the light to a focal position determined according to the incident direction of the light; The receiving lens assembly comprises at least one symmetrical lens, and the output lens assembly comprises at least one cylindrical lens, wherein the at least one cylindrical lens has an optical center line parallel to the Y-th column such that the third aspect ratio is greater than the first aspect ratio, and a difference between the third aspect ratio and the first aspect ratio may be greater than a difference between the third aspect ratio and the second aspect ratio.

[0048] Here, the first distance may be greater than the second distance, and the number of all pixels arranged in the Xth row may be greater than the number of all pixels arranged in the Yth column.

[0049] Here, the emitting lens assembly may further include one or more symmetrical lenses.

[0050] Here, the one or more symmetric lenses may be interposed between the at least one cylindrical lens and the two-dimensional pixel array.

[0051] Here, among the plurality of pixels arranged in the Xth row, the interval between two adjacent first pixels may be shorter than the interval between two adjacent second pixels among the plurality of pixels arranged in the Yth column.

[0052] Here, the length of the same electrical contact in the column direction may depend on the spacing between the second pixels, and the length of the same electrical contact in the row direction may depend on the spacing between the first pixels.

[0053] Here, the same electrical contact has a first end and a second end arranged on the opposite side of the first end, a first transmission line is connected to the first end, a second transmission line is connected to the second end, and the first transmission line and the second transmission line may be for supplying electrical energy to the same electrical contact.

[0054] Here, the first transmission line connects the first terminal and the first voltage supply unit, the second transmission line connects the second terminal and the second voltage supply unit, and the lengths of the first transmission line and the second transmission line may be the same.

[0055] Here, the plurality of detectors may be SPAD (Single Photon Avalanche Diode).

[0056]

[0057] [General LiDAR Device]

[0058] Below, a lidar device according to the present disclosure is described.

[0059] However, the LiDAR device described in this specification can be understood as a concept that includes various devices that measure distance using lasers, and can be understood as a concept that includes, for example, LiDAR (Light Detection And Ranging), TOF sensor (Time-of-Flight sensor), etc., but is not limited thereto.

[0060] A lidar device is a device that uses a laser to detect the distance between a target and the lidar device (hereinafter, the distance of the target means the distance between the target and the lidar device) and the relative position of the target based on the lidar device. For example, the lidar device can output a laser, and when the output laser is reflected from the target, the lidar device can receive or sense the reflected laser to measure the distance between the target and the lidar device and the position of the target. At this time, the distance and position of the target can be expressed through a coordinate system. For example, the distance and position of the target can be expressed in a spherical coordinate system (r, θ, φ). However, the present invention is not limited thereto, and can be expressed in a rectangular coordinate system (X, Y, Z) or a cylindrical coordinate system (r, θ, z).

[0061] Additionally, at this time, the object may mean at least one object or at least a part of an object.

[0062] Additionally, a lidar device according to one embodiment may utilize a laser output from the lidar device and reflected from the object to measure the distance to the object.

[0063] For example, a lidar device according to one embodiment may utilize the time of flight (TOF) of a laser from the time the laser is output until it is detected to measure the distance to an object.

[0064] For a more specific example, a lidar device according to one embodiment can measure the distance to an object by using the difference between a time value based on the output time of an output laser and a time value based on the detected time of a laser reflected from an object and detected.

[0065] At this time, a time value based on the output time of the laser can be obtained based on a control unit included in a lidar device according to one embodiment.

[0066] For example, the time value based on the laser output time may be obtained based on the generation time of a trigger signal generated by a control unit included in a lidar device according to one embodiment, but is not limited thereto.

[0067] Additionally, a time value based on the output time of the laser can be obtained based on a laser output unit included in a lidar device according to one embodiment.

[0068] For example, a time value based on the output time of the laser may be obtained by detecting the operation of a laser output unit included in a lidar device according to one embodiment, but is not limited thereto.

[0069] At this time, detection of the operation of the laser output unit may mean detection of the flow of current of the laser output unit, change in electric field, etc., but is not limited thereto.

[0070] Additionally, a time value based on the output time of the laser can be obtained based on a detector unit included in a lidar device according to one embodiment.

[0071] For example, the time value based on the laser output time may be obtained based on the time value at which the detector unit included in the lidar device according to one embodiment detects a laser that is not reflected from the target object, but is not limited thereto.

[0072] At this time, a reference optical path may be provided for the laser output from the laser output unit to be received by the detector unit, but is not limited thereto. For example, some of the multiple laser beams generated from the laser output unit and irradiated at the same time toward the field of view (FOV) may be transmitted to the detector unit instead of irradiating them outside the lidar device, so that the exact time at which the lasers are emitted can be detected by the detector unit.

[0073] Additionally, a time value based on the detected time of the laser reflected from the target object can be obtained based on a detector unit included in a lidar device according to one embodiment.

[0074] For example, a time value based on the detected time of a laser reflected from the target object may be obtained based on a time value of a laser reflected from the target object detected by a detector unit included in a lidar device according to one embodiment, but is not limited thereto.

[0075] The time length between the laser output point when the laser is transmitted from the lidar device and the detection point when it is detected by the detector unit can be the time of flight (TOF). That is, since the speed of the laser (light) is already precisely known, under the assumption that the laser transmitted from the lidar device, reflected by the target object, and returned again is what generated the detection result of the detector unit, the distance between the target object and the lidar device is calculated based on the already known speed of light and the measured flight time.

[0076] In addition, the lidar device according to one embodiment may use, but is not limited to, a triangulation method, an interferometry method, a phase shift measurement method, etc. in addition to the time of flight to measure the distance to the target object.

[0077] According to one embodiment, the lidar device may be installed on a vehicle. For example, the lidar device may be installed on the roof, hood, headlamp, or bumper of the vehicle.

[0078] The purposes of each of the multiple lidar devices installed on a vehicle may be the same or different.

[0079] Depending on the intended use (i.e., purpose) of the lidar device installed in the vehicle, the field of view range of each of the plurality of lidar devices (e.g., the field of view range determined based on the vehicle) may be determined. In addition, depending on the determined field of view range, the installation location of each lidar device (where to install it on the vehicle), maximum detection distance, minimum detection distance, distance resolution, angular resolution, vertical detection range, and horizontal detection range, etc. may be determined.

[0080] For example, when two lidar devices are installed on a vehicle, one lidar device is installed on the vehicle for the purpose of observing the front of the vehicle, and the other lidar device is installed on the vehicle for the purpose of observing the rear of the vehicle, the installation location for one lidar device may be determined to be the front part of the roof of the vehicle, the front lamp of the vehicle, the front bumper of the vehicle, etc., and the maximum detection distance may be determined to be 150 to 300 m, the minimum detection distance may be determined to be 1 to 5 m, the vertical detection range may be determined to be 10 to 45 degrees, and the horizontal detection range may be determined to be 10 to 120 degrees. In addition, for the other lidar device, the installation location may be determined to be the rear part of the vehicle's roof, the vehicle's rear signal lamp, the vehicle's rear bumper, etc., so that the maximum detection distance is 50 to 100 m, the minimum detection distance is 1 to 5 m, the vertical detection range is 10 to 60 degrees, and the horizontal detection range is 30 to 120 degrees. However, the number of lidar devices installed in the vehicle is not limited thereto and may be more. In addition, the use of the lidar device installed in the vehicle has been described only for the purpose of recognizing / detecting the external environment of the vehicle, but as described below, the use of the lidar device installed in the vehicle may be to recognize the internal environment of the vehicle in addition to recognizing the external environment of the vehicle.

[0081] In addition, according to one embodiment, the field of view of the lidar device installed in the vehicle may be directed toward the interior of the vehicle. For example, the field of view of the lidar device installed in the vehicle may be preset to recognize the driver's gesture while driving. That is, the installation location of the lidar device and the optical system of the lidar device may be preset to easily monitor the driver's gesture. For another example, the field of view of the lidar device installed in the vehicle may be preset to recognize the driver's face. That is, the installation location of the lidar device and the optical system of the lidar device may be preset to easily monitor the driver's gesture. In this case, the lidar device installed in the vehicle may be installed on the exterior of the vehicle (i.e., the exterior of the vehicle) or on the interior of the vehicle (i.e., the interior of the vehicle).

[0082] According to one embodiment, a lidar device may be installed on an unmanned aerial vehicle. For example, the lidar device may be installed on an unmanned aerial vehicle system (UAV System), a drone, a remote piloted vehicle (RPV), an unmanned aerial vehicle system (UAVs), an unmanned aircraft system (UAS), a remote piloted air / aerial vehicle (RPAV), or a remote piloted aircraft system (RPAS).

[0083] Additionally, multiple lidar devices according to one embodiment may be installed on an unmanned aerial vehicle. For example, if two lidar devices are installed on an unmanned aerial vehicle, one lidar device may be for observing the front, and the other may be for observing the rear, but the invention is not limited thereto. Additionally, for example, if two lidar devices are installed on an unmanned aerial vehicle, one lidar device may be for observing the left, and the other may be for observing the right, but the invention is not limited thereto.

[0084] According to one embodiment, a lidar device may be installed on a robot. For example, the lidar device may be installed on a personal robot, a professional robot, a public service robot, other industrial robots, or a manufacturing robot.

[0085] Additionally, in some embodiments, multiple lidar devices may be installed on the robot.

[0086] The purposes of each of the multiple lidar devices installed on the robot may be the same or different.

[0087] Depending on the purpose (i.e., the objective) of the lidar device installed on the robot, the field of view range of each of the plurality of lidar devices (e.g., the field of view range determined based on the robot) may be determined. In addition, depending on the determined field of view range, the installation location of each lidar device (where to install it on the robot), maximum detection distance, minimum detection distance, distance resolution, angular resolution, vertical detection range, and horizontal detection range, etc. may be determined.

[0088] For example, if two lidar devices are installed on a robot, one lidar device may be for observing the front and the other for observing the rear, but this is not limited to this. Furthermore, for example, if two lidar devices are installed on a robot, one lidar device may be for observing the left side and the other may be for observing the right side, but this is not limited to this.

[0089] Additionally, a lidar device according to one embodiment may be installed on a robot. For example, when a lidar device is installed on a robot, it may be for recognizing a human face, but is not limited thereto.

[0090] Additionally, a lidar device according to one embodiment may be installed for industrial security. For example, a lidar device may be installed in a smart factory for industrial security.

[0091] Additionally, according to one embodiment, multiple LiDAR devices may be installed in a smart factory for industrial security. For example, if two LiDAR devices are installed in a smart factory, one LiDAR device may be for observing the forward direction and the other for observing the rear direction, but the invention is not limited thereto. Furthermore, for example, if two LiDAR devices are installed in a smart factory, one LiDAR device may be for observing the left side and the other may be for observing the right side, but the invention is not limited thereto.

[0092] Additionally, a lidar device according to one embodiment may be installed for industrial security purposes. For example, if a lidar device is installed for industrial security purposes, it may be for recognizing human faces, but is not limited thereto.

[0093]

[0094] FIG. 1 is a drawing for explaining a lidar device according to one embodiment.

[0095] Referring to FIG. 1, a lidar device (1000) according to one embodiment may include a laser output unit (100).

[0096] At this time, the laser output unit (100) according to one embodiment can generate or output a laser.

[0097] Additionally, the laser output unit (100) according to one embodiment may include one or more laser emitting elements.

[0098] For example, the laser output unit (100) according to one embodiment may include a single laser emitting element, or may include a plurality of laser emitting elements.

[0099] In addition, the laser output unit (100) according to one embodiment may be configured as an array in which a plurality of laser emitting elements are arranged in an array form, but is not limited thereto.

[0100] For example, the laser output unit (100) according to one embodiment may be implemented as a VCSEL array in which a plurality of VCSELs (Vertical Cavity Surface Emitting Lasers) are arranged in an array form, but is not limited thereto.

[0101] In addition, the laser output unit (100) according to one embodiment may include a laser emitting element such as a laser diode (LD), a solid-state laser, a high power laser, a light entitling diode (LED), a vertical cavity surface emitting laser (VCSEL), an external cavity diode laser (ECDL), etc., but is not limited thereto.

[0102] Additionally, the wavelength of the laser output from the laser output unit (100) according to one embodiment may be located within a specific wavelength range.

[0103] For example, the wavelength of the laser output from the laser output unit (100) according to one embodiment may be located in the 905 nm band, may be located in the 940 nm band, or may be located in the 1550 nm band, but is not limited thereto.

[0104] At this time, the wavelength band may mean a band within a certain range based on the center wavelength.

[0105] For example, a 905 nm band may mean a band within a range of 10 nm difference based on 905 nm, a 940 nm band may mean a band within a range of 10 nm difference based on 940 nm, and a 1550 nm band may mean a band within a range of 10 nm difference based on 1550 nm, but is not limited thereto.

[0106] Additionally, the wavelength of the laser output from the laser output unit (100) according to one embodiment may be located in various wavelength ranges.

[0107] For example, the wavelength of the first laser output from the first laser emitting element included in the laser output unit (100) according to one embodiment may be located in the 905 nm band, and the wavelength of the second laser output from the second laser emitting element included in the laser output unit (100) according to one embodiment may be located in the 1550 nm band, but is not limited thereto.

[0108] Additionally, the wavelength of the laser output from the laser output unit (100) according to one embodiment may be within a specific wavelength range but may be different wavelengths.

[0109] For example, the wavelength of the first laser output from the first laser emitting element included in the laser output unit (100) according to one embodiment may be located in the 940 nm band and may have a wavelength of 939 nm, and the wavelength of the second laser output from the second laser emitting element included in the laser output unit (100) according to one embodiment may be located in the 940 nm band and may have a wavelength of 943 nm, but is not limited thereto.

[0110] Referring again to FIG. 1, a lidar device (1000) according to one embodiment may include an optical unit (200).

[0111] At this time, the optical part may be expressed in various ways, such as a steering part, a scanning part, etc., for the purpose of explaining the present disclosure, but is not limited thereto.

[0112] The optical unit (200) according to one embodiment may function to change the flight path of the laser. The optical unit (200) may be designed to change (steer) the irradiation direction of the generated laser to a preset direction before the laser generated by the laser output unit (100) is output to the outside of the lidar device. In addition, the optical unit (200) may be designed to change the optical path of the laser entering the lidar device from the outside to a preset direction so that the laser can be detected by the detector unit (300).

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

[0114] Additionally, according to some embodiments, the optical unit (200) may include an optical element or optical means that reflects light. For example, the optical unit (200) may include a mirror. That is, the optical unit (200) may be configured to include an optical element that reflects light in order to change the flight path (or optical path) of the laser.

[0115] For example, the optical unit (200) according to one embodiment may function to change the flight path by reflecting the laser output from the laser output unit (100), and when the laser output from the laser output unit (100) is reflected from an object, the optical unit (200) may function to change the flight path by reflecting the laser reflected from the object, but is not limited thereto.

[0116] At this time, the optical element or optical means reflecting the light may be one of a mirror, a resonance scanner, a MEMS mirror, a VCM (Voice Coil Motor), a polygonal mirror, a rotating mirror, or a Galvano mirror. However, the optical elements or optical means reflecting the light described above are merely examples, and the optical unit (200) may include other types of optical elements as long as they are optical elements that have the function of reflecting light in addition to the listed optical elements.

[0117] Furthermore, the optical section (200) may include one or more optical elements or optical means for reflecting the light described above as needed, but the optical section (200) does not necessarily have to include the optical elements or optical means for reflecting the light described above.

[0118] Additionally, according to some embodiments, the optical unit (200) may include an optical element or optical means that refracts light. For example, the optical unit (200) may include a lens. That is, the optical unit (200) may be configured to include an optical element that refracts light in order to change the flight path (or optical path) of the laser.

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

[0120] The optical element or optical means for refracting the light may be one of a lens, a prism, a micro lens, a microfluidic lens, or a metasurface. However, the optical elements or optical means for refracting the light described above are merely examples, and the optical unit (200) may include other types of optical elements as long as they are optical elements that have the function of refracting light, in addition to the optical elements listed.

[0121] Furthermore, the optical section (200) may include one or more optical elements or optical means for refracting the light described above as needed, but the optical section (200) does not necessarily have to include the optical elements or optical means for refracting the light described above.

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

[0123] For example, the optical unit (200) according to one embodiment may be designed to change the phase of the generated laser by the laser output unit (100) to a preset phase before the generated laser is output to the outside of the lidar device, thereby changing the flight path. In addition, the optical unit (200) may be designed to change the phase of the incoming laser to a preset phase so that the laser entering the lidar device from the outside can be detected by the detector unit (300), thereby changing the flight path.

[0124] At this time, the optical element or optical means for changing the phase of the laser may be one of an OPA (Optical Phased Array), a meta lens, or a meta surface. However, the optical element or optical means for changing the phase of the laser described above are merely exemplary, and in addition to the optical elements listed, if it is an optical element that has the function of reflecting light, the optical unit (200) may include other types of optical elements.

[0125] Furthermore, the optical section (200) may include one or more optical elements or optical means for reflecting the light described above as needed, but the optical section (200) does not necessarily have to include the optical elements or optical means for reflecting the light described above.

[0126] Additionally, the optical unit (200) according to one embodiment may include two or more optical units (or sub-optic units).

[0127] For example, the optical unit (200) according to one embodiment may include, but is not limited to, a transmitting optic unit for irradiating a laser output from a laser output unit (100) according to one embodiment to a scan area of ​​a lidar device and a receiving optic unit for transmitting a laser reflected from a target to a detector unit (300).

[0128] In addition, for example, the optical unit (200) according to one embodiment may include a first optical unit for changing the flight path of the laser output from the laser output unit (100) according to one embodiment in the direction of the first group and a second optical unit for changing the flight path of the laser output from the laser output unit (100) according to one embodiment in the direction of the second group, but is not limited thereto.

[0129] The optical characteristics of the optical unit (200) should be determined based on at least one of the following requirements: a field of view, a maximum detection distance, a minimum detection distance, a horizontal detection range, and a vertical detection range, which must be determined to be suitable for the purpose (or use) of the lidar device. The optical unit (200) can be designed using the various optical elements described above so as to meet the requirements of the lidar device described above. Accordingly, the optical unit (200) can be designed to include one type of optical element or a combination of two or more types of optical elements among optical elements that reflect light, optical elements that refract light, and optical elements that change the phase of light, and the number of each type of optical elements can also be designed to have an appropriate number of optical elements according to the above requirements.

[0130] Referring again to FIG. 1, a lidar device (1000) according to one embodiment may include a detector unit (300).

[0131] At this time, the detector unit may be expressed in various ways as a light receiving unit, a receiving unit, a sensor unit, etc. for the purpose of explaining the present disclosure, but is not limited thereto.

[0132] According to one embodiment, a detector unit (300) has a function of detecting light. The detector unit (300) can, for example, detect light entering the detector unit (300) and output an electrical signal accordingly.

[0133] According to some embodiments, the detector unit (300) can detect a laser reflected from an object located within a scan area of ​​the lidar device (1000) according to one embodiment. However, the detector unit (300) detects all light entering the detector unit (300) (if the lidar device is configured to have an optical filter that selectively transmits light of a specific wavelength, all light having a specific wavelength), and does not selectively detect only the laser reflected from the object.

[0134] Additionally, the detector unit (300) according to one embodiment may be arranged to receive a laser and may function to generate an electrical signal based on the received laser.

[0135] For example, the detector unit (300) according to one embodiment may be arranged to receive a laser reflected from an object located within a detection area of ​​the lidar device (1000) according to one embodiment, and may generate an electrical signal based on the laser.

[0136] At this time, the detector unit (300) according to one embodiment may be arranged to receive a laser reflected from an object located within a detection area of ​​the lidar device (1000) according to one embodiment through at least one optical means, and the at least one optical means may be included in the above-described optical unit and may include an optical filter or the like, but is not limited thereto.

[0137] In addition, the detector unit (300) according to one embodiment can generate laser detection information based on the generated electrical signal. As described above, the detector unit (300) cannot selectively detect only the laser reflected from the target object, but detects all light entering the detector unit (300) (all light having a specific wavelength, if the lidar device is configured to have an optical filter that selectively transmits light of a specific wavelength). Accordingly, in order to achieve the original purpose of the lidar device, the electrical signal generated by the detector unit (300) must be interpreted to selectively obtain information on the laser reflected from the target object. To this end, the detector unit (300) may have a signal interpretation function capable of interpreting the generated electrical signal.

[0138] In order to interpret information about the laser reflected from the target object, the detector unit (300) can adopt various signal interpretation methods.

[0139] For example, the detector unit (300) according to one embodiment may generate laser detection information by comparing a predetermined threshold value with the rising edge, falling edge, or median of the rising edge and falling edge of the generated electrical signal, but is not limited thereto.

[0140] In addition, for example, the detector unit (300) according to one embodiment may generate histogram data corresponding to the detection information of the laser based on the generated electrical signal, but is not limited thereto.

[0141] In addition, the detector unit (300) according to one embodiment can determine the laser detection time based on the detection information of the generated laser. The laser detection time is used to determine the flight time of the laser as described above. As is already known, since the speed of light is very fast, a very small range of errors that may occur in the laser detection time can cause an error in the laser flight time, and such an error can cause a very large error in the distance between the target and the lidar device.

[0142] For example, the detector unit (300) according to one embodiment may determine the detection point of the laser based on the detection information of the generated laser based on the rising edge of the generated electrical signal, may determine the detection point of the laser based on the detection information of the generated laser based on the falling edge of the generated electrical signal, and may determine the detection point of the laser based on the detection information of the generated laser based on the rising edge of the generated electrical signal and the detection information of the generated laser based on the falling edge, but is not limited thereto.

[0143] In addition, for example, the detector unit (300) according to one embodiment may determine the detection point of the laser based on histogram data generated based on the generated electrical signal, but is not limited thereto.

[0144] For a more specific example, the detector unit (300) according to one embodiment may determine the detection point of the laser based on, but is not limited to, the peak of the generated histogram data, the judgment of the rising edge and the falling edge based on a predetermined value, etc.

[0145] At this time, the histogram data may be generated based on an electrical signal generated from a detector unit (300) according to one embodiment for at least one scan cycle.

[0146] Additionally, the detector unit (300) according to one embodiment may be implemented with various electro-optical devices that receive light and output an electrical signal accordingly.

[0147] The above-described optical electro-optical elements may be exemplified by a PN photodiode, a phototransistor, a PIN photodiode, an APD (Avalanche Photodiode), a SPAD (Single-photon avalanche diode), a SiPM (Silicon PhotoMultipliers), a Comparator, a CMOS (Complementary metal-oxide-semiconductor), or a CCD (charge coupled device). The detector unit (300) may be implemented with one of the above-described exemplary electro-optical elements or a combination thereof. However, as long as it is an optical element that detects light and generates an electrical signal, the detector unit (300) may be implemented with other electro-optical elements in addition to the above-described exemplary electro-optical elements.

[0148] Additionally, the detector unit (300) according to one embodiment may include one or more electro-optical elements (hereinafter referred to as detecting elements or detectors).

[0149] For example, the detector unit (300) according to one embodiment may include a single detecting element or may include a plurality of detecting elements.

[0150] In addition, the detector unit (300) according to one embodiment may be configured as an array in which a plurality of detecting elements are arranged in an array form, but is not limited thereto.

[0151] For example, the detector unit (300) according to one embodiment may be implemented as a SPAD array in which a plurality of SPADs (Single Photon Avalanche Diodes) are arranged in an array form, but is not limited thereto.

[0152] Referring again to FIG. 1, a lidar device (1000) according to one embodiment may include a control unit (400).

[0153] At this time, the control unit may be expressed in various ways, such as a controller, etc., for the purpose of explaining the present disclosure, but is not limited thereto.

[0154] According to one embodiment, a control unit (400) can control the operation of a laser output unit (100), an optical unit (200), or a detector unit (300).

[0155] Additionally, the control unit (400) according to one embodiment can control the operation of the laser output unit (100).

[0156] For example, the control unit (400) can control the output timing of the laser output from the laser output unit (100). In addition, the control unit (400) can control the power of the laser output from the laser output unit (100). In addition, the control unit (400) can control the pulse width of the laser output from the laser output unit (100). In addition, the control unit (400) can control the cycle of the laser output from the laser output unit (100). In addition, when the laser output unit (100) includes a plurality of laser emitting elements, the control unit (400) can select some of the plurality of laser emitting elements and control the laser output unit (100) to selectively operate only the selected laser emitting elements. In this case, the operation of the laser emitting elements can be interpreted to mean that a laser can be output from the laser emitting elements.

[0157] In addition, the control unit (400) according to one embodiment can control the operation of the optical unit (200). The optical unit (200) includes optical elements or optical means as described above. At this time, for some optical elements, the optical characteristics of the optical elements, the relative positions of the optical elements, the movement of the optical elements, etc. may need to be controlled. At this time, the control unit (400) can control the operation of the optical unit (200).

[0158] For example, the control unit (400) can control the operating speed of the optical unit (200). Specifically, if the optical unit (200) includes a rotational mirror, the rotational speed of the rotational mirror can be controlled, and if the optical unit (200) includes a MEMS mirror, the repetition cycle of the MEMS mirror can be controlled, but is not limited thereto.

[0159] Additionally, for example, the control unit (400) can control the degree of operation of the optical unit (200). Specifically, when the optical unit (200) includes a MEMS mirror, the operating angle of the MEMS mirror can be controlled, but is not limited thereto.

[0160] Additionally, the control unit (400) according to one embodiment can control the operation of the detector unit (300).

[0161] For example, the control unit (400) can control the sensitivity of the detector unit (300). Specifically, the control unit (400) can control the sensitivity of the detector unit (300) by adjusting a predetermined threshold value, but is not limited thereto.

[0162] In addition, for example, the control unit (400) can control the operation of the detector unit (300). Specifically, the control unit (400) can control the On / Off of the detector unit (300), and when the detector unit (300) includes a plurality of detecting elements, the control unit (400) can select some of the plurality of detecting elements and control the operation of the detector unit (300) so that only the selected detecting elements are selectively operated. At this time, the control unit (400) can control the detector unit (300) so that the non-selected detecting elements do not operate. At this time, the fact that the detecting elements do not operate not only means that no electrical input is provided to the detecting elements so that the detecting elements cannot output an electrical signal even if they receive light, but also means that the detecting elements do not interpret the electrical signal output by receiving light.

[0163] In addition, the control unit (400) according to one embodiment can generate laser detection information based on the electrical signal generated from the detector unit (300). That is, the interpretation of the electrical signal generated and output by the detector unit (300) may be performed by the detector unit (300), but may also be performed by the control unit (400).

[0164] For example, the control unit (400) according to one embodiment may generate laser detection information by comparing a predetermined threshold value with the rising edge, falling edge, or median of the rising edge and falling edge of the electrical signal generated from the detector unit (300), but is not limited thereto.

[0165] In addition, for example, the control unit (400) according to one embodiment may generate histogram data corresponding to the detection information of the laser based on the electrical signal generated from the detector unit (300), but is not limited thereto.

[0166] Additionally, the control unit (400) according to one embodiment can determine the laser detection time based on the laser detection information generated from the detector unit (300).

[0167] For example, the control unit (400) according to one embodiment may determine the detection point of the laser based on the detection information of the laser generated based on the rising edge of the electrical signal generated from the detector unit (300), may determine the detection point of the laser based on the detection information of the laser generated based on the falling edge of the electrical signal generated, and may determine the detection point of the laser based on the detection information of the laser generated based on the rising edge of the electrical signal generated and the detection information of the laser generated based on the falling edge, but is not limited thereto.

[0168] In addition, for example, the control unit (400) according to one embodiment may determine the detection point of the laser based on histogram data generated based on the electrical signal generated from the detector unit (300), but is not limited thereto.

[0169] For a more specific example, the control unit (400) according to one embodiment may determine the detection point of the laser based on the peak of the histogram data generated from the detector unit (300), the judgment of the rising edge and falling edge based on a predetermined value, etc., but is not limited thereto.

[0170] At this time, the histogram data may be generated based on an electrical signal generated from a detector unit (300) according to one embodiment for at least one detection cycle.

[0171] Additionally, the control unit (400) according to one embodiment can obtain distance information to the target based on the detection point of the determined laser.

[0172] For example, the control unit (400) according to one embodiment can obtain distance information to the target based on the determined output time of the laser and the determined detection time of the laser, but is not limited thereto.

[0173]

[0174] Figure 2 is a drawing showing various embodiments of a lidar device.

[0175] Referring to (a) of FIG. 2, a lidar device according to one embodiment may include a laser output unit (110), an optical unit (210), and a detector unit (310). The optical unit (210) may include a nodding mirror (211) that nods within a preset range and a multi-faceted mirror (212) that rotates around at least one axis, but is not limited thereto.

[0176] At this time, since the above-described contents can be applied to the laser output unit (110), the optical unit (210), and the detector unit (310), redundant descriptions will be omitted, and (a) of FIG. 2 is a diagrammatic drawing that is simply used to explain one embodiment among various embodiments of the lidar device, and various embodiments of the lidar device are not limited to (a) of FIG. 2.

[0177] In addition, referring to (b) of FIG. 2, a lidar device according to one embodiment may include a laser output unit (120), an optical unit (220), and a detector unit (320), and the optical unit (220) may include at least one lens (221) capable of collimating and steering a laser output from the laser output unit (120) and a multi-faceted mirror (222) that rotates around at least one axis, but is not limited thereto.

[0178] At this time, since the above-described contents can be applied to the laser output unit (120), the optical unit (220), and the detector unit (320), redundant descriptions will be omitted, and (b) of FIG. 2 is a diagrammatic drawing that is simply used to explain one embodiment among various embodiments of the lidar device, and various embodiments of the lidar device are not limited to (b) of FIG. 2.

[0179] In addition, referring to (c) of FIG. 2, a lidar device according to one embodiment may include a laser output unit (130), an optical unit (230), and a detector unit (330), and the optical unit (230) may include at least one lens (231) capable of collimating and steering a laser output from the laser output unit (130) and at least one lens (232) capable of transmitting a laser reflected from a target object to the detector unit (330), but is not limited thereto.

[0180] At this time, since the above-described contents can be applied to the laser output unit (130), the optical unit (230), and the detector unit (330), redundant descriptions will be omitted, and (c) of FIG. 2 is a diagrammatic drawing that is simply used to explain one embodiment among various embodiments of the lidar device, and various embodiments of the lidar device are not limited to (c) of FIG. 2.

[0181] In addition, referring to (d) of FIG. 2, a lidar device according to one embodiment may include a laser output unit (140), an optical unit (240), and a detector unit (340), and the optical unit (240) may include at least one lens (241) capable of collimating and steering a laser output from the laser output unit (130) and at least one lens (242) capable of transmitting a laser reflected from a target object to the detector unit (340), but is not limited thereto.

[0182] At this time, since the above-described contents can be applied to the laser output unit (140), the optical unit (240), and the detector unit (340), redundant descriptions will be omitted, and (d) of FIG. 2 is a diagrammatic drawing that is simply used to explain one embodiment among various embodiments of the lidar device, and various embodiments of the lidar device are not limited to (d) of FIG. 2.

[0183]

[0184] FIG. 3 is a diagram for explaining the operation of a lidar device and lidar data according to one embodiment.

[0185] Referring to FIG. 3, a lidar device (1000) according to one embodiment includes a laser output unit for outputting a laser and a detector unit for detecting a laser. Descriptions of the laser output unit and the detector unit have been described above, and any redundant descriptions will be omitted.

[0186] In addition, referring to FIG. 3, a data processing unit according to one embodiment can obtain lidar data (1200) based on a laser detected by the lidar device (1000).

[0187] At this time, the data processing unit may be included in the lidar device (1000), and may be included in the control unit of the lidar device (1000) described above, but is not limited thereto. If the data processing unit is connected to the lidar device (1000) through at least one communication method and can obtain a signal generated from the detector unit included in the lidar device (1000), the data processing unit may be implemented independently from the control unit (400) of the lidar device (1000). Alternatively, if the data processing unit is connected to the lidar device (1000) through at least one communication method and can obtain a signal generated from the detector unit included in the lidar device (1000), the data processing unit may be located outside the lidar device (1000).

[0188] In addition, referring to FIG. 3, a lidar device (1000) according to one embodiment can form a field of view (1100) by irradiating a laser, and can detect a laser reflected within the field of view (1100) to obtain lidar data (1200).

[0189] At this time, the field of view (1100) of the lidar device (1000) means an area where the laser is irradiated or an area where the position of the target object can be effectively detected by the lidar device (1000).

[0190] In addition, the above lidar data (1200) may refer to various types of data obtained from the lidar device (1000), and may refer to, for example, point data, point cloud, frame data, etc. obtained from the lidar device (1000), but is not limited thereto.

[0191] At this time, the point data may be data including distance information, location information, etc., and the point cloud may mean cluster data of the point data, but is not limited thereto.

[0192] Additionally, the frame data may refer to a group of the point data, but is not limited thereto.

[0193] The above field of view (1100) of the above lidar device (1000) is defined by the maximum detection distance, minimum detection distance, horizontal detection range (horizontal detection range, hereinafter referred to as vertical angular range) (1110) and vertical detection range (vertical detection range, hereinafter referred to as horizontal angular range) (1120) of the lidar device.

[0194] Additionally, the horizontal viewing angle (1110) and the vertical viewing angle (1120) can be defined by a plurality of lasers irradiated by the lidar device (1000).

[0195] For example, the horizontal viewing angle (1110) of the lidar device (1000) may be defined by the horizontal angle between the first laser (1111) facing the leftmost direction and the second laser (1112) facing the rightmost direction. More specifically, the horizontal angle of the first laser (1111) defined on a spherical coordinate system set based on the virtual optical origin of the lidar device (i.e., The horizontal angle of the second laser (1112) defined on the spherical coordinate system (i.e., the value, hereinafter, the first angle) and It can be defined as the difference between the values ​​(below, second angle).

[0196] In addition, for example, the vertical viewing angle (1120) of the lidar device (1000) may be defined by the vertical angle between the third laser (1121) facing upward and the fourth laser (1122) facing downward. More specifically, it may be defined by the difference between the angle (i.e., the θ value, hereinafter, the third angle) of the third laser (1121) defined on a spherical coordinate system set based on the virtual optical origin of the lidar device and the angle (i.e., the θ value, hereinafter, the fourth angle) of the fourth laser (1122) defined on a spherical coordinate system set based on the virtual optical origin of the lidar device.

[0197] However, the definition of the horizontal viewing angle (1110) and the vertical viewing angle (1120) of the lidar device (1000) is not limited to the above-described example, and may be defined by various methods for expressing an area to which a laser is irradiated from the lidar device (1000).

[0198] Additionally, the horizontal viewing angle (1110) and the vertical viewing angle (1120) may be defined by the detected laser. More specifically, the horizontal viewing angle (1110) and the vertical viewing angle (1120) may be defined by point data generated by the detected laser.

[0199] For example, the horizontal viewing angle (1110) of the lidar device (1000) may be defined by the first point data (1210) and the second point data (1220), and more specifically, may be defined by the irradiation angle of the laser corresponding to the first point data (1210) and the irradiation angle of the laser corresponding to the second point data (1220), but is not limited thereto.

[0200] In addition, for example, the vertical viewing angle (1120) of the lidar device (1000) may be defined by the third point data (1230) and the fourth point data (1240), and more specifically, may be defined by the irradiation angle of the laser corresponding to the third point data (1230) and the irradiation angle of the laser corresponding to the fourth point data (1240), but is not limited thereto.

[0201] However, the definition of the horizontal viewing angle (1110) and the vertical viewing angle (1120) of the lidar device (1000) is not limited to the above-described example, and may be defined by various methods to express an area in which the lidar device (1000) can detect a laser.

[0202] Meanwhile, although not clearly shown in the drawing, the field of view (FOV) can be further defined by the maximum and minimum detection distances detectable by the lidar.

[0203] In addition, referring to FIG. 3, the laser forming the field of view (1100) of the lidar device (1000) according to one embodiment can be irradiated to have angular resolution.

[0204] At this time, the angular resolution may include horizontal angular resolution for resolution in the horizontal direction and vertical angular resolution for resolution in the vertical direction.

[0205] Additionally, the horizontal angular resolution and the vertical angular resolution can be defined by the plurality of lasers investigated.

[0206] For example, the horizontal angular resolution of the lidar device (1000) may be defined by the horizontal angle between the fifth laser (1131) and the sixth laser (1132) that is horizontally adjacent to the fifth laser (1131). More specifically, it may be defined by the difference between the horizontal angle (hereinafter, the fifth angle) of the fifth laser (1131) defined on a spherical coordinate system set based on a virtual optical origin of the lidar device and the horizontal angle (hereinafter, the sixth angle) of the sixth laser (1132) defined on a spherical coordinate system set based on a virtual optical origin of the lidar device.

[0207] In addition, for example, the vertical angular resolution of the lidar device (1000) may be defined by the vertical angle between the seventh laser (1141) and the eighth laser (1142) that is vertically adjacent to the seventh laser (1141). More specifically, it may be defined by the difference between the vertical angle (hereinafter, the seventh angle) of the seventh laser (1141) defined on a spherical coordinate system set based on a virtual optical origin of the lidar device and the vertical angle (hereinafter, the eighth angle) of the eighth laser (1142) defined on a spherical coordinate system set based on a virtual optical origin of the lidar device, but is not limited thereto.

[0208] However, the definition of the horizontal angular resolution and vertical angular resolution of the above lidar device (1000) is not limited to the above-described examples, and may be defined by various methods to express the angular resolution capable of distinguishing the detection target object.

[0209] In addition, referring to FIG. 3, lidar data (1200) obtained from a lidar device (1000) according to one embodiment may include point data having angular resolution.

[0210] At this time, the angular resolution may include horizontal angular resolution for resolution in the horizontal direction and vertical angular resolution for resolution in the vertical direction.

[0211] Additionally, the horizontal angular resolution and the vertical angular resolution may be defined by the detected laser. More specifically, the horizontal angular resolution and the vertical angular resolution may be defined by point data generated by the detected laser.

[0212] For example, the horizontal angular resolution of the lidar device (1000) may be defined by the fifth point data (1250) and the sixth point data (1260), and more specifically, may be defined by the irradiation angle of the laser corresponding to the fifth point data (1250) and the irradiation angle of the laser corresponding to the sixth point data (1260), but is not limited thereto.

[0213] In addition, for example, the vertical angular resolution of the lidar device (1000) may be defined by the seventh point data (1270) and the eighth point data (1280), and more specifically, may be defined by the irradiation angle of the laser corresponding to the seventh point data (1270) and the irradiation angle of the laser corresponding to the eighth point data (1280), but is not limited thereto.

[0214] However, the definition of the horizontal angular resolution and vertical angular resolution of the above lidar device (1000) is not limited to the above-described examples, and may be defined by various methods to express the angular resolution capable of distinguishing the detection target object.

[0215] Additionally, the plurality of lasers irradiated by the above lidar device (1000) may each have a size and a divergence angle.

[0216] The size of the laser may be defined based on the shape of the image of the laser formed on a surface positioned at an arbitrary distance from the lidar device. For example, if the shape of the image of the laser is a circle-like shape, the size of the laser may be defined in a manner generally used to define the size of the circle. That is, the size of the laser may be defined by the area of ​​the circle, or the size of the laser may be defined by the radius or diameter of the circle.

[0217] In some embodiments, the shape of the image of the laser may be an ellipse-like shape. In this case, the size of the laser may be defined by the length of the major axis and the length of the minor axis of the ellipse.

[0218] At this time, the divergence angle of the laser may be determined based on the distance between the arbitrary surface and the lidar device and the size of the laser. Alternatively, the divergence angle of the laser may be determined based on the size of the image of the laser formed on two or more surfaces.

[0219] Meanwhile, the vertical divergence angle of the laser may be the same as the horizontal divergence angle of the laser, but may be different from each other.

[0220] Additionally, each point data included in the above lidar data (1200) may include distance information.

[0221] Additionally, an optical origin (1300) can be defined for the above lidar device (1000).

[0222] At this time, the optical origin (1300) may mean the origin of the coordinate system for expressing the above-described lidar data.

[0223] In addition, the optical origin (1300) may mean an origin defined when it is assumed that the laser irradiated from the lidar device (1000) is output from one point.

[0224] Additionally, the optical origin (1300) may mean an origin of distance measurement for measuring distance using a laser in the lidar device (1000).

[0225] Additionally, the optical origin (1300) may mean an origin for describing point data acquired from the lidar device (1000).

[0226] In addition, the optical origin (1300) may mean a physically derived optical origin, but is not limited thereto, and may mean an optical origin artificially assigned to the lidar device (1000), but is not limited thereto.

[0227]

[0228] [Illumination Region, Sensing Region, and Measurable Region]

[0229] Here, the illumination area, detection area, and measurable area used to describe embodiments of the present disclosure are defined.

[0230] Figures 4 and 5 are drawings for explaining the lighting area, detection area, and measurable area.

[0231] Figure 4 is a drawing for explaining the lighting area and detection area.

[0232] First, the lighting area used to explain the embodiment of the present disclosure will be described with reference to FIGS. 4 and 10.

[0233] The lidar device (3000) includes a transmission module (3010), and lasers output through a laser emitting array (3011) included in the transmission module (3010) can be steered through an emitting lens assembly (3012). For example, the laser emitting unit included in the laser emitting array (3011) outputs a laser in the height direction of the laser emitting unit. At this time, an axis formed in the height direction of the laser emitting unit from the center of the laser emitting array (3011) is called a reference axis. For example, the reference axis is an axis formed in a direction perpendicular to a plane constituting the laser emitting array (3011) from the center of the laser emitting array (3011), as can be seen in FIG. 4(d). The laser output from the laser emitting unit can be steered in a specific vector direction while passing through the emitting lens assembly (3012). At this time, the specific vector direction in which the laser is steered may be a composite vector direction of a vertical vector direction formed on a second plane defined by the reference axis and the second axis, as disclosed in Fig. 4(d), and a horizontal vector direction formed on a first plane defined by the reference axis and the first side. Here, the vector direction may mean a direction component in the vector. In addition, the first axis and the second axis are orthogonal to each other, and the reference axis is orthogonal to each of the first axis and the second axis. Therefore, the first plane and the second plane are orthogonal to each other.

[0234] Based on the definitions above, we will examine the vertical and horizontal angles used to define the angle between the composite vector direction and the reference axis. The vertical angle is the angle between the reference axis and the vertical vector direction, while the horizontal angle is the angle between the reference axis and the horizontal vector direction.

[0235] Fig. 4(b) is intended to explain the horizontal angle between the horizontal vector direction and the reference axis. Referring to Fig. 4(b), the laser output from the laser emitting array (3011) can be steered to the left within an angle d with respect to the reference axis (dotted line) and can be steered to the right within an angle c. At this time, c and d can be the same or different. Here, the right side may refer to an area formed along one direction of the reference axis and the first axis in the first plane in Fig. 4(d), and the left side may refer to an area formed along the opposite direction of the reference axis and the first axis in Fig. 4(d).

[0236] For example, the lasers output by the A1 laser emitting units arranged in the leftmost row within the laser emitting array (3011) may have a horizontal angle of right angle c with respect to the reference axis. For example, the lasers output by the A1 laser emitting units arranged in the leftmost row may be steered at a horizontal angle of right angle c with respect to the reference axis while passing through the emitting lens assembly (3012). For example, the lasers output by the A2 laser emitting units arranged in the rightmost row within the laser emitting array (3011) may have a horizontal angle of left angle d with respect to the reference axis. For example, the lasers output by the A2 laser emitting units arranged in the rightmost row may be steered at a horizontal angle of left angle d with respect to the reference axis while passing through the emitting lens assembly (3012). Meanwhile, the horizontal length of the illumination area is defined as a line connecting two points that can be assumed to be generated when the lasers output by the A1 laser emitting unit and the A2 laser emitting unit in the same row within the laser emitting array (3011) fly a distance R. At this time, the line connecting the two points is located at a distance Q from the transmission module (3010) along the reference axis.

[0237] Fig. 4(c) is intended to explain the vertical angle between the vertical vector direction and the reference axis. Referring to Fig. 4(c), the laser output from the laser emitting array (3011) can be steered upward within an angle a with respect to the reference axis (dotted line) and downward within an angle b. At this time, a and b can be the same or different. Here, the upper side may refer to an area formed along one direction of the reference axis and the second axis in the second plane in Fig. 4(d), and the lower side may refer to an area formed along the opposite direction of the reference axis and the second axis in Fig. 4(d).

[0238] Also, for example, the lasers output from the B1 laser emitting units arranged in the uppermost row within the laser emitting array (3011) may have a vertical angle of angle b downward with respect to the reference axis. For example, the lasers output from the B1 laser emitting units arranged in the uppermost row may be steered to a vertical angle of angle b downward with respect to the reference axis while passing through the emitting lens assembly (3012). For example, the lasers output from the B2 laser emitting units arranged in the lowermost row within the laser emitting array (3011) may have a vertical angle of angle a upward with respect to the reference axis. For example, the lasers output from the B2 laser emitting units arranged in the lowermost row may be steered to a vertical angle of angle a upward with respect to the reference axis while passing through the emitting lens assembly (3012). Meanwhile, the vertical length of the illumination area is defined as a line connecting two points that can be assumed to be generated when the lasers output by the B1 laser emitting unit and the B2 laser emitting unit in the same column within the laser emitting array (3011) fly a distance R. At this time, the line connecting the two points is located at a distance Q from the transmission module (3010) along the reference axis.

[0239]

[0240] Figure 4(a) shows a rectangular lighting area having the horizontal and vertical lengths defined through Figures 4(b) and 4(c). For example, a rectangle connecting a first line connecting two points that can be assumed to have occurred when the lasers output by the A1 laser emitting unit and the A2 laser emitting unit arranged in the top row have flown as much as R, a second line connecting two points that can be assumed to have occurred when the lasers output by the A1 laser emitting unit and the A2 laser emitting unit arranged in the bottom row have flown as much as R, a third line connecting two points that can be assumed to have occurred when the lasers output by the B1 laser emitting unit and the B2 laser emitting unit arranged in the leftmost column have flown as much as R, and a fourth line connecting two points that can be assumed to have occurred when the lasers output by the B1 laser emitting unit and the B2 laser emitting unit arranged in the rightmost column have flown as much as R can be defined as an illumination area.

[0241] Specifically, the lighting area may be such that the first line and the second line are parallel, the left end of the first line and the left end of the second line are connected by a third line, and the right end of the first line and the right end of the second line are connected by a fourth line. In addition, each of the first line and the second line may be orthogonal to each of the third line and the fourth line.

[0242] Meanwhile, the laser emitting unit may be composed of at least one laser emitting element. For example, the laser emitting unit may be composed of one laser emitting element or may be composed of a plurality of laser emitting elements.

[0243]

[0244] Now, referring to FIGS. 4 and 10, a detection area used to explain an embodiment of the present disclosure is defined.

[0245] The lidar device (3000) includes a receiving module (3020), and a plurality of lights incident on the detecting lens assembly (3022) included in the receiving module (3020) can be focused onto each of the detecting units included in the laser detecting array (3021). At this time, an axis formed in the height direction of the detecting unit from the center of the laser detecting array (3021) is called a reference axis. For example, the reference axis is an axis formed in a direction perpendicular to a plane constituting the laser detecting array (3021) from the center of the laser detecting array (3021), as can be seen in FIG. 4(d). Lights focused on the detecting units included in the laser detecting array (3021) can be incident on the detecting lens assembly (3022) in a specific vector direction. At this time, the specific vector direction in which the focused light is incident may be a composite vector direction of a vertical vector direction formed on a second plane defined by the reference axis and the second axis, as disclosed in Fig. 4(d), and a horizontal vector direction formed on a first plane defined by the reference axis and the first side. Here, the vector direction may mean a direction component in a vector. In addition, the first axis and the second axis are orthogonal to each other, and the reference axis is orthogonal to each of the first axis and the second axis. Therefore, the first plane and the second plane are orthogonal to each other.

[0246] Based on the definitions above, we will examine the vertical and horizontal angles used to define the angle between the composite vector direction and the reference axis. The vertical angle is the angle between the reference axis and the vertical vector direction, while the horizontal angle is the angle between the reference axis and the horizontal vector direction.

[0247] Fig. 4(b) is intended to explain the horizontal angle between the horizontal vector direction and the reference axis. Referring to Fig. 4(b), light incident on the detecting lens assembly (3022) may be incident within an angle d to the left with respect to the reference axis (dotted line) and may be incident within an angle c to the right. At this time, c and d may be the same or different. Here, the right side may refer to an area formed along one direction of the reference axis and the first axis in the first plane in Fig. 4(d), and the left side may refer to an area formed along the opposite direction of the reference axis and the first axis in Fig. 4(d).

[0248] For example, light focused on the A1 detecting units arranged in the leftmost row within the laser detecting array (3021) may be incident at a horizontal angle of angle c to the right with respect to the reference axis. For example, light focused on the A1 detecting units arranged in the leftmost row may be incident at a horizontal angle of angle c to the right while passing through the detecting lens assembly (3022). For example, light focused on the A2 detecting units arranged in the rightmost row within the laser detecting array (3021) may be incident at a horizontal angle of angle d to the left with respect to the reference axis. For example, light focused on the A2 detecting units arranged in the rightmost row may be incident at a horizontal angle of angle d to the left while passing through the detecting lens assembly (3022). Meanwhile, assuming that the light focused on each of the A1 and A2 detecting units in the same row within the laser detecting array (3021) is reflected from two points spaced apart by a distance R and incident on the detecting lens assembly (3022), the line connecting the two points is defined as the horizontal length of the detection area. At this time, the line connecting the two points is spaced apart by a distance Q from the receiving module (3020) along the reference axis.

[0249]

[0250] Fig. 4(c) is intended to explain the vertical angle between the vertical vector direction and the reference axis. Referring to Fig. 4(c), light incident on the detecting lens assembly (3022) may be incident upward within an angle a with respect to the reference axis (dotted line) and downward within an angle b. At this time, a and b may be the same or different. Here, the upper side may refer to an area formed along one direction of the reference axis and the second axis in the second plane in Fig. 4(d), and the lower side may refer to an area formed along the opposite direction of the reference axis and the second axis in Fig. 4(d).

[0251] For example, light focused on the B1 detecting units arranged in the top row within the laser detecting array (3021) may be incident at a vertical angle of angle b downwards with respect to the reference axis. For example, light focused on the B1 detecting units arranged in the top row may be incident at a vertical angle of angle b downwards with respect to the reference axis while passing through the detecting lens assembly (3022). For example, light focused on the B2 detecting units arranged in the bottom row within the laser detecting array (3021) may be incident at a vertical angle of angle a upwards with respect to the reference axis. For example, light focused on the B2 detecting units arranged in the bottom row may be incident at a vertical angle of angle a upwards with respect to the reference axis while passing through the detecting lens assembly (3022). Meanwhile, assuming that the light focused on each of the B1 and B2 detecting units in the same column within the laser detecting array (3021) is reflected from two points spaced apart by a distance R and incident on the detecting lens assembly (3022), the line connecting the two points is defined as the vertical length of the detection area. At this time, the line connecting the two points is spaced apart by a distance Q from the receiving module (3020) along the reference axis.

[0252]

[0253] Figure 4(a) shows a rectangular detection area having the horizontal and vertical lengths defined through Figures 4(b) and 4(c). For example, assuming that the light focused on each of the A1 detecting unit and the A2 detecting unit arranged in the uppermost row is reflected from two points spaced apart by R and is incident on the detecting lens assembly (3022), the first line connecting the two points, assuming that the light focused on each of the A1 detecting unit and the A2 detecting unit arranged in the lowermost row is reflected from two points spaced apart by R and is incident on the detecting lens assembly (3022), the second line connecting the two points, assuming that the light focused on each of the B1 detecting unit and the B2 detecting unit arranged in the leftmost column is reflected from two points spaced apart by R and is incident on the detecting lens assembly (3022), the third line connecting the two points, assuming that the light focused on each of the B1 detecting unit and the B2 detecting unit arranged in the rightmost column is reflected from two points spaced apart by R and is incident on the detecting lens assembly (3022), Assuming that the incident light is incident on the detecting lens assembly (3022), a rectangle connecting the fourth line connecting the two points above can be defined as a detection area.

[0254] Specifically, the detection area may be such that the first line and the second line are parallel, the left end of the first line and the left end of the second line are connected by a third line, and the right end of the first line and the right end of the second line are connected by a fourth line. In addition, each of the first line and the second line may be orthogonal to each of the third line and the fourth line.

[0255] Meanwhile, the detection unit may be composed of at least one detection element. For example, the detection unit may be composed of one detection element or may be composed of multiple detection elements.

[0256]

[0257] With reference to FIG. 5, let us examine the measurable area. The measurable area refers to an area where the illumination area and the detection area, which are spaced apart by Q along the reference axis from the transmitting module (3010) and / or the receiving module (3020), overlap each other, as described above. In other words, it refers to an area where the illumination area and the detection area, which are spaced apart by Q along the reference axis from the lidar device (3000), overlap each other.

[0258] This is because the lasers output from the transmission module (3010) are reflected by the target and enter the receiving module (3020), so that the receiving module (3020) can detect the lasers and measure the distance between the target and the lidar device (3000).

[0259] Accordingly, the lidar device (3000) can measure the distance to the target from the first point where the illumination range formed according to the field of view of the transmitting module (3010) and the detection range formed according to the field of view of the receiving module (3020) intersect. Accordingly, the radius from the lidar device (3000) to the first point is called the minimum measurement distance.

[0260] On the other hand, the laser output from the transmission module (3010) has a constant intensity, and the intensity gradually decreases while the laser flies. Meanwhile, the light incident on the reception module (3020) must have a minimum intensity to detect the light and measure the distance between the lidar device (3000) and the target object. Therefore, the radius within which a laser with a constant intensity can be output from the transmission module (3010), reflected from the target object, and then incident on the reception module (3020) with the minimum intensity that the reception module (3020) can detect is called the maximum measurement distance.

[0261] At this time, the ratio of the overlapping of the illumination area and the detection area may vary depending on the distance (along) from the reference axis from the lidar device (3000). For example, referring to FIG. 5, it is shown that the illumination area and the detection area are formed at positions o, p, and q respectively apart from the lidar device (3000) along the reference axis.

[0262] At this time, it is assumed that the lighting area and the detection area are rectangular in shape and have a similar relationship to each other. For example, the first lighting area to the third lighting area are similar to each other, and the first detection area to the third detection area are similar to each other.

[0263] Furthermore, the first illumination area and the first detection area are similar to each other, and ideally, they are expected to be congruent. The second illumination area and the second detection area are similar to each other, and ideally, they are expected to be congruent. The third illumination area and the third detection area are similar to each other, and ideally, they are expected to be congruent.

[0264] The first illumination area at a position o apart from the reference axis of the lidar device (3000) may be shifted to the right compared to the first detection area.

[0265] Additionally, the third illumination area at a position q apart from the lidar device (3000) along the reference axis may be shifted to the left compared to the third detection area.

[0266] Meanwhile, the second illumination area and the second detection area at a position p apart from the lidar device (3000) along the reference axis can completely overlap.

[0267] In other words, the ratio of the horizontal length and the vertical length of the measurable area may vary depending on the distance from the lidar device (3000) along the reference axis, as the ratio of the overlapping of the illumination area and the detection area may vary. However, this difference in ratio may be very small in practice. For example, the difference between the horizontal length and the vertical length of the measurable area at the maximum measurement distance and the horizontal length and the vertical length of the measurable area at the minimum measurement distance does not exceed the width of one detection unit. Preferably, it does not exceed half the width of one detection unit.

[0268] That is, regardless of the distance from the LIDAR device (3000) along the reference axis, the difference in the overlapping ratio of the illumination area and the detection area is not large. Therefore, all measurable areas that can be formed within the maximum and minimum measurement distances have a ratio of horizontal and vertical lengths that can be considered the same. Accordingly, in the specification of the present disclosure, it is assumed that all measurable areas that can be formed within the maximum and minimum measurement distances by the LIDAR device (3000) have the same ratio of horizontal and vertical lengths.

[0269] In other words, all measurable areas that can be formed within the maximum measurement distance and the minimum measurement distance by the lidar device (3000) have the same ratio of horizontal length to vertical length, which means that within the maximum measurement distance and the minimum measurement distance, (i) the laser output from the laser emitting unit arranged in the (first row, first column) of the laser emitting array is reflected and detected by the detecting unit arranged in the (first row, first column) of the laser detecting array, and (ii) the laser output from the laser emitting unit arranged in the (first row, last column) of the laser emitting array is reflected and detected by the detecting unit arranged in the (first row, last column) of the laser detecting array. Likewise, (iii) the laser output from the laser emitting unit arranged in the (last row, first column) of the laser emitting array is reflected and detected by the detecting unit arranged in the (last row, first column) of the laser detecting array, and (iv) the laser output from the laser emitting unit arranged in the (last row, last column) of the laser emitting array is reflected and detected by the detecting unit arranged in the (last row, last column) of the laser detecting array. Accordingly, in the present disclosure, the detection unit and the laser emitting unit arranged at corresponding positions at any distance within the maximum measurement distance and the minimum measurement distance, respectively, may mean that the laser emitting array (3011) and the laser detecting array (3021) are aligned.

[0270] In addition, since the distance along the reference axis from the lidar device (3000) only affects the left-right positions of the detection area and the lighting area and does not affect the up-down positions, the overlapping ratio between the vertical length of the detection area and the vertical length of the lighting area will always be the same regardless of the distance.

[0271] In addition, since the first detection area to the third detection area are similar to each other and the first illumination area to the third illumination area are similar to each other, it is safe to say that the first measurable area to the third measurable area are also similar to each other according to the description described above. Accordingly, in the embodiment of the present disclosure, it is assumed that all measurable areas that can be formed between the minimum measurement distance and the maximum measurement distance are similar to each other regardless of the distance from the lidar device (3020) along the reference axis.

[0272] Meanwhile, the ratio of the horizontal length to the vertical length of each of the measurable area, the illumination area, and the detection area can be referred to as an aspect ratio. The ratio of the horizontal length to the vertical length of the laser emitting array (3011) and the ratio of the horizontal length to the vertical length of the laser detecting array (3021) can also be referred to as an aspect ratio. The relationship between each aspect ratio and the definition of the aspect ratio of each of the laser detecting array (3021) and the laser emitting array (3011) will be described in detail below.

[0273]

[0274] Meanwhile, if the detection unit and the laser emitting unit arranged at corresponding positions within the laser emitting array (3011) and the laser detecting array (3021) are aligned so that the ratio of the horizontal length and vertical length of the measurable area is always constant regardless of the distance, the following relationship is established.

[0275] Referring to FIG. 6, the total horizontal angle of the lidar device (3000) obtained by adding c and d in FIG. 4 is defined as e, and the total vertical angle of the lidar device (3000) obtained by adding a and b is defined as g. In addition, the horizontal length in the row direction of the measurable area defined for the present disclosure can be defined as x, and the vertical length in the column direction can be defined as y. In addition, the horizontal length in the row direction of the laser detector array (3021) can be defined as k, and the vertical length in the column direction can be defined as l.

[0276] Then, one of the following [Mathematical Formula 1] and [Mathematical Formula 2] can be established.

[0277] [Mathematical Formula 1]

[0278]

[0279]

[0280] [Equation 2]

[0281]

[0282]

[0283] Here, d' is the distance between the measurable area and the emitting lens assembly (3012) and / or the detecting lens assembly (3022).

[0284] [Mathematical expression 1] is the emission lens assembly (3012) and / or the detecting lens assembly (3022). , and [Mathematical Formula 2] is established when the emitting lens assembly (3012) and / or the detecting lens assembly (3022) It can be established when there is a relationship.

[0285] Here, D represents the distance between the images formed on the laser detector array when two lasers are reflected and incident on the laser detector array at an angle g. Alternatively, D may represent the distance between the laser emitting units that output the two lasers flying at an angle g. In this case, It means.

[0286] Alternatively, D refers to the distance between images formed on the laser detector array when two laser beams are reflected and incident on the laser detector array at an angle e. Alternatively, D may refer to the distance between the laser emitting units that output the two lasers flying at an angle e. In this case, means. f is a focal length, which may mean the distance between the focus of two laser beams formed by the emitting lens assembly (3012) or the detecting lens assembly (3022) and the laser emitting array (3011) or the laser detector array (3022).

[0287]

[0288] [Lidar data measured by the Lidar device]

[0289] FIG. 7 is a diagram for explaining lidar data according to one embodiment.

[0290] According to one embodiment, lidar data can be expressed in various formats such as a point cloud, a depth map, and an intensity map.

[0291] At this time, the point cloud may be a format in which information about each measurement point is converted into location information and displayed, and the point cloud according to one embodiment may include location coordinate values ​​(x, y, z) and intensity values ​​(I) acquired based on angle information and distance information irradiated or acquired by a laser, but is not limited thereto.

[0292] In addition, at this time, the depth map may be in a format that includes two-dimensional pixel position information and distance information for each measurement point, and the depth map according to one embodiment may include pixel values ​​(x, y) and distance values ​​(D) acquired based on angle information at which the laser is irradiated or acquired, but is not limited thereto.

[0293] In addition, at this time, the intensity map may be in a format including two-dimensional pixel location information and intensity information for each measurement point, and the intensity map according to one embodiment may include pixel values ​​(x, y) and intensity values ​​(I) acquired based on angle information at which the laser is irradiated or acquired, but is not limited thereto.

[0294] In addition to the examples described above, lidar data can be acquired in various formats, but for convenience of explanation, the following explanation will be based on lidar data acquired in the form of a point cloud.

[0295] Referring to FIG. 7, lidar data according to one embodiment may include point cloud data (2000).

[0296] Additionally, the point cloud data (2000) according to one embodiment may include a plurality of point data. In other words, the point cloud data (2000) may be a point data set including a plurality of point data.

[0297] Additionally, each of the plurality of point data according to one embodiment may include, but is not limited to, location coordinate values ​​(x, y, z) and intensity values ​​(i).

[0298] To help understanding, a brief explanation is given of how the position coordinates of point data are determined. A plurality of laser output directions determined within the field of view (FOV) of the aforementioned lidar device (1000) may correspond to each of the laser emitting elements (e.g., VCSELs). That is, the laser output direction of each laser emitting element on the spherical coordinate system based on the optical origin is a horizontal angle ( ) and vertical angle (θ). At this time, the flight time of the laser and the intensity of the detected light (intensity, intensity) can be obtained based on the electrical output information detected by the detecting elements corresponding to each laser emitting element. The flight time can be converted into a distance as described above, and the distance can be converted into an r value on a spherical coordinate system based on the optical origin. That is, the position of the target object or the reflective surface forming at least a part of the target object detected by each of the plurality of lasers is defined by the horizontal angle, the vertical angle, and the distance value on the spherical coordinate system (r, θ, ) can be expressed by. Of course, the spherical coordinates as above can be converted into rectangular coordinates (x, y, z).

[0299] That is, the position coordinate values ​​included in each of the plurality of point data can be obtained based on the distance value between the target object and the lidar device (more specifically, the optical origin of the lidar device) converted based on the output direction of the laser and the flight time of the laser.

[0300] For example, the position coordinate values ​​included in each of the plurality of point data may be obtained based on the angle (or coordinate) value at which the laser is output and the distance value obtained based on the output laser, but are not limited thereto.

[0301] In addition, for example, the position coordinate values ​​included in each of the plurality of point data may be acquired based on the coordinate values ​​of the detector that acquired the laser and the distance values ​​acquired based on the acquired laser, but are not limited thereto.

[0302] Additionally, the intensity value included in each of the plurality of point data can be obtained based on an electrical signal obtained from a detector unit.

[0303] For example, the intensity value included in each of the plurality of point data may be obtained based on the characteristics of the size, width, etc. of the electrical signal obtained from the detector unit, but is not limited thereto, and may be obtained by various algorithms for the electrical signal obtained from the detector unit.

[0304] Additionally, for example, the intensity value included in each of the plurality of point data may be obtained based on histogram data generated based on an electrical signal obtained from a detector unit, but is not limited thereto.

[0305] FIG. 8 is a diagram for explaining lidar data according to one embodiment.

[0306] Referring to FIG. 8, lidar data according to one embodiment may include point cloud data (2100).

[0307] At this time, since the above-described contents can be applied to the above point cloud data (2100), redundant descriptions will be omitted.

[0308] Point cloud data (2100) according to one embodiment may include at least one sub-point data set (2110).

[0309] At this time, the at least one sub-point data set (2110) may mean a set of point data grouped by a specific rule or algorithm, etc.

[0310] For example, the at least one sub-point data set (2110) may mean a set of point data grouped by human input, but is not limited thereto.

[0311] Additionally, for example, the at least one sub-point data set (2110) may mean a set of point data grouped by a segmentation algorithm for the same object, but is not limited thereto.

[0312] Additionally, for example, the at least one sub-point data set (2110) may mean a set of point data grouped by a clustering algorithm, but is not limited thereto.

[0313] Additionally, for example, the at least one sub-point data set (2110) may mean a set of point data grouped by a learned machine learning model, but is not limited thereto.

[0314] Additionally, for example, the at least one sub-point data set (2110) may mean a set of point data grouped by a learned deep learning model, but is not limited thereto.

[0315] Additionally, the lidar data processing unit according to one embodiment can obtain attribute data for at least one sub-point data set (2110) described above.

[0316] For example, a lidar data processing unit according to one embodiment may obtain at least one attribute data for at least one sub-point data set (2110) based on a human input, but is not limited thereto.

[0317] Additionally, for example, a lidar data processing unit according to one embodiment may obtain at least one attribute data for at least one sub-point data set (2110) using a specific algorithm, but is not limited thereto.

[0318] Additionally, for example, the lidar data processing unit according to one embodiment may obtain at least one attribute data for the at least one sub-point data set (2110) using a learned machine learning model, but is not limited thereto.

[0319] Additionally, for example, the lidar data processing unit according to one embodiment may obtain at least one attribute data for at least one sub-point data set (2110) using a learned deep learning model, but is not limited thereto.

[0320] Additionally, the machine learning model or deep learning model described above may include at least one artificial neural network layer (ANN).

[0321] For example, the machine learning model or deep learning model described above may include, but is not limited to, at least one artificial neural network layer from among various artificial neural network layers such as a feedforward neural network, a radial basis function network, a Cohen self-organizing network, a deep neural network (DNN), a convolutional neural network (CNN), a recurrent neural network (RNN), a long short-term memory network (LSTM), or gated recurrent units (GRUs).

[0322] Additionally, at least one artificial neural network layer included in the above-described machine learning model or deep learning model may be designed to use the same or different activation functions.

[0323] At this time, the activation function may include, but is not limited to, a sigmoid function, a hyperbolic tangent function, a Relu function (rectified linear unit function), a leaky Relu function, an ELU function (exponential linear unit function), a softmax function, etc., and may include various activation functions (including custom activation functions) for outputting a result value or transmitting it to another artificial neural network layer.

[0324] Additionally, the above-described machine learning model or deep learning model can be trained using at least one loss function.

[0325] At this time, the at least one loss function may include, but is not limited to, MSE (Mean Squared Error), RMSE (Root Mean Squared Error), Binary Crossentropy, Categorical Crossentropy, Sparse Categorical Crossentropy, etc., and may include various functions (including custom loss functions) for calculating the difference between the predicted result value and the actual result value.

[0326] Additionally, the above-described machine learning model or deep learning model can be trained using at least one optimizer.

[0327] At this time, the optimizer can be used to update the relationship parameters between the input values ​​and the result values.

[0328] At this time, the at least one optimizer may include, but is not limited to, Gradient descent, Batch Gradient Descent, Stochastic Gradient Descent, Mini-batch Gradient Descent, Momentum, AdaGrad, RMSProp, AdaDelta, Adam, NAG, NAdam, RAdam, AdamW, etc.

[0329] Below, we will describe the acquired attribute data in more detail.

[0330] FIG. 9 is a diagram for explaining information included in attribute data according to one embodiment.

[0331] Referring to FIG. 9, a lidar data processing unit according to one embodiment can obtain at least one attribute data (2200) for a sub-point data set (2110) according to one embodiment.

[0332] At this time, the at least one attribute data (2200) may include, but is not limited to, class information (2210), center location information (2220), size information (2230), shape information (2240), movement information (2250), identification information (2260), etc. of the object indicated by the sub-point data set (2110).

[0333] Additionally, the same algorithm or model may be used to obtain each attribute data included in the at least one attribute data (2200), or different algorithms or models may be used.

[0334] Additionally, at least one attribute data (2200) can be acquired based on point cloud data included in one frame data.

[0335] For example, attribute data such as class information (2210), center location information (2220), size information (2230), and shape information (2240) of an object included in at least one attribute data (2200) may be acquired based on point cloud data included in one frame data, but is not limited thereto.

[0336] Additionally, the at least one attribute data (2200) can be acquired based on point cloud data included in a plurality of frame data.

[0337] For example, attribute data such as movement information (2250) and identification information (2260) included in at least one attribute data (2200) may be acquired based on point cloud data included in a plurality of frame data, but is not limited thereto.

[0338] In addition, although the description was made based on lidar data acquired in the form of a point cloud through FIGS. 7 to 9, the described contents can also be applied to lidar data acquired in the form of a depth map, intensity map, etc. in addition to the point cloud format as described above.

[0339]

[0340] [Structure of the LiDAR device]

[0341] Fig. 10 is a drawing for explaining a lidar device according to one embodiment.

[0342] Referring to FIG. 10, a lidar device (3000) according to one embodiment may include a transmitting module (3010) and a receiving module (3020).

[0343] Additionally, the transmitting module (3010) may include, but is not limited to, a laser emitting array (3011) and an emitting lens assembly (3012).

[0344] At this time, since the contents of the above-described laser output section, etc. can be applied to the above-described laser emitting array (3011), redundant descriptions will be omitted.

[0345] Additionally, the laser emitting array (3011) can output at least one laser. For example, the laser emitting array (3011) can output multiple lasers, but is not limited thereto.

[0346] In addition, the laser emitting array (3011) can output at least one laser with a first wavelength. For example, the laser emitting array (3011) can output at least one laser with a wavelength of 940 nm, and can output multiple lasers with a wavelength of 940 nm, but is not limited thereto.

[0347] At this time, the first wavelength may be a wavelength range including an error range. For example, the first wavelength may be a 940 nm wavelength with an error range of 5 nm, meaning a wavelength range from 935 nm to 945 nm, but is not limited thereto.

[0348] Additionally, the laser emitting array (3011) can output at least one laser at the same time. For example, the laser emitting array (3011) can output a first laser at a first time, or can output the first and second lasers at a second time, and so on, and can output at least one laser at the same time.

[0349] At this time, the lasers output from the laser emitting array (3011) can be output in a direction perpendicular to the plane on which the laser emitting elements are arranged, and can be output with a certain divergence angle.

[0350] For example, the first laser emitting element included in the laser emitting array (3011) can output a first laser having a divergence angle of 40 degrees while proceeding in a direction perpendicular to the plane on which the first laser emitting element is arranged, and the second laser emitting element can output a second laser having a divergence angle of 40 degrees while proceeding in a direction perpendicular to the plane on which the second laser emitting element is arranged.

[0351] Therefore, in some embodiments, it is necessary to reduce the divergence angle of the lasers output from the laser emitting array (3011), and to steer the lasers output from the laser emitting array (3011) so that they are irradiated in different directions.

[0352] Additionally, the emitting lens assembly (3012) may include at least two lens layers. For example, the emitting lens assembly (3012) may include at least four lens layers, but is not limited thereto.

[0353] In addition, the emitting lens assembly (3012) can collimate the laser output from the laser emitting array (3011). For example, the emitting lens assembly (3012) can collimate the first laser output from the laser emitting array (3011) to change the divergence angle of the first laser. However, the emitting lens assembly (3012) does not necessarily have to have a collimating function.

[0354] In addition, the emitting lens assembly (3012) can steer the laser output from the laser emitting array (3011). For example, the emitting lens assembly (3012) can steer the first laser output from the laser emitting array (3011) in a first direction, and can steer the second laser output from the laser emitting array (3011) in a second direction, but is not limited thereto.

[0355] In addition, the emitting lens assembly (3012) can steer the plurality of lasers output from the laser emitting array (3011) to irradiate the plurality of lasers at different angles within a range of (x) degrees to (y) degrees. For example, the emitting lens assembly (3012) can steer a first laser output from the laser emitting array (3011) in a first direction to irradiate the first laser in an (x) degree, and can steer a second laser in a second direction to irradiate the second laser in an (y) degree, also output from the laser emitting array (3011). That is, when the laser output unit (100) includes a first laser emitting element and a second laser emitting element that is physically separated from the first laser emitting element, the emitting lens assembly (3012) can make the steered direction (e.g., the first direction) of the laser generated by the first laser emitting element different from the steered direction (e.g., the second direction) of the laser generated by the second laser emitting element. However, the emitting lens assembly (3012) does not necessarily have to have a steering function. That is, the emitting lens assembly (3012) should have a steering function only when it is necessary to steer the laser output directions of individual laser emitting elements, but otherwise, the steering function is not a function necessarily required for the emitting lens assembly (3012).

[0356] Accordingly, the first laser emitting element and the second laser emitting element are arranged on the same plane so that the first laser output from the first laser emitting element and the second laser output from the second laser emitting element are output so that they proceed in the same direction, and even if they are output with a large divergence angle, they are collimated by the emitting lens assembly (3012) and steered in different directions so that the first laser and the second laser can be irradiated so that they proceed in different directions but have a small divergence angle.

[0357] Additionally, the receiving module (3020) may include, but is not limited to, a laser detecting array (3021) and a detecting lens assembly (3022).

[0358] At this time, since the contents of the above-described detector unit, etc. can be applied to the laser detecting array (3021), redundant descriptions will be omitted.

[0359] Additionally, the laser detection array (3021) can detect light. For example, the laser detection array (3021) can detect multiple lasers.

[0360] Additionally, the laser detecting array (3021) may include a plurality of detecting elements. For example, the laser detecting array (3021) may include a first detecting element and a second detecting element, but is not limited thereto.

[0361] In addition, each of the plurality of detecting elements included in the laser detecting array (3021) can receive different lasers. For example, a first detecting element included in the laser detecting array (3021) can receive a first laser received in a first direction, and a second detecting element can receive a second laser received in a second direction, but is not limited thereto.

[0362] However, at this time, the meaning that each of the plurality of detecting elements receives a different laser may include the meaning that each of the plurality of detecting elements included in the laser detecting array (3021) is arranged to receive a different laser by the detecting lens assembly (3022), even though they physically have the same function.

[0363] In addition, the laser detecting array (3021) can detect at least a portion of the laser emitted from the transmission module (3010). For example, the laser detecting array (3021) can detect at least a portion of the first laser emitted from the transmission module (3010) when the first laser is reflected from the object, and can detect at least a portion of the second laser when the second laser is reflected from the object, but is not limited thereto. In addition, the detecting lens assembly (3022) can transmit the laser emitted from the transmission module (3010) to the laser detecting array (3021). For example, the detecting lens assembly (3022) may transmit the first laser irradiated in a first direction from the transmission module (3010) to the laser detecting array (3021) when the first laser is reflected from an object located in the first direction, and may transmit the second laser irradiated in a second direction to the laser detecting array (3021) when the second laser is reflected from an object located in the second direction, but is not limited thereto.

[0364] In addition, the detecting lens assembly (3022) can distribute the laser irradiated from the transmission module (3010) to at least two different detecting elements. For example, the detecting lens assembly (3022) can distribute the first laser irradiated from the transmission module (3010) in a first direction to a first detecting element included in the laser detecting array (3021) when the first laser is reflected from an object located in the first direction, and can distribute the second laser irradiated in a second direction to a second detecting element included in the laser detecting array (3021) when the second laser is reflected from an object located in the second direction, but is not limited thereto.

[0365] In addition, the laser emitting array (3011) and the laser detecting array (3021) may be at least partially matched. For example, a first laser output from a first laser emitting element included in the laser emitting array (3011) may be detected by a first detecting element included in the laser detecting array (3021), and a second laser output from a second laser emitting element included in the laser emitting array (3011) may be detected by a second detecting element included in the laser detecting array (3021), but is not limited thereto.

[0366] Additionally, this can be implemented by aligning the laser emitting array (3011) with the emitting lens assembly (3012), the laser detecting array (3021) with the detecting lens assembly (3022), and the transmitting module (3010) with the receiving module (3020).

[0367] For example, in order to implement the above, the laser emitting array (3011) and the emitting lens assembly (3012) may be aligned so that a first laser output from the first laser emitting element is radiated in a first direction and a second laser output from the second laser emitting element is radiated in a second direction, and the laser detecting array (3021) and the detecting lens assembly (3022) may be aligned so that the first detecting element receives light received from the detecting lens assembly (3022) from a third direction and the second detecting element receives light received from the detecting lens assembly (3022) from a fourth direction, and the transmitting module (3010) and the receiving module (3020) may be aligned so that the first direction and the third direction correspond to each other and the second direction and the fourth direction correspond to each other. In other words, the detecting lens assembly (3022) can focus the incident light at a focus position determined according to the direction of incidence of the light or at a detecting element corresponding to the focus position.

[0368] FIG. 11 is a drawing for explaining a laser emitting array and a laser detecting array included in a lidar device according to one embodiment.

[0369] Referring to FIG. 11, a lidar device (3100) according to one embodiment may include a laser emitting array (3110) and a laser detecting array (3120).

[0370] At this time, since the above-described contents can be applied to the laser emitting array (3110) and the laser detecting array (3120), redundant descriptions will be omitted.

[0371] The above laser emitting array (3110) may include a plurality of laser emitting units.

[0372] For example, the laser emitting array (3110) may include a first laser emitting unit (3111) and a second laser emitting unit (3112).

[0373] Additionally, the laser emitting array (3110) may be an array in which a plurality of laser emitting units are arranged in a two-dimensional matrix form.

[0374] For example, the laser emitting array (3110) may be an array in which a plurality of laser emitting units are arranged in a two-dimensional matrix form having M rows and N columns, but is not limited thereto.

[0375] Additionally, each of the plurality of laser emitting units may include at least one laser emitting element.

[0376] For example, the first laser emitting unit (3111) included in the plurality of laser emitting units may be configured with one laser emitting element, and the second laser emitting unit (3112) may be configured with one laser emitting element, but is not limited thereto.

[0377] In addition, for example, the first laser emitting unit (3111) included in the plurality of laser emitting units may be composed of two or more laser emitting elements, and the second laser emitting unit (3112) may be composed of two or more laser emitting elements, but is not limited thereto.

[0378] Additionally, the lasers output from each of the plurality of laser emitting units can be irradiated in different directions.

[0379] This may mean that the lasers output from each of the plurality of laser emitting units are irradiated in different directions through transmission optics (not shown). In this case, since the contents of the above-described emitting lens assembly may be applied to the transmission optics (not shown), redundant descriptions will be omitted.

[0380] For example, the first laser output from the first laser emitting unit (3111) included in the plurality of laser emitting units may be irradiated in a first direction through the transmission optic, and the second laser output from the second laser emitting unit (3112) may be irradiated in a second direction through the transmission optic, but is not limited thereto.

[0381] Additionally, the lasers output from each of the plurality of laser emitting units and irradiated through the transmission optics may not overlap each other at the target location.

[0382] For example, the first laser output from the first laser emitting unit (3111) included in the plurality of laser emitting units and irradiated through the transmission optic may not overlap with the second laser output from the second laser emitting unit (3112) and irradiated through the transmission optic at a distance of 100 m, but is not limited thereto.

[0383] The above laser detecting array (3120) may include a plurality of detecting units.

[0384] For example, the laser detecting array (3120) may include a first detecting unit (3121) and a second detecting unit (3122).

[0385] Additionally, the laser detecting array (3120) may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix form.

[0386] For example, the laser detecting array (3120) may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix form having M rows and N columns, but is not limited thereto.

[0387] Additionally, each of the plurality of detecting units may include at least one detecting element.

[0388] For example, the first detecting unit (3121) included in the plurality of detecting units may be configured with one detecting element, and the second detecting unit (3122) may be configured with one detecting element, but is not limited thereto.

[0389] In addition, for example, the first detecting unit (3121) included in the plurality of detecting units may be composed of two or more detecting elements, and the second detecting unit (3122) may be composed of two or more detecting elements, but is not limited thereto.

[0390] Additionally, each of the plurality of detection units can detect lasers irradiated in different directions.

[0391] This may mean that each of the plurality of detecting units detects a laser reflected from an object located in a different direction by irradiating the laser in a different direction through a receiving optic (not shown). In this case, since the contents of the above-described detecting lens assembly may be applied to the receiving optic (not shown), redundant descriptions will be omitted.

[0392] For example, the first detecting unit (3121) included in the plurality of laser emitting units can detect at least a portion of the first laser that is reflected and received by the receiving optics in the first direction when the first laser irradiated in the first direction is reflected from an object positioned in the first direction, and the second detecting unit (3122) can detect at least a portion of the second laser that is reflected and received by the receiving optics in the second direction when the second laser irradiated in the second direction is reflected from an object positioned in the second direction, but is not limited thereto.

[0393] Additionally, each of the plurality of detecting units can detect a laser output from a correspondingly arranged laser emitting unit.

[0394] For example, the first detecting unit (3121) included in the plurality of detecting units can detect the reflected first laser when the first laser output from the first laser emitting unit (3111) arranged to correspond to the first detecting unit (3121) is reflected from the target object, and the second detecting unit (3122) can detect the reflected second laser when the second laser output from the second laser emitting unit (3112) arranged to correspond to the second laser detecting unit (3122) is reflected from the target object, but is not limited thereto.

[0395] Additionally, each of the plurality of detecting units can detect lasers output from at least two laser emitting units depending on the location of the target object.

[0396] For example, the second detecting unit (3122) included in the plurality of detecting units can detect the second laser output from the second laser emitting unit (3112) when the target is located in the first distance range, and can detect the first laser output from the first laser emitting unit (3111) when the target is located in the second distance range, but is not limited thereto.

[0397] That is, it can be understood that the second detecting unit (3122) is arranged to detect light received from a second direction through the receiving optics, and when the target is located in the first distance range in the second direction, the second laser output from the second laser emitting unit (3112) reaches the target and is reflected, so that the second detecting unit (3122) detects the second laser output from the second laser emitting unit (3112) when the target is located in the first distance range, and when the target is located in the second distance range (a short-distance range closer than the first distance range) in the second direction, the first laser output from the first laser emitting unit (3111) reaches the target and is reflected, so that the second detecting unit (3122) detects the first laser output from the first laser emitting unit (3111) when the target is located in the second distance range.

[0398] Additionally, at least one detection value can be generated based on a signal obtained from each of the plurality of detection units.

[0399] At this time, the detection value may include, but is not limited to, a depth value (distance value), an intensity value, etc.

[0400] Additionally, the coordinates of the detection value can be determined based on the arrangement of each of the plurality of detection units.

[0401] For example, the first detecting unit (3121) included in the plurality of detecting units may be placed at a position of (1,1) within the laser detecting array, and the coordinates of the first detecting value generated based on the signal obtained from the first detecting unit (3121) may be determined as (1,1), but are not limited thereto.

[0402] In addition, for example, the second detecting unit (3122) included in the plurality of detecting units may be placed at a position of (2,1) within the laser detecting array, and the coordinates of the second detecting value generated based on the signal obtained from the second detecting unit (3122) may be determined as (2,1), but are not limited thereto.

[0403] Additionally, at this time, the physical meaning of the coordinates of the detection value can be determined by the alignment between the laser detection array and the receiving optics.

[0404] For example, when light received in a first direction by the receiving optic according to the alignment of the laser detecting array and the receiving optic reaches a first laser detecting unit (3121) arranged at a position (1,1) within the laser detecting array, and light received in a second direction by the receiving optic reaches a second laser detecting unit (3122) arranged at a position (2,1) within the laser detecting array, the coordinate (1,1) of the first detection value may mean an angle in the first direction with respect to the optical origin (e.g., an angle according to a spherical coordinate system), and the coordinate (2,1) of the second detection value may mean an angle in the second direction with respect to the optical origin (e.g., an angle according to a spherical coordinate system).

[0405] In addition, the above-described examples only describe examples in which coordinate values ​​directly corresponding to the arrangement positions of each of the plurality of detecting units are calculated, and the contents of the present disclosure are not limited thereto, and may include various rules by which the coordinates of the detection values ​​can be determined based on the arrangement of each of the plurality of detecting units.

[0406] Additionally, the laser emitting array (3110) and the laser detecting array (3120) can be arranged as arrays having the same dimensions.

[0407] For example, the laser emitting array (3110) and the laser detecting array (3120) may be arranged as an array having M rows and N columns, respectively, with a plurality of laser emitting units and a plurality of detecting units, but are not limited thereto.

[0408] Additionally, the laser emitting array (3110) and the laser detecting array (3120) may be arranged as arrays having different dimensions.

[0409] For example, the laser emitting array (3110) may be arranged as an array in which a plurality of laser emitting units have M rows and N columns, and the laser detecting array (3120) may be arranged as an array in which a plurality of detecting units have M+3 rows and N columns, but is not limited thereto.

[0410] Additionally, the number of multiple laser emitting units included in the laser emitting array (3110) may be the same as the number of multiple detecting units included in the laser detecting array (3120).

[0411] For example, the laser emitting array (3110) may include M*N laser emitting units, and the laser detecting array (3120) may include M*N detecting units, but is not limited thereto.

[0412] Additionally, the number of multiple laser emitting units included in the laser emitting array (3110) may be different from the number of multiple detecting units included in the laser detecting array (3120).

[0413] For example, the laser emitting array (3110) may include M*N laser emitting units, and the laser detecting array (3120) may include (M+3)*N detecting units, but is not limited thereto.

[0414] Additionally, for example, the laser emitting array (3110) may include (M*N) / 2 laser emitting units, and the laser detecting array (3120) may include M*N detecting units, but is not limited thereto.

[0415] Additionally, for example, the laser emitting array (3110) may include (M*N) / 2 laser emitting units, and the laser detecting array (3120) may include (M+3)*N detecting units, but is not limited thereto.

[0416] Additionally, the number of laser emitting elements included in each of the plurality of laser emitting units included in the laser emitting array (3110) may be different from the number of detecting elements included in each of the plurality of laser detecting units included in the laser detecting array (3120).

[0417] For example, when the number of laser emitting elements included in the first laser emitting unit (3111) is 1, the number of detecting elements included in the first laser detecting unit (3121) may be 9, but is not limited thereto.

[0418] Additionally, for example, when the number of laser emitting elements included in the second laser emitting unit (3112) is 1, the number of detecting elements included in the second laser detecting unit (3122) may be 9, but is not limited thereto.

[0419] FIG. 12 and FIG. 13 are drawings for explaining a lidar device according to one embodiment.

[0420] Referring to FIGS. 12 and 13, a lidar device (4000) according to one embodiment may include a transmitting module (4010) and a receiving module (4020).

[0421] Additionally, referring to FIGS. 12 and 13, the transmitting module (4010) may include a laser emitting module (4011), an emitting optics module (4012), and an emitting optics holder (4013).

[0422] At this time, the laser emitting module (4011) may include a laser emitting array, and the above-described contents may be applied to the laser emitting array, so redundant descriptions will be omitted.

[0423] In addition, the above-described emitting optics module (4012) may include an emitting lens assembly, and the contents of the above-described emitting lens assembly, etc. may be applied to the above-described emitting lens assembly, so redundant descriptions will be omitted.

[0424] Additionally, the emitting optics holder (4013) may be positioned between the laser emitting module (4011) and the emitting optics module (4012).

[0425] For example, the emitting optics holder (4013) may be positioned between the laser emitting module (4011) and the emitting optics module (4012) to fix the relative positional relationship between the laser emitting module (4011) and the emitting optics module (4012), but is not limited thereto.

[0426] Additionally, the emitting optics holder (4013) may be formed to fix the movement of the emitting optics module (4012).

[0427] For example, the emitting optics holder (4013) may be formed to include a hole into which at least a portion of the emitting optics module (4012) is inserted so as to restrict movement of the emitting optics module (4012), but is not limited thereto.

[0428] Also, referring to FIGS. 12 and 13, a receiving module (4020) according to one embodiment may include a laser detecting module (4021), a detecting optics module (4022), and a detecting optics holder (4023).

[0429] At this time, the laser detecting module (4021) may include a laser detecting array, and the above-described contents may be applied to the laser detecting array, so redundant descriptions will be omitted.

[0430] In addition, the above-described detecting optics module (4022) may include a detecting lens assembly, and the contents of the above-described detecting lens assembly, etc. may be applied to the detecting lens assembly, so redundant descriptions will be omitted.

[0431] Additionally, the detecting optics holder (4023) may be positioned between the laser detecting module (4021) and the detecting optics module (4022).

[0432] For example, the detecting optics holder (4023) may be positioned between the laser detecting module (4021) and the detecting optics module (4022) to fix the relative positional relationship between the laser detecting module (4021) and the detecting optics module (4022), but is not limited thereto.

[0433] Additionally, the detecting optics holder (4023) can be formed to fix the movement of the detecting optics module (4022).

[0434] For example, the detecting optics holder (4023) may be formed to include a hole into which at least a portion of the detecting optics module (4022) is inserted so as to restrict movement of the detecting optics module (4022), but is not limited thereto.

[0435] Additionally, the above-mentioned emitting optics holder (4013) and the above-mentioned detecting optics holder (4023) can be formed as one piece.

[0436] For example, the emitting optics holder (4013) and the detecting optics holder (4023) may be formed as one piece so that each of the two holes of one optics holder is formed such that at least a portion of the emitting optics module (4012) and the detecting optics module (4013) are inserted into each hole, but the present invention is not limited thereto.

[0437] Additionally, the above-described emitting optics holder (4013) and the above-described detecting optics holder (4023) may not be physically distinct, and may conceptually mean a first part and a second part of one optics holder, but are not limited thereto.

[0438] In addition, FIG. 13 is a drawing for explaining one embodiment of the lidar device of FIG. 12, and the contents described in FIG. 12 and the present disclosure are not limited by the shape illustrated in FIG. 13.

[0439] FIG. 14 and FIG. 15 are drawings for explaining a laser emitting module and a laser detecting module according to one embodiment.

[0440] Referring to FIGS. 14 and 15, a lidar device (4100) according to one embodiment may include a laser emitting module (4110) and a laser detecting module (4120).

[0441] Also, referring to FIGS. 14 and 15, a laser emitting module (4110) according to one embodiment may include a laser emitting array (4111) and a first substrate (4112).

[0442] At this time, since the above-described contents can be applied to the laser emitting array (4111), redundant descriptions will be omitted.

[0443] According to one embodiment, the laser emitting array (4111) may be provided in the form of a chip in which a plurality of laser emitting units are arranged in an array form, but is not limited thereto.

[0444] For example, the laser emitting array (4111) may be provided in the form of a laser emitting chip, but is not limited thereto.

[0445] Additionally, the laser emitting array (4111) may be positioned on the first substrate (4112), but is not limited thereto.

[0446] Additionally, the first substrate (4112) may include, but is not limited to, a laser emitting driver for controlling the operation of the laser emitting array (4111).

[0447] Also, referring to FIGS. 14 and 15, a laser detecting module (4120) according to one embodiment may include a laser detecting array (4121) and a second substrate (4122).

[0448] At this time, since the above-described contents can be applied to the laser detecting array (4121), redundant descriptions will be omitted.

[0449] A laser detecting array (4121) according to one embodiment may be provided in the form of a chip in which a plurality of laser detecting units are arranged in an array form, but is not limited thereto.

[0450] For example, the laser detecting array (4121) may be provided in the form of a laser detecting chip, but is not limited thereto.

[0451] Additionally, the laser detecting array (4121) may be positioned on the second substrate (4122), but is not limited thereto.

[0452] Additionally, the second substrate (4122) may include, but is not limited to, a laser detecting driver for controlling the operation of the laser detecting array (4121).

[0453] In addition, the first substrate (4112) and the second substrate (4122) may be provided separately from each other as shown in FIG. 14, but are not limited thereto and may be provided as a single substrate.

[0454] In addition, FIG. 15 is a drawing for explaining one embodiment of the lidar device of FIG. 14, and the contents described in FIG. 14 and the present disclosure are not limited by the shape illustrated in FIG. 15.

[0455] FIG. 16 and FIG. 17 are drawings for explaining an emitting lens module and a detecting lens module according to one embodiment.

[0456] Referring to FIGS. 16 and 17, a lidar device (4200) according to one embodiment may include an emitting lens module (4210) and a detecting lens module (4220).

[0457] Also, referring to FIGS. 16 and 17, an emitting lens module (4210) according to one embodiment may include an emitting lens assembly (4211) and an emitting lens mounting tube (4212).

[0458] At this time, since the above-described contents can be applied to the above-described emitting lens assembly (4211), redundant descriptions will be omitted.

[0459] An emitting lens assembly (4211) according to one embodiment can be placed within the emitting lens mounting tube (4212).

[0460] Additionally, the above-described emitting lens mounting tube (4212) may refer to a barrel surrounding the above-described emitting lens assembly (4211), but is not limited thereto.

[0461] Additionally, referring to FIGS. 16 and 17, a detecting lens module (4220) according to one embodiment may include a detecting lens assembly (4221) and a detecting lens mounting tube (4222).

[0462] At this time, since the above-described contents can be applied to the detecting lens assembly (4221), redundant descriptions will be omitted.

[0463] A detecting lens assembly (4221) according to one embodiment can be placed within the detecting lens mounting tube (4222).

[0464] Additionally, the detecting lens mounting tube (4222) may refer to a tube surrounding the detecting lens assembly (4221), but is not limited thereto.

[0465] Additionally, referring to FIG. 17, the emitting optics module (4210) can be arranged to be aligned with the laser emitting module described above.

[0466] At this time, the meaning that the above-described emitting optics module (4210) is arranged to be aligned with the above-described laser emitting module may include, but is not limited to, the meaning that it is arranged to have a physically preset relative positional relationship and the meaning that it is aligned to be able to irradiate the laser at an optically targeted angle.

[0467] Additionally, referring to FIG. 17, the detecting optics module (4220) can be arranged to be aligned with the laser detecting module described above.

[0468] At this time, the meaning that the detecting optics module (4220) is arranged to be aligned with the above-described laser detecting module may include, but is not limited to, the meaning that it is arranged to have a physically preset relative positional relationship and the meaning that it is aligned to be able to detect a laser that is received at an optically targeted angle.

[0469] In addition, FIG. 17 is a drawing for explaining one embodiment of the lidar device of FIG. 16, and the contents described in FIG. 16 and the present disclosure are not limited by the shape illustrated in FIG. 17.

[0470]

[0471] [VCSEL (Vertical-cavity surface-emitting laser) device]

[0472] Fig. 18 is a drawing showing a laser output unit according to one embodiment.

[0473] Referring to FIG. 18, a laser output unit (100) according to one embodiment may include a pixel element (110).

[0474] A pixel element (110) according to one embodiment may include an upper metal contact (10), an upper DBR layer (upper Distributed Bragg reflector 20), an active layer (quantum well 40), a lower DBR layer (lower Distributed Bragg reflector 30), a substrate (substrate 50), and a lower metal contact (60).

[0475] Additionally, the pixel element (110) according to one embodiment can emit a laser beam vertically from the upper surface. For example, the pixel element (110) can emit a laser beam in a direction perpendicular to the surface of the upper metal contact (10). Additionally, for example, the pixel element (110) can emit a laser beam vertically to the active layer (40).

[0476] A pixel element (110) according to one embodiment may include an upper DBR layer (20) and a lower DBR layer (30).

[0477] According to one embodiment, the upper DBR layer (20) and the lower DBR layer (30) may be formed of a plurality of reflective layers. For example, the plurality of reflective layers may be alternately arranged with reflective layers having high reflectivity and reflective layers having low reflectivity. In this case, the thickness of the plurality of reflective layers may be one-fourth of the laser wavelength emitted from the pixel element (110), but is not limited thereto.

[0478] Additionally, the upper DBR layer (20) and the lower DBR layer (30) according to one embodiment may be doped with p-type and n-type. For example, the upper DBR layer (20) may be doped with p-type and the lower DBR layer (30) may be doped with n-type. Alternatively, for example, the upper DBR layer (20) may be doped with n-type and the lower DBR layer (30) may be doped with p-type.

[0479] Additionally, according to one embodiment, a substrate (50) may be placed between the lower DBR layer (30) and the lower metal contact (60). If the lower DBR layer (30) is doped with a p-type, the substrate (50) may also be a p-type substrate, and if the lower DBR layer (30) is doped with an n-type, the substrate (50) may also be an n-type substrate.

[0480] A pixel element (110) according to one embodiment may include an active layer (40).

[0481] According to one embodiment, an active layer (40) may be placed between an upper DBR layer (20) and a lower DBR layer (30).

[0482] An active layer (40) according to one embodiment may include a plurality of quantum wells that generate laser beams. The active layer (40) may emit laser beams.

[0483] A pixel element (110) according to one embodiment may include a metal contact for electrical connection with a power source, etc. For example, the pixel element (110) may include an upper metal contact (10) and a lower metal contact (60).

[0484] Additionally, the pixel element (110) according to one embodiment can be electrically connected to the upper DBR layer (20) and the lower DBR layer (30) through metal contacts.

[0485] For example, when the upper DBR layer (20) is doped with a p-type and the lower DBR layer (30) is doped with an n-type, a p-type voltage can be supplied to the upper metal contact (10) to electrically connect it with the upper DBR layer (20), and an n-type voltage can be supplied to the lower metal contact (60) to electrically connect it with the lower DBR layer (30).

[0486] Also, for example, when the upper DBR layer (20) is doped with an n-type and the lower DBR layer (30) is doped with a p-type, an n-type voltage may be supplied to the upper metal contact (10) to electrically connect with the upper DBR layer (20), and a p-type voltage may be supplied to the lower metal contact (60) to electrically connect with the lower DBR layer (30).

[0487] A pixel element (110) according to one embodiment may include an oxidation area. The oxidation area may be positioned on top of the active layer.

[0488] In one embodiment, the oxidation area may be insulating. For example, electrical flow may be restricted in the oxidation area. For example, electrical connection may be restricted in the oxidation area.

[0489] Additionally, the oxidation area according to one embodiment can serve as an aperture. Specifically, since the oxidation area is insulating, a beam generated from the active layer (40) can be emitted only from a portion other than the oxidation area.

[0490] According to one embodiment, the laser output unit may include a plurality of pixel elements (110).

[0491] Additionally, the laser output unit according to one embodiment can turn on multiple pixels (110) at once or individually.

[0492] According to one embodiment, the laser output unit can emit laser beams of various wavelengths. For example, the laser output unit can emit a laser beam having a wavelength of 905 nm. Also, for example, the laser output unit can emit a laser beam having a wavelength of 940 nm. Also, for example, the laser output unit can emit a laser beam having a wavelength of 1550 nm.

[0493] Additionally, according to one embodiment, the wavelength of the laser output from the laser output unit may vary depending on the surrounding environment. For example, the wavelength of the laser output from the laser output unit may increase as the temperature of the surrounding environment increases. Alternatively, for example, the wavelength of the laser output from the laser output unit may decrease as the temperature of the surrounding environment decreases. The surrounding environment may include, but is not limited to, temperature, humidity, pressure, dust concentration, ambient light, altitude, gravity, acceleration, etc.

[0494] The laser output unit can emit a laser beam in a direction perpendicular to the support surface. Alternatively, the laser output unit can emit a laser beam in a direction perpendicular to the emission surface.

[0495]

[0496] Meanwhile, for example, the laser emitting element used to implement an embodiment of the present disclosure may be the above-described V-cell element. For example, the laser emitting unit may include at least one V-cell element. For example, the laser emitting unit may be composed of one V-cell element. For example, the laser emitting unit may be composed of a plurality of V-cell elements. In addition, the laser emitting array may be a plurality of laser emitting units arranged in an array form. For example, if the laser emitting unit is composed of one V-cell element, the laser emitting array may be a plurality of V-cell elements arranged in an array form. For example, if the laser emitting unit is composed of a plurality of V-cell elements, the laser emitting array may be a plurality of laser emitting units, each of which is composed of a plurality of V-cell elements, arranged in an array form.

[0497] Additionally, the sub-emitting array may include one or more laser emitting units among the plurality of laser emitting units included in the laser emitting array. Additionally, the pixel element may be referred to as a "pixel" for convenience of naming. Similarly, the laser emitting element may be referred to as an "emitter" for convenience of naming.

[0498] In addition, for example, the detecting element used to implement an embodiment of the present disclosure may be a SPAD (Single Photon Avalanche Diode) element. For example, the detecting unit may include at least one SPAD element. For example, the detecting unit may be composed of one SPAD element. For example, the detecting unit may be composed of a plurality of SPAD elements. In addition, the laser detecting array may be composed of a plurality of detecting units arranged in an array form. For example, if the detecting unit is composed of one SPAD element, the laser detecting array may be composed of a plurality of SPAD elements arranged in an array form. For example, if the detecting unit is composed of a plurality of SPAD elements, the laser detecting array may be composed of a plurality of detecting units, each of which is composed of a plurality of SPAD elements, arranged in an array form.

[0499] Additionally, the sub-detection array may include one or more detection units among the plurality of detection units included in the laser detection array. Additionally, the spad element may be referred to as a "spad" for convenience of naming. Similarly, the detection element may be referred to as a "detector" for convenience of naming.

[0500]

[0501] FIG. 19 is a drawing for explaining a laser emitting array according to one embodiment.

[0502] Referring to FIG. 19, a laser emitting array (5000) according to one embodiment may include a plurality of laser emitting units, at least one sub-emitting array, at least one upper conductor, at least one lower conductor, and at least one voltage supply.

[0503] At this time, the at least one sub-emitting array may mean a group of operatively connected laser emitting units among the plurality of laser emitting units, may mean a group of physically connected laser emitting units, may mean a group of laser emitting units connected to the same voltage supply, may mean a group of laser emitting units defined by the at least one upper conductor, and may mean a group of laser emitting units defined by a capacitor electrically connected to the at least one voltage supply, but is not limited thereto.

[0504] At least one sub-emitting array according to one embodiment may include a plurality of sub-emitting arrays.

[0505] For example, at least one sub-emitting array according to one embodiment may include, but is not limited to, a plurality of sub-emitting arrays including a first sub-emitting array (5010).

[0506] Additionally, at least one sub-emitting array according to one embodiment may include a plurality of laser emitting units.

[0507] For example, the first sub-emitting array (5010) may include, but is not limited to, a plurality of laser emitting units.

[0508] For a more specific example, the first sub-emitting array (5010) may include, but is not limited to, a first laser emitting unit (5011) and a second laser emitting unit (5012).

[0509] Additionally, a plurality of laser emitting units included in at least one sub-emitting array according to one embodiment may be connected to at least one upper conductor.

[0510] For example, a plurality of laser emitting units included in the first sub-emitting array (5010) according to one embodiment may be connected to the first upper conductor (5013) through an upper metal contact, but is not limited thereto.

[0511] Additionally, for example, the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) according to one embodiment may be connected to the first upper conductor (5013) through their respective upper metal contacts, but are not limited thereto.

[0512] Additionally, a plurality of laser emitting units included in at least one sub-emitting array according to one embodiment may be connected to at least one lower conductor.

[0513] For example, a plurality of laser emitting units included in at least one sub-emitting array according to one embodiment may be connected to the first lower conductor (5014) via a lower metal contact, but is not limited thereto.

[0514] Additionally, for example, the first laser emitting unit (5011) and the second laser emitting unit (5012) included in at least one sub-emitting array according to one embodiment may be connected to the first lower conductor (5014) via a lower metal contact, but are not limited thereto.

[0515] Additionally, a plurality of laser emitting units included in at least one sub-emitting array according to one embodiment may be supplied with energy from at least one voltage supply.

[0516] For example, the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) included in at least one sub-emitting array according to one embodiment may be connected to the first voltage supply unit (5015) through the first upper conductor (5013) and may receive energy from the first voltage supply unit (5015), but are not limited thereto.

[0517] Additionally, for example, the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) included in at least one sub-emitting array according to one embodiment may be connected to the first voltage supply unit (5015) through the first lower conductor (5014) and may receive energy from the first voltage supply unit (5015), but are not limited thereto.

[0518] Additionally, a plurality of laser emitting units included in at least one sub-emitting array according to one embodiment may receive voltage from at least one voltage supply.

[0519] For example, the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) included in at least one sub-emitting array according to one embodiment may be connected to the first voltage supply unit (5015) through the first upper conductor (5013) and may receive voltage from the first voltage supply unit (5015), but are not limited thereto.

[0520] In addition, for example, the first laser emitting unit (5011) and the second laser emitting unit (5012) included in the first sub-emitting array (5010) included in at least one sub-emitting array according to one embodiment may be connected to the first voltage supply unit (5015) through the first lower conductor (5014) and may receive voltage from the first voltage supply unit (5015), but are not limited thereto.

[0521] Additionally, the lengths of the electrical paths between at least one laser emitting unit and at least one voltage supply included in at least one sub-emitting array according to one embodiment may be different from each other.

[0522] For example, as illustrated in FIG. 19, the electrical path between the first laser emitting unit (5011) included in the first sub-emitting array (5010) and the first voltage supply unit (5015) may be smaller than the electrical path between the second laser emitting unit (5012) and the first voltage supply unit (5015), but is not limited thereto.

[0523] At this time, the electrical path may mean a path along which current or electrons travel from a voltage supply unit to each laser emitting unit, and may include a concept that can be understood as an electrical path by a person skilled in the art.

[0524] In addition, since the contents described based on the first sub-emitting array (5010) etc. can be applied to other sub-arrays etc., overlapping descriptions will be omitted.

[0525]

[0526] FIG. 20 is a drawing for explaining a laser emitting array according to one embodiment.

[0527] Referring to FIG. 20, a laser emitting array (6100) according to one embodiment may include a plurality of laser emitting units (6110).

[0528] The laser emitting array (6100) may be a 2D array. The plurality of laser emitting units (6110) may be arranged in two dimensions. For example, the plurality of laser emitting units (6110) may be arranged based on a first axis and may be arranged along a second axis different from the first axis. For example, the plurality of laser emitting units (6110) may be arranged along the x-axis and along the y-axis to form a matrix.

[0529] Although FIG. 20 only illustrates a laser emitting array having a matrix shape of 4 X 4, the shape of the laser emitting array is not limited thereto. For example, the laser emitting array can have a matrix shape of 5 X 5, 6 X 6, 7 X 7, 8 X 8, 9 X 9, 10 X 10, 11 X 11, 12 X 12, 13 X 13, 14 X 14, 15 X 15, 16 X 16, etc. Or, for example, the laser emitting array can have a matrix shape of NXM. The shape of the laser emitting array is not limited to the numbers described and can have a matrix shape composed of other numbers.

[0530] Also, for example, a plurality of laser emitting units (6110) may be arranged along the x-axis and may be arranged along a second axis forming an angle of 90 degrees or less with the x-axis. At this time, the plurality of laser emitting arrays (6100) may have a rhombus or trapezoidal shape. In addition, the plurality of laser emitting arrays (6100) may have a honeycomb shape.

[0531] The laser emitting unit (6110) may include a plurality of laser emitting elements. For example, the laser emitting unit (6110) may include 300 to 400 laser emitting elements. For example, the laser emitting unit (6110) may include a plurality of pixel emitters arranged in a circular structure, a matrix structure, a rhombus structure, a trapezoidal structure, or a honeycomb structure.

[0532] A laser emitting array (6100) according to one embodiment may include a plurality of voltage supply units (6120, 6125, 6130, 6135). For example, the laser emitting array (6100) may include first voltage supply units (6120, 6125) arranged adjacent to both ends of a pixel array arranged along the first axis. Furthermore, for example, the laser emitting array (6100) may include second voltage supply units (6130, 6135) arranged adjacent to both ends of a pixel array arranged along the second axis.

[0533] For another example, the laser emitting array (6100) may include first voltage supply units (6120) arranged adjacent to one end of the pixel array arranged along the first axis and second voltage supply units (6125) arranged adjacent to the other end. Furthermore, for example, the laser emitting array (6100) may include third voltage supply units (6130) arranged adjacent to one end of the pixel array arranged along the second axis and fourth voltage supply units (6135) arranged adjacent to the other end.

[0534] According to one embodiment, the plurality of voltage supply units (6120, 6125, 6130, 6135) may include a conductive material. For example, the plurality of voltage supply units (6120, 6125, 6130, 6135) may include a metal.

[0535] According to one embodiment, the plurality of voltage supply units (6120, 6125, 6130, 6135) may be electrically connected to the plurality of laser emitting units (6110). At this time, the plurality of voltage supply units (6120, 6125, 6130, 6135) may supply voltage to the plurality of laser emitting units (6110).

[0536] According to one embodiment, the plurality of voltage supply units (6120, 6125, 6130, 6135) can supply a p-type voltage or an n-type voltage to the plurality of laser emitting units (6110). For example, the p-type voltage may be a voltage supplied from a (+) terminal of a voltage source, and the n-type voltage may be a voltage supplied from a (-) terminal of the voltage source. Also, for example, the p-type voltage may be a voltage generally applied to a p-doped body, and the n-type voltage may be a voltage generally applied to an n-doped body.

[0537] For example, the first voltage supply units (6120, 6125) arranged at both ends of the laser emitting array arranged along the first axis can be connected to the lower metal contacts (60) of the plurality of laser emitting units (6110). At this time, an n-type voltage can be applied to the lower metal contacts (60) of the laser emitting units (6110) through the first voltage supply units (6120, 6125).

[0538] In addition, for example, the second voltage supply units (6130, 6135) arranged at both ends of the laser emitting array arranged along the second axis may be connected to the upper metal contacts (10) of the plurality of laser emitting units (6110). At this time, a p-type voltage may be applied to the upper metal contact (10) of the laser emitting unit (6110) through the second voltage supply units (6130, 6135). At this time, a voltage higher than a reference voltage may be applied to the upper metal contact (10) of the laser emitting unit (6110) through the second voltage supply units (6130, 6135).

[0539] For another example, the first voltage supply units (6120, 6125) arranged at both ends of the laser emitting array arranged along the first axis may be connected to the upper metal contacts (10) of the plurality of laser emitting units (6110). At this time, a p-type voltage may be applied to the upper metal contact (10) of the laser emitting unit (6110) through the first voltage supply units (6120, 6125). At this time, a voltage higher than a reference voltage may be applied to the upper metal contact (10) of the laser emitting unit (6110) through the first voltage supply units (6120, 6125).

[0540]

[0541] In addition, as another example, the second voltage supply units (6130, 6135) arranged at both ends of the laser emitting array arranged along the second axis may be connected to the lower metal contacts (60) of the plurality of laser emitting units (6110). At this time, an n-type voltage may be applied to the lower metal contacts (60) of the laser emitting units (6110) through the second voltage supply units (6120, 6125). At this time, a voltage lower than a reference voltage may be applied to the lower metal contacts (60) of the laser emitting units (6110) through the second voltage supply units (6120, 6125).

[0542] A laser emitting array (6110) according to one embodiment may include a plurality of transmission lines (6140, 6150). The plurality of transmission lines (6140, 6150) may include a conductive material. For example, the plurality of transmission lines (6140, 6150) may include metal.

[0543] According to one embodiment, a plurality of transmission lines (4140) may connect a plurality of laser emitting units (6110) arranged along the first axis to each other or electrically connect a laser emitting unit (6110) and first voltage supply units (6120, 6125). In addition, a plurality of transmission lines (6140, 6150) may connect a plurality of laser emitting units (6110) arranged along the second axis to each other or electrically connect a laser emitting unit (6110) and second voltage supply units (6130, 6135).

[0544] Referring to FIG. 20, a plurality of laser emitting units (6110) included in a laser emitting array (6110) can operate individually. A plurality of laser emitting units (6110) included in a laser emitting array (6110) can each operate independently, regardless of whether other laser emitting units are operating.

[0545] For example, in order to operate the laser emitting unit of row 1 and column 1, an n-type voltage may be applied to a voltage supply unit arranged in row 1 among the first voltage supply units (6120, 6125), and a p-type voltage may be applied to a voltage supply unit arranged in column 1 among the second voltage supply units (6130, 6135).

[0546] For example, in order to operate the laser emitting unit of row 1 and column 1, a voltage lower than the reference voltage may be applied to a voltage supply unit arranged in row 1 among the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to a voltage supply unit arranged in column 1 among the second voltage supply units (6130, 6135).

[0547] Also, for example, in order to operate the laser emitting unit in the first row and second column, an n-type voltage may be applied to a voltage supply unit arranged in the first row among the first voltage supply units (6120, 6125), and a p-type voltage may be applied to a voltage supply unit arranged in the second column among the second voltage supply units (6130, 6135).

[0548] Also, for example, in order to operate the laser emitting unit in the first row and second column, a voltage lower than the reference voltage may be applied to the voltage supply unit arranged in the first row among the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to the voltage supply unit arranged in the second column among the second voltage supply units (6130, 6135).

[0549] Also, for example, in order to operate all four laser emitting units arranged in one row, an n-type voltage may be applied to the voltage supply unit arranged in the first row among the first voltage supply units (6120, 6125), and a p-type voltage may be applied to all of the second voltage supply units (6130, 6135).

[0550] Also, for example, in order to operate all four laser emitting units arranged in one row, a voltage lower than the reference voltage may be applied to the voltage supply unit arranged in the first row among the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to all of the second voltage supply units (6130, 6135).

[0551] Also, for example, in order to operate the pixel units of the second row and second column and the pixel units of the third row and fourth column, an n-type voltage may be applied to the voltage supply units arranged in the second and third rows among the first voltage supply units (6120, 6125), and a p-type voltage may be applied to the voltage supply units arranged in the second and fourth columns among the second voltage supply units (6130, 6135).

[0552] Also, for example, in order to operate the pixel units of the second row and second column and the pixel units of the third row and fourth column, a voltage lower than the reference voltage may be applied to the voltage supply units arranged in the second and third rows among the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to the voltage supply units arranged in the second and fourth columns among the second voltage supply units (6130, 6135).

[0553] Additionally, for example, in order to operate all laser emitting units (6110) included in the laser emitting array (6100), an n-type voltage may be applied to all of the first voltage supply units (6120, 6125) and a p-type voltage may be applied to all of the second voltage supply units (6130, 6135).

[0554] Also, for example, in order to operate all laser emitting units (6110) included in the laser emitting array (6100), a voltage lower than the reference voltage may be applied to all of the first voltage supply units (6120, 6125), and a voltage higher than the reference voltage may be applied to all of the second voltage supply units (6130, 6135).

[0555]

[0556] FIG. 21 is a drawing for explaining a laser emitting array according to another embodiment.

[0557] Referring to FIG. 21(a), a laser emitting array (6200) according to another embodiment may include a plurality of laser emitting units (6210).

[0558] The description of the plurality of laser emitting units (6210) may overlap with the description of the plurality of laser emitting units (6110) described with reference to FIG. 20, so a detailed description will be omitted.

[0559] The description of the multiple voltage supply units (6220, 6225, 6230, 6235) may overlap with the description of the multiple voltage supply units (6120, 6125, 6130, 6135) described with reference to FIG. 20, so a detailed description will be omitted.

[0560] The description of the plurality of transmission lines (6240, 6250) may overlap with the description of the plurality of transmission lines (6140, 6150) described with reference to FIG. 20, so a detailed description will be omitted.

[0561] A laser emitting array (6200) according to one embodiment may include a common contact (6260). The common contact (6260) may include a conductive material. For example, the common contact (6260) may include a metal.

[0562] According to one embodiment, a common contact (6260) may be electrically connected to a plurality of laser emitting units (6210) arranged along the first axis. For example, the common contact (6260) may be electrically connected to a plurality of laser emitting units (6210) arranged along the first axis through a lower metal contact (60). Also, for example, the common contact (6260) may be electrically connected to a plurality of laser emitting units (6210) arranged along the first axis through an upper metal contact (10).

[0563] FIG. 21 (b) is a drawing showing that a plurality of laser emitting units (6210) arranged along a first axis in the laser emitting array of FIG. 21 (a) are connected to a voltage supply unit (6220, 6225), and a voltage supply unit (6230, 6235) and transmission lines (6250) for connecting a plurality of laser emitting units (6210) along a second axis are omitted.

[0564] According to FIG. 21 (b), current can flow to the common contact (6260) through the first voltage supply unit (6220, 6225).

[0565] The common contact (6260) according to the embodiment described in Fig. 21 may have resistance. In this case, the longer the length from one reference point to one end of the common contact (6260), the greater the resistance.

[0566] For example, the resistance from the first reference point, which is the center of the laser emitting unit in the first row and the first column, to the left end of the common contact (6260) in the first row may be smaller than the resistance from the second reference point, which is the center of the laser emitting unit in the first row and the second column, to the left end of the common contact (6260) in the first row.

[0567] Also, for example, the resistance from the first reference point, which is the center of the laser emitting unit in the first row and the first column, to the left end of the common contact (6260) in the first row may be smaller than the resistance from the third reference point, which is the center of the laser emitting unit in the first row and the third column, to the left end of the common contact (6260) in the first row.

[0568] Also, for example, the resistance from the first reference point, which is the center of the laser emitting unit in the first row and the first column, to the left end of the common contact (6260) in the first row may be smaller than the resistance from the fourth reference point, which is the center of the laser emitting unit in the first row and the fourth column, to the left end of the common contact (6260) in the first row.

[0569] At this time, if the common contact (6260) receives voltage only from the first voltage supply unit (6225) adjacent to the left end of the common contact (6260) through the transmission line (6240), the difference in resistance between the plurality of laser emitting units in one row may not be uniform.

[0570] If the resistance between the laser emitting units is different or the difference is not uniform, the intensity of the laser beam output between the laser emitting units may be different. If the laser beam output intensity between the laser emitting units is different, an uneven beam profile may be formed in the laser emitting array.

[0571] In addition, if the laser beam output intensities of the laser emitting units are different, the maximum measurement distances of each laser emitting unit may be different, which may degrade the performance of the lidar device using the laser emitting array.

[0572] To solve the above problem, the first voltage supply units (6220, 6225) can be arranged at both ends, rather than at one end, of the plurality of laser emitting units (6210) arranged along the first axis. By arranging the first voltage supply units (6220, 6225) at both ends of the plurality of laser emitting units (6210), the resistance difference between the laser emitting units can be reduced.

[0573] In addition, by controlling the aspect ratio of the laser emitting array, the resistance difference between the laser emitting units can be reduced. In other words, by controlling the aspect ratio of the laser emitting array and controlling the horizontal and vertical lengths of the common contacts (6260) of each row, the resistance difference between the laser emitting units arranged in the laser emitting array can be reduced. The aspect ratio of the laser emitting array is defined in detail later.

[0574] Below, we will examine a method for reducing the resistance difference between laser emitting units arranged in a laser emitting array.

[0575]

[0576] Resistance differences between laser emitting units

[0577] The resistance differences between laser emitting units are explained below.

[0578] FIGS. 22 to 25 are diagrams for explaining the resistance of a laser emitting unit according to one embodiment. Specifically, FIGS. 22 to 25 illustrate a case where a voltage supply unit is arranged adjacent to one end of a laser emitting array.

[0579] Fig. 21 is a diagram illustrating a laser emitting array (6010) according to one embodiment. The laser emitting array (6010) according to one embodiment includes a plurality of laser emitting units (6011), a voltage supply unit (6012), a transmission line (6013), and a common contact (6014). At this time, the laser emitting array (6010) includes a voltage supply unit (6012) adjacent to one of the two ends of the laser emitting array.

[0580] According to one embodiment, a laser emitting array (6010) can operate a plurality of laser emitting units (6011) by supplying voltage to the plurality of laser emitting units (6011) through a voltage supply unit (6012). At this time, the resistance generated from a common contact (6014) electrically connected to the voltage supply unit (6012) of each laser emitting unit (6011) may be different for each laser emitting unit.

[0581] Referring to FIG. 22, the laser emitting unit in the first row may have a first central point (C1). The resistance of the first central point (C1) may be a composite resistance of the resistance from one end of the common contact (6014) to the corner of the laser emitting unit in the first row and the resistance from the corner of the laser emitting unit in the first row to the first central point (C1).

[0582] In one embodiment, the resistance from one end of the common contact (6014) to the corner of the first row laser emitting unit may be R1. Additionally, the resistance from the corner of the first row laser emitting unit to the first center point (C1) may be R2. Accordingly, the resistance of the first center point (C1) may be the combined resistance of R1 and R2. For example, the resistance of the first center point (C1) may be R1+R2.

[0583] For example, if the length from one end of the common contact (6014) to the edge of the first row laser emitting unit and the length from the edge of the first row laser emitting unit to the first center point (C1) are equal, R1 may be equal to R2. Accordingly, the resistance of the first center point (C1) may be 2*R1 or 2*R2.

[0584]

[0585] FIG. 23 is a diagram illustrating a laser emitting array (6010) according to one embodiment.

[0586] Referring to FIG. 23, the laser emitting units in the second row may have a second center point (C2). The resistance of the second center point (C2) may be the resistance from one end of the common contact (6014) to the corner of the laser emitting units in the second row and the combined resistance from the corner of the laser emitting cell units in the second row to the second center point (C2).

[0587] In one embodiment, the resistance from one end of the common contact (6014) to the corner of the two-row laser emitting unit may be R1. In addition, the resistance from the corner of the two-row laser emitting unit to the second center point (C2) may be R2. Accordingly, the resistance of the second center point (C2) may be the combined resistance of R1 and R2. For example, the resistance of the second center point (C2) may be R1+R2.

[0588] For example, if the length from one end of the common contact (6014) to the edge of the first-row laser emitting unit, the length from the edge of the first-row laser emitting unit to the first central point (C1), the length between each laser emitting unit, and the length from the edge of the second-row laser emitting unit to the second central point (C2) are all the same, R1 may be four times R2. Accordingly, the resistance of the second central point (C2) may be (5 / 4)*R1 or 5*R2.

[0589]

[0590] FIG. 24 is a diagram illustrating a laser emitting array (6010) according to one embodiment.

[0591] Referring to FIG. 24, the three-row laser emitting unit may have a third center point (C3). The resistance of the third center point (C3) may be a composite resistance of the resistance from one end of the common contact (6014) to the corner of the three-row laser emitting unit and the resistance from the corner of the three-row laser emitting unit to the third center point (C3).

[0592] In one embodiment, the resistance from one end of the common contact (6014) to the corner of the three-row laser emitting unit may be R1. Additionally, the resistance from the corner of the three-row laser emitting unit to the third central point (C3) may be R2. Accordingly, the resistance of the third central point (C3) may be the composite resistance of R1 and R2. For example, the resistance of the third central point (C3) may be R1+R2.

[0593] For example, if the length from one end of the common contact (6014) to the edge of the first-row laser emitting unit, the length from the edge of the first-row laser emitting unit to the first central point (C1), the length between each laser emitting unit, and the length from the edge of the third-row pixel unit to the third central point (C3) are all the same, R1 may be 7 times R2. Accordingly, the resistance of the third central point (C3) may be (8 / 7)*R1 or 8*R2.

[0594]

[0595] FIG. 25 is a diagram illustrating a laser emitting array (6010) according to one embodiment.

[0596] Referring to FIG. 25, the four rows of laser emitting units may have a fourth central point (C4). The resistance of the fourth central point (C4) may be a composite resistance of the resistance from one end of the common contact (6014) to the corner of the four rows of laser emitting units and the resistance from the corner of the four rows of laser emitting units to the fourth central point (C4).

[0597] In one embodiment, the resistance from one end of the common contact (6014) to the corner of the four-row laser emitting unit may be R1. Additionally, the resistance from the corner of the four-row laser emitting unit to the fourth central point (C4) may be R2. Accordingly, the resistance of the fourth central point (C4) may be the composite resistance of R1 and R2. For example, the resistance of the fourth central point (C4) may be R1+R2.

[0598] For example, if the length from one end of the common contact (6014) to the edge of the first row of laser emitting units, the length from the edge of the first row of laser emitting units to the first central point (C1), the length between each laser emitting unit, and the length from the edge of the fourth row of laser emitting units to the fourth central point (C4) are all the same, R1 can be 10 times R2. Accordingly, the resistance of the third central point (C3) can be (11 / 10)*R1 or 11*R2.

[0599]

[0600] As described in FIGS. 22 to 25, the resistance of the laser emitting unit may increase as it moves away from the voltage supply unit (6012).

[0601] Since the laser emitting unit in the first row is located closer to the voltage supply (6012) than the laser emitting units in the same row, the laser emitting unit in the first row may have a lower resistance than the laser emitting units in the same row. For example, the resistance of the laser emitting unit in the first row may be 2*R2.

[0602] Since the laser emitting units in the second row are located further from the voltage supply (6012) than the laser emitting units in the first row, the resistance of the laser emitting units in the second row may be greater than that of the laser emitting units in the first row. For example, the resistance of the laser emitting units in the second row may be 5*R2.

[0603] Since the laser emitting unit in row 3 is located further from the voltage supply (6012) than the laser emitting units in rows 1 and 2, the resistance of the laser emitting unit in row 3 may be greater than the resistance of the laser emitting units in rows 1 and 2. For example, the resistance of the laser emitting unit in row 3 may be 8*R2.

[0604] Since the laser emitting unit in row 4 is located further from the voltage supply (6012) than the laser emitting units in rows 1, 2, and 3, the resistance of the laser emitting unit in row 4 may be greater than the pixel units in rows 1, 2, and 3. For example, the resistance of the laser emitting unit in row 4 may be 11*R2.

[0605] Since the resistance of the laser emitting units at one end of the common contact (6014) is different, each laser emitting unit can output a laser beam of different intensity. The greater the difference in resistance between the laser emitting units, the greater the difference in intensity of the laser beam. If the difference in intensity of the laser beam is large, the beam profile of the laser emitting array becomes unbalanced, and the measurement distance of the lidar device using the laser emitting array may vary depending on the laser emitting unit, which may cause a problem.

[0606] In one embodiment, the resistance difference between the laser emitting units in the first row and the laser emitting units in the second row may be 3*R2. Additionally, the resistance difference between the laser emitting units in the first row and the laser emitting units in the third row may be 6*R2, and the resistance difference between the laser emitting units in the first row and the laser emitting units in the fourth row may be 9*R2.

[0607] At this time, the difference (9*R2) between the resistance of the laser emitting unit in the first row and the resistance of the laser emitting unit in the fourth row may be greater than the difference (3*R2) between the resistance of the laser emitting unit in the first row and the resistance of the laser emitting unit in the second row.

[0608] At this time, the difference between the intensity of the laser beam output from the laser emitting unit in the first row and the intensity of the laser beam output from the laser emitting unit in the fourth row may be greater than the difference between the intensity of the laser beam output from the laser emitting unit in the first row and the intensity of the laser beam output from the laser emitting unit in the second row.

[0609] If the difference in the intensity of the laser beams of the laser emitting units exceeds a certain range, the beam profile of the laser emitting array becomes non-uniform, and the measurement distance of the lidar device using the laser emitting array may be limited. To solve this problem, a voltage supply unit (6012) may be placed at both ends of the common contact (6014) to electrically connect the common contact (6014) and the plurality of laser emitting units (6011). A method of applying voltage to both ends of the common contact (6014) will be described below.

[0610]

[0611] [Method 1: Reducing Resistance Between Laser Emitter Units]

[0612] FIGS. 26 to 29 are diagrams for explaining the resistance of a laser emitting unit according to another embodiment. Specifically, FIGS. 26 to 29 illustrate a case where voltage supply units (6022, 6025) are arranged adjacent to both ends of a laser emitting array.

[0613] Fig. 25 is a diagram illustrating a laser emitting array (6020) according to another embodiment. The laser emitting array (6020) according to one embodiment may include a plurality of laser emitting units (6021), a voltage supply unit (6022), a transmission line (6023), and a common contact (6024). In this case, the laser emitting array (6020) may include a voltage supply unit (6025) adjacent to one of the two ends of the laser emitting array.

[0614] According to one embodiment, a laser emitting array (6020) can operate a plurality of laser emitting units (6021) by supplying voltage to the plurality of laser emitting units (6021) through voltage supply units (6022, 6025) arranged at both ends. At this time, the resistance generated from a common contact (6024) electrically connected to the voltage supply units (6022, 6025) of each laser emitting unit (6021) may be different for each laser emitting unit.

[0615] Referring to FIG. 25, the laser emitting unit in the first row may have a fifth center point (C5). The resistance of the fifth center point (C5) may be a composite resistance of the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025). For example, the resistance of the fifth center point (C5) may be a resistance obtained by connecting in parallel the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).

[0616] In one embodiment, the resistance from one end of the common contact (6024) to the corner of the first row of laser emitting units may be R1. Furthermore, the resistance from the corner of the first row of laser emitting units to the fifth central point (C5) may be R2. Furthermore, the resistance from the corner of the first row of laser emitting units to the other end of the common contact (6024) may be R3.

[0617] Therefore, the resistance of the fifth center point (C5) may be the composite resistance of R1, R2, and R3. For example, the resistance of the fifth center point (C5) may be (R1+R2)*(R2+R3) / (R1+2*R2+R3).

[0618] For example, if the length from one end of the common contact (6014) to the edge of the first row of laser emitting units and the length from the edge of the first row of laser emitting units to the fifth central point (C5) are the same, R1 may be equal to R2. In addition, if the length to the fifth central point (C5), the length between each laser emitting unit, and the length from the edge of the laser emitting unit to one end or the other end of the common contact (6014) are the same, R3 may be 10 times R1 or R2. Therefore, the resistance of the fifth central point (C5) may be (22 / 13)*R2.

[0619]

[0620] FIG. 27 is a drawing showing a laser emitting array (6020) according to another embodiment.

[0621] Referring to Fig. 27, the laser emitting unit in the second row may have a sixth center point (C6). The resistance of the sixth center point (C6) may be a composite resistance of the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025). For example, the resistance of the sixth center point (C6) may be a resistance obtained by connecting in parallel the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).

[0622] In one embodiment, the resistance from one end of the common contact (6014) to the corner of the two-row pixel unit may be R1. Additionally, the resistance from the corner of the two-row laser emitting unit to the sixth central point (C6) may be R2. Additionally, the resistance from the corner of the two-row laser emitting unit to the other end of the common contact (6024) may be R3.

[0623] Therefore, the resistance of the sixth center point (C6) may be the composite resistance of R1, R2, and R3. For example, the resistance of the sixth center point (C6) may be (R1+R2)*(R2+R3) / (R1+2*R2+R3).

[0624] For example, if the length from one end of the common contact (6014) to the edge of the first row of laser emitting units and the length from the edge of the first row of laser emitting units to the sixth central point (C6) are the same, R1 may be four times R2. In addition, if the length to the sixth central point (C6), the length between each laser emitting unit, and the length from the edge of the laser emitting unit to one end or the other end of the common contact (6014) are the same, R3 may be seven times R2. Therefore, the resistance of the sixth central point (C6) may be (40 / 13)*R2.

[0625]

[0626] FIG. 28 is a drawing showing a laser emitting array (6020) according to another embodiment.

[0627] Referring to Fig. 28, the laser emitting unit in the third row may have a seventh center point (C7). The resistance of the seventh center point (C7) may be a composite resistance of the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025). For example, the resistance of the seventh center point (C7) may be a resistance obtained by connecting in parallel the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).

[0628] In one embodiment, the resistance from one end of the common contact (6014) to the corner of the three-row laser emitting unit may be R1. Additionally, the resistance from the corner of the three-row laser emitting unit to the seventh central point (C7) may be R2. Additionally, the resistance from the corner of the three-row laser emitting unit to the other end of the common contact (6024) may be R3.

[0629] Therefore, the resistance of the seventh center point (C7) may be the composite resistance of R1, R2, and R3. For example, the resistance of the seventh center point (C7) may be (R1+R2)*(R2+R3) / (R1+2*R2+R3).

[0630] For example, if the length from one end of the common contact (6014) to the edge of the three-row laser emitting unit and the length from the edge of the three-row laser emitting unit to the seventh central point (C7) are the same, R1 may be seven times R2. In addition, if the length to the seventh central point (C7), the length between each laser emitting unit, and the length from the edge of the laser emitting unit to one end or the other end of the common contact (6014) are the same, R3 may be four times R2. Therefore, the resistance of the seventh central point (C7) may be (40 / 13)*R2.

[0631]

[0632] FIG. 29 is a drawing showing a laser emitting array (6020) according to another embodiment.

[0633] Referring to Fig. 29, the laser emitting unit in the fourth row may have an eighth center point (C8). The resistance of the eighth center point (C8) may be a composite resistance of the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025). For example, the resistance of the eighth center point (C8) may be a resistance obtained by connecting in parallel the resistance by the first voltage supply unit (6022) and the resistance by the second voltage supply unit (6025).

[0634] In one embodiment, the resistance from one end of the common contact (6014) to the corner of the four-row laser emitting unit may be R1. Additionally, the resistance from the corner of the four-row laser emitting unit to the eighth central point (C8) may be R2. Additionally, the resistance from the corner of the four-row laser emitting unit to the other end of the common contact (6024) may be R3.

[0635] Therefore, the resistance of the 8th center point (C8) may be the composite resistance of R1, R2, and R3. For example, the resistance of the 8th center point (C8) may be (R1+R2)*(R2+R3) / (R1+2*R2+R3).

[0636] For example, if the length from one end of the common contact (6014) to the corner of the four-row laser emitting unit and the length from the corner of the four-row laser emitting unit to the eighth central point (C8) are the same, R1 may be 10 times R2. In addition, if the length to the eighth central point (C8), the length between each laser emitting unit, and the length from the corner of the laser emitting unit to one end or the other end of the common contact (6014) are the same, R3 may be the same as R2. Therefore, the resistance of the eighth central point (C8) may be (22 / 13)*R2.

[0637]

[0638] The resistance difference between the laser emitting units of FIGS. 26 to 29 may be smaller than the resistance difference between the laser emitting units of FIGS. 22 to 25.

[0639] According to one embodiment, the resistance of the first central point (C1) of the first-row laser emitting unit of FIGS. 22 to 25 may be 2*R2, the resistance of the second central point (C2) of the second-row laser emitting unit may be 5*R2, the resistance of the third central point (C3) of the third-row laser emitting unit may be 8*R2, and the resistance of the fourth central point (C4) of the four-row laser emitting unit may be 11*R2.

[0640] At this time, the largest difference in resistance between the laser emitting units may be 9*R2, which is the difference in resistance between the 1-row laser emitting unit and the 4-row laser emitting unit.

[0641] According to another embodiment, the resistance of the fifth central point (C5) of the first-row laser emitting unit of FIGS. 26 to 29 may be (22 / 13)*R2, the resistance of the sixth central point (C6) of the second-row laser emitting unit may be (40 / 13)*R2, the resistance of the seventh central point (C7) of the third-row laser emitting unit may be (40 / 13)*R2, and the resistance of the eighth central point (C8) of the fourth-row laser emitting unit may be (22 / 13)*R2.

[0642] At this time, the largest difference in resistance between the laser emitting units may be (18 / 13)*R2, which is the resistance difference between the 1st row laser emitting unit and the 2nd row laser emitting unit, the resistance difference between the 1st row laser emitting unit and the 3rd row laser emitting unit, the resistance difference between the 2nd row laser emitting unit and the 4th row laser emitting unit, or the resistance difference between the 3rd row laser emitting unit and the 4th row laser emitting unit.

[0643] Accordingly, the laser emitting arrays of FIGS. 26 to 29 may have a smaller difference in resistance between the laser emitting units than the laser emitting arrays of FIGS. 22 to 25. For example, the largest difference in resistance between the laser emitting units (6011) included in the laser emitting arrays (6010) of FIGS. 22 to 25 may be 9*R2, whereas the largest difference in resistance between the laser emitting units (6021) included in the laser emitting arrays (6020) of FIGS. 26 to 29 may be (18 / 13)*R2, which is smaller than 9*R2.

[0644] Also, for example, the smallest difference in resistance between the laser emitting units (6011) included in the laser emitting array (6010) of FIGS. 22 to 25 may be 3*R2, while the largest difference in resistance between the laser emitting units (6021) included in the laser emitting array (6020) of FIGS. 26 to 29 may be (18 / 13)*R2, which is smaller than 3*R2.

[0645] When supplying voltage to the laser emitting units by placing contacts at both ends of a common contact connected to the lower metal contacts of the laser emitting units included in the laser emitting array, the difference in resistance of the laser emitting units can be reduced.

[0646] When voltage is supplied to the laser emitting units by placing contacts at both ends of a common contact connected to the lower metal contacts of the laser emitting units included in the laser emitting array, the difference in the intensity of the laser beams output by the laser emitting units can be reduced.

[0647] When supplying voltage to the laser emitting units by placing contacts only at one end of the common contact connected to the lower metal of the laser emitting units, the laser emitting unit placed close to the voltage supply unit has a relatively small resistance and can output a laser beam of relatively high intensity.

[0648] On the other hand, laser emitting units positioned far from the voltage supply have relatively large resistance and can output laser beams of relatively small intensity. The method of supplying voltage to the laser emitting units by positioning contacts only at one end of the common contact can cause severe unevenness in the laser beam output of the laser emitting units included in the laser emitting array.

[0649] However, when supplying voltage to the laser emitting units by arranging voltage supply units at both ends of a common contact connected to the lower metal of the laser emitting units, the difference in resistance between the laser emitting units can be reduced compared to when supplying voltage to the laser emitting units by arranging voltage supply units at only one end of the common contact.

[0650] By reducing the difference in resistance between the laser emitting units, the difference in intensity of each laser beam output from the laser emitting units can be reduced. By reducing the difference in intensity of each laser beam output from the laser emitting units, the maximum measurement distance of a lidar device using a laser emitting array can be relatively unrestricted.

[0651]

[0652] [Method 2: Reducing Resistance Between Laser Emitter Units]

[0653] Let us consider another method for reducing the resistance between laser emitting units with reference to Fig. 30. Fig. 30(a) is a redisplay of the laser emitting array (6200) of Fig. 21(b). As shown in Fig. 30(a), the common contact (6260) has a width of w and a length of z. However, by increasing the width and reducing the length of the common contact (6260), the resistance of the common contact (6260) can be reduced.

[0654] In other words, if the width of the common contact (6360) is increased from w to w' and the length is decreased from z to z' as shown in Fig. 30(b), the overall resistance of the common contact (6360) can be reduced.

[0655] In other words, if the width of the common contact (6360) is increased from w to w' and the length is decreased from z to z', the overall resistance of the common contact (6260, 6360) decreases as the length becomes shorter and the width becomes wider, since it is proportional to the length of the common contact (6260, 6360) and inversely proportional to the cross-sectional area of ​​the common contact (6260, 6360) related to the width.

[0656] In this case, the resistance values ​​of R1 and R2 described in FIGS. 22 to 25, and R1, R2, and R3 described in FIGS. 26 to 29 will decrease in proportion to the shortened length of the common contact and inversely in proportion to the increased width. Therefore, the composite resistance at each of the central points (C1 to C8) described in FIGS. 22 to 29 can decrease.

[0657] By reducing the length of the common contact (6360) and increasing its width, the size of the laser emitting array (6300) can also be reduced. That is, the horizontal length of the laser emitting array (6300) in the row direction can be reduced according to the reduced length of the common contact (6360), and the vertical length of the laser emitting array (6300) in the column direction can be increased according to the increased width of the common contact (6360).

[0658] Meanwhile, the column-wise length of the common contact (6360) may affect the spacing between two laser emitting units adjacent in the column direction. In addition, the row-wise width of the common contact (6360) may affect the spacing between two laser emitting units adjacent in the row direction.

[0659] For example, if the length of the common contact (6360) is shortened, the spacing between two adjacent laser emitting units in the row direction may be shortened. Conversely, if the width of the common contact (6360) is lengthened, the spacing between two adjacent laser emitting units in the column direction may be lengthened.

[0660] In addition, in the laser emitting array (6300) configured as in FIG. 30, if the spacing between the laser emitting units arranged in the row direction of one common contact (6360) is shortened, the resistance difference between the laser emitting units can be further reduced. Accordingly, the difference in the intensity of each laser beam output from the laser emitting units that receive voltage through one common contact (6360) can be reduced. In other words, by reducing the difference in the intensity of each laser output from the laser emitting units, the maximum measurement distance of the lidar device using the laser emitting array may not be relatively limited. That is, the intensity between the lasers output from the laser emitting units can be made uniform.

[0661] Therefore, by widening the width of the common contact (6360) and reducing the length, thereby reducing the aspect ratio, which is the ratio of the horizontal length to the vertical length of the laser emitting array (6300), it can be effective in reducing the resistance difference between the laser emitting units arranged in the laser emitting array (6300) and enabling uniform laser output between the laser emitting units.

[0662] However, if the aspect ratio of the laser emitting array (6300) is reduced, the following problems may occur.

[0663]

[0664] [Problems that may arise from reducing the aspect ratio of the laser emitting array]

[0665] 1. Definition of aspect ratio

[0666] Referring to FIG. 31, the aspect ratio of the laser emitting array (3110) and the aspect ratio of the laser detection array (3120) are defined.

[0667] FIG. 31(a) is for defining the aspect ratio of the laser emitting array (3110). The aspect ratio of the laser emitting array (3110) according to the embodiment of the present disclosure is in accordance with the definition defined below. That is, not only the aspect ratio of the laser emitting array (3110) described below but also the aspect ratio of the laser emitting array (3110) described above is in accordance with the definition defined below.

[0668] Referring to FIG. 31(a), the aspect ratio of the laser emitting array (3110) will be examined. First, among the laser emitting units arranged in the X-th row within the laser emitting array (3110), the distance between the laser emitting unit (3112) arranged in the first column and the laser emitting unit (3115) arranged in the last column is defined as the first distance. In addition, among the laser emitting units arranged in the Y-th column within the laser emitting array (3110), the distance between the laser emitting unit (3113) arranged in the first row and the laser emitting unit (3114) arranged in the last row is defined as the second distance.

[0669] At this time, the aspect ratio of the laser emitting array (3110) is defined as (first distance / second distance).

[0670]

[0671] FIG. 31(b) is for defining the aspect ratio of the laser detecting array (3120). The aspect ratio of the laser detecting array (3120) according to the embodiment of the present disclosure is in accordance with the definition defined below. That is, not only the aspect ratio of the laser detecting array (3120) described below but also the aspect ratio of the laser detecting array (3120) described above is in accordance with the definition defined below.

[0672] Referring to FIG. 31(b), the aspect ratio of the laser detecting array (3120) will be examined. First, among the detecting units arranged in the Mth row within the laser detecting array (3120), the distance between the detecting unit (3122) arranged in the first column and the detecting unit (3125) arranged in the last column is defined as the third distance. In addition, among the detecting units arranged in the Nth column within the laser detecting array (3120), the distance between the detecting unit (3123) arranged in the first row and the detecting unit (3124) arranged in the last row is defined as the fourth distance.

[0673] At this time, the aspect ratio of the laser detecting array (3110) is defined as (3rd distance / 4th distance).

[0674]

[0675] Additionally, the aspect ratio of the illumination area can be defined as (the horizontal length of the illumination area / the vertical length of the illumination area), and the aspect ratio of the detection area can be defined as (the horizontal length of the detection area / the vertical length of the detection area). Additionally, the aspect ratio of the measurable area can be defined as (the horizontal length of the measurable area / the vertical length of the measurable area).

[0676]

[0677] 2. Problems that may arise from reducing the aspect ratio of the laser emitting array (3110)

[0678] Figure 32 is intended to illustrate problems that may arise from reducing the aspect ratio of the laser emitting array (3110). Previously, both the emitting lens assembly (4211) and the detecting lens assembly (4221) were composed of symmetrical lenses.

[0679] In this case, the illumination area is formed to have a similar relationship with the laser emitting array (3110) according to the aspect ratio of the laser emitting array (3110), and the detection area is formed to have a similar relationship with the laser detecting array (3120) according to the aspect ratio of the laser detecting array (3120). That is, the aspect ratio of the illumination area and the aspect ratio of the laser emitting array (3110) may match each other, and the aspect ratio of the detection area and the aspect ratio of the laser detecting array (3120) may match each other.

[0680] Therefore, as described above, when the aspect ratio of the laser emitting array (3110) is reduced, the aspect ratio of the illumination area is also reduced.

[0681] However, in this case, the lighting area and the detection area do not have a similar relationship, so the measurement efficiency cannot be increased.

[0682] Referring to Figure 32, the laser emitting array (3110) has an aspect ratio of K:1 and the laser detecting array (3120) has an aspect ratio of L:1. In this case, K <L의 관계를 가진다. 또한, 경우에 따라 K는 0과 1 사이의 유리수 일 수도 있다. 즉, 상술한 제1 거리가 제2 거리보다 크거나 같으면 K는 1 이상의 유리수 값을 가지지만, 제1 거리가 제2 거리보다 작으면 K는 0과 1 사이의 유리수 값을 가질 수도 있다. 본 개시의 실시 예에서는 K가 0과 1사이의 유리수 일 수도 있지만, 1 이상의 유리수일 수도 있으며, L보다 작은 값인 것을 가정한다.

[0683] Also, for L, if the third distance is greater than or equal to the fourth distance, L has a rational value greater than or equal to 1, but if the third distance is less than the fourth distance, L may have a rational value between 0 and 1. In other words, in the embodiments of the present disclosure, L may be a rational number between 0 and 1, but may also be a rational number greater than or equal to 1, and it is assumed that it is a value greater than K.

[0684] Meanwhile, based on the above description, when lasers output from the laser emitting array (3110) pass through the emitting lens assembly (4211) to form an illumination area, an illumination area having an aspect ratio of K:1 can be formed. In addition, the detection area formed by the laser detecting array (3120) can have an aspect ratio of L:1.

[0685] However, in such cases, the measurable area can be formed quite inefficiently. That is, as can be seen in Fig. 32, measurement of the object is possible only in the measurable area, which is the area where the illumination area and the detection area overlap. However, since the illumination area and the detection area do not have a similar relationship, a portion of the illumination area and a portion of the detection area are wasted.

[0686] For example, in FIG. 32, since K does not match L, the laser emitting unit located at (1st row, 1st column) of the laser emitting array (3110) and the detecting unit located at (1st row, 1st column) of the laser detecting array (3120) may not be aligned with each other or may have difficulty in aligning with each other. That is, the corresponding laser emitting units and detecting units in the laser emitting array (3110) and the laser detecting array (3120) may not be aligned with each other or may have difficulty in aligning with each other.

[0687] This may result in the unnecessary or wasteful use of some laser emitting units and detection units.

[0688] For example, referring to Figure 32, the laser is steered in vain in some upper and lower portions of the illumination area, and the detection unit detects light in vain in some left and right portions of the detection area. This can result in unnecessary power consumption and problems that prevent optimal performance of the lidar device.

[0689] In particular, as the aspect ratio of the laser emitting array (3110) decreases, the horizontal area formed by the illumination area decreases, which in turn causes a reduction in the horizontal area of ​​the measurable area.

[0690] This could be a factor that could inevitably lead to lower performance evaluations in technology fields that require measurements in the widest possible horizontal direction (e.g., autonomous vehicles).

[0691]

[0692] Additionally, in technical fields requiring a wider horizontal field of view than the vertical field of view corresponding to the measurable area (e.g., autonomous vehicles), the number of laser emitting units (or elements) in the row direction may be required to be greater than the number of laser emitting units (or elements) in the column direction, as shown in FIG. 33.

[0693] This is because, even if the horizontal field of view is wider than the vertical field of view, the row-wise and column-wise angular resolutions of the measurable area corresponding to one laser emitting array are required to be the same or similar.

[0694] For example, if the required horizontal field of view of the measurable area is 120 degrees and the vertical field of view is 30 degrees, then the number of laser emitting units in the row direction (E) must be four times more than the number of laser emitting units in the column direction (G) to achieve the same angular resolution in the horizontal and vertical fields of view.

[0695] Additionally, in order to reduce the frame rate, which is the time required to generate one frame or point cloud, it is desirable to connect common contacts in the direction in which more laser emitting units are arranged, either in the row direction or the column direction. That is, referring to Fig. 33, it is desirable to connect common contacts in the row direction.

[0696] This is because the number of common contacts is related to the number of times voltage is applied when forming one frame, and having as many laser emitting units as possible output lasers with one voltage application is more helpful in reducing the frame rate.

[0697] In other words, it is desirable in terms of frame rate to reduce the number of channels that output a laser with a single voltage application. Referring to Fig. 33, if common contacts are connected in the row direction, (G x n) voltages need to be applied, but if common contacts are connected in the column direction, (E x n) voltages need to be applied. Therefore, when common contacts are connected in the row direction, the number of voltage applications (i.e., the number of channels) can be reduced by 1 / 4 compared to when common contacts are applied in the column direction. Here, n is the number of measurement cycles for generating one histogram.

[0698]

[0699] Therefore, a method is needed to minimize the number of channels to reduce the frame rate while making the aspect ratio of the illumination region and the aspect ratio of the detection region match or approximate each other so that the illumination region and the detection region can have a similar relationship (ideally, a congruent relationship).

[0700] In other words, even if the aspect ratio of the laser emitting array (3110) is K:1, the aspect ratio of the illumination area is increased to L:1 (K <L), 조명 영역의 종횡비와 감지 영역의 종횡비 및 / 또는 레이저 이미팅 어레이(3120)의 종횡비를 일치 또는 근사시킬 수 있도록 하는 방법이 필요하다.

[0701]

[0702] [A method to increase the aspect ratio of the illumination area so that the illumination area and the detection area have a similar relationship (ideally a congruent relationship)]

[0703] 1. Structure of the existing lens assembly

[0704] Referring to FIG. 34, a lidar device (3500) according to one embodiment may include a transmitting module (3600) and a receiving module (3700).

[0705] Additionally, the transmitting module (3600) may include, but is not limited to, a laser emitting array (3610) and an emitting lens assembly (3620).

[0706] At this time, since the contents of the above-described laser output unit, etc. can be applied to the above-described laser emitting array (3610), redundant descriptions will be omitted.

[0707] Additionally, the laser emitting array (3610) can output at least one laser. For example, the laser emitting array (3610) can output multiple lasers, but is not limited thereto.

[0708] Additionally, the laser emitting array (3610) can output at least one laser with a first wavelength. For example, the laser emitting array (3610) can output at least one laser with a wavelength of 940 nm, and can output multiple lasers with a wavelength of 940 nm, but is not limited thereto.

[0709] At this time, the first wavelength may be a wavelength range including an error range. For example, the first wavelength may be a 940 nm wavelength with an error range of 5 nm, meaning a wavelength range from 935 nm to 945 nm, but is not limited thereto.

[0710] Additionally, the emitting lens assembly (3620) may include at least two lens layers. For example, as illustrated in FIG. 33, the emitting lens assembly (3620) may include, but is not limited to, a first lens layer (3621), a second lens layer (3622), a third lens layer (3623), and a fourth lens layer (3624).

[0711] In addition, the emitting lens assembly (3620) can steer the laser output from the laser emitting array (3610). For example, the emitting lens assembly (3620) can steer the first laser output from the laser emitting array (3610) in a first direction, and can steer the second laser output from the laser emitting array (3610) in a second direction, but is not limited thereto.

[0712] In addition, the emitting lens assembly (3620) can steer the plurality of lasers output from the laser emitting array (3610) to irradiate the plurality of lasers at different angles within a range of (x) degrees to (y) degrees. For example, the emitting lens assembly (3620) can steer the first laser output from the laser emitting array (3610) in a first direction to irradiate the first laser in an (x) degree, and can steer the second laser in a second direction to irradiate the second laser in an (y) degree, but is not limited thereto.

[0713] Additionally, the receiving module (3700) may include, but is not limited to, a laser detecting array (3710) and a detecting lens assembly (3720).

[0714] At this time, since the contents of the above-described sensor unit, etc. can be applied to the laser detecting array (3710), redundant descriptions will be omitted.

[0715] Additionally, the laser detection array (3710) can detect at least one laser. For example, the laser detection array (3710) can detect multiple lasers.

[0716] Additionally, the laser detecting array (3710) may include a plurality of detecting elements. For example, the laser detecting array (3710) may include a first detecting element and a second detecting element, but is not limited thereto.

[0717] In addition, each of the plurality of detecting elements included in the laser detecting array (3710) can receive different lasers. For example, a first detecting element included in the laser detecting array (3710) can receive a first laser received in a first direction, and a second detecting element can receive a second laser received in a second direction, but is not limited thereto.

[0718] In addition, the detecting lens assembly (3720) may include at least two lens layers. For example, as illustrated in FIG. 34, the detecting lens assembly (3720) may include, but is not limited to, a fifth lens layer (3721), a sixth lens layer (3722), a seventh lens layer (3723), and an eighth lens layer (3724).

[0719] At this time, since the above-described contents can be applied to at least two or more lens layers, redundant descriptions will be omitted.

[0720] Additionally, the detecting lens assembly (3720) may include at least two gap layers. For example, as illustrated in FIG. 34, the detecting lens assembly (3720) may include, but is not limited to, a first gap layer (3725), a second gap layer (3726), and a third gap layer (3727).

[0721] At this time, since the above-described contents can be applied to at least two gap layers, redundant descriptions will be omitted.

[0722] Additionally, the detecting lens assembly (3720) may include at least one filter layer. For example, as illustrated in FIG. 34, the detecting lens assembly (3720) may include a filter layer (3730), but is not limited thereto.

[0723] In addition, the detecting lens assembly (3720) can transmit the laser irradiated from the transmission module (3600) to the laser detecting array (3710). For example, the detecting lens assembly (3720) can transmit the first laser irradiated from the transmission module (3600) in a first direction to the laser detecting array (3710) when the first laser is reflected from an object located in the first direction, and can transmit the second laser to the laser detecting array (3710) when the second laser irradiated in a second direction is reflected from an object located in the second direction, but is not limited thereto.

[0724] In addition, the detecting lens assembly (3720) can distribute the laser irradiated from the transmission module (3600) to at least two different detecting elements. For example, the detecting lens assembly (3720) can distribute the first laser irradiated from the transmission module (3600) in a first direction to a first detecting element included in the laser detecting array (3710) when the first laser is reflected from an object located in the first direction, and can distribute the second laser to a second detecting element included in the laser detecting array (3710) when the second laser is irradiated in a second direction and reflected from an object located in the second direction, but is not limited thereto.

[0725] In addition, the transmission module (3600) can output lasers at different angles in the field of view range, and the detecting lens assembly (3720) can be designed to distribute a plurality of parallel lights incident on the detecting lens assembly (3720) at different angles in the field of view range to different detecting elements while reducing noise caused by external light.

[0726] For example, the transmission module (3600) can output a first laser of a first wavelength at 0 degrees, and can output a second laser of the first wavelength at 30 degrees, and the detecting lens assembly (3720) can distribute the first laser, which is output from the transmission module (3600) at 0 degrees and reflected from the target object, to the first detecting element included in the laser detecting array (3710), and the detecting lens assembly (3720) can distribute the second laser, which is output from the transmission module (3600) at 30 degrees and reflected from the target object, to the second detecting element included in the laser detecting array (3710).

[0727] At this time, the detecting lens assembly (3720) can block light of a wavelength band outside the transmission band of the filter layer (3730), and the first wavelength can be included in the transmission band, thereby reducing noise caused by external light.

[0728]

[0729] However, if all of the lens layers included in the emitting lens assembly (3610) of FIG. 34 use symmetrical lenses, as described with respect to FIG. 32, when the aspect ratio of the laser emitting array (3610) is reduced, a problem may arise in that the illumination area and the detection area do not have a similar relationship with each other, making it difficult to efficiently set the measurable area. In other words, if all of the lens layers included in the emitting lens assembly (3610) use symmetrical lenses, there is a limit to designing the illumination area and the detection area to have a similar relationship with each other.

[0730] Therefore, there is a need for a method of designing at least one lens layer included in an emitting lens assembly (3610) so that the illumination area and the detection area can have a similar relationship to each other.

[0731]

[0732] 2. Cylindrical Lens

[0733] To address the above-described problem, i.e., to ensure that the illumination area and the detection area have a similar relationship to each other, a cylindrical lens may be used as illustrated in FIGS. 35(a) and (b). In other words, at least one cylindrical lens may be included within the emitting lens assembly to increase the aspect ratio of the illumination area. In other words, at least one cylindrical lens may be included within the emitting lens assembly to increase the horizontal length or horizontal field of view of the illumination area.

[0734] Before going into detail about this, let's briefly look at the geometric structure and types of cylindrical lenses.

[0735] Fig. 35(a) is a square cylindrical lens having a rectangular bottom, which is one type of cylindrical lens, and Fig. 35(b) is a circular cylindrical lens having an elliptical or circular bottom, which is one type of cylindrical lens.

[0736] Referring to Fig. 35(a), a rectangular cylindrical lens can be defined by a plurality of axes and a plurality of surfaces. For example, (i) a principal point of the cylindrical lens, (ii) a central plane defined parallel to or coincident with a planar portion of the cylindrical lens, (iii) a central axis passing through the central point while being orthogonal to the principal plane, (iv) an auxiliary plane parallel to the central axis while being orthogonal to the principal plane, and (v) an auxiliary axis passing through the central point while being orthogonal to the auxiliary plane can be defined.

[0737] Referring to Fig. 35(b), the base of a circular cylindrical lens can be defined as having a major axis and a minor axis that are orthogonal to each other while passing through the center point. The major axis can refer to an axis that has the longest diameter on the base of an ellipse and coincides with a line passing through two foci of the ellipse. The minor axis can refer to an axis that passes through the center line and is orthogonal to the major axis and coincides with a line having the shortest diameter. If the lengths of the major axis and the minor axis are the same and the two foci of the ellipse coincide with the center point of the ellipse, the base of the circular cylindrical lens can be in the shape of a circle (i.e., a circle).

[0738] Meanwhile, the cylindrical lens used in the present disclosure is not limited to a rectangular cylindrical lens or a circular cylindrical lens, and cylindrical lenses of various shapes may be used.

[0739] In other words, the term "cylindrical lens" in the following description may mean that one or more cylindrical lenses are used among a rectangular cylindrical lens, a circular cylindrical lens, and various other cylindrical lenses.

[0740] Meanwhile, for convenience of explanation in this disclosure, the square cylindrical lens of Fig. 35(a) is used as a reference.

[0741] For example, to increase the aspect ratio of the illumination area, it may be desirable for the horizontal steering angles of the laser emitting units of the laser emitting array (3610) to be the same for each row. Accordingly, it may be desirable to use a square cylindrical lens of FIG. 35(a).

[0742] On the other hand, the circular cylindrical lens of FIG. 35(b) can make the horizontal / vertical steering angles of the laser emitting units of the laser emitting array (3610) different for each column and row. Therefore, FIG. 35(b) can be used to make the shape (or form) of the illumination area different from the shape (or form) of the laser emitting array (3610). For example, the vertical or horizontal angle steered along a column or row parallel to the major axis can be made larger than the horizontal or vertical angle steered along a row or column parallel to the minor axis. In addition, the steered vertical or horizontal angle can decrease as it gets farther from the major axis, and the steered horizontal or vertical angle can decrease as it gets farther from the minor axis.

[0743]

[0744] 3. A method to make the illumination area and detection area have a similar relationship (ideally a congruent relationship) by using a cylindrical lens.

[0745] FIG. 36 is for explaining an emitting lens assembly (3640) and a detecting lens assembly structure (3720) according to an embodiment of the present disclosure.

[0746] Meanwhile, the cylindrical lens described below may be a square cylindrical lens of Fig. 35(a). However, as described above, it is not limited thereto.

[0747] The structure of the detecting lens assembly (3720) is composed of at least one symmetrical lens as described in FIG. 34, and a filter layer may be present in the lens gap between the lenses.

[0748] The emitting lens assembly (3640) may include at least one symmetrical lens and at least one cylindrical lens.

[0749] For example, the number of symmetrical lenses included in the emitting lens assembly (3640) may be greater than the number of cylindrical lenses, but is not limited thereto. For example, the number of symmetrical lenses may be less than the number of cylindrical lenses, as needed.

[0750] At this time, the transmitting module including the emitting lens assembly (3640) may be arranged in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)” as disclosed in FIG. 36.

[0751] That is, at least one symmetrical lens (3620) may be interposed between the laser emitting array (3610) and at least one cylindrical lens (3630).

[0752] Additionally, the transmitting module including the emitting lens assembly (3640) may be arranged in the order of “laser emitting array (3610) - at least one cylindrical lens (3630) - at least one symmetrical lens (3620)”, which is different from that disclosed in FIG. 36.

[0753] That is, at least one cylindrical lens (3630) may be interposed between the laser emitting array (3610) and at least one symmetrical lens (3620).

[0754] However, among the two cases described above, it may be advantageous to arrange the transmission modules in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)” as disclosed in FIG. 36. For example, in order to accurately control the steering direction of the laser output from the laser emitting unit, it may be advantageous in terms of design to focus the cylindrical lens after focusing the symmetrical lens.

[0755] However, if the transmitting modules are arranged in the order of “laser emitting array (3610) - at least one cylindrical lens (3630) - at least one symmetrical lens (3620)” as not disclosed in FIG. 36, the steering direction must be adjusted by adjusting the focus of the cylindrical lens positioned between the laser emitting array (3610) and the at least one symmetrical lens after adjusting the focus of the at least one symmetrical lens, so the work of adjusting the focus of the cylindrical lens must be performed between the laser emitting array (3610) and the symmetrical lens. However, this may cause the assembly / manufacturing of the transmitting module to be more difficult than adjusting the focus in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)”.

[0756] On the other hand, if the transmitting module is arranged in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)” as disclosed in FIG. 36, after arranging the laser emitting array (3610), at least one symmetrical lens (3620) can be arranged in front of the laser emitting array (3610), and the focus of the at least one symmetrical lens (3620) can be adjusted. After that, at least one cylindrical lens (3630) can be arranged in front of the at least one symmetrical lens (3620), and the focus of the at least one cylindrical lens (3630) can be adjusted. That is, since the laser emitting array (3610), at least one symmetrical lens (3620), and at least one cylindrical lens (3630) can be arranged and focused in the arrangement order to adjust the final steering direction of the laser, the structure can be much more advantageous for assembling or producing the transmitting module.

[0757] In particular, when assembling the emitting lens assembly (3640), if the cylindrical lens is structured to be rotated and fitted, it may be much easier to align the cylindrical lens in the order of “laser emitting array (3610) - at least one symmetrical lens (3620) - at least one cylindrical lens (3630)” from the perspective of assembling / producing the transmission module.

[0758]

[0759] Now, let us look at the relationship between at least one cylindrical lens (3630) and the laser emitting array (3610) from a design perspective when at least one cylindrical lens (3630) is a square cylindrical lens.

[0760] When adjusting the steering direction of the final laser emitting array (3610) while assembling at least one cylindrical lens (3630) in the design of the emitting lens assembly (3640), the optical center line of at least one cylindrical lens (3630) must be assembled so that it is positioned parallel to the column direction of the laser emitting array (3610). In other words, the optical center line must be assembled so that it is parallel to any column (e.g., the Y-th column) among the rows and columns of the laser emitting array (3610).

[0761] Meanwhile, the fact that the optical center line must be parallel to any column does not necessarily mean that the angle between the optical center line and any column must be 0 degrees, both physically and mathematically. It would be ideal to assemble the cylindrical lens (3630) and the laser emitting array (3610) such that the angle between the optical center line and any column is 0 degrees during the process of assembling them. However, even if the angle between the optical center line and any column is not 0 degrees, if the angle between the optical center line and any column is within a range acceptable for assembly / design errors, the optical center line and any column should be understood as being parallel. For example, if the angle between the optical center line and any column is within ±θ, the optical center line and any column should be understood as being parallel. In this case, the first angle between the optical center line and the any column will be much smaller than the second angle between the optical center line and the any row. For example, the difference between the first angle between the optical center line and any column and the second angle between the optical center line and any row may be close to 90 degrees, and the sum of the angles between the optical center line and any column and the angles between the optical center line and any row may be 90 degrees.

[0762] When designed as described above, as shown in FIG. 37, the horizontal steering angle becomes larger than the vertical steering angle of the laser output from the laser emitting unit included in the laser emitting array (3610). In addition, as can be seen in FIG. 37, the laser output from the laser emitting unit is steered while passing through at least one cylindrical lens (3630) at a steering angle (β or δ) larger than the steering angle (α or γ) while passing through at least one symmetrical lens (3620), thereby making the horizontal length of the illumination area and / or the aspect ratio of the illumination area larger. That is, the aspect ratio of the illumination area can be made larger than the aspect ratio of the laser emitting array (3610).

[0763] For example, assuming that the laser emitting array (3610) is composed of 9 columns as shown in FIG. 37, the laser output from the first laser emitting unit arranged in the first column can be steered at a horizontal angle α while passing through at least one symmetrical lens (3620) and can be steered at a horizontal angle β while passing through at least one cylindrical lens (3630). In addition, the laser output from the second laser emitting unit arranged in the fifth column can be output at a horizontal angle of 0 degrees, i.e., vertically, while passing through at least one symmetrical lens (3620) and at least one cylindrical lens (3630).

[0764] In addition, the laser output from the third laser emitting unit arranged in the 6th column may be steered at a horizontal angle γ while passing through at least one symmetric lens (3620), and may be steered at a horizontal angle δ while passing through at least one cylindrical lens (3630). At this time, β may be greater than δ. In addition, the difference between α and γ may be smaller than the difference between β and δ. That is, the difference between β and δ may be greater than the difference between α and γ. For example, the absolute values ​​of α and γ may be the same. For example, β may be greater in absolute value than δ. For example, the difference between β and α may be greater than the difference between δ and γ.

[0765] FIG. 38 shows that the illumination area and the detection area are made to have a similar relationship (ideally a congruent relationship) by using at least one cylindrical lens (3630). That is, by using at least one cylindrical lens (3630) to make the aspect ratio of the illumination area larger than the aspect ratio of the laser emitting array (3610), the aspect ratio of the illumination area can be made identical / similar to the aspect ratio of the laser detecting array (3710) and / or the aspect ratio of the detection area.

[0766] In other words, even if the aspect ratio of the laser emitting array (3610) is K:1, an illumination area having an aspect ratio of L:1 or similar can be formed through at least one cylindrical lens. That is, the aspect ratio of the illumination area can be made to match or be similar to the aspect ratio of the detection area and / or the aspect ratio of the laser detecting array, which is L:1.

[0767] Accordingly, the aspect ratio of the measurable area can be made identical or similar to the aspect ratios of the illumination area and the detection area. In other words, by utilizing the illumination area and detection area, the measurement of the target can be performed over the widest possible area. For example, if the illumination area and detection area have a congruent relationship, the measurable area can be created with a size and aspect ratio identical or close to those of the illumination area and detection area.

[0768] In other words, when using at least one cylindrical lens (3630), the aspect ratio can be made larger than when using only at least one symmetrical lens.

[0769] Therefore, the difference between the aspect ratio of the laser emitting array (3610) and the aspect ratio of the illumination area may be greater than the difference between the aspect ratio of the laser detecting array (3710) and the aspect ratio of the detection area. Meanwhile, since the illumination area and the detection area have a similar relationship (ideally, a congruent relationship), the difference between the aspect ratio of the laser emitting array (3610) and the aspect ratio of the illumination area may be greater than the difference between the aspect ratio of the laser detecting array (3710) and the aspect ratio of the illumination area. This is because the detecting lens assembly (3720) is composed of at least one symmetrical lens, and thus the aspect ratio of the detection area and the aspect ratio of the laser detecting array (3710) will match.

[0770] Therefore, the difference between the aspect ratio of the laser emitting array (3610) and the aspect ratio of the measurable area may be greater than the difference between the aspect ratio of the laser detecting array (3710) and the aspect ratio of the measurable area.

[0771]

[0772] [Design of the transmission line (4240) between the common contact (4260) and the power supply (4220, 4225)]

[0773] As seen in FIG. 30(b), when the width (w') of the common contact (4260) is widened, the cross-sectional area (e.g., diameter of the transmission line (4240)) of the transmission line (4240) connecting the common contact (4260) and the power supply (4220, 4225) can be widened. In simple terms, as the width (w') of the common contact (4260) is widened, a thicker transmission line (4240) can be used than before.

[0774] However, as the diameter of the transmission line (4240) increases, the resistance of the transmission line (4240) decreases. Accordingly, the resistance of the transmission line (4240) may also decrease along with the resistance of the common contact (4260). Then, the resistance of the current path connecting the "power supply (4220, 4225) - transmission line (4240) - common contact (4260)" decreases overall, thereby decreasing the overall voltage drop. Accordingly, the loss of the voltage applied through the power supply (4220, 4225) can be reduced while more voltage can be used to actually output the laser, thereby increasing the efficiency of the output intensity of the laser. In other words, the difference between the voltage applied from the power supply (4220, 4225) and the voltage used in the laser emitting units arranged in the common contact (4260) can be reduced. In other words, the power loss rate due to the composite resistance of the transmission line (4240) and the common contact (4260) can be reduced.

[0775] Below, the method of connecting the transmission line (4240) between the common contact (4260) and the power supply unit (4220, 4225) and the method of arranging the common contact (4260) will be described.

[0776] Fig. 39(a) illustrates that the common contacts (4260) included in the laser emitting array are arranged in a zigzag pattern to ensure that the lengths of all common contacts (4260) are the same. Meanwhile, each of the power supply units (4220, 4225) may include two bonding pads connected in parallel. This is because, when using a single bonding pad, the length of the bonding pad may become excessively wide, thereby increasing the overall size of the transmission module.

[0777] At this time, the lengths of the transmission lines (4240) connected to both ends of the common contact (4260) may be different from each other. This is also to more efficiently route the transmission lines (4240) of the common contact (4260) and the power supply (4220, 4225). In other words, the length of the first transmission line connected to the first end of the common contact (4260) and the length of the second transmission line connected to the second end arranged on the opposite side from the first end may be different from each other.

[0778] In this case, there is no difference in resistance between the common contacts (4260), which increases the uniformity between the power transmitted through each of the common contacts and makes the peak intensity of the laser the same / similar.

[0779] However, since the transmission lines (4240) have different lengths and are connected to the opposite ends within a single common contact (4260), voltage is supplied with different delays at each end of the single common contact (4260). In this case, a significant difference may occur in the laser output timing between the laser emitting units arranged within a single common contact (4260). In particular, the laser emitting unit arranged close to the center of the common contact (4260) may first receive voltage from the side with the shorter transmission line (4240) and later receive voltage from the side with the longer transmission line (4240). Therefore, the laser emitting unit arranged close to the center of the common contact (4260) may output a laser with a lower intensity than the expected intensity, and the laser output may be performed inefficiently.

[0780] Fig. 39 (b) illustrates that the common contacts (4260) have different lengths. For example, the common contacts (4260) included in the laser emitting array may have one of two different lengths. For example, as shown in Fig. 39 (b), long and short common contacts may be arranged alternately.

[0781] Referring to Fig. 39(b), it can be seen that the lengths of the transmission lines (4240) connected to both ends of a common contact (4260) are the same. In other words, the length of the first transmission line connected to the first end of the common contact (4260) and the length of the second transmission line connected to the second end located on the opposite side from the first end may be the same.

[0782] Accordingly, voltage is supplied with the same delay from both ends of one common contact (4260). Therefore, there may be no difference in the laser output timing between the laser emitting units arranged within one common contact (4260) or there may be very little difference. In addition, the laser emitting units arranged at a position close to the center of the common contact (4260) may receive the voltage applied from the power supply units (4220, 4225) at both ends at the same time or at a very similar time. Through this, the laser emitting units arranged at a position close to the center of the common contact (4260) output laser with the expected intensity, and the laser output can be performed efficiently.

[0783] However, since the lengths of the common contacts (4260) included in the laser emitting array are different, the uniformity of the power transmitted through each of the common contacts (4260) and the peak intensity of the laser may differ. However, as described above, if the diameter or cross-sectional area of ​​the transmission line is increased and the overall length and width of the common contacts (4260) are decreased and increased, the overall combined resistance of the transmission line (4240) and the common contacts (4260) is significantly reduced, so that the difference in the power uniformity and the peak intensity of the laser between the common contacts (4260) may be very small or almost non-existent.

[0784] Therefore, if the combined resistance of the common contact (4260) and the transmission line (4240) is reduced according to the above-described embodiments of the present disclosure, it may be more effective to arrange the common contact as shown in FIG. 39(b).

[0785] Meanwhile, in FIGS. 39(a) and (b), the laser emitting units can be placed in an area where all common contacts overlap. For example, in FIGS. 39(c) and (d), the laser emitting units can be placed in an area indicated by a dot pattern.

[0786]

[0787] [Effects according to embodiments of the present disclosure]

[0788] 1. It can optimize (or maximize) the measurable area.

[0789] According to the above-described embodiments of the present disclosure, even if the aspect ratios of the laser emitting array and the laser detecting array are different, the illumination area and the detection area can be made to have a similar relationship (ideally, a congruent relationship). For example, even if the aspect ratio of the laser emitting array is smaller than that of the laser detecting array, the aspect ratio of the illumination area can be made to match the aspect ratio of the laser detecting array and / or the aspect ratio of the detection area by using a cylindrical lens. Through this, the ratio and area of ​​overlap between the illumination area and the detection area can be maximized, thereby maximizing (or optimizing) the measurable area in which the lidar device can measure an object.

[0790] Accordingly, the widest possible area can be measured for one frame or point cloud.

[0791]

[0792] 2. Increase the uniformity of the output intensity of lasers output through the laser emitting array.

[0793] By reducing the aspect ratio of the laser emitting array, the resistance of the common contact can be reduced, thereby increasing the uniformity of the output intensity of the lasers output from the laser emitting array. According to the applicant's experiments, when the aspect ratio of the laser emitting array is smaller than the aspect ratio of the laser detecting array, the laser output intensity ratio between the laser emitting unit located at the center of the laser emitting array and the laser emitting unit located at the first or last column (located in the center row) of the laser emitting array was improved by approximately 150% to 170%.

[0794]

[0795] 3. Improved peak intensity of lasers output through the laser emitting array.

[0796] It was confirmed that by increasing the uniformity of the output intensity of the lasers output through the laser emitting array, the peak intensity that each laser emitting unit arranged in the laser emitting array can output can also be improved by approximately 9% to 10%.

[0797] This also helps ensure eye safety. For example, if the output intensity between laser emitting units cannot be uniformly adjusted, the power supply must apply voltage to the laser emitting unit that outputs the laser with the highest intensity among the laser emitting units so that the eye safety standard is met. However, if eye safety is met based on the highest intensity, the other laser emitting units must output lasers with lower intensities, making it difficult to output lasers with sufficient intensity.

[0798] However, when the uniformity of laser output intensity between laser emitting units is increased according to an embodiment of the present disclosure, all laser emitting units can output laser having a sufficiently high intensity.

[0799]

[0800] [Eye-Safety Standard]

[0801] Let's take a look at the Eye-Safety standards mentioned above for reference.

[0802] Figure 40 is a drawing for explaining the eye-safety of the lidar device.

[0803] Referring to FIG. 40, a lidar device according to one embodiment can measure the surrounding environment using a laser.

[0804] Specifically, the lidar device (1000) according to one embodiment can irradiate a laser (5081) toward the surrounding environment. At this time, the irradiation direction of the laser (5081) can continuously change. For example, the lidar device (1000) can irradiate a first laser toward a first point, and a second laser toward a second point. At this time, the first and second lasers can be irradiated simultaneously, or can be irradiated independently at different times.

[0805] Additionally, the lidar device (1000) according to one embodiment can generate a scan point using the irradiated laser. At this time, the scan point can be generated including the distance to the location where the laser was irradiated and the point where the laser was reflected.

[0806] In addition, the lidar device (1000) according to one embodiment can form a field of view (FOV) using the irradiated laser. For example, when the laser is irradiated in a range of -60 degrees to +60 degrees in the horizontal direction and in a range of -30 degrees to +30 degrees in the vertical direction, a vertical field of view (FOV(V)) of 60 degrees and a horizontal field of view (FOV(H)) of 120 degrees can be formed. Therefore, in this case, the lidar device (1000) can detect an object existing within a range of 120 degrees in the horizontal direction and 60 degrees in the vertical direction from the lidar device (1000), or measure a distance to the object.

[0807] At this time, in an environment where the lidar device (1000) is installed, a person (5082) may exist within the field of view of the lidar device (1000). In this case, at least a portion of the laser output from the lidar device (1000) may be irradiated to the eyes of the person (5082), and the intensity of the laser (5081) may affect the eyes of the person (5082).

[0808] Accordingly, the laser (5081) output from the above lidar device (1000) may have to satisfy eye-safety conditions so as not to affect the eye health of the person (5082).

[0809] Ultimately, the above lidar device (1000) may need to increase the intensity of the laser (5081) output to improve the measurement distance and accuracy, but may need to irradiate the laser (5082) below a certain intensity so as not to affect the eye health of the person (5082).

[0810] Therefore, it may be necessary to design a laser output unit to improve the measurement distance while satisfying the eye-safety condition. Below, a laser output unit to improve the measurement distance while satisfying the eye-safety condition will be described.

[0811] Figure 41 is a drawing for explaining eye-safety standards.

[0812] As described above through Figure 40, a standard can be established that does not affect human eye health due to the laser irradiated from the lidar device.

[0813] In order to prevent the laser irradiated from the lidar device from affecting human eye health, it is necessary to design the lidar device so that it does not affect the human eye even when the human eye is located at the minimum distance that a person can approach when using the lidar device.

[0814] Additionally, there is a need to design the light energy received by the human eye so that it does not affect the health of the human eye.

[0815] Therefore, if the light energy passing through the reference area at the reference distance does not affect human eye health, the laser may not affect human eye health in the usage situation of the lidar device.

[0816] For example, if the light energy received within a reference area (5360) corresponding to the size of a human eye at a point located at a reference distance (5350) from a laser output unit (5300) is such that it does not affect human eye health, the laser may not affect human eye health in the use situation of the lidar device.

[0817] More specifically, if the energy of the laser received within a circular area with a diameter of 7 mm at a point 10 cm away from the laser output unit (5300) does not affect human eye health, the laser may not affect human eye health in the usage situation of the lidar device. However, the reference distance (5350) and the reference area (5360) may vary depending on the installation location, environment, etc. of the lidar device.

[0818]

[0819] [Additional structure of common contacts]

[0820] Fig. 42 is a drawing for explaining a laser emitting array according to another embodiment. Fig. 42 may be a plan view of a portion of the laser emitting array viewed from above.

[0821] Referring to FIG. 42, a laser emitting array (6030) according to one embodiment may include a plurality of laser emitting units (6031), a voltage supply (6032), a common contact (6034), and a transmission line (6035).

[0822] The laser emitting array (6030) may additionally have a transmission line connected to the central portion of the laser emitting units (6031). For example, the transmission line may additionally be connected to a common contact (6034) in the central portion.

[0823] By adding a transmission line connection to the central portion of the laser emitting units (6031), the resistance due to the common contact (6034) of the laser emitting units can be made the same or the difference therebetween can be reduced.

[0824] For example, since the resistance received by the laser emitting unit in row 1 from one end of the common contact (6034) is R and the resistance received from the other end is 2R, the total resistance received by the laser emitting unit in row 1 from the common contact can be (2 / 3)R.

[0825] Also, for example, since the resistance received by the two rows of laser emitting units from one end of the common contact (6034) is 2R and the resistance received from the other end is R, the total resistance received by the two rows of laser emitting units from the common contact can be (2 / 3)R.

[0826] Therefore, the total resistance received by the laser emitting units in row 1 from the common contact and the total resistance received by the laser emitting units in row 2 from the common contact can be equal to (2 / 3)R.

[0827] Also, for example, since the resistance received by the three rows of laser emitting units from one end of the common contact (6034) is R and the resistance received from the other end is 2R, the total resistance received by the three rows of laser emitting units from the common contact can be (2 / 3)R.

[0828] Also, for example, since the resistance received by the four rows of laser emitting units from one end of the common contact (6034) is 2R and the resistance received from the other end is R, the total resistance received by the four rows of laser emitting units from the common contact can be (2 / 3)R.

[0829] Therefore, the total resistance received by the three rows of laser emitting units from the common contact and the total resistance received by the four rows of laser emitting units from the common contact can be equal to (2 / 3)R. In addition, the total resistance received by the first row of laser emitting units, the second row of laser emitting units, the third row of laser emitting units, and the fourth row of laser emitting units from the common contact can be equal to (2 / 3)R.

[0830]

[0831] [Combination between examples]

[0832] The embodiments disclosed in this disclosure may be implemented independently of one another, but may also be implemented in combination.

[0833] For example, both methods 1 and 2 for reducing resistance between laser emitting units may be applied, or only one of methods 1 and 2 may be applied.

[0834] In addition, when connecting the common contact and the power supply unit via a transmission line, the arrangement of the common contacts and the transmission line connection method can be applied to either of Fig. 39(a) and Fig. 39(b).

[0835] For example, an emitting lens assembly can be designed using one or more symmetrical lenses and one or more cylindrical lenses, while applying both Method 1 and Method 2 and using either of FIG. 39(a) and FIG. 39(b). (Hereinafter, Application Example 1)

[0836] For example, one can design an emitting lens assembly using one or more symmetrical lenses, applying Method 1 and using either of FIG. 39(a) and FIG. 39(b). (Hereinafter, Application Example 2)

[0837] For example, applying Method 2, one may design an emitting lens assembly using one or more symmetrical lenses and one or more cylindrical lenses, using either of FIG. 39(a) and FIG. 39(b). (Hereinafter, Application Example 3)

[0838] Among the examples described above, which application example the laser emitting array and emitting lens assembly will be designed for may be selective depending on the design environment and the use case in which the lidar device is used.

[0839] For example, when measuring the distance between a target and a lidar device, if the difference in the measurement results between pixels is required to be relatively small (i.e., the allowable range of measurement errors between pixels is relatively small), there is a strong need to ensure uniformity between laser intensities, so Application Example 1 can be applied.

[0840] On the other hand, if the difference in measurement results between pixels can be relatively large (i.e., if the allowable range of measurement errors between pixels is relatively large), Application Example 2 or Application Example 3 can be applied, taking into consideration the application field in which the lidar device is utilized, the application environment, the allowable production cost of the lidar device, etc.

[0841] Of course, even if the difference in measurement results between pixels can be relatively large, application example 1 can be applied.

[0842]

[0843] In the above, various embodiments of laser output arrays and various embodiments of operations of the laser output array according to the present disclosure have been described.

[0844] However, for the convenience of explanation, the contents described in detail based on specific embodiments can be sufficiently applied to other embodiments, and thus specific descriptions have been omitted. Therefore, the present disclosure includes concepts in which the contents described in detail based on specific embodiments are also applicable to other embodiments.

[0845] In addition, the description of the laser output array, etc. described above may be described or described by replacing it with terms such as laser output module, etc.

[0846] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of the program commands include not only machine language codes generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0847] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0848] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

[0849]

[0850] The form for carrying out the invention may be a form of the best form for carrying out the invention as described above and various combinations of the forms described above in the best form for carrying out the invention.

Claims

1. In the LiDAR (Light Detection and Ranging) device, A two-dimensional VCSEL array comprising multiple VCSELs (Vertical Cavity Surface Emitting Arrays) - Here, the pixel arranged in the first column of the Xth row of the two-dimensional pixel array is spaced apart from the pixel arranged in the last column of the Xth row by a first distance, The pixel arranged in the first row of the Y-th column of the above two-dimensional pixel array is spaced apart from the pixel arranged in the last row of the Y-th column by a second distance, All pixels arranged in the Xth row of the above two-dimensional pixel array are supplied with electrical energy through the same electrical contact; A two-dimensional detector array containing multiple detectors - Here, the detector arranged in the first column of the Mth row of the two-dimensional detector array is spaced apart from the detector arranged in the last column of the Mth row by a third distance, The detector arranged in the first row of the Nth column of the above two-dimensional detector array is spaced a fourth distance from the detector arranged in the last row of the Nth column, The above third distance is greater than the above fourth distance, The first aspect ratio of the two-dimensional pixel array defined as {(the first distance) / (the second distance)} is smaller than the second aspect ratio of the two-dimensional detector array defined as {(the third distance) / (the fourth distance)}; An emitting lens assembly that steers each of the plurality of laser beams generated from the above two-dimensional pixel array into corresponding predetermined directions. - Here, the plurality of laser beams steered by the emitting lens assembly illuminate a rectangular illumination area, The above rectangle has a horizontal length and a vertical length that is shorter than the horizontal length, The above lighting area has a third aspect ratio defined as {(the above horizontal length) / (the above vertical length)}; and A detecting lens assembly that transmits incoming light incident on the above lidar device to the two-dimensional detector array. - Here, the detecting lens assembly focuses the light to a focal position determined according to the incident direction of the light; The above receiving lens assembly comprises at least one symmetrical lens, The above output lens assembly comprises at least one cylindrical lens, The at least one cylindrical lens has an optical center line parallel to the Y-th column, so that the third aspect ratio is greater than the first aspect ratio. The difference between the third aspect ratio and the first aspect ratio is greater than the difference between the third aspect ratio and the second aspect ratio. Lidar device.

2. In paragraph 1, The above first distance is greater than the above second distance, The number of all the pixels arranged in the Xth row is greater than the number of all the pixels arranged in the Yth column. Lidar device.

3. In paragraph 1, The above-mentioned emitting lens assembly further comprises one or more symmetrical lenses, Lidar device.

4. In paragraph 3, The one or more symmetric lenses are interposed between the at least one cylindrical lens and the two-dimensional pixel array. Lidar device.

5. In paragraph 1, Among the plurality of pixels arranged in the Xth row, the distance between two adjacent first pixels is shorter than the distance between two adjacent second pixels among the plurality of pixels arranged in the Yth column. Lidar device.

6. In paragraph 5, The length in the thermal direction of the same electrical contact depends on the spacing between the second pixels, The length in the row direction of the same electrical contact depends on the spacing between the first pixels. Lidar device.

7. In paragraph 1, The above identical electrical contact has a first end and a second end arranged on the opposite side of the first end, A first transmission line is connected to the first stage, and a second transmission line is connected to the second stage. The first transmission line and the second transmission line are for supplying electrical energy to the same electrical contact. Lidar device.

8. In paragraph 7, The first transmission line connects the first terminal and the first voltage supply unit, and the second transmission line connects the second terminal and the second voltage supply unit. The lengths of the first transmission line and the second transmission line are the same, Lidar device.

9. In paragraph 1, The above multiple detectors are SPAD (Single Photon Avalanche Diode). Lidar device.

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