WO2024143849A1

WO2024143849A1 - Lidar device with improved short range measurement performance

Info

Publication number: WO2024143849A1
Application number: PCT/KR2023/017285
Authority: WO
Inventors: 임찬묵; 정훈일; 김동규; 조준현; 장동주
Original assignee: 주식회사 에스오에스랩
Priority date: 2022-12-28
Filing date: 2023-11-01
Publication date: 2024-07-04
Also published as: KR20240105605A

Abstract

A LiDAR device according to the present invention comprises: a transmission module comprising a transmission optic and a laser output array which comprises a plurality of laser output units, the laser output array comprising a main array and an auxiliary array; and a reception module comprising a reception optic and a laser-detecting array comprising a plurality of laser-detecting units, wherein the main array and the auxiliary array are arranged such that the distance between the optical axis of the transmission optic and the main array is shorter than the distance between the optical axis of the transmission optic and the auxiliary array, and, when a laser outputted from the laser output array is reflected from an object positioned at a first distance, at least a portion of the auxiliary array becomes optically coupled to the laser-detecting array, while at least a portion of the main array may become optically decoupled from the laser-detecting array.

Description

LiDAR device with improved short-range measurement performance

The present invention relates to a LiDAR device, and more specifically, to a LiDAR device with improved short-range measurement performance by reducing the minimum measurement distance.

Recently, LiDAR (Light Detection and Ranging) has been in the spotlight along with interest in self-driving cars and driverless cars. Lidar is a device that uses a laser to obtain information on the surrounding distance. Thanks to its excellent precision and resolution and the ability to view objects in three dimensions, it is being applied to various fields such as drones and aircraft as well as automobiles.

Meanwhile, a solid-state-LiDAR device is a device that can acquire distance information about a three-dimensional surrounding space without a mechanically moving structure. A laser output array can be used to implement.

However, if the solid-state lidar device is implemented in a bi-axial manner, a dead zone may occur in the short-distance area where measurement is impossible.

Therefore, there may be a need to develop technology to minimize dead zones occurring in the short-range area and improve short-range measurement performance.

One object of the present invention is to provide a LiDAR device with improved short-range measurement performance.

The problems to be solved by the present invention are not limited to the above-mentioned problems, and problems not mentioned can be clearly understood by those skilled in the art from this specification and the attached drawings. will be.

According to one embodiment of the present invention, it is a LiDAR device (Light Detection And Ranging Device), a laser output array including a plurality of laser output units and a transmission module including transmission optics. In this case, the laser output array is the main Includes a main array and an auxiliary array - and a receiving module including a laser detecting array including a plurality of laser detecting units and receiving optics, wherein the main array and the auxiliary array include, It is arranged so that the distance between the optical axis of the transmission optic and the main array is smaller than the distance between the optical axis of the transmission optic and the auxiliary array, and the laser output from the laser output array is reflected from an object located at a first distance. In this case, at least a portion of the auxiliary array is optically coupled to the laser detecting array, and at least a portion of the main array is optically decoupled from the laser detecting array. may be provided.

According to another embodiment of the present invention, it is a LiDAR device (Light Detection And Ranging Device), a laser output array including a plurality of laser output units and a transmission module including transmission optics. In this case, the laser output array is Includes a main array and an auxiliary array - and a receiving module including a laser detecting array including a plurality of laser detecting units and receiving optics, included in the laser output array. The plurality of laser output units are arranged in a two-dimensional matrix having M rows and N columns, and the plurality of laser detecting units included in the laser detecting array are arranged in a two-dimensional matrix having K rows and L columns. The plurality of laser output units included in the main array are arranged in a two-dimensional matrix having A rows and B columns, and the plurality of laser output units included in the auxiliary array have C rows and It is arranged in a two-dimensional matrix with D columns, and the M, K, A, and C are the same, but the N is larger than the L, and the L is the same as the B. The same LiDAR device may be provided.

According to another embodiment of the present invention, a LiDAR device (Light Detection And Ranging Device) includes a laser output array including a plurality of laser output units, a transmission module including transmission optics, and a plurality of laser detecting units. A receiving module including a laser detecting array and receiving optics, wherein the transmitting module and the receiving module are arranged along a first direction, and the length of the laser output array in the first direction is the first length. , the length of the laser output array in the second direction, which is a direction perpendicular to the first direction, is the second length, the length of the laser detecting array in the first direction is the third length, and the laser detector When the length of the tacting array in the second direction is the fourth length, the size of the first length relative to the second length (first length / second length) is the size of the third length relative to the fourth length (third length) A lidar device larger than length/fourth length may be provided.

The solution to the problem of the present invention is not limited to the above-mentioned solution, and the solution not mentioned can be clearly understood by those skilled in the art from this specification and the attached drawings. You will be able to.

According to an embodiment of the present invention, a LiDAR device with improved short-range measurement performance can be provided.

The effects of the present invention are not limited to the effects described above, and effects not mentioned can be clearly understood by those skilled in the art from this specification and the attached drawings.

Figure 1 is a diagram for explaining a LiDAR device according to an embodiment.

Figure 2 is a diagram showing various embodiments of a LiDAR device.

Figure 3 is a diagram for explaining the operation of a LiDAR device and LiDAR data according to an embodiment.

Figure 4 is a diagram for explaining lidar data according to one embodiment.

Figure 5 is a diagram for explaining lidar data according to an embodiment.

Figure 6 is a diagram for explaining information included in attribute data according to an embodiment.

Figure 7 is a diagram for explaining a LiDAR device according to an embodiment.

FIG. 8 is a diagram for explaining a laser output array and a laser detecting array included in a lidar device according to an embodiment.

9 and 10 are diagrams for explaining a LiDAR device according to an embodiment.

11 and 12 are diagrams for explaining a laser emitting module and a laser detecting module according to an embodiment.

13 and 14 are diagrams for explaining an emitting lens module and a detecting lens module according to an embodiment.

Figure 15 is a diagram for explaining the minimum measurement distance of a lidar device according to an embodiment.

Figure 16 is a diagram for explaining a LiDAR device with improved short-range measurement performance according to an embodiment.

Figures 17 and 18 are diagrams for explaining a lidar device with improved short-range measurement performance according to an embodiment.

FIG. 19 is a diagram illustrating the minimum measurement distance of a LiDAR device with improved short-range measurement performance according to an embodiment.

Figure 20 is a diagram for explaining the minimum measurement distance of a lidar device according to an embodiment.

Figure 21 is a diagram for explaining a lidar device with improved short-range measurement performance according to an embodiment.

Figures 22 and 23 are diagrams for explaining a lidar device with improved short-range measurement performance according to an embodiment.

FIG. 24 is a diagram illustrating the minimum measurement distance of a LiDAR device with improved short-range measurement performance according to an embodiment.

The embodiments described in this specification are intended to clearly explain the spirit of the present invention to those skilled in the art to which the present invention pertains. Therefore, the present invention is not limited to the embodiments described in this specification, and the present invention is not limited to the embodiments described in this specification. The scope should be construed to include modifications or variations that do not depart from the spirit of the present invention.

The terms used in this specification are general terms that are currently widely used as much as possible in consideration of their function in the present invention, but this may vary depending on the intention of those skilled in the art, precedents, or the emergence of new technology in the technical field to which the present invention belongs. You can. However, if a specific term is defined and used in an arbitrary sense, the meaning of the 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, not just the name of the term.

The drawings attached to this specification are intended to easily explain the present invention, and the shapes shown in the drawings may be exaggerated as necessary to aid understanding of the present invention, so the present invention is not limited by the drawings.

As used herein, an element or layer is referred to as being “on” or “on” another element or layer, not just directly on top of the other element or layer, but also referring to another element or layer in between. Alternatively, it may include all cases involving other components.

Like reference numerals throughout this specification may in principle refer to the same elements.

Numbers (eg, first, second, etc.) used in the description of this specification may be understood as identification symbols to distinguish one component from another component.

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

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

Here, the auxiliary array is located adjacent to the first side of the main array, at least a portion of the main array is located on the second side of the main array, and the first side and the second side of the main array face each other. You can.

Here, the distance between the laser detecting array and the auxiliary array may be longer than the distance between the laser detecting array and the main array.

Here, when the laser output from the laser output array is reflected from an object located at a second distance, at least a part of the auxiliary array is optically decoupled from the laser detecting array, and at least a part of the main array is optically decoupled from the laser detecting array. It may be optically coupled to a detecting array.

Here, the second distance may be farther than the first distance.

Here, the main array includes a first laser output unit, a second laser output unit, and a third laser output unit, the auxiliary array includes a fourth laser output unit, and the laser detecting array includes a first laser output unit. It may include a detecting unit, a second laser detecting unit, and a third laser detecting unit.

Here, when the laser output from the laser output array is reflected from an object located at a first distance, the fourth laser output unit is coupled to the first laser detecting unit, and the first laser output unit is connected to the third laser. While coupled to the detecting unit, the second laser output unit may be decoupled from the laser detecting array.

Here, when the laser output from the laser output array is reflected from an object located at a second distance, the first laser output unit is coupled to the first laser detecting unit, and the second laser output unit is coupled to the second laser output unit. Coupled to a laser detecting unit, the third laser output unit is coupled to the third laser detecting unit, and the fourth laser output unit may be decoupled from the laser detecting array.

Here, the relative positional relationship between the main array and the transmitting optic may correspond to the relative positioning relationship between the laser detecting array and the receiving optic.

According to another embodiment of the present invention, it is a LiDAR device (Light Detection And Ranging Device), a laser output array including a plurality of laser output units and a transmission module including transmission optics. In this case, the laser output array is Includes a main array and an auxiliary array - and a receiving module including a laser detecting array including a plurality of laser detecting units and receiving optics, included in the laser output array. The plurality of laser output units are arranged in a two-dimensional matrix having M rows and N columns, and the plurality of laser detecting units included in the laser detecting array are arranged in a two-dimensional matrix having K rows and L columns. The plurality of laser output units included in the main array are arranged in a two-dimensional matrix having A rows and B columns, and the plurality of laser output units included in the auxiliary array have C rows and It is arranged in the form of a two-dimensional matrix with D columns, where the M, K, A, and C are the same, but the N is larger than the L, and the L is the same as the B. The same LiDAR device may be provided.

Here, the transmitting module and the receiving module may be arranged along a first direction, and the center of the auxiliary array may be spaced apart from the center of the main array along the first direction.

Here, the first direction may be a row direction.

Here, the number D may be smaller than the number B.

Here, each of the plurality of laser detecting units may include a plurality of laser detecting elements.

Here, each of the plurality of laser detecting units may include a plurality of SPAD (Single Photon Avalanche Diode) elements.

Here, one point data can be obtained based on the detecting signal output from each of the plurality of laser detecting units.

According to another embodiment of the present invention, a LiDAR device (Light Detection And Ranging Device) includes a laser output array including a plurality of laser output units, a transmission module including transmission optics, and a plurality of laser detecting units. A receiving module including a laser detecting array and receiving optics, wherein the transmitting module and the receiving module are arranged along a first direction, and the length of the laser output array in the first direction is the first length. , the length of the laser output array in the second direction, which is a direction perpendicular to the first direction, is the second length, the length of the laser detecting array in the first direction is the third length, and the laser detector When the length of the tacting array in the second direction is the fourth length, the size of the first length relative to the second length (first length / second length) is the size of the third length relative to the fourth length (third A lidar device larger than length/fourth length may be provided.

Here, the laser output array includes a main array and an auxiliary array, and the main array and the auxiliary array may be arranged along the first direction.

Here, the second length and the fourth length may be equal to each other.

Below, the LiDAR device according to the present invention will be described.

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

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

Additionally, at this time, the object may mean at least one object, but is not limited thereto, and may mean a part of an object for reflecting at least a portion of the laser output from the LiDAR device.

Additionally, the LiDAR device according to one embodiment may use a laser output from the LiDAR device and reflected from the target to measure the distance to the target.

For example, the LIDAR device according to one embodiment may use the time of flight (TOF) of the laser from when the laser is output until it is detected to measure the distance to the object.

For a more specific example, the LIDAR device according to one embodiment uses the difference between a time value based on the output time of the output laser and a time value based on the detected time of the laser detected by reflection from the object to determine the distance of the object. can be measured.

At this time, the time value based on the output time of the laser may be obtained based on the control unit included in the LIDAR device according to one embodiment.

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

Additionally, a time value based on the output time of the laser may be obtained based on the laser output unit included in the LIDAR device according to one embodiment.

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 an embodiment, but is not limited to this.

At this time, detection of the operation of the laser output unit may mean detection of the flow of current or change in electric field of the laser output unit, but is not limited to this.

Additionally, a time value based on the output time of the laser may be obtained based on a detector unit included in the LIDAR device according to an embodiment.

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 the laser that is not reflected from the object, but is not limited to this. .

At this time, a reference optical path may be provided for receiving the laser output from the laser output unit to the detector unit, but the present invention is not limited to this.

Additionally, a time value based on the detected time of the laser reflected and detected from the object may be obtained based on the detector unit included in the LIDAR device according to one embodiment.

For example, the time value based on the detected time of the laser reflected from the object may be obtained based on the time value of the detector included in the lidar device according to an embodiment of the detected laser reflected from the object. However, it is not limited to this.

In addition, the LIDAR device according to one embodiment may use triangulation method, interferometry method, phase shift measurement, etc. in addition to flight time to measure the distance of the object. It is not limited.

The LiDAR device according to one embodiment may be installed in a vehicle. For example, the LIDAR device may be installed on the roof, hood, headlamp, or bumper of the vehicle.

Additionally, a plurality of LiDAR devices according to an embodiment may be installed in a vehicle. For example, when two LiDAR devices are installed on the roof of a vehicle, one LiDAR device may be for observing the front and the other may be for observing the rear, but the present invention is not limited to this. Additionally, for example, when two LiDAR devices are installed on the roof of a vehicle, one LiDAR device may be for observing the left side and the other may be for observing the right side, but the present invention is not limited to this.

Additionally, a LiDAR device according to an embodiment may be installed in a vehicle. For example, when a LiDAR device is installed inside a vehicle, it may be used to recognize the driver's gestures while driving, but is not limited to this. Also, for example, when the LIDAR device is installed inside or outside the vehicle, it may be for recognizing the driver's face, but is not limited to this.

The LiDAR device according to one embodiment may be installed on an unmanned aircraft. For example, LIDAR devices can be used for unmanned aerial vehicle systems (UAV Systems), drones, RPVs (Remote Piloted Vehicles), UAVs (Unmanned Aerial Vehicle Systems), UAS (Unmanned Aircraft Systems), and RPAVs (Remote Piloted Air/Aerials). Vehicle) or RPAS (Remote Piloted Aircraft System).

Additionally, a plurality of LiDAR devices according to one embodiment may be installed on an unmanned aircraft. For example, when two LiDAR devices are installed on an unmanned aircraft, one LiDAR device may be for observing the front and the other may be for observing the rear, but the present invention is not limited to this. Additionally, for example, when two LiDAR devices are installed on an unmanned aerial vehicle, one LiDAR device may be for observing the left side and the other may be for observing the right side, but the present invention is not limited to this.

The LiDAR device according to one embodiment may be installed on a robot. For example, the LIDAR device may be installed on personal robots, professional robots, public service robots, other industrial robots, or manufacturing robots.

Additionally, a plurality of LiDAR devices according to one embodiment may be installed on the robot. For example, when two LiDAR devices are installed on a robot, one LiDAR device may be for observing the front and the other may be for observing the rear, but the present invention is not limited to this. Additionally, for example, when 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 the present invention is not limited to this.

Additionally, the LiDAR device according to one embodiment may be installed on the robot. For example, when a LIDAR device is installed in a robot, it may be for recognizing human faces, but is not limited to this.

Additionally, the LiDAR device according to one embodiment may be installed for industrial security. For example, LiDAR devices could be installed in smart factories for industrial security.

Additionally, a plurality of LiDAR devices according to one embodiment may be installed in a smart factory for industrial security. For example, when two LiDAR devices are installed in a smart factory, one LiDAR device may be for observing the front and the other may be for observing the rear, but the present invention is not limited to this. Additionally, for example, when 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 present invention is not limited to this.

Additionally, a LiDAR device according to an embodiment may be installed for industrial security. For example, when a LIDAR device is installed for industrial security, it may be for recognizing a person's face, but is not limited to this.

Figure 1 is a diagram for explaining a LiDAR device according to an embodiment.

Referring to FIG. 1, a LiDAR device 1000 according to an embodiment may include a laser output unit 100.

At this time, the laser output unit 100 according to one embodiment may generate or output a laser.

Additionally, the laser output unit 100 according to one embodiment may include one or more laser output elements.

For example, the laser output unit 100 according to one embodiment may include a single laser output element or may include a plurality of laser output elements.

Additionally, the laser output unit 100 according to one embodiment may be configured as an array in which a plurality of laser output elements are arranged in an array, but the present invention is not limited thereto.

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, but the present invention is not limited to this.

In addition, the laser output unit 100 according to one embodiment includes a laser diode (LD), solid-state laser, high power laser, light entitling diode (LED), Vertical Cavity Surface Emitting Laser (VCSEL), and external cavity. It may include a laser output device such as a diode laser (ECDL), but is not limited thereto.

Additionally, the wavelength of the laser output from the laser output unit 100 according to one embodiment may be located in a specific wavelength range.

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

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

For example, the 905nm band may mean a band within a 10nm difference based on 905nm, the 940nm band may mean a band within a 10nm difference based on 940nm, and the 1550nm band may mean a band within a 10nm difference based on 1550nm. It may mean a band within the range of difference, but is not limited to this.

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

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

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 but may be different wavelengths.

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

Referring again to FIG. 1, the LIDAR device 1000 according to one embodiment may include an optical unit 200.

At this time, the optical unit may be variously expressed as a steering unit, a scanning unit, etc. to explain the present invention, but is not limited thereto.

The optical unit 200 according to one embodiment may function to change the flight path of the laser.

For example, the optic unit 200 according to one embodiment may function to change the flight path of the laser output from the laser output unit 100, and the laser output from the laser output unit 100 may be reflected from the object. In this case, it may function to change the flight path of the laser reflected from the object, but is not limited to this.

Additionally, the optical unit 200 according to one embodiment may function to change the flight path of the laser by reflecting the laser.

For example, the optic 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 the laser output from the laser output unit 100 may function to change the flight path. When reflected from the object, it may function to change the flight path by reflecting the laser reflected from the object, but is not limited to this.

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

For example, the optical unit 200 according to one embodiment includes a mirror, a resonance scanner, a MEMS mirror, a voice coil motor (VCM), a polygonal mirror, and a rotating mirror. It may include at least one optical means such as a rotating mirror or a galvano mirror, but is not limited thereto.

Additionally, the optical unit 200 according to one embodiment can change the flight path of the laser by refracting the laser.

For example, the optic 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 the laser output from the laser output unit 100 may be used to change the flight path of the laser output unit 100. When reflected from an object, it may function to change the flight path by refracting the laser reflected from the object, but is not limited to this.

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

For example, the optical unit 200 according to one embodiment may include at least one of optical means such as a lens, a prism, a micro lens, a microfluidie lens, or a metasurface. It may include, but is not limited to, one optical means.

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

For example, the optic unit 200 according to one embodiment may function to change the flight path by changing the phase of the laser output from the laser output unit 100, and the laser output from the laser output unit 100 When reflected from an object, it may function to change the flight path by changing the phase of the laser reflected from the object, but is not limited to this.

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

For example, the optical unit 200 according to one embodiment may include at least one optical means such as an optical phased array (OPA), a meta lens, or a metasurface. It is not limited to this.

Additionally, the optical unit 200 according to one embodiment may include two or more optical units.

For example, the optical unit 200 according to an embodiment is a transmitting optical unit for irradiating the laser output from the laser output unit 100 according to an embodiment to the scan area of the LIDAR device. and a receiving optical unit for transmitting the laser reflected from the object to the detector unit 300, but is not limited thereto.

In addition, for example, the optic unit 200 according to one embodiment includes a first optical unit for changing the flight path of the laser output from the laser output unit 100 according to an embodiment to the direction of the first group, and It may include a second optical unit for changing the flight path of the laser output from the laser output unit 100 according to an embodiment to the direction of the second group, but is not limited to this.

In addition, in addition to the above-described examples, the optical unit 200 according to an embodiment expands the scan area of the LIDAR device by using the laser output from the laser output unit 100 according to an embodiment, and reflects from the object. In order to deliver the laser to the detector unit 300 according to an embodiment, a combination of various configurations may be provided.

Referring again to FIG. 1, the LIDAR device 100 according to one embodiment may include a detector unit 300.

At this time, in order to explain the present invention, the detector unit may be expressed in various ways as a light receiving unit, a receiving unit, a sensor unit, etc., but is not limited thereto.

The detector unit 300 according to one embodiment may function to detect a laser.

For example, the detector unit 300 according to an embodiment may detect a laser reflected from an object located within the scan area of the LIDAR device 100 according to an embodiment.

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

For example, the detector unit 300 according to an embodiment may be arranged to receive a laser reflected from an object located within the scan area of the LiDAR device 100 according to an embodiment, and generate an electrical signal based on this. can be created.

At this time, the detector unit 300 according to an embodiment may be arranged to receive the laser reflected from an object located within the scan area of the LiDAR device 100 according to an embodiment through at least one optical means, , the at least one optical means may be included in the above-described optical unit and may include an optical filter, etc., but is not limited thereto.

Additionally, the detector unit 300 according to one embodiment may generate laser detection information based on the generated electrical signal.

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 value of the rising edge and falling edge of the generated electrical signal. , but is not limited to this.

Additionally, for example, the detector unit 300 according to one embodiment may generate histogram data corresponding to laser detection information based on the generated electrical signal, but the present invention is not limited thereto.

Additionally, the detector unit 300 according to one embodiment may determine the laser detection point based on the generated laser detection information.

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 laser generated based on the rising edge of the generated electrical signal and the falling edge of the generated electrical signal. The detection point of the laser can be determined based on the detection information of the laser generated based on the detection information of the laser generated based on the rising edge of the generated electrical signal and the detection information of the laser generated based on the falling edge of the generated electrical signal. Based on this, the detection point of the laser can be determined, but is not limited to this.

Additionally, 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 to this.

For a more specific example, the detector unit 300 according to one embodiment may determine the detection point of the laser based on the peak of the generated histogram data, determination of rising edge and falling edge based on a predetermined value, etc. However, it is not limited to this.

At this time, the histogram data may be generated based on an electrical signal generated from the detector unit 300 according to an embodiment during at least one scan cycle.

Additionally, the detector unit 300 according to one embodiment may include at least one detector element among various detector elements.

For example, the detector unit 300 according to one embodiment includes a PN photodiode, a phototransistor, a PIN photodiode, an avalanche photodiode (APD), a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a comparator, and a CMOS. It may include at least one detector element such as a (complementary metal-oxide-semiconductor) or a charge coupled device (CCD), but is not limited thereto.

Additionally, the detector unit 300 according to one embodiment may include one or more detector elements.

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

Additionally, the detector unit 300 according to one embodiment may be configured as an array of a plurality of detector elements arranged in an array, but is not limited to this.

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, but is not limited to this.

Referring again to FIG. 1, the LIDAR device 1000 according to one embodiment may include a control unit 400.

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

The control unit 400 according to one embodiment may control the operation of the laser output unit 100, the optic unit 200, or the detector unit 300.

Additionally, the control unit 400 according to one embodiment may control the operation of the laser output unit 100.

For example, the control unit 400 may control the output timing of the laser output from the laser output unit 100. Additionally, the control unit 400 can control the power of the laser output from the laser output unit 100. Additionally, the control unit 400 can control the pulse width of the laser output from the laser output unit 100. Additionally, the control unit 400 can control the cycle of the laser output from the laser output unit 100. Additionally, when the laser output unit 100 includes a plurality of laser output elements, the control unit 400 may control the laser output unit 100 to operate some of the plurality of laser output elements.

Additionally, the control unit 400 according to one embodiment may control the operation of the optical unit 200.

For example, the control unit 400 may control the operating speed of the optical unit 200. Specifically, when the optical unit 200 includes a rotating mirror, the rotation speed of the rotating mirror can be controlled, and when the optical unit 200 includes a MEMS mirror, the repetition cycle of the MEMS mirror can be controlled. However, it is not limited to this.

Additionally, for example, the control unit 400 may 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 to this.

Additionally, the control unit 400 according to one embodiment may control the operation of the detector unit 300.

For example, the control unit 400 may control the sensitivity of the detector unit 300. Specifically, the control unit 400 may control the sensitivity of the detector unit 300 by adjusting a predetermined threshold value, but the sensitivity is not limited to this.

Also, for example, the control unit 400 may control the operation of the detector unit 300. Specifically, the control unit 400 can control the On/Off of the detector unit 300, and when the control unit 300 includes a plurality of sensor elements, the detector unit 400 can operate some of the sensor elements. The operation of (300) can be controlled.

Additionally, the control unit 400 according to one embodiment may generate laser detection information based on the electrical signal generated from the detector unit 300.

For example, the control unit 400 according to one embodiment compares a predetermined threshold value with the rising edge, falling edge, or the median value of the rising edge and falling edge of the electrical signal generated from the detector unit 300 to provide laser detection information. can be created, but is not limited to this.

Additionally, for example, the control unit 400 according to one embodiment may generate histogram data corresponding to laser detection information based on the electrical signal generated by the detector unit 300, but the present invention is not limited thereto.

Additionally, the control unit 400 according to one embodiment may determine the laser detection point based on the laser detection information generated by the detector unit 300.

For example, the control unit 400 according to one embodiment may determine the detection point of the laser based on the laser detection information generated based on the rising edge of the electrical signal generated by the detector unit 300, and the generated The detection point of the laser can be determined based on the detection information of the laser generated based on the falling edge of the electrical signal, and the detection information of the laser generated based on the rising edge of the generated electrical signal and the detection information generated based on the falling edge can be determined. The detection point of the laser may be determined based on the laser detection information, but is not limited to this.

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. It is not limited.

For a more specific example, the control unit 400 according to one embodiment may control the laser operation based on the peak of the histogram data generated by the detector unit 300, the determination of the rising edge and falling edge based on a predetermined value, etc. The detection point can be determined, but is not limited to this.

Additionally, the control unit 400 according to one embodiment may obtain distance information to the object based on the determined detection point of the laser.

For example, the control unit 400 according to one embodiment may acquire distance information to the object based on the determined laser output time and the determined laser detection time, but is not limited to this.

Figure 2 is a diagram showing various embodiments of a LiDAR device.

Referring to (a) of FIG. 2, the LIDAR device according to one embodiment may include a laser output unit 110, an optic unit 210, and a detector unit 310, and the optic unit 210 It may include, but is not limited to, a nodding mirror 211 that nods within a preset range and a multi-faceted mirror 212 that rotates about at least one axis.

At this time, since the above-described contents can be applied to the laser output unit 110, the optic unit 210, and the detector unit 310, overlapping descriptions will be omitted, and Figure 2 (a) shows various This is a simply schematic diagram to explain one of the embodiments of the LiDAR device, and the various embodiments of the LiDAR device are not limited to (a) of FIG. 2.

In addition, referring to (b) of FIG. 2, the 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 the laser output from the laser output unit 120 and a multi-faceted mirror 222 rotating about at least one axis, but is limited to this. It doesn't work.

At this time, since the above-described contents can be applied to the laser output unit 120, the optic unit 220, and the detector unit 320, overlapping descriptions will be omitted, and Figure 2 (b) shows various This is a simply schematic diagram to explain one of the embodiments of the LiDAR device, and the various embodiments of the LiDAR device are not limited to (b) of FIG. 2.

In addition, referring to (c) of FIG. 2, the 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 ) is at least one lens 231 that can collimate and steer the laser output from the laser output unit 130 and at least one lens 232 that transmits the laser reflected from the object to the detector unit 330 ) may include, but is not limited to this.

At this time, since the above-described contents can be applied to the laser output unit 130, the optic unit 230, and the detector unit 330, overlapping descriptions will be omitted, and Figure 2 (c) shows various This is a simply schematic diagram to explain one of the embodiments of the LiDAR device, and various embodiments of the LiDAR device are not limited to (c) of FIG. 2.

In addition, referring to (d) of FIG. 2, the 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 ) is at least one lens 241 that can collimate and steer the laser output from the laser output unit 130 and at least one lens 242 that transmits the laser reflected from the object to the detector unit 340 ) may include, but is not limited to this.

At this time, since the above-described contents can be applied to the laser output unit 140, the optic unit 240, and the detector unit 340, overlapping descriptions will be omitted, and Figure 2(d) shows various This is a simply schematic diagram to explain one of the embodiments of the LiDAR device, and the various embodiments of the LiDAR device are not limited to (d) of FIG. 2.

Referring to FIG. 3, the LiDAR device 1000 according to an embodiment includes a laser output unit for outputting a laser and a detector unit for detecting a laser, and the description of the laser output unit and the detector unit is described above. As such, overlapping descriptions will be omitted.

Additionally, referring to FIG. 3, the data processing unit according to one embodiment may acquire LiDAR data 1200 based on the laser detected by the LiDAR device 1000.

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, and may be included in the LiDAR device 1000 and at least one It may be connected through a communication method and positioned to acquire a signal generated from the detector unit included in the LiDAR device 1000.

Additionally, referring to FIG. 3, the LiDAR device 1000 according to one embodiment can form a field of view 1100 by irradiating a laser, and the laser reflected within the field of view 1100 is LiDAR data 1200 can be obtained by detection.

At this time, the viewing angle 1100 of the LIDAR device 1000 may mean an area where a laser is irradiated or an area where a laser can be detected, but is not limited thereto.

In addition, the LiDAR data 1200 may refer to various types of data obtained from the LiDAR device 1000, for example, point data obtained from the LiDAR device 1000. , point cloud, frame data, etc., but is not limited thereto.

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

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

Additionally, the viewing angle 1100 of the LIDAR device 1000 may include a horizontal viewing angle 1110 with respect to the horizontal scanning range and a vertical viewing angle 1120 with respect to the vertical scanning range.

Additionally, the horizontal viewing angle 1110 and the vertical viewing angle 1120 may be defined by the irradiated laser.

For example, the horizontal viewing angle 1110 of the LiDAR device 1000 may be defined by the first laser 1111 irradiated at a first angle and the second laser 1112 irradiated at a second angle, , More specifically, it may be defined as the difference between the first angle at which the first laser 1111 is irradiated and the second angle at which the second laser 1112 is irradiated, but is not limited to this.

In addition, for example, the vertical viewing angle 1120 of the LiDAR device 1000 may be defined by the third laser 1121 irradiated at a third angle and the fourth laser 1122 irradiated at a fourth angle. It may be, and more specifically, may be defined as the difference between the third angle at which the third laser 1121 is irradiated and the second angle at which the fourth laser 1122 is irradiated, but is not limited to this.

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 represents the area where the laser is irradiated from the LiDAR device 1000. It can be defined by various methods.

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 a detected laser.

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

Additionally, for example, the vertical viewing angle 1120 of the LiDAR device 1000 may be defined by third point data 1230 and fourth point data 1240, and more specifically, the third point data 1230 and fourth point data 1240 may be used. It may be defined by the laser irradiation angle corresponding to the point data 1230 and the laser irradiation angle corresponding to the fourth point data 1240, but is not limited thereto.

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 examples, and the area in which the LiDAR device 1000 can detect the laser It can be defined by various ways to express it.

Additionally, referring to FIG. 3, the laser forming the viewing angle 1100 of the LiDAR device 1000 according to one embodiment may be irradiated to have angular resolution.

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.

Additionally, the horizontal angular resolution and the vertical angular resolution may be defined by the irradiated laser.

For example, the horizontal angular resolution of the LiDAR device 1000 may be defined by the fifth laser 1131 irradiated at a fifth angle and the sixth laser 1132 irradiated at a sixth angle. Specifically, it may be defined as the difference between the fifth angle at which the fifth laser 1131 is irradiated and the sixth angle at which the sixth laser 1132 is irradiated, but is not limited to this.

In addition, for example, the vertical angular resolution of the LiDAR device 1000 may be defined by the seventh laser 1141 irradiated at a seventh angle and the eighth laser 1142 irradiated at an eighth angle, , More specifically, it may be defined as the difference between the seventh angle at which the seventh laser 1141 is irradiated and the eighth angle at which the eighth laser 1142 is irradiated, but is not limited to this.

However, the definition of the horizontal angular resolution and vertical angular resolution of the LIDAR device 1000 is not limited to the above-described example, and may be defined by various methods for expressing the angular resolution capable of distinguishing detection target objects. You can.

Additionally, referring to FIG. 3, LiDAR data 1200 acquired from the LiDAR device 1000 according to one embodiment may include point data having angular resolution.

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 a detected laser.

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

Also, for example, the vertical angle resolution of the LIDAR device 1000 may be defined by the seventh point data 1270 and the eighth point data 1280, and more specifically, the seventh point data ( It may be defined by the laser irradiation angle corresponding to 1270) and the laser irradiation angle corresponding to the eighth point data 1280, but is not limited thereto.

Additionally, the laser irradiated from the LiDAR device 1000 may each have a size and divergence angle.

For example, each laser irradiated from the LiDAR device 1000 may have a major axis length and a minor axis length, and may have a divergence angle, but is not limited thereto.

Additionally, each point data included in the LIDAR data 1200 may include distance information.

Additionally, an optical origin 1300 may be defined for the LiDAR device 1000.

At this time, the optical origin 1300 may mean the origin of a coordinate system for expressing the above-described LIDAR data.

Additionally, the optical origin 1300 may mean an origin defined when assuming that the laser irradiated from the LiDAR device 1000 is output from one point.

Additionally, the optical origin 1300 may mean the origin of distance measurement for measuring the distance using a laser in the LiDAR device 1000.

Additionally, the optical origin 1300 may mean an origin for describing point data obtained from the LIDAR device 1000.

In addition, the optical origin 1300 may mean, but is not limited to, a physically derived optical origin, and may mean an optical origin artificially given to the LiDAR device 1000, but is not limited thereto. No.

Figure 4 is a diagram for explaining lidar data according to one embodiment.

LiDAR data according to one embodiment may be expressed in various formats such as point cloud, depth map, and intensity map.

At this time, the point cloud may be a format in which information about each measurement point is converted into location information, and the point cloud according to one embodiment includes information on the angle at which the laser was irradiated or acquired, and It may include, but is not limited to, location coordinate values (x, y, z) and intensity value (I) obtained based on distance information.

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 is irradiated with a laser or It may include, but is not limited to, pixel values (x, y) and distance values (D) obtained based on the acquired angle information.

In addition, at this time, the intensity map may be in a format that includes two-dimensional pixel position information and intensity information for each measurement point, and the intensity map according to one embodiment is when the laser is irradiated or It may include, but is not limited to, pixel values (x, y) and intensity values (I) obtained based on the obtained angle information.

In addition, in addition to the examples described above, LiDAR data may be acquired in various formats, but for convenience of explanation, the description below will be based on LiDAR data acquired in the form of a point cloud.

Referring to FIG. 4, LIDAR data according to one embodiment may include point cloud data 2000.

Additionally, the point cloud data 2000 according to one embodiment may include a plurality of point data.

Additionally, each of the plurality of point data according to one embodiment may include position coordinate values (x, y, z) and intensity value (i), but is not limited thereto.

At this time, the position coordinate value included in each of the plurality of point data may be obtained based on the distance value.

For example, the position coordinate value 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 is not limited to this. .

In addition, for example, the position coordinate value included in each of the plurality of point data may be obtained based on the coordinate value of the detector that acquired the laser and the distance value obtained based on the acquired laser, but is not limited to this. .

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

For example, the intensity value included in each of the plurality of point data may be obtained based on characteristics such as size and width of the electrical signal obtained from the detector, but is not limited to this, and the intensity value included in each of the plurality of point data may be obtained based on the electrical signal obtained from the detector. It can be obtained by various algorithms.

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 to this.

Figure 5 is a diagram for explaining lidar data according to an embodiment.

Referring to FIG. 5, LIDAR data according to one embodiment may include point cloud data 2100.

At this time, since the above-described contents can be applied to the point cloud data 2100, overlapping descriptions will be omitted.

Point cloud data 2100 according to an embodiment may include at least one sub-point data set 2110.

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.

For example, the at least one sub point data set 2110 may refer to a set of point data grouped by human input, but is not limited thereto.

Additionally, for example, the at least one sub point data set 2110 may refer to a set of point data grouped by a segment algorithm for the same object, but is not limited thereto.

Additionally, for example, the at least one sub point data set 2110 may refer to a set of point data grouped by a clustering algorithm, but is not limited thereto.

Additionally, for example, the at least one sub point data set 2110 may refer to a set of point data grouped by a learned machine learning model, but is not limited thereto.

Additionally, for example, the at least one sub-point data set 2110 may refer to a set of point data grouped by a learned deep learning model, but is not limited thereto.

Additionally, the LIDAR data processing unit according to one embodiment may acquire attribute data for at least one sub point data set 2110 described above.

For example, the LIDAR data processing unit according to one embodiment may acquire at least one attribute data for the at least one sub point data set 2110 according to a human input, but is not limited to this.

Additionally, for example, the LIDAR data processing unit according to one embodiment may acquire at least one attribute data for the at least one sub point data set 2110 using a specific algorithm, but is not limited thereto.

In addition, for example, the LIDAR data processing unit according to one embodiment may acquire at least one attribute data for the at least one sub point data set 2110 using a learned machine learning model, but is limited to this. It doesn't work.

In addition, for example, the LIDAR data processing unit according to one embodiment may acquire at least one attribute data for the at least one sub point data set 2110 using a learned deep learning model, but is limited to this. It doesn't work.

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

For example, the above-mentioned machine learning model or deep learning model may be a feedforward neural network, a radial basis function network, a kohonen self-organizing network, or a deep neural network. At least one of various artificial neural network layers, such as DNN, Convolutional neural network (CNN), Recurrent neural network (RNN), Long Short Term Memory Network (LSTM), or Gated Recurrent Units (GRUs) It may include, but is not limited to, an artificial neural network layer.

Additionally, the 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 function.

At this time, the activation function is a sigmoid function, a hyperbolic tangent function (Tanh Fucntion), a Relu Function (Rectified Linear unit Fucntion), a leaky Relu Function, It may include, but is not limited to, the ELU Function (Exponential Linear unit function), Softmax function, etc., and various activation functions (custom activation functions) to output the result or transfer it to another artificial neural network layer. functions) may be included.

Additionally, the above-described machine learning model or deep learning model may be learned using at least one loss function.

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 the predicted result value Various functions (including custom loss functions) can be included to calculate the difference between the and actual result values.

Additionally, the above-described machine learning model or deep learning model can be learned using at least one optimizer.

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

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

Below, the obtained attribute data will be described in more detail.

Referring to FIG. 6, the LIDAR data processing unit according to an embodiment may acquire at least one attribute data 2200 for the sub point data set 2110 according to an embodiment.

At this time, the at least one attribute data 2200 includes class information 2210, center position information 2220, size information 2230, shape information 2240, It may include movement information 2250, identification information 2260, etc., but is not limited thereto.

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.

Additionally, the at least one attribute data 2200 may be obtained based on point cloud data included in one frame data.

For example, attribute data such as object class information 2210, center position information 2220, size information 2230, and shape information 2240 included in the at least one attribute data 2200 are included in one frame. It may be obtained based on point cloud data included in the data, but is not limited to this.

Additionally, the at least one attribute data 2200 may be obtained based on point cloud data included in a plurality of frame data.

For example, attribute data such as movement information 2250 and identification information 2260 included in the at least one attribute data 2200 may be obtained based on point cloud data included in a plurality of frame data. It is not limited to this.

In addition, the description was made based on LiDAR data acquired in point cloud format through FIGS. 4 to 6, but as described above, in addition to the point cloud format, LiDAR data obtained in formats such as depth map and intensity map are also described. The contents described can be applied.

Figure 7 is a diagram for explaining a LiDAR device according to an embodiment.

Referring to FIG. 7, the LiDAR device 3000 according to one embodiment may include a transmitting module 3010 and a receiving module 3020.

Additionally, the transmission module 3010 may include a laser output array 3011 and a first lens assembly 3012, but is not limited thereto.

At this time, since the above-described laser output unit, etc. can be applied to the laser output array 3011, overlapping descriptions will be omitted.

Additionally, at this time, the first lens assembly 3012 may be expressed as a transmission lens assembly, transmission optics, transmission optics unit, transmission optics module, emitting optics, emitting optics unit, emitting optics module, etc. according to convenience. However, it is not limited to this.

Additionally, the laser output array 3011 may output at least one laser. For example, the laser output array 3011 may output a plurality of lasers, but is not limited thereto.

Additionally, the laser output array 3011 may output at least one laser at a first wavelength. For example, the laser output array 3011 may output at least one laser at a wavelength of 940 nm, and may output a plurality of lasers at a wavelength of 940 nm, but is not limited thereto.

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

Additionally, the laser output array 3011 may output at least one laser at the same time. For example, the laser output array 3011 may output a first laser at a first time point, or output at least one laser at the same time, such as outputting the first and second lasers at a second time point. can do.

Additionally, the first lens assembly 3012 may include at least two lens layers. For example, the first lens assembly 3012 may include at least four lens layers, but is not limited thereto.

Additionally, the first lens assembly 3012 may collimate the laser output from the laser output array 3011. For example, the first lens assembly 3012 may change the divergence of the first laser by collimating the first laser output from the laser output array 3011, but the present invention is not limited to this.

Additionally, the first lens assembly 3012 can steer the laser output from the laser output array 3011. For example, the first lens assembly 3012 may steer the first laser output from the laser output array 3011 in a first direction, and may steer the second laser output from the laser output array 3011. Steering in the second direction may be possible, but is not limited thereto.

In addition, the first lens assembly 3012 may steer the plurality of lasers output from the laser output array 3011 to irradiate the plurality of lasers at different angles within the range of (x) degrees to (y) degrees. You can. For example, the first lens assembly 3012 may steer the first laser in a first direction to irradiate the first laser output from the laser output array 3011 at (x) degrees, and the laser output In order to irradiate the second laser output from the array 3011 at (y) degree, the second laser may be steered in the second direction, but the present invention is not limited to this.

Additionally, the receiving module 3020 may include a laser detecting array 3021 and a second lens assembly 3022, but is not limited thereto.

At this time, since the above-described detector unit, etc. can be applied to the laser detecting array 3021, overlapping descriptions will be omitted.

Additionally, at this time, the second lens assembly 3022 may be expressed as a receiving lens assembly, receiving optic, receiving optic unit, receiving optic module, receiving optic, receiving optic unit, receiving optic module, etc. according to convenience. However, it is not limited to this.

Additionally, the laser detecting array 3021 can detect at least one laser. For example, the laser detecting array 3021 can detect a plurality of lasers.

Additionally, the laser detecting array 3021 may include a plurality of detectors. For example, the laser detecting array 3021 may include a first detector and a second detector, but is not limited thereto.

Additionally, each of the plurality of detectors included in the laser detecting array 3021 may receive different lasers. For example, the first detector included in the laser detecting array 3021 may receive a first laser received from a first direction, and the second detector may receive a second laser received from a second direction. However, it is not limited to this.

Additionally, the laser detecting array 3021 can detect at least a portion of the laser irradiated from the transmission module 3010. For example, the laser detecting array 3021 may detect at least a portion of the first laser irradiated from the transmission module 3010 and at least a portion of the second laser, but is not limited thereto. .

Additionally, the second lens assembly 3022 may transmit the laser irradiated from the transmission module 3010 to the laser detecting array 3021. For example, when the first laser radiated from the transmission module 3010 in the first direction is reflected from an object located in the first direction, the second lens assembly 3022 detects the first laser. It can be transmitted to the array 3021, and when the second laser irradiated in the second direction is reflected from the object located in the second direction, the second laser can be transmitted to the laser detecting array 3021, but is limited to this. It doesn't work.

Additionally, the second lens assembly 3022 may distribute the laser beam emitted from the transmission module 3010 to at least two different detectors. For example, when the first laser radiated from the transmission module 3010 in the first direction is reflected from an object located in the first direction, the second lens assembly 3022 detects the first laser. It can be distributed to the first detector included in the array 3021, and when the second laser irradiated in the second direction is reflected from the object located in the second direction, the

The second laser may be distributed to the second detector included in the laser detecting array 3021, but is not limited to this.

Additionally, at least part of the laser output array 3011 and the laser detecting array 3021 may be matched. For example, the first laser output from the first laser output element included in the laser output array 3011 may be detected by the first detector included in the laser detecting array 3021, and the laser output array 3011 may detect the first laser output from the first laser output element included in the laser output array 3011. The second laser output from the second laser output device included in 3011 may be detected by the second detector included in the laser detecting array 3021, but is not limited to this.

Referring to FIG. 8, the LiDAR device 3100 according to an embodiment may include a laser output array 3110 and a laser detecting array 3120.

At this time, since the above-described contents can be applied to the laser output array 3110 and the laser detecting array 3120, overlapping descriptions will be omitted.

The laser output array 3110 may include a plurality of laser output units.

For example, the laser output array 3110 may include a first laser output unit 3111 and a second laser output unit 3112.

Additionally, the laser output array 3110 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.

For example, the laser output array 3110 may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having M rows and N columns, but is not limited to this.

Additionally, each of the plurality of laser output units may include at least one laser output element.

For example, the first laser output unit 3111 included in the plurality of laser output units may be comprised of one laser output element, and the second laser output unit 3112 may be comprised of one laser output element. It may be configured, but is not limited to this.

In addition, for example, the first laser output unit 3111 included in the plurality of laser output units may be composed of two or more laser output elements, and the second laser output unit 3112 may be configured to output two or more laser output elements. It may be composed of elements, but is not limited thereto.

Additionally, lasers output from each of the plurality of laser output units may be irradiated in different directions.

For example, the first laser output from the first laser output unit 3111 included in the plurality of laser output units is irradiated in the first direction, and the second laser output from the second laser output unit 3112 The laser may be irradiated in the second direction, but is not limited to this.

Additionally, lasers output from each of the plurality of laser output units may not overlap each other at the target location.

For example, the first laser output from the first laser output unit 3111 included in the plurality of laser output units is 100 m away from the second laser output from the second laser output unit 3112. They may not overlap each other, but are not limited to this.

The laser detecting array 3120 may include a plurality of detecting units.

For example, the laser detecting array 3120 may include a first detecting unit 3121 and a second detecting unit 3122.

Additionally, the laser detecting array 3120 may be an array in which a plurality of detecting units are arranged in a two-dimensional matrix.

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 having M rows and N columns, but is not limited to this.

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

For example, the first detecting unit 3121 included in the plurality of detecting units may be composed of one laser detecting element, and the second detecting unit 3122 may be composed of one laser detecting element. It may be composed of elements, but is not limited thereto.

In addition, for example, the first detecting unit 3121 included in the plurality of detecting units may be composed of two or more laser detecting elements, and the second detecting unit 3122 may be composed of two or more laser detecting elements. It may consist of a detecting element, but is not limited to this.

Additionally, each of the plurality of detecting units can detect lasers irradiated in different directions.

For example, the first detecting unit 3121 included in the plurality of laser output units can detect the first laser irradiated in the first direction, and the second detecting unit 3122 can detect the second laser. The second laser irradiated in this direction may be detected, but is not limited to this.

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

For example, the first detecting unit 3121 included in the plurality of detecting units may be configured to output a laser beam output from the first laser output unit 3111 arranged to correspond to the first detecting unit 3121. 1 laser can be detected, and the second detecting unit 3122 can detect the second laser output from the second laser output unit 3112 arranged to correspond to the second detecting unit 3122. However, it is not limited to this.

Additionally, each of the plurality of detecting units may detect laser output from at least two laser output units depending on the location of the object.

For example, when the object is located in a first distance range, the second detecting unit 3122 included in the plurality of detecting units uses the second laser output from the second laser output unit 3112. can be detected, and when the object is located in the second distance range, the first laser output from the first laser output unit 3111 can be detected, but is not limited to this.

Additionally, at least one detecting value may be generated based on signals obtained from each of the plurality of detecting units.

At this time, the detecting value may include a depth value (distance value), an intensity value, etc., but is not limited thereto.

Additionally, the coordinates of the detecting value may be determined based on the arrangement of each of the plurality of detecting units.

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

Additionally, for example, the second detecting unit 3122 included in the plurality of detecting units may be disposed at the position (2,1) in the laser detecting array, and the second detecting unit The coordinates of the second detecting value generated based on the signal obtained from 3122 may be determined as (2,1), but are not limited to this.

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

Additionally, point data may be generated based on the detecting value and the coordinates of the detecting value.

For example, a first detecting value generated based on a signal obtained from the first detecting unit 3121 included in the plurality of detecting units and a first coordinate value that is the coordinate value of the first detecting value. First point data may be generated based on , and the first point data may include 3D position coordinate values and intensity values, but is not limited thereto.

In addition, for example, a second detecting value generated based on a signal obtained from the second detecting unit 3122 included in the plurality of detecting units and a second detection value that is a coordinate value of the second detecting value Second point data may be generated based on the coordinate values, and the second point data may include, but are not limited to, 3D position coordinate values and intensity values.

Additionally, the laser output array 3110 and the laser detecting array 3120 may be arranged in an array having the same dimensions.

For example, the laser output array 3110 and the laser detecting array 3120 may each have a plurality of laser output units and a plurality of detecting units arranged in an array having M rows and N columns. It is not limited to this.

Additionally, the laser output array 3110 and the laser detecting array 3120 may be arranged in an array with different dimensions.

For example, the laser output array 3110 has a plurality of laser output units arranged in an array having M rows and N columns, and the laser detecting array 3120 has a plurality of detecting units M+3. It can be arranged as an array with N rows and N columns, but is not limited to this.

Additionally, the number of laser output units included in the laser output array 3110 may be the same as the number of detecting units included in the laser detecting array 3120.

For example, the laser output array 3110 may include M*N laser output units, and the laser detecting array 3120 may include M*N detecting units, but is not limited thereto. No.

Additionally, the number of laser output units included in the laser output array 3110 may be different from the number of detecting units included in the laser detecting array 3120.

For example, the laser output array 3110 may include M*N laser output units, and the laser detecting array 3120 may include (M+3)*N detecting units. , but is not limited to this.

Also, for example, the laser output array 3110 may include (M*N)/2 laser output units, and the laser detecting array 3120 may include M*N detecting units. However, it is not limited to this.

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

In addition, the number of laser output elements included in each of the plurality of laser output units included in the laser output array 3110 is determined by each of the plurality of laser detecting units included in the laser detecting array 3120. It may differ from the number of laser detecting elements included.

For example, when the number of laser output elements included in the first laser output unit 3111 is 1, the number of laser detecting elements included in the first laser detecting unit 3121 may be 9. , but is not limited to this.

In addition, for example, when the number of laser output elements included in the second laser output unit 3112 is 1, the number of laser detecting elements included in the second laser detecting unit 3122 is 9. However, it is not limited to this.

9 and 10 are diagrams for explaining a LiDAR device according to an embodiment.

Referring to FIGS. 9 and 10 , the LiDAR device 4000 according to one embodiment may include a transmitting module 4010 and a receiving module 4020.

Additionally, referring to FIGS. 9 and 10 , the transmission module 4010 may include a laser emitting module 4011, an emitting optics module 4012, and an emitting optics holder 4013.

At this time, the laser emitting module 4011 may include a laser output array, and since the above-described contents can be applied to the laser output array, redundant description will be omitted.

Additionally, the emitting optics module 4012 may include a lens assembly, and since the contents of the first lens assembly and the like described above may be applied to the lens assembly, overlapping descriptions will be omitted.

Additionally, the emitting optics holder 4013 may be located between the laser emitting module 4011 and the emitting optics module 4012.

For example, the emitting optic holder 4013 holds the laser emitting module 4011 and the emitting optic module 4012 in order to fix the relative positional relationship between the laser emitting module 4011 and the emitting optic module 4012. It may be located between the optic modules 4012, but is not limited to this.

Additionally, the emitting optic holder 4013 may be formed to fix the movement of the emitting optic module 4012.

For example, the emitting optic holder 4013 may be formed to include a hole into which at least a portion of the emitting optic module 4012 is inserted to limit the movement of the emitting optic module 4012. It is not limited.

Additionally, referring to FIGS. 9 and 10, the 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. .

At this time, the laser detecting module 4021 may include a laser detecting array, and since the above-described contents can be applied to the laser detecting array, redundant description will be omitted.

Additionally, the detecting optics module 4022 may include a lens assembly, and since the contents of the second lens assembly and the like described above may be applied to the lens assembly, overlapping descriptions will be omitted.

Additionally, the detecting optic holder 4023 may be located between the laser detecting module 4021 and the detecting optic module 4022.

For example, the detecting optic holder 4023 holds the laser detecting module 4021 and the detecting optic module 4022 in order to fix the relative positional relationship between the laser detecting module 4021 and the detecting optic module 4022. It may be located between the tacting optics module 4022, but is not limited to this.

Additionally, the detecting optic holder 4023 may be formed to fix the movement of the detecting optic module 4022.

For example, the detecting optic holder 4023 may be formed to include a hole into which at least a portion of the detecting optic module 4022 is inserted to limit the movement of the detecting optic module 4022. It is not limited.

Additionally, the emitting optic holder 4013 and the detecting optic holder 4023 may be formed as one piece.

For example, the emitting optic holder 4013 and the detecting optic holder 4023 are formed as one body, so that each of the two holes of one optic holder is connected to the emitting optic module 4012 and the detecting optic module. At least a portion of 4013 may be formed to be inserted, but is not limited thereto.

In addition, the emitting optic holder 4013 and the detecting optic holder 4023 may not be physically distinguished, and may conceptually mean the first part and the second part of one optic holder, but are limited to this. It doesn't work.

In addition, FIG. 10 is a diagram for explaining an embodiment of the LiDAR device of FIG. 9, and the content described in FIG. 9 and the present invention is not limited by the shape shown in FIG. 10.

Referring to FIGS. 11 and 12 , the LIDAR device 4100 according to one embodiment may include a laser emitting module 4110 and a laser detecting module 4120.

Additionally, referring to FIGS. 11 and 12 , the laser emitting module 4110 according to one embodiment may include a laser emitting array 4111 and a first substrate 4112.

At this time, since the above-described contents can be applied to the laser emitting array 4111, overlapping descriptions will be omitted.

The laser emitting array 4111 according to one embodiment may be provided in the form of a chip in which a plurality of laser emitting units are arranged in an array, but is not limited thereto.

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

Additionally, the laser emitting array 4111 may be located on the first substrate 4112, but is not limited thereto.

Additionally, the first substrate 4112 may include a laser emitting driver for controlling the operation of the laser emitting array 4111, but is not limited thereto.

Additionally, referring to FIGS. 11 and 12 , the laser detecting module 4120 according to one embodiment may include a laser detecting array 4121 and a second substrate 4122.

At this time, since the above-described contents can be applied to the laser detecting array 4121, overlapping descriptions will be omitted.

The 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, but is not limited thereto.

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

Additionally, the laser detecting array 4121 may be located on the second substrate 4122, but is not limited to this.

Additionally, the second substrate 4122 may include a laser detecting driver for controlling the operation of the laser detecting array 4121, but is not limited thereto.

Additionally, the first substrate 4112 and the second substrate 4122 may be provided separately from each other as shown in FIG. 11, but are not limited to this and may be provided as one substrate.

In addition, FIG. 12 is a diagram for explaining an embodiment of the LiDAR device of FIG. 11, and the content described in FIG. 11 and the present invention is not limited by the shape shown in FIG. 12.

Referring to FIGS. 13 and 14 , the LIDAR device 4200 according to one embodiment may include an emitting lens module 4210 and a detecting lens module 4220.

Additionally, referring to FIGS. 13 and 14 , the emitting lens module 4210 according to one embodiment may include an emitting lens assembly 4211 and an emitting lens mounting tube 4212.

At this time, since the above-described contents can be applied to the emitting lens assembly 4211, overlapping descriptions will be omitted.

The emitting lens assembly 4211 according to one embodiment may be disposed within the emitting lens mounting tube 4212.

Additionally, the emitting lens mounting tube 4212 may refer to a barrel surrounding the emitting lens assembly 4211, but is not limited thereto.

Additionally, referring to FIGS. 13 and 14 , the detecting lens module 4220 according to one embodiment may include a detecting lens assembly 4221 and a detecting lens mounting tube 4222.

At this time, since the above-described contents can be applied to the detecting lens assembly 4221, overlapping descriptions will be omitted.

The detecting lens assembly 4221 according to one embodiment may be disposed within the detecting lens mounting tube 4222.

Additionally, the detecting lens mounting tube 4222 may refer to a barrel surrounding the detecting lens assembly 4221, but is not limited thereto.

Additionally, referring to FIG. 14, the emitting optics module 4210 may be arranged to be aligned with the laser emitting module described above.

At this time, the fact that the emitting optic module 4210 is arranged to be aligned with the above-described laser emitting module means that it is physically arranged to have a preset relative positional relationship and can irradiate the laser at an optically target angle. It may include, but is not limited to, the meaning of being aligned so as to be able to do so.

Additionally, referring to FIG. 14, the detecting optic module 4220 may be arranged to be aligned with the laser detecting module described above.

At this time, the fact that the detecting optic module 4220 is arranged to be aligned with the above-described laser detecting module means that it is physically arranged to have a preset relative positional relationship and that the laser is received at an optically target angle. It may include, but is not limited to, the meaning of being aligned so as to be detectable.

In addition, FIG. 14 is a diagram for explaining an embodiment of the LiDAR device of FIG. 13, and the content described in FIG. 13 and the present invention is not limited by the shape shown in FIG. 14.

Referring to FIG. 15, a LiDAR device 5000 according to an embodiment may include a transmission module 5010 and a reception module 5020.

At this time, the transmission module 5010 may include transmission optics and a laser output array, and the reception module 5020 may include reception optics and a laser detecting array, to which the above-described contents may be applied. Therefore, overlapping descriptions will be omitted.

Also, at this time, FIG. 15 may be a diagram of the LiDAR device 5000 in which the transmitting module 5010 and the receiving module 5020 are arranged in the vertical direction.

A plurality of lasers output from the transmission module 5010 included in the LiDAR device 5000 according to one embodiment may be irradiated in different directions.

For example, the first laser output from the first laser output unit included in the transmission module 5010 included in the LiDAR device 5000 according to an embodiment may be irradiated in the first direction, and the second laser The second laser output from the output unit may be irradiated in the second direction, but is not limited to this.

In addition, FIG. 15 shows a laser irradiation range 5011 where a plurality of lasers output from the transmission module 5010 included in the LiDAR device 5000 according to an embodiment are irradiated.

At this time, the laser irradiation range 5011 according to one embodiment may refer to a range in which the irradiation ranges of a plurality of lasers irradiated in different directions are grouped for convenience of explanation.

In addition, at this time, the irradiation ranges of each of the plurality of lasers included in the laser irradiation range 5011 according to one embodiment may not overlap at least partially with each other, but in FIG. 15, for convenience of explanation, the irradiation ranges of the plurality of lasers are irradiated. The laser irradiation range within the angular range is briefly and comprehensively indicated.

Additionally, the receiving module 5020 included in the LiDAR device 5000 according to one embodiment can detect the laser reflected from the object.

At this time, each of the plurality of laser detecting units included in the receiving module 5020 according to an embodiment can detect the laser received through the receiving optics.

For example, the first laser detecting unit included in the receiving module 5020 according to one embodiment may receive and detect the first laser output from the first laser output unit and reflected from the object through the receiving optics. The second laser detecting unit can receive and detect the second laser output from the second laser output unit and reflected from the object through the receiving optics, and the third laser detecting unit can detect the second laser output from the third laser output unit. The third laser output and reflected from the object can be transmitted and detected through the receiving optics, but the method is not limited to this.

Additionally, the laser received by each of the plurality of laser detecting units included in the receiving module 5020 according to an embodiment through the receiving optics may be the laser reflected within a specific area.

For example, the laser received by the first laser detecting unit included in the receiving module 5020 according to an embodiment through the receiving optic may be a laser reflected within the first laser detection range 5021, and the 2 The laser received by the laser detecting unit through the receiving optics may be a reflected laser within the second laser detection range 5022, and the laser received by the third laser detecting unit through the receiving optics may be the third laser detected. It may be a reflected laser within range 5023.

Additionally, the LIDAR device 5000 according to one embodiment may detect the laser reflected from the object when the object is located in an area where the above-described laser irradiation range 5011 and the laser detection range overlap.

For example, when the first object is located in an area where the laser irradiation range 5011 and the first laser detection range 5021 overlap according to one embodiment, the laser reflected from the first object is transmitted through the receiving optics. 1 Can be detected by a laser detecting unit, but is not limited to this.

In addition, for example, when the second object is located in an area where the laser irradiation range 5011 and the second laser detection range 5022 overlap according to one embodiment, the laser reflected from the second object passes through the receiving optics. It can be detected by the second laser detecting unit through, but is not limited to, this.

In addition, for example, when a third object is located in an area where the laser irradiation range 5011 and the third laser detection range 5023 overlap according to one embodiment, the laser reflected from the third object passes through the receiving optics. It can be detected by a third laser detecting unit, but is not limited to this.

Therefore, according to one embodiment, the minimum measurable distance may be determined for each laser detecting unit included in the LIDAR device 5000.

For example, according to one embodiment, the distance at which the laser irradiation range 5011 of the LiDAR device 5000 and the first laser detection range 5021 begin to overlap may be the first distance 5031, and the first distance 5031 may be The laser detecting unit may detect a laser reflected from a first object located at a distance greater than the first distance 5031.

At this time, if the first object is located closer than the first distance 5031, the first object is located outside the laser irradiation range 5011 of the LiDAR device 5000, so even though the first object is Even if it is located within the first laser detection range 5021, the first object may not be detected by the LIDAR device 5000 because there is no laser reflected from the first object.

In addition, for example, according to one embodiment, the distance at which the laser irradiation range 5011 of the LiDAR device 5000 and the second laser detection range 5022 begin to overlap may be the second distance 5032, The second laser detecting unit may detect the laser reflected from the second object located at a distance greater than the second distance 5032.

At this time, if the second object is located closer than the second distance 5032, the second object is located outside the laser irradiation range 5011 of the LiDAR device 5000, so even though the second object is 2 Even if it is located within the laser detection range 5022, the second object may not be detected by the LIDAR device 5000 because there is no laser reflected from the second object.

In addition, for example, according to one embodiment, the laser irradiation range 5011 of the LiDAR device 5000 and the third laser detection range 5023 do not overlap at the third distance 5033, and the third distance 5033 does not overlap. The overlap may begin at a fourth distance greater than 5033, and the third laser detecting unit may detect the laser reflected from the third object located at a greater distance than the fourth distance.

At this time, if the third object is located at the third distance 5033, the third object is located outside the laser irradiation range 5011 of the LiDAR device 5000, so even though the third object is located at the third distance 5033 Even if it is located within the laser detection range 5023, the third object may not be detected by the LiDAR device 5000 because there is no laser reflected from the third object.

Therefore, in the case described above, the minimum measurement distance for the first laser detecting unit may be the first distance 5031, the minimum measurement distance for the second laser detecting unit may be the second distance 5032, and the third distance 5032. The minimum measurement distance for the laser detecting unit may be, but is not limited to, the fourth distance.

In addition, at this time, the first to third distances 5031 to 5033 may mean the distance from the optical origin of the LiDAR device, and may physically mean the distance from the receiving module, etc. Various definitions can be applied, which can be understood as the distance from the device to the object.

According to the above, the minimum measurement distance of a laser detection unit with a laser detection range in the direction away from the transmission module may be long depending on its design, and it may not be able to detect objects located at a short distance, so the overall short-distance measurement of the LiDAR device is not possible. Performance may deteriorate.

Therefore, a design may be needed to solve this problem and improve the overall short-range measurement performance of the LiDAR device.

Referring to FIG. 16, the LiDAR device 5100 according to an embodiment may include a laser output array 5110 and a laser detecting array 5120, and the above-described contents may be applied to this, so overlapping The description will be omitted.

Each of the plurality of laser output units included in the laser output array 5110 according to an embodiment may include at least one laser output element.

For example, a first laser output unit included in a plurality of laser output units according to an embodiment may be comprised of one laser output element, and the second laser output unit may be comprised of one laser output element. , but is not limited to this.

In addition, for example, the first laser output unit included in the plurality of laser output units according to one embodiment may be composed of a plurality of laser output elements, and the second laser output unit may be composed of a plurality of laser output elements. However, it is not limited to this.

Additionally, the laser output array 5110 according to one embodiment may include a main array 5111 and an auxiliary array 5112.

At this time, the main array 5111 according to an embodiment may refer to an array that is optically coupled to the laser detecting array 5120 at the target distance of the LiDAR device 5100. The auxiliary array 5112 according to may mean an array that is at least partially optically coupled with the laser detecting array 5120 within the target distance of the LiDAR device 5100, but is not limited thereto.

At this time, the target distance of the LiDAR device 5100 may refer to the target distance when adjusting the alignment between the laser output array and the laser detecting array when manufacturing the LiDAR device 5100, but is not limited to this. It may include various concepts that can be understood as the target distance of the LiDAR device 5100, such as the target distance during the manufacturing process of the LiDAR device 5100.

In addition, according to one embodiment, the optical axis of the transmission optic included in the LIDAR device 5100 is arranged so as to pass through the main array 5111 included in the laser output array 5110, but not through the auxiliary array 5112. It can be.

For example, according to one embodiment, the optical axis of the transmission optic included in the LIDAR device 5100 may be arranged to pass through the center of the main array 5111 included in the laser output array 5110, and the auxiliary array It may be arranged so as not to pass through (5112), but is not limited to this.

Additionally, the laser output array 5110 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.

For example, the laser output array 5110 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having M rows and N columns, but is not limited to this.

For a more specific example, the number of rows of laser output units included in the laser output array 5110 according to one embodiment may be 59, and the number of columns may be 192, but are not limited thereto.

Additionally, the main array 5111 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.

For example, the main array 5111 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having A rows and B columns, but is not limited to this.

Additionally, the auxiliary array 5112 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix form.

For example, the auxiliary array 5112 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having C rows and D columns, but is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the main array 5111 may be greater than the number of rows of laser output units included in the auxiliary array 5112.

For example, according to one embodiment, A, which is the number of rows of laser output units included in the main array 5111, may be greater than C, which is the number of rows of laser output units included in the auxiliary array 5112. there is.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the main array 5111 is 56, and the number of rows of laser output units included in the auxiliary array 5112 is 3. However, it is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the main array 5111 may be the same as the number of rows of laser output units included in the auxiliary array 5112.

For example, according to one embodiment, B, the number of rows of laser output units included in the main array 5111, may be equal to D, the number of rows of laser output units included in the auxiliary array 5112.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the main array 5111 may be 192, and the number of rows of laser output units included in the auxiliary array 5112 may be 192. , but is not limited to this.

Additionally, according to one embodiment, the rows of laser output units included in the main array 5111 or the auxiliary array 5112 are arranged along the direction in which the laser output array 5110 and the laser detecting array 5120 are arranged. It may refer to a line, and a row of a laser output unit may refer to a line arranged along a direction perpendicular to the direction in which the laser output array 5110 and the laser detecting array 5120 are arranged, but is not limited to this. .

Additionally, the laser output array 5110 according to one embodiment may be designed to have a first length 5131 in the Y direction and a second length 5132 in the X direction.

At this time, the first length 5131 may be a length measured based on the outermost laser output units among the laser output units arranged in the Y direction, but is not limited to this.

Additionally, the second length 5132 may be a length measured based on the outermost laser output units among the laser output units arranged in the X direction, but is not limited to this.

Additionally, the main array 5111 according to one embodiment may be designed to have a third length in the Y direction and a fourth length in the X direction.

Additionally, the auxiliary array 5112 according to one embodiment may be designed to have a fifth length in the Y direction and a sixth length in the X direction.

Additionally, according to one embodiment, the first length 5131, which is the length in the Y direction of the laser output array 5110, is the third length, which is the length in the Y direction of the main array 5111, and the auxiliary array 5112. It may be equal to the sum of the fifth length, which is the length in the Y direction.

Additionally, according to one embodiment, the second length 5132, which is the length in the X direction of the laser output array 5110, is the fourth length that is the length in the It may be equal to the sixth length, which is the length in the X direction.

Additionally, the auxiliary array 5112 according to one embodiment may be arranged to be spaced apart from the main array 5111 in the column direction (Y direction) of the laser output unit.

For example, the center of the auxiliary array 5112 according to one embodiment may be disposed to be spaced apart from the center of the main array 5111 in the column direction (Y direction) of the laser output unit, but is not limited to this.

Additionally, the auxiliary array 5112 according to one embodiment may be placed farther from the laser detecting array 5120 than the main array 5111.

For example, in the auxiliary array 5112 according to an embodiment, the distance between the center of the auxiliary array 5112 and the center of the laser detecting array 5120 is the center of the main array 5111 and the center of the laser detecting array 5120. ) may be placed farther than the distance between the centers, but is not limited to this.

Each of the plurality of laser detecting units included in the laser detecting array 5120 according to one embodiment may include at least one laser detecting element.

For example, a first laser detecting unit included in a plurality of laser detecting units according to an embodiment may be comprised of one laser detecting element, and the second laser detecting unit may be comprised of one laser detecting element. It may consist of, but is not limited to this.

Additionally, for example, the first laser detecting unit included in the plurality of laser detecting units according to one embodiment may be composed of a plurality of laser detecting elements, and the second laser detecting unit may be composed of a plurality of laser detecting elements. It may be composed of a tactile element, but is not limited thereto.

Additionally, the laser detecting array 5120 according to one embodiment may be an array in which a plurality of laser detecting units are arranged in a two-dimensional matrix form.

For example, the laser detecting array 5120 according to one embodiment may be an array in which a plurality of laser detecting units are arranged in a two-dimensional matrix having K rows and L columns, but is not limited to this.

For a more specific example, the number of rows and the number of columns of laser detecting units included in the laser detecting array 5120 according to one embodiment may be 56, but the number of columns may be 192, but are not limited thereto.

Additionally, according to one embodiment, the number of rows of laser output units included in the laser output array 5110 may be greater than the number of rows of laser detecting units included in the laser detecting array 5120.

For example, according to one embodiment, M, which is the number of rows of laser output units included in the laser output array 5110, is K, which is the number of rows of laser detecting units included in the laser detecting array 5120. There may be more than dogs.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the laser output array 5110 is 59, and the number of rows of laser detecting units included in the laser detecting array 5120 is 59. The number may be 56, but is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the laser output array 5110 may be the same as the number of rows of laser detecting units included in the laser detecting array 5120.

For example, according to one embodiment, N, which is the number of rows of laser output units included in the laser output array 5110, is equal to L, which is the number of rows of laser detecting units included in the laser detecting array 5120. can do.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the laser output array 5110 is 192, and the number of rows of laser detecting units included in the laser detecting array 5120 is 192. There may be 192, but it is not limited to this.

Additionally, according to one embodiment, the number of columns compared to the number of rows of the laser output units included in the laser output array 5110 is greater than the number of columns compared to the number of rows of the laser detecting units included in the laser detecting array 5120. It can be small.

For example, according to one embodiment, N/M, which is the number of columns compared to the number of rows of the laser output unit included in the laser output array 5110, is the number of rows of the laser detecting unit included in the laser detecting array 5120. It may be smaller than L/K, which is the number of columns compared to the number of .

For a more specific example, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the laser output array 5110 is 192/59, and the laser detecting unit included in the laser detecting array 5120 is 192/59. It may be 192/56, which is the number of columns compared to the number of rows of the unit, but is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the main array 5111 may be the same as the number of rows of laser detecting units included in the laser detecting array 5120.

For example, according to one embodiment, A, which is the number of rows of laser output units included in the main array 5111, is K, which is the number of rows of laser detecting units included in the laser detecting array 5120. may be the same.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the main array 5111 is 56, and the number of rows of laser detecting units included in the laser detecting array 5120 is 56. There may be 56, but it is not limited to this.

For example, according to one embodiment, B, the number of rows of laser output units included in the main array 5111, may be equal to L, the number of rows of laser detecting units included in the laser detecting array 5120. You can.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the main array 5111 is 192, and the number of rows of laser detecting units included in the laser detecting array 5120 is 192. It may be a dog, but is not limited thereto.

In addition, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the main array 5111 is equal to the number of columns compared to the number of rows of the laser detecting unit included in the laser detecting array 5120. can do.

For example, according to one embodiment, B/A, which is the number of columns compared to the number of rows of the laser output unit included in the main array 5111, is the number of rows of the laser detecting unit included in the laser detecting array 5120. It may be the same as L/K, which is the number of columns compared to the number.

For a more specific example, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the main array 5111 is 192/56, and the laser detecting unit included in the laser detecting array 5120 The number of columns compared to the number of rows may be 192/56, but is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the auxiliary array 5112 may be less than the number of rows of laser detecting units included in the laser detecting array 5120.

For example, according to one embodiment, C, which is the number of rows of laser output units included in the auxiliary array 5112, is K, which is the number of rows of laser detecting units included in the laser detecting array 5120. It can be less.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the auxiliary array 5112 is 3, and the number of rows of laser detecting units included in the laser detecting array 5120 is 3. There may be 56, but it is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the auxiliary array 5112 may be the same as the number of rows of laser detecting units included in the laser detecting array 5120.

For example, according to one embodiment, D, which is the number of rows of laser output units included in the auxiliary array 5112, may be equal to L, which is the number of rows of laser detecting units included in the laser detecting array 5120. You can.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the auxiliary array 5112 is 192, and the number of rows of laser detecting units included in the laser detecting array 5120 is 192. It may be a dog, but is not limited thereto.

In addition, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5112 is greater than the number of columns compared to the number of rows of the laser detecting unit included in the laser detecting array 5120. You can.

For example, according to one embodiment, D/C, which is the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5112, is the number of rows of the laser detecting unit included in the laser detecting array 5120. It may be larger than L/K, which is the number of columns compared to the number.

For a more specific example, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5112 is 192/3, and the laser detecting unit included in the laser detecting array 5120 The number of columns compared to the number of rows may be 192/56, but is not limited to this.

Additionally, the laser detecting array 5120 according to one embodiment may be designed to have a seventh length 5141 in the Y direction and an eighth length 5142 in the X direction.

At this time, the seventh length 5141 may be a length measured based on the outermost laser detecting units among the laser detecting units arranged in the Y direction, but is not limited to this.

Additionally, the eighth length 5142 may be a length measured based on the outermost laser detecting units among the laser detecting units arranged in the X direction, but is not limited to this.

Additionally, according to one embodiment, the length of the laser output array 5110 in the Y direction may be longer than the length of the laser detecting array 5120 in the Y direction.

For example, according to one embodiment, the first length 5131, which is the length in the Y direction of the laser output array 5110, is the seventh length 5141, which is the length in the Y direction of the laser detecting array 5120. It can be longer.

Additionally, according to one embodiment, the length of the laser output array 5110 in the X direction may be equal to the length of the laser detecting array 5120 in the X direction.

For example, according to one embodiment, the second length 5132, which is the length in the X direction of the laser output array 5110, is the eighth length 5142, which is the length in the X direction of the laser detecting array 5120. It may be the same as

Additionally, according to one embodiment, the length of the laser output array 5110 in the X direction compared to the length in the Y direction may be smaller than the length of the laser detecting array 5120 in the .

For example, according to one embodiment, the second length 5132/first length 5131, which is the length in the X direction compared to the length in the Y direction of the laser output array 5110, is the laser detecting array 5120. It may be smaller than the eighth length (5142)/seventh length (5141), which is the length in the X direction compared to the length in the Y direction.

Additionally, according to one embodiment, the length of the main array 5111 in the Y direction may be equal to the length of the laser detecting array 5120 in the Y direction.

For example, according to one embodiment, the third length, which is the length of the main array 5111 in the Y direction, may be equal to the seventh length 5141, which is the length of the laser detecting array 5120 in the Y direction. there is.

Additionally, according to one embodiment, the length of the main array 5111 in the X direction may be equal to the length of the laser detecting array 5120 in the X direction.

For example, according to one embodiment, the fourth length, which is the length of the main array 5111 in the X direction, may be equal to the eighth length 5142, which is the length of the laser detecting array 5120 in the X direction. there is.

Additionally, according to one embodiment, the length in the X direction compared to the length in the Y direction of the main array 5111 may be equal to the length in the .

For example, according to one embodiment, the fourth length/third length, which is the length in the X direction compared to the length in the Y direction of the main array 5111, is compared to the length in the Y direction of the laser detecting array 5120. It may be the same as the 8th length 5142/7th length 5141, which is the length in the X direction.

Additionally, according to one embodiment, the length of the auxiliary array 5112 in the Y direction may be smaller than the length of the laser detecting array 5120 in the Y direction.

For example, according to one embodiment, the fifth length, which is the length of the auxiliary array 5112 in the Y direction, may be smaller than the seventh length 5141, which is the length of the laser detecting array 5120 in the Y direction. .

Additionally, according to one embodiment, the length of the auxiliary array 5112 in the X direction may be equal to the length of the laser detecting array 5120 in the X direction.

For example, according to one embodiment, the sixth length of the auxiliary array 5112 in the X direction may be equal to the eighth length 5142 of the laser detecting array 5120 in the X direction. there is.

Additionally, according to one embodiment, the length of the auxiliary array 5112 in the X-direction compared to the length in the Y-direction may be greater than the length of the laser detecting array 5120 in the

For example, according to one embodiment, the sixth length / fifth length, which is the length in the X direction compared to the length in the Y direction of the auxiliary array 5112, is compared to the length in the Y direction of the laser detecting array 5120. It may be larger than the 8th length 5142/7th length 5141, which is the length in the X direction.

Additionally, according to one embodiment, the above-described main array 5111 and auxiliary array 5112 may be formed on the same wafer and may be formed as one chip, but the present invention is not limited thereto.

Referring to FIGS. 17 and 18 , the LIDAR device 5200 according to an embodiment may include a laser output array 5210 and a laser detecting array 5220, to which the above-described information may be applied. , Overlapping descriptions will be omitted.

Additionally, referring to FIGS. 17 and 18 , the laser output array 5210 according to one embodiment may include a main array 5211 and an auxiliary array 5212, for which Since the above-mentioned contents can be applied, overlapping descriptions will be omitted.

Additionally, referring to FIGS. 17 and 18 , the main array 5211 included in the laser output array 5210 according to one embodiment includes a first laser output unit 5231, a second laser output unit 5232, and a first laser output unit 5232. It may include three laser output units 5233, and the auxiliary array 5212 may include a fourth laser output unit 5241.

Additionally, referring to FIGS. 17 and 18, the laser detecting array 5220 according to one embodiment includes a first laser detecting unit 5221, a second laser detecting unit 5222, and a third laser detecting unit. (5223) may be included.

In addition, FIG. 17 shows the laser beam focused on the plane where the laser detecting array 5220 is disposed through the receiving optics when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a first distance. It is a diagram showing acquisition areas (a first main laser acquisition area 5261 and a first auxiliary laser acquisition area 5262), and FIG. 18 shows a laser output from the laser output array 5210 according to an embodiment of the second laser acquisition area. When reflected from an object located in the distance, laser acquisition areas (second main laser acquisition area 5271 and second auxiliary laser acquisition area 5272) are focused on the plane where the laser detecting array 5220 is placed through receiving optics. ) This is a drawing showing.

In addition, the fact that a specific laser output unit described below is optically coupled with a specific laser detecting unit means that the laser output from the specific laser output unit is reflected from the object and detected by the specific laser detecting unit. It can refer to an optical connection state in which a detecting signal is generated from a specific laser detecting unit by a laser output from a specific laser output unit.

Referring again to FIG. 17, when the laser output from the laser output array 5210 according to one embodiment is reflected from an object located at a first distance, the auxiliary array 5212 is at least a portion of the laser detecting array 5220. It can be optically coupled with .

For example, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a first distance, the lasers output from the auxiliary array 5212 included in the laser output array 5210 are It may be reflected from an object located at a first distance and acquired into the first auxiliary laser acquisition area 5262, and therefore, the auxiliary array 5212 may be included in the first auxiliary laser acquisition area 5262 among the laser detecting arrays 5220. ) may be optically coupled to a portion located within, but is not limited to this.

In addition, for example, the laser output from the fourth laser output unit 5241 included in the auxiliary array 5212 according to an embodiment is reflected from an object located at a first distance to the first laser detecting unit 5221. It can be detected, and accordingly, the fourth laser output unit 5241 included in the auxiliary array 5212 according to one embodiment may be optically coupled with the first laser detecting unit 5221. , but is not limited to this.

Additionally, referring to FIG. 17, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a first distance, the main array 5211 is configured to detect at least one of the laser detecting arrays 5220. It can be optically coupled with some.

For example, when the laser output from the laser output array 5210 according to one embodiment is reflected from an object located at a first distance, the lasers output from the main array 5211 included in the laser output array 5210 are It can be reflected from an object located at a first distance and acquired into the first main laser acquisition area 5261, and therefore, the main array 5211 is included in the first main laser acquisition area 5261 among the laser detecting arrays 5220. ) may be optically coupled to a portion located within, but is not limited to this.

In addition, for example, the laser output from the first laser output unit 5231 included in the main array 5211 according to one embodiment is reflected from an object located at a first distance to the third laser detecting unit 5223. It can be detected, and accordingly, the first laser output unit 5231 included in the main array 5211 according to one embodiment may be optically coupled with the third laser detecting unit 5223. , but is not limited to this.

Additionally, referring to FIG. 17, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a first distance, at least a portion of the main array 5211 is exposed to the laser detecting array 5220. ) and can be optically decoupled.

For example, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a first distance, the laser output from the first laser output unit group 5213 included in the main array 5211 is output. The lasers may be reflected from objects located at a first distance and acquired into an area in the first main laser acquisition area 5261 where the laser detecting units are not arranged, and thus included in the main array 5211. The first laser output unit group 5213 may be optically decoupled from the laser detecting array 5220, but is not limited to this.

Additionally, for example, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a first distance, the second laser output unit included in the first laser output unit group 5213 The laser output from 5232 may be reflected from an object located at a first distance and acquired into an area where the laser detecting units are not placed, and accordingly, the second laser output unit 5232 may be used to detect the laser detecting array 5220. may be optically decoupled, but is not limited thereto.

In addition, referring to FIG. 18, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a second distance, at least a portion of the auxiliary array 5212 is configured to be connected to the laser detecting array 5220. ) and can be optically decoupled.

For example, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a second distance, the lasers output from the auxiliary array 5212 are reflected from the object located at a second distance. may be acquired into the second auxiliary laser acquisition area 5272, and therefore, at least a portion of the auxiliary array 5212 may be optically decoupled from the laser detecting array 5220, but is not limited thereto. .

In addition, for example, when the laser output from the fourth laser output unit 5241 included in the auxiliary array 5212 according to an embodiment is reflected from an object located at a second distance, the laser detecting unit is not located. may be acquired within the second auxiliary laser acquisition area 5272, and accordingly, the fourth laser output unit 5241 included in the auxiliary array 5212 according to one embodiment is optically connected to the laser detecting array 5220. It can be decoupled, but is not limited to this.

Additionally, referring to FIG. 18, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a second distance, the main array 5211 is configured to detect at least one of the laser detecting arrays 5220. It can be optically coupled with some.

For example, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at a second distance, the lasers output from the main array 5211 included in the laser output array 5210 are It can be reflected from an object located at a first distance and acquired into the second main laser acquisition area 5271, and therefore, the main array 5211 is included in the second main laser acquisition area 5271 among the laser detecting arrays 5220. ) may be optically coupled to a portion located within, but is not limited to this.

In addition, for example, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at the second distance, the laser output from the first laser output unit 5231 is reflected at the second distance. It may be reflected from a positioned object and detected by the first laser detecting unit 5221, and accordingly, the first laser output unit 5231 included in the main array 5211 according to one embodiment may detect the first laser. It may be optically coupled to the unit 5221, but is not limited to this.

Additionally, for example, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at the second distance, the laser output from the second laser output unit 5232 is reflected at the second distance. It may be reflected from a positioned object and detected by the second laser detecting unit 5222, and accordingly, the second laser output unit 5232 included in the main array 5211 according to one embodiment may detect the second laser. It may be optically coupled to the unit 5222, but is not limited thereto.

Additionally, for example, when the laser output from the laser output array 5210 according to an embodiment is reflected from an object located at the second distance, the laser output from the third laser output unit 5233 is reflected at the second distance. It may be reflected from a positioned object and detected by the third laser detecting unit 5223, and accordingly, the third laser output unit 5233 included in the main array 5211 according to one embodiment may detect the third laser. It may be optically coupled to the unit 5223, but is not limited to this.

Additionally, according to one embodiment, the first distance may be smaller than the second distance.

Additionally, according to one embodiment, the second distance may be the target distance of the LiDAR device 5200.

Additionally, according to one embodiment, the above-described laser detecting unit may mean a unit group of laser detecting elements corresponding to one point data, but is not limited to this.

As described above, according to one embodiment, when at least a part of the main array 5211 is optically decoupled from the laser detecting array 5220, at least a part of the auxiliary array 5212 is connected to the laser detecting array 5220. It may be optically coupled with at least a portion of the array 5220 to provide additional detection of areas that cannot be detected by the main array 5211 alone, thereby improving the short-range performance of the lidar device 5200. You can.

Referring to FIG. 19, the LiDAR device 5300 according to an embodiment may include a transmission module 5310 and a reception module 5320.

At this time, the transmission module 5310 may include transmission optics and a laser output array, and the reception module 5320 may include reception optics and a laser detecting array, to which the above-described contents may be applied. Therefore, overlapping descriptions will be omitted.

A plurality of lasers output from the transmission module 5310 included in the LiDAR device 5300 according to one embodiment may be irradiated in different directions.

For example, the first laser output from the first laser output unit included in the transmission module 5310 included in the LiDAR device 5300 according to an embodiment may be irradiated in the first direction, and the second laser The second laser output from the output unit may be irradiated in the second direction, but is not limited to this.

In addition, Figure 19 shows the laser irradiation range where a plurality of lasers output from the transmission module 5310 included in the lidar device 5300 according to an embodiment are irradiated, and more specifically, the laser irradiation range output from the main array is shown. A main laser irradiation range 5311 in which a plurality of lasers are irradiated and an auxiliary laser irradiation range 5312 in which a plurality of lasers output from an auxiliary array are irradiated are shown.

At this time, the main laser irradiation range 5311 and the auxiliary laser irradiation range 5312 according to an embodiment may refer to the irradiation ranges of a plurality of lasers irradiated in different directions, grouped for convenience of explanation. there is.

In addition, at this time, the irradiation ranges of each of the plurality of lasers included in the main laser irradiation range 5311 and the auxiliary laser irradiation range 5312 according to one embodiment may not overlap at least partially with each other, but in the explanation in FIG. 19 For convenience, the laser irradiation range within the angular range where multiple lasers are irradiated is briefly and comprehensively shown.

Additionally, the receiving module 5320 included in the LiDAR device 5300 according to one embodiment can detect the laser reflected from the object.

At this time, each of the plurality of laser detecting units included in the receiving module 5320 according to an embodiment can detect the laser received through the receiving optics.

For example, the first laser detecting unit included in the receiving module 5320 according to one embodiment may receive and detect the first laser output from the first laser output unit and reflected from the object through the receiving optics. The second laser detecting unit can receive and detect the second laser output from the second laser output unit and reflected from the object through the receiving optics, and the third laser detecting unit can detect the second laser output from the third laser output unit. The third laser output and reflected from the object can be transmitted and detected through the receiving optics, but the method is not limited to this.

Additionally, the laser received by each of the plurality of laser detecting units included in the receiving module 5320 according to an embodiment through the receiving optics may be the laser reflected within a specific area.

For example, the laser received by the first laser detecting unit included in the receiving module 5320 according to an embodiment through the receiving optic may be a laser reflected within the first laser detection range 5321, and the 2 The laser received by the laser detecting unit through the receiving optics may be a reflected laser within the second laser detection range 5322, and the laser received by the third laser detecting unit through the receiving optics may be the third laser detected. It may be a reflected laser within range 5323.

In addition, when an object is located in an area where the above-described main laser irradiation range 5311 or the auxiliary laser irradiation range 5312 and the laser detection range overlap, the LIDAR device 5300 according to an embodiment is configured to emit light reflected from the object. Lasers can be detected.

For example, when the first object is located in an area where the main laser irradiation range 5311 or the auxiliary laser irradiation range 5312 and the first laser detection range 5321 overlap according to an embodiment, from the first object The reflected laser may be detected by the first laser detecting unit through receiving optics, but is not limited to this.

In addition, for example, when the second object is located in an area where the main laser irradiation range 5311 or the auxiliary laser irradiation range 5312 and the second laser detection range 5322 overlap according to an embodiment, the second object The laser reflected from the object may be detected by the second laser detecting unit through receiving optics, but is not limited to this.

In addition, for example, when a third object is located in an area where the main laser irradiation range 5311 or the auxiliary laser irradiation range 5312 and the third laser detection range 5323 overlap according to an embodiment, the third object The laser reflected from the object may be detected by the third laser detecting unit through receiving optics, but is not limited to this.

Therefore, according to one embodiment, the minimum measurable distance may be determined for each laser detecting unit included in the LIDAR device 5300.

For example, according to one embodiment, the distance at which the auxiliary laser irradiation range 5312 of the LiDAR device 5300 and the first laser detection range 5321 begin to overlap may be the

first distance

5331, and 1 The laser detecting unit can detect a laser reflected from a first object located at a distance greater than the first distance 5331.

At this time, if the first object is located closer than the first distance 5331, the first object deviates from the main laser irradiation range 5311 and the auxiliary laser irradiation range 5312 of the LiDAR device 5300. Therefore, even if the first object is located within the first laser detection range 5321, the first object may not be detected by the LIDAR device 5300 because there is no laser reflected from the first object.

In addition, for example, according to one embodiment, the distance at which the auxiliary laser irradiation range 5312 of the LiDAR device 5300 and the second laser detection range 5322 begin to overlap may be the second distance 5332, , the second laser detecting unit can detect the laser reflected from the second object located at a distance greater than the second distance 5332.

At this time, if the second object is located closer than the second distance 5332, the second object is located outside the main laser irradiation range 5311 and the auxiliary laser irradiation range 5312 of the LiDAR device 5300. Therefore, even if the second object is located within the second laser detection range 5322, the second object may not be detected by the LIDAR device 5300 because there is no laser reflected from the second object.

In addition, for example, according to one embodiment, the distance at which the auxiliary laser irradiation range 5312 of the LiDAR device 5300 and the third laser detection range 5323 begin to overlap may be the third distance 5333, , the third laser detecting unit may detect the laser reflected from a third object located at a distance greater than the third distance 5333.

At this time, if the third object is located closer than the third distance 5333, the third object is located outside the main laser irradiation range 5311 and the auxiliary laser irradiation range 5312 of the LiDAR device 5300. Therefore, even if the third object is located within the third laser detection range 5323, the third object may not be detected by the LIDAR device 5300 because there is no laser reflected from the third object.

Therefore, in the case described above, the minimum measurement distance for the first laser detecting unit may be the first distance 5331, the minimum measurement distance for the second laser detecting unit may be the second distance 5332, and the third distance 5332. The minimum measurement distance for the laser detecting unit may be the third distance 5333, but is not limited thereto.

In addition, at this time, the first to third distances 5331 to 5333 may mean the distance from the optical origin of the LiDAR device, and may physically mean the distance from the receiving module, etc. Various definitions can be applied, which can be understood as the distance from the device to the object.

At this time, the first to third distances 5331 to 5333 described in FIG. 19 may be smaller than the first to third distances 5031 to 5033 described in FIG. 15, and the LIDAR device described in FIG. 19 It can be seen that the short-range measurement performance of the 5300 is improved compared to the LIDAR device 5000 described in FIG. 15.

Referring to FIG. 20, a LiDAR device 5400 according to an embodiment may include a transmission module 5410 and a reception module 5420.

At this time, the transmission module 5410 may include transmission optics and a laser output array, and the reception module 5420 may include reception optics and a laser detecting array, to which the above-described contents may be applied. Therefore, overlapping descriptions will be omitted.

Also, at this time, FIG. 20 may be a diagram of the LiDAR device 5400 in which the transmitting module 5410 and the receiving module 5420 are arranged in the left and right directions.

A plurality of lasers output from the transmission module 5410 included in the LiDAR device 5400 according to one embodiment may be irradiated in different directions.

For example, the first laser output from the first laser output unit included in the transmission module 5410 included in the LiDAR device 5400 according to one embodiment may be irradiated in the first direction, and the second laser The second laser output from the output unit may be irradiated in the second direction, but is not limited to this.

In addition, FIG. 20 shows a laser irradiation range 5411 where a plurality of lasers output from the transmission module 5410 included in the LiDAR device 5400 according to an embodiment are irradiated.

At this time, the laser irradiation range 5411 according to one embodiment may refer to a range in which the irradiation ranges of a plurality of lasers irradiated in different directions are grouped together for convenience of explanation.

In addition, at this time, the irradiation ranges of each of the plurality of lasers included in the laser irradiation range 5411 according to one embodiment may not overlap at least partially with each other, but in FIG. 20, for convenience of explanation, the irradiation ranges of the plurality of lasers are irradiated. The laser irradiation range within the angular range is briefly and comprehensively indicated.

Additionally, the receiving module 5420 included in the LiDAR device 5400 according to one embodiment can detect the laser reflected from the object.

At this time, each of the plurality of laser detecting units included in the receiving module 5420 according to an embodiment can detect the laser received through the receiving optics.

For example, the first laser detecting unit included in the receiving module 5420 according to one embodiment may receive and detect the first laser output from the first laser output unit and reflected from the object through the receiving optics. The second laser detecting unit can receive and detect the second laser output from the second laser output unit and reflected from the object through the receiving optics, and the third laser detecting unit can detect the second laser output from the third laser output unit. The third laser output and reflected from the object can be transmitted and detected through the receiving optics, but the method is not limited to this.

Additionally, the laser received by each of the plurality of laser detecting units included in the receiving module 5420 according to an embodiment through the receiving optics may be the laser reflected within a specific area.

For example, the laser received by the first laser detecting unit included in the receiving module 5420 according to one embodiment through the receiving optics may be a laser reflected within the first laser detection range 5421, and the 2 The laser received by the laser detecting unit through the receiving optics may be a reflected laser within the second laser detection range 5422, and the laser received by the third laser detecting unit through the receiving optics may be the third laser detected. It may be a reflected laser within range 5423.

Additionally, the LIDAR device 5400 according to one embodiment may detect the laser reflected from the object when the object is located in an area where the laser irradiation range 5411 and the laser detection range overlap.

For example, when the first object is located in an area where the laser irradiation range 5411 and the first laser detection range 5421 overlap according to one embodiment, the laser reflected from the first object is transmitted through the receiving optics. 1 Can be detected by a laser detecting unit, but is not limited to this.

In addition, for example, when the second object is located in an area where the laser irradiation range 5411 and the second laser detection range 5422 overlap according to one embodiment, the laser reflected from the second object is transmitted through the receiving optics. It can be detected by the second laser detecting unit through, but is not limited to, this.

In addition, for example, when a third object is located in an area where the laser irradiation range 5411 and the third laser detection range 5423 overlap according to one embodiment, the laser reflected from the third object passes through the receiving optics. It may be detected by a third laser detecting unit, but is not limited to this.

Therefore, according to one embodiment, the minimum measurable distance may be determined for each laser detecting unit included in the LIDAR device 5400.

For example, according to one embodiment, the distance at which the laser irradiation range 5411 of the LiDAR device 5400 and the first laser detection range 5421 begin to overlap may be the first distance 5431, and the first distance 5431 may be The laser detecting unit may detect a laser reflected from a first object located at a distance greater than the first distance 5431.

At this time, if the first object is located closer than the first distance 5431, the first object is located outside the laser irradiation range 5411 of the LIDAR device 5400, so even though the first object is Even if it is located within the first laser detection range 5421, the first object may not be detected by the LIDAR device 5400 because there is no laser reflected from the first object.

In addition, for example, according to one embodiment, the distance at which the laser irradiation range 5411 of the LiDAR device 5400 and the second laser detection range 5422 begin to overlap may be the second distance 5432, The second laser detecting unit may detect the laser reflected from the second object located at a distance greater than the second distance 5432.

At this time, if the second object is located closer than the second distance 5432, the second object is located outside the laser irradiation range 5411 of the LiDAR device 5400, so even though the second object is 2 Even if it is located within the laser detection range 5422, the second object may not be detected by the LIDAR device 5400 because there is no laser reflected from the second object.

In addition, for example, according to one embodiment, the laser irradiation range 5411 of the LiDAR device 5400 and the third laser detection range 5423 do not overlap at the third distance 5433, and the third distance 5433 does not overlap. The overlap may begin at a fourth distance greater than 5433, and the third laser detecting unit may detect the laser reflected from the third object located at a greater distance than the fourth distance.

At this time, if the third object is located at the third distance 5433, the third object is located outside the laser irradiation range 5411 of the LiDAR device 5400, so even though the third object is located at the third distance 5433 Even if it is located within the laser detection range 5423, the third object may not be detected by the LiDAR device 5400 because there is no laser reflected from the third object.

Therefore, in the case described above, the minimum measurement distance for the first laser detecting unit may be the first distance 5431, the minimum measurement distance for the second laser detecting unit may be the second distance 5432, and the third distance 5432. The minimum measurement distance for the laser detecting unit may be, but is not limited to, the fourth distance.

Also, at this time, the first to third distances 5431 to 5433 may mean the distance from the optical origin of the LiDAR device, and may physically mean the distance from the receiving module, etc. Various definitions can be applied, which can be understood as the distance from the device to the object.

According to the above, even if the transmitting module and the receiving module are arranged in the left and right directions, the minimum measurement distance of the laser detecting unit with a laser detection range in the direction away from the transmitting module can be long depending on its design, and the minimum measurement distance can be increased at a short distance. The overall short-range measurement performance of the LiDAR device may be reduced due to the inability to detect a located object.

Referring to FIG. 21, the LiDAR device 5500 according to an embodiment may include a laser output array 5510 and a laser detecting array 5520, and the above-described contents may be applied to this, so overlapping The description will be omitted.

Each of the plurality of laser output units included in the laser output array 5510 according to an embodiment may include at least one laser output element.

Additionally, the laser output array 5510 according to one embodiment may include a main array 5511 and an auxiliary array 5512.

At this time, the main array 5511 according to an embodiment may refer to an array that is optically coupled to the laser detecting array 5520 at the target distance of the LiDAR device 5500. The auxiliary array 5512 according to may refer to an array that is at least partially optically coupled with the laser detecting array 5520 within the target distance of the LiDAR device 5500, but is not limited thereto.

At this time, the target distance of the LiDAR device 5500 may refer to the target distance when adjusting the alignment between the laser output array and the laser detecting array when manufacturing the LiDAR device 5500, but is not limited to this. It may include various concepts that can be understood as the target distance of the LiDAR device 5500, such as the target distance during the manufacturing process of the LiDAR device 5500.

In addition, according to one embodiment, the optical axis of the transmission optic included in the LIDAR device 5500 is arranged so as to pass through the main array 5511 included in the laser output array 5510, but not through the auxiliary array 5512. It can be.

For example, according to one embodiment, the optical axis of the transmission optic included in the LIDAR device 5500 may be arranged to pass through the center of the main array 5511 included in the laser output array 5510, and the auxiliary array It may be arranged so as not to pass through (5512), but is not limited to this.

Additionally, the laser output array 5510 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.

For example, the laser output array 5510 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having M rows and N columns, but is not limited to this.

For a more specific example, the number of rows of laser output units included in the laser output array 5510 according to one embodiment may be 56, and the number of columns may be 195, but are not limited thereto.

Additionally, the main array 5511 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.

For example, the main array 5511 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having A rows and B columns, but is not limited to this.

Additionally, the auxiliary array 5512 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix.

For example, the auxiliary array 5512 according to one embodiment may be an array in which a plurality of laser output units are arranged in a two-dimensional matrix having C rows and D columns, but is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the main array 5511 may be the same as the number of rows of laser output units included in the auxiliary array 5512.

For example, according to one embodiment, A, the number of rows of laser output units included in the main array 5511, may be equal to C, the number of rows of laser output units included in the auxiliary array 5512. there is.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the main array 5511 is 56, and the number of rows of laser output units included in the auxiliary array 5512 is 56. However, it is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the main array 5511 may be greater than the number of rows of laser output units included in the auxiliary array 5512.

For example, according to one embodiment, B, which is the number of rows of laser output units included in the main array 5511, may be greater than D, which is the number of rows of laser output units included in the auxiliary array 5512.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the main array 5511 may be 192, and the number of rows of laser output units included in the auxiliary array 5512 may be 3. , but is not limited to this.

Additionally, according to one embodiment, the rows of laser output units included in the main array 5511 or the auxiliary array 5512 are aligned in a direction perpendicular to the direction in which the laser output array 5510 and the laser detecting array 5520 are arranged. It may mean a line arranged along, and a row of laser output units may mean a line arranged along the direction in which the laser output array 5510 and the laser detecting array 5520 are arranged, but is not limited to this. .

Additionally, the laser output array 5510 according to one embodiment may be designed to have a first length 5531 in the Y direction and a second length 5532 in the X direction.

At this time, the first length 5531 may be a length measured based on the outermost laser output units among the laser output units arranged in the Y direction, but is not limited to this.

Additionally, the second length 5532 may be a length measured based on the outermost laser output units among the laser output units arranged in the X direction, but is not limited to this.

Additionally, the main array 5511 according to one embodiment may be designed to have a third length in the Y direction and a fourth length in the X direction.

Additionally, the auxiliary array 5512 according to one embodiment may be designed to have a fifth length in the Y direction and a sixth length in the X direction.

Additionally, according to one embodiment, the first length 5531, which is the length in the Y direction of the laser output array 5510, is the third length that is the length in the Y direction of the main array 5511 and the auxiliary array 5512. It may be the same as the fifth length, which is the length in the Y direction.

Additionally, according to one embodiment, the second length 5532, which is the length in the X direction of the laser output array 5510, is the fourth length that is the length in the It may be equal to the sum of the sixth length, which is the length in the X direction.

Additionally, the auxiliary array 5512 according to one embodiment may be arranged to be spaced apart from the main array 5511 in the row direction (X direction) of the laser output unit.

For example, the center of the auxiliary array 5512 according to one embodiment may be arranged to be spaced apart from the center of the main array 5511 in the row direction (X direction) of the laser output unit, but the present invention is not limited to this.

Additionally, the auxiliary array 5512 according to one embodiment may be placed farther from the laser detecting array 5520 than the main array 5511.

For example, in the auxiliary array 5512 according to an embodiment, the distance between the center of the auxiliary array 5512 and the center of the laser detecting array 5520 is the center of the main array 5511 and the center of the laser detecting array 5520. ) may be placed farther than the distance between the centers, but is not limited to this.

Each of the plurality of laser detecting units included in the laser detecting array 5520 according to an embodiment may include at least one laser detecting element.

Additionally, the laser detecting array 5520 according to one embodiment may be an array in which a plurality of laser detecting units are arranged in a two-dimensional matrix form.

For example, the laser detecting array 5520 according to one embodiment may be an array in which a plurality of laser detecting units are arranged in a two-dimensional matrix having K rows and L columns, but is not limited to this.

For a more specific example, the number of rows of the laser detecting units included in the laser detecting array 5520 according to one embodiment may be 56, and the number of columns may be 192, but are not limited thereto.

Additionally, according to one embodiment, the number of rows of laser output units included in the laser output array 5510 may be the same as the number of rows of laser detecting units included in the laser detecting array 5520.

For example, according to one embodiment, M, which is the number of rows of laser output units included in the laser output array 5510, is K, which is the number of rows of laser detecting units included in the laser detecting array 5520. It could be the same as a dog.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the laser output array 5510 is 56, and the number of rows of laser detecting units included in the laser detecting array 5520 is 56. The number may be 56, but is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the laser output array 5510 may be greater than the number of rows of laser detecting units included in the laser detecting array 5520.

For example, according to one embodiment, N, which is the number of rows of laser output units included in the laser output array 5510, is greater than L, which is the number of rows of laser detecting units included in the laser detecting array 5520. There could be many.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the laser output array 5510 is 195, and the number of rows of laser detecting units included in the laser detecting array 5520 is 195. There may be 192, but it is not limited to this.

Additionally, according to one embodiment, the number of columns compared to the number of rows of the laser output units included in the laser output array 5510 is greater than the number of columns compared to the number of rows of the laser detecting units included in the laser detecting array 5520. It can be big.

For example, according to one embodiment, N/M, which is the number of columns compared to the number of rows of the laser output unit included in the laser output array 5510, is the number of rows of the laser detecting unit included in the laser detecting array 5520. It may be larger than L/K, which is the number of columns compared to the number of .

For a more specific example, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the laser output array 5510 is 195/56, and the laser detecting unit included in the laser detecting array 5520 is 195/56. It may be 192/56, which is the number of columns compared to the number of rows of the unit, but is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the main array 5511 may be the same as the number of rows of laser detecting units included in the laser detecting array 5520.

For example, according to one embodiment, A, which is the number of rows of laser output units included in the main array 5511, is K, which is the number of rows of laser detecting units included in the laser detecting array 5520. may be the same.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the main array 5511 is 56, and the number of rows of laser detecting units included in the laser detecting array 5520 is 56. There may be 56, but it is not limited to this.

For example, according to one embodiment, B, the number of rows of laser output units included in the main array 5511, may be equal to L, the number of rows of laser detecting units included in the laser detecting array 5520. You can.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the main array 5511 is 192, and the number of rows of laser detecting units included in the laser detecting array 5520 is 192. It may be a dog, but is not limited thereto.

Additionally, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the main array 5511 is equal to the number of columns compared to the number of rows of the laser detecting unit included in the laser detecting array 5520. can do.

For example, according to one embodiment, B/A, which is the number of columns compared to the number of rows of the laser output unit included in the main array 5511, is the number of rows of the laser detecting unit included in the laser detecting array 5520. It may be the same as L/K, which is the number of columns compared to the number.

For a more specific example, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the main array 5511 is 192/56, and the laser detecting unit included in the laser detecting array 5520 The number of columns compared to the number of rows may be 192/56, but is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the auxiliary array 5512 may be the same as the number of rows of laser detecting units included in the laser detecting array 5520.

For example, according to one embodiment, C, which is the number of rows of laser output units included in the auxiliary array 5512, is K, which is the number of rows of laser detecting units included in the laser detecting array 5520. may be the same.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the auxiliary array 5512 is 56, and the number of rows of laser detecting units included in the laser detecting array 5520 is 56. There may be 56, but it is not limited to this.

Additionally, according to one embodiment, the number of rows of laser output units included in the auxiliary array 5512 may be less than the number of rows of laser detecting units included in the laser detecting array 5520.

For example, according to one embodiment, D, which is the number of rows of laser output units included in the auxiliary array 5512, is less than L, which is the number of rows of laser detecting units included in the laser detecting array 5520. You can.

For a more specific example, according to one embodiment, the number of rows of laser output units included in the auxiliary array 5512 is 3, and the number of rows of laser detecting units included in the laser detecting array 5520 is 192. It may be a dog, but is not limited thereto.

Additionally, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5512 may be smaller than the number of columns compared to the number of rows of the laser detecting unit included in the laser detecting array 5520. You can.

For example, according to one embodiment, D/C, which is the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5512, is the number of rows of the laser detecting unit included in the laser detecting array 5520. It may be smaller than L/K, which is the number of columns compared to the number.

For a more specific example, according to one embodiment, the number of columns compared to the number of rows of the laser output unit included in the auxiliary array 5512 is 3/56, and the laser detecting unit included in the laser detecting array 5520 The number of columns compared to the number of rows may be 192/56, but is not limited to this.

Additionally, the laser detecting array 5520 according to one embodiment may be designed to have a seventh length 5541 in the Y direction and an eighth length 5542 in the X direction.

At this time, the seventh length 5541 may be a length measured based on the outermost laser detecting units among the laser detecting units arranged in the Y direction, but is not limited to this.

Additionally, the eighth length 5542 may be a length measured based on the outermost laser detecting units among the laser detecting units arranged in the X direction, but is not limited to this.

Additionally, according to one embodiment, the length of the laser output array 5510 in the Y direction may be equal to the length of the laser detecting array 5520 in the Y direction.

For example, according to one embodiment, the first length 5531, which is the length in the Y direction of the laser output array 5510, is the seventh length 5541, which is the length in the Y direction of the laser detecting array 5520. It may be the same as

Additionally, according to one embodiment, the length of the laser output array 5510 in the X direction may be longer than the length of the laser detecting array 5520 in the X direction.

For example, according to one embodiment, the second length 5532, which is the length in the X direction of the laser output array 5510, is the eighth length 5542, which is the length in the X direction of the laser detecting array 5520. It can be longer.

Additionally, according to one embodiment, the length of the laser output array 5510 in the X direction compared to the length in the Y direction may be greater than the length of the laser detecting array 5520 in the .

For example, according to one embodiment, the second length 5532/first length 5531, which is the length in the X direction compared to the length in the Y direction of the laser output array 5510, is the laser detecting array 5520. It may be larger than the eighth length (5542)/seventh length (5541), which is the length in the X direction compared to the length in the Y direction.

Additionally, according to one embodiment, the length of the main array 5511 in the Y direction may be equal to the length of the laser detecting array 5520 in the Y direction.

For example, according to one embodiment, the third length, which is the length of the main array 5511 in the Y direction, may be equal to the seventh length 5541, which is the length of the laser detecting array 5520 in the Y direction. there is.

Additionally, according to one embodiment, the length of the main array 5511 in the X direction may be equal to the length of the laser detecting array 5520 in the X direction.

For example, according to one embodiment, the fourth length of the main array 5511 in the X direction may be equal to the eighth length 5542 of the laser detecting array 5520 in the X direction. there is.

Additionally, according to one embodiment, the length in the X direction compared to the length in the Y direction of the main array 5511 may be equal to the length in the .

For example, according to one embodiment, the fourth length/third length, which is the length in the X direction compared to the length in the Y direction of the main array 5511, is compared to the length in the Y direction of the laser detecting array 5520. It may be the same as the eighth length 5542/seventh length 5541, which is the length in the X direction.

Additionally, according to one embodiment, the length of the auxiliary array 5512 in the Y direction may be equal to the length of the laser detecting array 5520 in the Y direction.

For example, according to one embodiment, the fifth length, which is the length of the auxiliary array 5512 in the Y direction, may be equal to the seventh length 5541, which is the length of the laser detecting array 5520 in the Y direction. there is.

Additionally, according to one embodiment, the length of the auxiliary array 5512 in the X direction may be shorter than the length of the laser detecting array 5520 in the X direction.

For example, according to one embodiment, the sixth length, which is the length of the auxiliary array 5512 in the X direction, may be shorter than the eighth length 5542, which is the length of the laser detecting array 5520 in the X direction. .

Additionally, according to one embodiment, the length of the auxiliary array 5512 in the X-direction compared to the length in the Y-direction may be smaller than the length of the laser detecting array 5520 in the

For example, according to one embodiment, the sixth length / fifth length, which is the length in the X direction compared to the length in the Y direction of the auxiliary array 5512, is compared to the length in the Y direction of the laser detecting array 5520. It may be smaller than the 8th length 5542/7th length 5541, which is the length in the X direction.

Additionally, according to one embodiment, the above-described main array 5511 and auxiliary array 5512 may be formed on the same wafer and may be formed as one chip, but the present invention is not limited thereto.

Referring to FIGS. 22 and 23, the LIDAR device 5600 according to an embodiment may include a laser output array 5610 and a laser detecting array 5620, to which the above-described information may be applied. , Overlapping descriptions will be omitted.

Additionally, referring to FIGS. 22 and 23, the laser output array 5610 according to one embodiment may include a main array 5611 and an auxiliary array 5612, for which Since the above-mentioned contents can be applied, overlapping descriptions will be omitted.

Additionally, referring to FIGS. 22 and 23, the main array 5611 included in the laser output array 5610 according to one embodiment includes a first laser output unit 5631, a second laser output unit 5632, and a first laser output unit 5632. It may include three laser output units 5633, and the auxiliary array 5612 may include a fourth laser output unit 5641.

Additionally, referring to FIGS. 22 and 23, the laser detecting array 5620 according to one embodiment includes a first laser detecting unit 5621, a second laser detecting unit 5622, and a third laser detecting unit. (5623) may be included.

In addition, Figure 22 shows the laser beam on the plane where the laser detecting array 5620 is disposed through the receiving optics when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at a first distance. This is a diagram showing acquisition areas (a first main laser acquisition area 5661 and a first auxiliary laser acquisition area 5662), and Figure 23 shows that the laser output from the laser output array 5610 according to one embodiment is the second laser acquisition area. When reflected from an object located in the distance, laser acquisition areas (second main laser acquisition area 5671 and second auxiliary laser acquisition area 5672) are focused on the plane where the laser detecting array 5620 is placed through receiving optics. ) This is a drawing showing.

Referring again to FIG. 22, when the laser output from the laser output array 5610 according to one embodiment is reflected from an object located at a first distance, the auxiliary array 5612 is at least a portion of the laser detecting array 5620. It can be optically coupled with .

For example, when the laser output from the laser output array 5610 according to one embodiment is reflected from an object located at a first distance, the lasers output from the auxiliary array 5612 included in the laser output array 5610 are It may be reflected from an object located at a first distance and acquired into the first auxiliary laser acquisition area 5662, and therefore, the auxiliary array 5612 may be included in the first auxiliary laser acquisition area 5662 of the laser detecting array 5620. ) may be optically coupled to a portion located within, but is not limited to this.

In addition, for example, the laser output from the fourth laser output unit 5641 included in the auxiliary array 5612 according to an embodiment is reflected from an object located at a first distance to the first laser detecting unit 5621. It can be detected, and accordingly, the fourth laser output unit 5641 included in the auxiliary array 5612 according to one embodiment may be optically coupled with the first laser detecting unit 5621. , but is not limited to this.

Additionally, referring to FIG. 22, when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at a first distance, the main array 5611 is configured to detect at least one of the laser detecting arrays 5620. It can be optically coupled with some.

For example, when the laser output from the laser output array 5610 according to one embodiment is reflected from an object located at a first distance, the lasers output from the main array 5611 included in the laser output array 5610 are It can be reflected from an object located at a first distance and acquired into the first main laser acquisition area 5661, and therefore, the main array 5611 is included in the first main laser acquisition area 5661 among the laser detecting arrays 5620. ) may be optically coupled to a portion located within, but is not limited to this.

In addition, for example, the laser output from the first laser output unit 5631 included in the main array 5611 according to one embodiment is reflected from an object located at a first distance to the third laser detecting unit 5623. It can be detected, and accordingly, the first laser output unit 5631 included in the main array 5611 according to one embodiment may be optically coupled with the third laser detecting unit 5623. , but is not limited to this.

Additionally, referring to FIG. 22, when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at a first distance, at least a portion of the main array 5611 is exposed to the laser detecting array 5620. ) and can be optically decoupled.

For example, when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at a first distance, output from the first laser output unit group 5663 included in the main array 5611 The lasers may be reflected from objects located at a first distance and acquired into an area in the first main laser acquisition area 5661 where the laser detecting units are not disposed, and thus included in the main array 5611. The first laser output unit group 5613 may be optically decoupled from the laser detecting array 5620, but is not limited to this.

Additionally, for example, when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at a first distance, the second laser output unit included in the first laser output unit group 5613 The laser output from 5632 may be reflected from an object located at a first distance and acquired in an area where the laser detecting units are not placed, and accordingly, the second laser output unit 5632 may be used to detect the laser detecting array 5620. may be optically decoupled, but is not limited thereto.

In addition, referring to FIG. 23, when the laser output from the laser output array 5610 according to one embodiment is reflected from an object located at a second distance, at least a portion of the auxiliary array 5612 is configured to be connected to the laser detecting array 5620. ) and can be optically decoupled.

For example, when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at a second distance, the lasers output from the auxiliary array 5612 are reflected from the object located at a second distance. may be acquired into the second auxiliary laser acquisition area 5672, and therefore, at least a portion of the auxiliary array 5612 may be optically decoupled from the laser detecting array 5620, but is not limited thereto. .

Additionally, for example, when the laser output from the fourth laser output unit 5641 included in the auxiliary array 5612 according to an embodiment is reflected from an object located at a second distance, the laser detecting unit is not located. may be acquired within the second auxiliary laser acquisition area 5672, and accordingly, the fourth laser output unit 5641 included in the auxiliary array 5612 according to one embodiment is optically connected to the laser detecting array 5620. It can be decoupled, but is not limited to this.

Additionally, referring to FIG. 23, when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at a second distance, the main array 5611 is configured to detect at least one of the laser detecting arrays 5620. It can be optically coupled with some.

For example, when the laser output from the laser output array 5610 according to one embodiment is reflected from an object located at a second distance, the lasers output from the main array 5611 included in the laser output array 5610 are It can be reflected from an object located at a first distance and acquired into the second main laser acquisition area 5671, and therefore, the main array 5611 is included in the second main laser acquisition area 5671 among the laser detecting arrays 5620. ) may be optically coupled to a portion located within, but is not limited to this.

Additionally, for example, when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at the second distance, the laser output from the first laser output unit 5631 is reflected at the second distance. It may be reflected from a positioned object and detected by the first laser detecting unit 5621, and accordingly, the first laser output unit 5631 included in the main array 5611 according to one embodiment may detect the first laser. It may be optically coupled to the unit 5621, but is not limited to this.

In addition, for example, when the laser output from the laser output array 5610 according to an embodiment is reflected from an object located at the second distance, the laser output from the second laser output unit 5632 is reflected at the second distance. It may be reflected from a positioned object and detected by the second laser detecting unit 5622, and accordingly, the second laser output unit 5632 included in the main array 5611 according to one embodiment may detect the second laser. It may be optically coupled to the unit 5622, but is not limited thereto.

Additionally, for example, when the laser output from the laser output array 5610 according to one embodiment is reflected from an object located at the second distance, the laser output from the third laser output unit 5633 is reflected at the second distance. It may be reflected from a positioned object and detected by the third laser detecting unit 5623, and accordingly, the third laser output unit 5633 included in the main array 5611 according to one embodiment may detect the third laser. It may be optically coupled to the unit 5623, but is not limited to this.

Additionally, according to one embodiment, the second distance may be the target distance of the LiDAR device 5600.

As described above, according to one embodiment, when at least a part of the main array 5611 is optically decoupled from the laser detecting array 5620, at least a part of the auxiliary array 5612 is connected to the laser detecting array 5620. It may be optically coupled with at least a portion of the array 5620 to provide additional detection of areas that cannot be detected by the main array 5611 alone, thereby improving the short-range performance of the lidar device 5600. You can.

Referring to FIG. 24, a LiDAR device 5700 according to an embodiment may include a transmission module 5710 and a reception module 5720.

At this time, the transmission module 5710 may include transmission optics and a laser output array, and the reception module 5720 may include reception optics and a laser detecting array, to which the above-described contents may be applied. Therefore, overlapping descriptions will be omitted.

A plurality of lasers output from the transmission module 5710 included in the LiDAR device 5700 according to one embodiment may be irradiated in different directions.

For example, the first laser output from the first laser output unit included in the transmission module 5710 included in the LiDAR device 5700 according to an embodiment may be irradiated in the first direction, and the second laser The second laser output from the output unit may be irradiated in the second direction, but is not limited to this.

In addition, Figure 24 shows the laser irradiation range where a plurality of lasers output from the transmission module 5710 included in the lidar device 5700 according to an embodiment are irradiated, and more specifically, the laser irradiation range output from the main array is shown. A main laser irradiation range 5711 in which a plurality of lasers are irradiated and an auxiliary laser irradiation range 5712 in which a plurality of lasers output from an auxiliary array are irradiated are shown.

At this time, the main laser irradiation range 5711 and the auxiliary laser irradiation range 5712 according to an embodiment may refer to the irradiation ranges of a plurality of lasers irradiated in different directions, grouped for convenience of explanation. there is.

In addition, at this time, the irradiation ranges of each of the plurality of lasers included in the main laser irradiation range 5711 and the auxiliary laser irradiation range 5712 according to one embodiment may not overlap at least partially with each other, but in the explanation in FIG. 24 For convenience, the laser irradiation range within the angular range where multiple lasers are irradiated is briefly and comprehensively shown.

Additionally, the receiving module 5720 included in the LiDAR device 5700 according to one embodiment can detect the laser reflected from the object.

At this time, each of the plurality of laser detecting units included in the receiving module 5720 according to an embodiment can detect the laser received through the receiving optics.

For example, the first laser detecting unit included in the receiving module 5720 according to one embodiment may receive and detect the first laser output from the first laser output unit and reflected from the object through the receiving optics. The second laser detecting unit can receive and detect the second laser output from the second laser output unit and reflected from the object through the receiving optics, and the third laser detecting unit can detect the second laser output from the third laser output unit. The third laser output and reflected from the object can be transmitted and detected through the receiving optics, but the method is not limited to this.

Additionally, the laser received by each of the plurality of laser detecting units included in the receiving module 5720 according to an embodiment through the receiving optics may be the laser reflected within a specific area.

For example, the laser received by the first laser detecting unit included in the receiving module 5720 according to an embodiment through the receiving optics may be a laser reflected within the first laser detection range 5721, and the 2 The laser received by the laser detecting unit through the receiving optics may be a reflected laser within the second laser detection range 5722, and the laser received by the third laser detecting unit through the receiving optics may be the third laser detected. It may be a reflected laser within range 5723.

In addition, when an object is located in an area where the laser detection range overlaps with the main laser irradiation range 5711 or the auxiliary laser irradiation range 5712 and the above-described main laser irradiation range 5711 or auxiliary laser irradiation range 5712, the LIDAR device 5700 according to one embodiment Lasers can be detected.

For example, when the first object is located in an area where the main laser irradiation range 5711 or the auxiliary laser irradiation range 5712 and the first laser detection range 5721 overlap according to an embodiment, from the first object The reflected laser may be detected by the first laser detecting unit through receiving optics, but is not limited to this.

In addition, for example, if the second object is located in an area where the main laser irradiation range 5711 or the auxiliary laser irradiation range 5712 and the second laser detection range 5722 overlap according to an embodiment, the second object The laser reflected from the object may be detected by the second laser detecting unit through receiving optics, but is not limited to this.

In addition, for example, when a third object is located in an area where the main laser irradiation range 5711 or the auxiliary laser irradiation range 5712 and the third laser detection range 5723 overlap according to an embodiment, the third object The laser reflected from the object may be detected by the third laser detecting unit through receiving optics, but is not limited to this.

Therefore, according to one embodiment, the minimum measurable distance may be determined for each laser detecting unit included in the LIDAR device 5700.

For example, according to one embodiment, the distance at which the auxiliary laser irradiation range 5712 of the LiDAR device 5700 and the first laser detection range 5721 begin to overlap may be the

first distance

5731, and 1 The laser detecting unit can detect a laser reflected from a first object located at a distance greater than the first distance 5731.

At this time, if the first object is located closer than the first distance 5731, the first object deviates from the main laser irradiation range 5711 and the auxiliary laser irradiation range 5712 of the LiDAR device 5700. Therefore, even if the first object is located within the first laser detection range 5721, the first object may not be detected by the LIDAR device 5700 because there is no laser reflected from the first object.

In addition, for example, according to one embodiment, the distance at which the auxiliary laser irradiation range 5712 of the LiDAR device 5700 and the second laser detection range 5722 begin to overlap may be the second distance 5732, , the second laser detecting unit can detect the laser reflected from the second object located at a distance greater than the second distance 5732.

At this time, if the second object is located closer than the second distance 5732, the second object is located outside the main laser irradiation range 5711 and the auxiliary laser irradiation range 5712 of the LiDAR device 5700. Therefore, even if the second object is located within the second laser detection range 5722, the second object may not be detected by the LIDAR device 5700 because there is no laser reflected from the second object.

In addition, for example, according to one embodiment, the distance at which the auxiliary laser irradiation range 5712 of the LiDAR device 5700 and the third laser detection range 5723 begin to overlap may be the third distance 5733, , the third laser detecting unit may detect the laser reflected from a third object located at a distance greater than the third distance 5733.

At this time, if the third object is located closer than the third distance 5733, the third object is located outside the main laser irradiation range 5711 and the auxiliary laser irradiation range 5712 of the LiDAR device 5700. Therefore, even if the third object is located within the third laser detection range 5723, the third object may not be detected by the LIDAR device 5700 because there is no laser reflected from the third object.

Therefore, in the case described above, the minimum measurement distance for the first laser detecting unit may be the first distance 5731, the minimum measurement distance for the second laser detecting unit may be the second distance 5732, and the third distance 5732. The minimum measurement distance for the laser detecting unit may be the third distance 5733, but is not limited thereto.

Also, at this time, the first to third distances 5731 to 5733 may mean the distance from the optical origin of the LiDAR device, and may physically mean the distance from the receiving module, etc. Various definitions can be applied, which can be understood as the distance from the device to the object.

At this time, the first to third distances 5731 to 5733 described in FIG. 24 may be smaller than the first to third distances 5431 to 5433 described in FIG. 20, and the LIDAR device described in FIG. 24 It can be seen that the short-range measurement performance of the 5700 is improved compared to the LIDAR device 5400 described in FIG. 20.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the medium may be specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -Includes optical media (magneto-optical media) and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include machine language code, such as that produced by a compiler, as well as high-level language code 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 embodiments, and vice versa.

As described above, although the embodiments have been described with limited examples and drawings, various modifications and variations can be made by those skilled in the art from the above description. For example, the described techniques are performed in a different order than the described method, and/or components of the described system, structure, device, circuit, etc. are combined or combined in a different form than the described method, or other components are used. Alternatively, appropriate results may be achieved even if substituted or substituted by an equivalent.

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

Claims

As a LiDAR device (Light Detection And Ranging Device),

a transmission module including a laser output array including a plurality of laser output units and transmission optics, where the laser output array includes a main array and an auxiliary array; and

A receiving module including a laser detecting array including a plurality of laser detecting units and receiving optics,

The main array and auxiliary array are,

It is arranged so that the distance between the optical axis of the transmission optic and the main array is smaller than the distance between the optical axis of the transmission optic and the auxiliary array,

When the laser output from the laser output array is reflected from an object located at a first distance,

At least a portion of the auxiliary array is optically coupled to the laser detecting array, and at least a portion of the main array is optically decoupled from the laser detecting array.

LiDAR device.
According to claim 1,

The auxiliary array is located adjacent to the first side of the main array,

At least a portion of the main array is located on a second side of the main array,

The first and second sides of the main array face each other.

LiDAR device.
According to claim 1,

The distance between the laser detecting array and the auxiliary array is longer than the distance between the laser detecting array and the main array.

LiDAR device.
According to claim 1,

When the laser output from the laser output array is reflected from an object located at a second distance,

At least a portion of the auxiliary array is optically decoupled from the laser detecting array, and at least a portion of the main array is optically coupled with the laser detecting array.

LiDAR device.
According to clause 4,

The second distance is farther than the first distance.

LiDAR device.
According to clause 4,

The main array includes a first laser output unit, a second laser output unit, and a third laser output unit,

The auxiliary array includes a fourth laser output unit,

The laser detecting array includes a first laser detecting unit, a second laser detecting unit, and a third laser detecting unit.

LiDAR device.
According to clause 6,

When the laser output from the laser output array is reflected from an object located at a first distance,

The fourth laser output unit is coupled to the first laser detecting unit,

The first laser output unit is coupled to the third laser detecting unit,

The second laser output unit is decoupled from the laser detecting array.

LiDAR device.
According to clause 7,

When the laser output from the laser output array is reflected from an object located at a second distance,

The first laser output unit is coupled to the first laser detecting unit,

The second laser output unit is coupled to the second laser detecting unit,

The third laser output unit is coupled to the third laser detecting unit,

The fourth laser output unit is decoupled from the laser detecting array.

LiDAR device.
According to claim 1,

The relative positional relationship between the main array and the transmission optics is

Corresponding to the relative positional relationship between the laser detecting array and the receiving optics

LiDAR device.
As a LiDAR device (Light Detection And Ranging Device),

a transmission module including a laser output array including a plurality of laser output units and transmission optics, where the laser output array includes a main array and an auxiliary array; and

A receiving module including a laser detecting array including a plurality of laser detecting units and receiving optics,

A plurality of laser output units included in the laser output array are arranged in a two-dimensional matrix having M rows and N columns,

A plurality of laser detecting units included in the laser detecting array are arranged in a two-dimensional matrix having K rows and L columns,

A plurality of laser output units included in the main array are arranged in a two-dimensional matrix having A rows and B columns,

A plurality of laser output units included in the auxiliary array are arranged in a two-dimensional matrix having C rows and D columns,

The M number, the K number, the A number, and the C number are identical to each other,

The N number is greater than the L number,

The L is the same as the B

LiDAR device.
According to claim 10,

The transmitting module and the receiving module are arranged along a first direction,

The center of the auxiliary array is spaced apart from the center of the main array along the first direction.

LiDAR device.
According to claim 11,

The first direction is the row direction

LiDAR device.
According to claim 10,

The number D is smaller than the number B

LiDAR device.
According to claim 10,

Each of the plurality of laser detecting units includes a plurality of laser detecting elements.

LiDAR device.
According to claim 14,

Each of the plurality of laser detecting units includes a plurality of SPAD (Single Photon Avalanche Diode) elements.

LiDAR device.
According to claim 14,

One point data is obtained based on the detecting signal output from each of the plurality of laser detecting units.

LiDAR device.
According to claim 14,

The distance between the laser detecting array and the auxiliary array is longer than the distance between the laser detecting array and the main array.

LiDAR device.
As a LiDAR device (Light Detection And Ranging Device),

A transmission module including a laser output array including a plurality of laser output units and transmission optics; and

A receiving module including a laser detecting array including a plurality of laser detecting units and receiving optics,

The transmitting module and the receiving module are arranged along a first direction,

The length of the laser output array in the first direction is the first length, the length of the laser output array in the second direction, which is a direction perpendicular to the first direction, is the second length, and the length of the laser output array is the second length. When the length in the first direction is the third length and the length of the laser detecting array in the second direction is the fourth length,

The size of the first length relative to the second length (first length / second length) is greater than the size of the third length relative to the fourth length (third length / fourth length)

LiDAR device.
According to clause 18,

The laser output array includes a main array and an auxiliary array,

The main array and the auxiliary array are arranged along the first direction.

LiDAR device.
According to clause 18,

The second length and the fourth length are equal to each other

LiDAR device.