CN111670527A - Discharging circuit for distance measuring device, distributed radar system and movable platform - Google Patents
Discharging circuit for distance measuring device, distributed radar system and movable platform Download PDFInfo
- Publication number
- CN111670527A CN111670527A CN201980005475.0A CN201980005475A CN111670527A CN 111670527 A CN111670527 A CN 111670527A CN 201980005475 A CN201980005475 A CN 201980005475A CN 111670527 A CN111670527 A CN 111670527A
- Authority
- CN
- China
- Prior art keywords
- circuit
- power supply
- module
- input power
- discharge circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007599 discharging Methods 0.000 title claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 230000000630 rising effect Effects 0.000 claims description 6
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- 239000003990 capacitor Substances 0.000 claims description 2
- 238000003708 edge detection Methods 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
- 239000003381 stabilizer Substances 0.000 claims 1
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 27
- 230000008569 process Effects 0.000 abstract description 16
- 101100102627 Oscarella pearsei VIN1 gene Proteins 0.000 abstract description 8
- 230000003287 optical effect Effects 0.000 description 68
- 238000005070 sampling Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 239000000523 sample Substances 0.000 description 5
- 230000005856 abnormality Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/42—Diversity systems specially adapted for radar
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/18—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for batteries; for accumulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A discharge circuit (200), a distributed radar system (100) and a movable platform for a ranging apparatus, the discharge circuit (200) for the ranging apparatus for discharging when an input power supply (VIN) is powered off, the discharge circuit (200) comprising: the comparison module (20) is used for comparing the magnitude of a divided voltage (VIN1) generated by an input power supply (VIN) with a reference Voltage (VREF) and generating a comparison signal (VOUT 1); a direction detection module (30) for generating a detection signal (VQ) indicative of whether the input power supply (VIN) is in a powered-down state or a non-powered-down state, based on the comparison signal (VOUT 1); and a discharging module (40) for determining whether to discharge or not according to the detection signal (VQ). Whether the input power supply (VIN) is in a power-off state or a non-power-off state is judged through the direction detection module (30), so that the input power supply (VIN) does not work in the power-on process, the power supply circuit is guaranteed to be quickly full of charges, no extra energy loss exists, the input power supply (VIN) works in the power-off process, and residual charges on the power supply circuit are discharged to guarantee the stability of a circuit system.
Description
Description
The present invention generally relates to the field of radar technology, and more particularly, to a discharge circuit for a ranging device, a distributed radar system, and a movable platform.
In practical application, radar is often used for detecting a target scene. Taking a laser radar as an example, the principle of the method is that a laser pulse signal is actively emitted outwards, a reflected echo signal is detected, and the distance of a measured object is judged according to the time difference between emission and reception; and the three-dimensional depth information of the target scene can be obtained by combining the emission direction information of the light pulse.
At present, in order to obtain three-dimensional depth information of a target scene in each direction, a distributed radar system is provided, and the three-dimensional depth information of the target scene in each direction is detected by respectively arranging radars at different positions. In a multi-distributed radar system, because a control system is externally connected with a plurality of radars, the power circuit has high power, and an input power VIN generally generates a stable voltage VDD through some power management circuits to supply power to the system. In order to ensure the VDD voltage is stable, some of these power management circuits are loaded with more capacitive load. When the input power supply is powered off, the accumulated charges on the capacitive load are difficult to discharge, so that the circuit still has residual charges for a long time after the power supply is powered off. This may cause instability factors to the circuit system, and affect the stability of the circuit system, such as secondary start abnormality, power-up and power-down timing abnormality, and the like.
Disclosure of Invention
The present invention has been made to solve at least one of the above problems. The invention provides a discharge circuit for a distance measuring device, which can discharge when an input power supply is powered off, does not work in the power-on process of the input power supply, can ensure that a power supply circuit is quickly full of charges without extra energy loss, works in the power-off process of the input power supply, and discharges residual charges on the power supply circuit so as to ensure the stability of a circuit system.
Specifically, an embodiment of the present invention provides a discharge circuit for a distance measuring device, configured to discharge when an input power supply is powered off, where the discharge circuit includes:
the comparison module is used for comparing the voltage of the input power supply with the reference voltage and generating a comparison signal;
the direction detection module is used for generating a detection signal which represents whether the input power supply is in a power-down state or a non-power-down state according to the comparison signal;
and the discharging module is used for determining whether to discharge or not according to the detection signal.
An embodiment of the present invention further provides a distributed radar system, including:
one or more radars;
a power supply circuit that generates an operating voltage for one or more of the radars based on an input power source;
and the current input end of the discharge circuit is connected with the output end of the power supply circuit, and the output end of the discharge circuit is grounded.
An embodiment of the present invention further provides a movable platform, which includes:
a body;
the power system is arranged on the machine body and used for providing power for the movable platform;
and a distributed radar system as described above.
The embodiment of the invention provides a discharging circuit, a distributed radar system and a movable platform for a distance measuring device, wherein the direction detection module is used for judging whether an input power supply is in a power-off state or a non-power-off state, so that the input power supply does not work in the power-on process, the power supply circuit is ensured to be full of charges quickly, no extra energy loss exists, the input power supply works in the power-off process, and the residual charges on the power supply circuit are discharged, so that the stability of the circuit system is ensured.
FIG. 1 shows a schematic block diagram of a distributed radar system according to an embodiment of the invention;
FIG. 2 shows a schematic block diagram of a discharge circuit for a ranging device according to an embodiment of the invention;
FIG. 3 is a graphical representation of a comparison signal versus input supply voltage for the comparison module in the discharge circuit of FIG. 2;
FIG. 4 shows a schematic block diagram of a ranging device according to an embodiment of the invention;
fig. 5 is a schematic configuration diagram showing a distance detecting apparatus according to an embodiment of the present invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In the following description, for the purposes of thorough understanding of the present invention, detailed procedures and detailed structures are set forth in order to explain the present invention, but the present invention may be embodied in other specific forms besides those detailed description.
Fig. 1 shows a schematic block diagram of a distributed radar system according to an embodiment of the invention. As shown in fig. 1, the distributed radar system 100 includes a control system 10 and N radars, where the N radars are distributed at different positions and used for detecting object information at different positions/directions, and the control system 10 performs comprehensive processing according to the object information detected by the N radars, so as to know the object information of the surrounding environment. For example, after the distributed radar system is arranged on an automobile, the object information of different directions around the automobile is detected through the N radars, so that the object information of the environment around the automobile is known.
The control system 10 may include one or more processors for receiving and processing data transmitted by the radars 1-N and for controlling the operation of the radars 1-N and other modules. The control system 10 is connected to N radar interfaces to which radars can be connected via transmission cables 11, so that the radars are connected to the control system 10, and the control system 10 receives data of the radars and controls the radars.
The radar may be a laser radar, an ultrasonic radar, a millimeter wave radar or other ranging device or range detection device.
In the distributed radar system, the control system 10 is externally connected to a plurality of radars, the power circuit has a large power, and the input power VIN generally generates a stable voltage VDD through some power management circuits to supply power to the system. In order to ensure the VDD voltage to be stable, the capacitive load of these power management circuits is large. When the input power supply is powered off, the accumulated charge on the capacitive load is difficult to discharge, resulting in the circuit still having residual charge for a long period of time after the power supply is powered off. This may cause instability factors to the circuit system, and affect the stability of the circuit system, such as secondary start abnormality, power-up and power-down timing abnormality, and the like. In order to solve the problem of slow discharge of the capacitive load, a discharge circuit is needed, which cannot work during the power-on process of the input power supply to ensure that the VDD is fully charged quickly, and can discharge the residual charge on the VDD during the power-off process to ensure the stability of the circuit.
The distributed radar system of the embodiment is provided with the discharge circuit, so that the circuit system has higher stability. A discharge circuit for a distance measuring device according to an embodiment of the present invention is described below with reference to fig. 2 to 3.
Fig. 2 shows a schematic block diagram of a discharge circuit for a ranging device according to an embodiment of the present invention.
The discharging circuit 200 for a distance measuring device provided in this embodiment is used for discharging when the input power VIN is powered off, and as shown in fig. 2, the discharging circuit 200 includes a comparing module 20, a direction detecting module 30, a discharging module 40, and an auxiliary power module 50.
The comparison module 20 is configured to compare the voltage of the input power VIN with a reference voltage VREF, and generate a comparison signal VOUT 1. The comparison module 20 may employ various suitable comparison circuits or devices.
Illustratively, in the present embodiment, the comparing module 20 includes a comparator 21, a reference circuit 22, a voltage dividing circuit 23, and a voltage regulator 24.
The comparator 21 is configured to compare the voltage of the input power VIN with a reference voltage VREF, and generate a comparison signal VOUT 1. Specifically, in the present embodiment, the input terminal of the comparator 21 is connected to the output terminals of the reference circuit 22 and the voltage dividing circuit 23, respectively, for comparing the magnitude of the reference voltage VERF generated by the reference circuit 22 and the magnitude of the divided voltage VIN1 generated by the voltage dividing circuit 23 based on the input power VIN, and outputting the comparison signal VOUT1 according to the comparison result.
The voltage dividing circuit 23 is disposed between the input power VIN and the input terminal of the comparator 21, and is configured to input a divided voltage VIN1 generated according to the input power VIN to the comparator. The voltage divider circuit 23 may employ various suitable circuit results, such as a resistive voltage divider circuit or the like.
The voltage regulator 24 is disposed between the input terminal of the comparator 21 and the input power VIN or the voltage dividing circuit 23, and is configured to stabilize the voltage input to the comparator 21. Because the input range of the input power VIN is relatively wide, the voltage of VIN1 or the input comparator 21 can be prevented from being over-voltage by the voltage regulator 24, and the safety and stability of the circuit are ensured.
The comparing module 20 of the discharging circuit 200 of this embodiment is mainly used for detecting the voltage value of the input power VIN and determining whether the current voltage value is lower than the reference voltage VERF. The working principle is as follows: during the discharging process of the input power VIN, the voltage of the input power VIN is continuously decreased. When the comparator 21 detects that the voltage of the input power VIN (in the embodiment, the divided voltage VIN1 is used to represent the voltage of the input power) is lower than the reference voltage VREF, the output voltage of the comparator 21, that is, the level of the comparison signal VOUT1, jumps and changes from a low level to a high level, so that whether the input power VIN is in a power-down state can be determined by detecting the jump of the comparison signal VOUT 1.
As shown in fig. 3, a waveform diagram of the comparison signal VOU1 of the comparator 21 (i.e. the output voltage of the comparator 21) and the divided voltage VIN1 of the input power VIN is shown. As shown in fig. 3, when the voltage VIN1 is lower than VREF, the comparison signal VOUT1 is a high signal, and when the voltage VIN1 is greater than or equal to VREF, the comparison signal VOUT1 is a low signal. In other words, the level of the comparison signal VOUT1 generated by the comparator 21 is the same during the time periods t 0-t 1 and t 4-t 5, and the level of the comparison signal VOUT1 generated by the comparator 21 is the same during the time periods t 1-t 4.
As can be seen from fig. 3, the level of the comparison signal VOUT1 of the comparator 21 may be the same during the power-up (t 0-t 1) and the power-down (t 4-t 5) of the input power source, and if the discharging module 40 determines whether to conduct directly according to the comparison signal VOUT1 without determining the transition direction of the comparison signal VOUT1, the discharging module 40 may be turned on to discharge synchronously during the power-up of the input power source VIN, which not only causes extra energy loss, but also slows down the charging of the power supply circuit. However, as mentioned above, the discharging circuit 200 of the present embodiment only needs to open the bleeding circuit to discharge the residual charges during the power-down process of the input power source VIN, and therefore the discharging circuit 200 of the present embodiment is provided with the direction detecting module 30.
The direction detection module 30 is configured to generate a detection signal VQ indicating whether the input power VIN is in a power-down state or a non-power-down state according to the comparison signal VOUT 1.
Illustratively, the direction detection module 30 generates the detection signal VQ indicating that the input power VIN is in a power-down state when the comparison signal VOUT1 is a rising edge signal or a falling edge signal. The detection signal VQ includes a high level signal or a low level signal. Illustratively, in the present embodiment, the direction detection module 30 is set to be triggered by a rising edge, and the detection signal is a high signal, that is, when the comparison signal VOUT1 is a rising edge signal, the detection signal VQ of the direction detection module 30 transitions to a high level, and when the comparison signal VOUT1 is other signals, such as a falling edge signal, a high signal, and a low signal, the detection signal VQ of the detection module 220 is a low level.
Illustratively, the direction detection module 30 includes a D flip-flop or a chip having an edge detection function.
It should be understood that, although the direction detection module 30 is configured as a rising edge trigger in the present embodiment, in other embodiments, it may also be configured as a falling edge trigger as long as the detection of the power-down of the input power source can be realized.
The discharging module 40 is configured to determine whether to discharge according to the detection signal VQ.
Specifically, the discharging module 40 is turned on to discharge when the detection signal VQ indicates that the input power source VIN is in a power-down state, and is turned off without discharging when the detection signal VQ indicates that the input power source VIN is in a non-power-down state. For example, in this embodiment, when the detection signal VQ is at a high level, it indicates that the input power source VIN is in a power-down state, and when the detection signal VQ is at a low level, it indicates that the input power source VIN is in a non-power-down state, for example, in a power-up state, a normal operation state, and a power-down state but a voltage is still higher than the reference voltage.
Illustratively, the discharging module 40 includes a resistor R1 and a switching device Q1 connected in series, wherein one end of the resistor R1 is connected to the output terminal (i.e., VDD terminal) of the power supply circuit, the other end is connected to the switching device Q1, one end of the switching device Q1 is connected to the resistor R1, and the other end is grounded. The switching device Q1 is turned on or off under the control of the detection signal VQ, thereby turning on or off the discharging module 40. Illustratively, the switching device Q1 includes a MOS transistor, a transistor, an analog switch, or a relay. Illustratively, in the present embodiment, the switching device Q1 is an NMOS transistor.
The auxiliary power module 50 is used for generating an operating voltage VCC of the comparing module 20 and/or the direction detecting module 30, for example, the auxiliary power module 50 is used for generating an operating voltage VCC for the reference circuit 22 of the comparing module 20. The auxiliary power module 50 illustratively includes various circuits or modules that can provide a stable voltage, such as a capacitor, a voltage regulator circuit, a power chip, a button cell, or a lithium cell.
The discharging circuit for the distance measuring device in the embodiment of the invention judges whether the input power supply is in the power-off state or the non-power-off state through the direction detection module, so that the discharging circuit does not work in the power-on process of the input power supply, the power supply circuit is ensured to be full of charges quickly, no extra energy loss exists, the discharging circuit works in the power-off process of the input power supply, and the residual charges on the power supply circuit are discharged, so that the stability of a circuit system is ensured.
The radar related to the invention can be a laser radar, and also can be other radars or distance measuring devices. For a better understanding of the invention, the principle and structure of the distance measuring device are described below by way of example. The distance measuring device can be electronic equipment such as a laser radar, laser distance measuring equipment and the like. In one embodiment, the ranging device is used to sense external environmental information, such as distance information, orientation information, reflected intensity information, velocity information, etc. of environmental targets. In one implementation, the ranging device may detect the distance of the probe to the ranging device by measuring the Time of Flight (TOF), which is the Time-of-Flight Time, of light traveling between the ranging device and the probe. Alternatively, the distance measuring device may detect the distance from the probe to the distance measuring device by other techniques, such as a distance measuring method based on phase shift (phase shift) measurement or a distance measuring method based on frequency shift (frequency shift) measurement, which is not limited herein.
For ease of understanding, the following describes an example of the ranging operation with reference to the ranging apparatus 400 shown in fig. 5.
As shown in fig. 4, the ranging apparatus 400 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130, and an operation circuit 140.
The transmit circuitry 110 may transmit a sequence of light pulses (e.g., a sequence of laser pulses). The receiving circuit 120 may receive the optical pulse train reflected by the detected object, perform photoelectric conversion on the optical pulse train to obtain an electrical signal, process the electrical signal, and output the electrical signal to the sampling circuit 130. The sampling circuit 130 may sample the electrical signal to obtain a sampling result. The arithmetic circuit 140 may determine the distance between the distance measuring device 400 and the detected object based on the sampling result of the sampling circuit 130.
Optionally, the distance measuring apparatus 400 may further include a control circuit 150, and the control circuit 150 may implement control of other circuits, for example, may control an operating time of each circuit and/or perform parameter setting on each circuit, and the like.
It should be understood that, although the distance measuring device shown in fig. 4 includes a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a light beam to detect, the embodiments of the present application are not limited thereto, and the number of any one of the transmitting circuit, the receiving circuit, the sampling circuit and the arithmetic circuit may be at least two, and the at least two light beams are emitted in the same direction or in different directions respectively; the at least two light paths may be emitted simultaneously or at different times. In one example, the light emitting chips in the at least two transmitting circuits are packaged in the same module. For example, each transmitting circuit comprises a laser emitting chip, and die of the laser emitting chips in the at least two transmitting circuits are packaged together and accommodated in the same packaging space.
In some implementations, in addition to the circuit shown in fig. 4, the distance measuring apparatus 400 may further include a scanning module 160 for changing the propagation direction of at least one laser pulse sequence emitted from the emitting circuit.
Here, a module including the transmission circuit 110, the reception circuit 120, the sampling circuit 130, and the operation circuit 140, or a module including the transmission circuit 110, the reception circuit 120, the sampling circuit 130, the operation circuit 140, and the control circuit 150 may be referred to as a ranging module, which may be independent of other modules, for example, a scanning module.
The distance measuring device can adopt a coaxial light path, namely the light beam emitted by the distance measuring device and the reflected light beam share at least part of the light path in the distance measuring device. For example, at least one path of laser pulse sequence emitted by the emitting circuit is emitted by the scanning module after the propagation direction is changed, and the laser pulse sequence reflected by the detector is emitted to the receiving circuit after passing through the scanning module. Alternatively, the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are transmitted along different optical paths in the distance measuring device. FIG. 5 shows a schematic diagram of one embodiment of the ranging device of the present invention using coaxial optical paths.
Ranging apparatus 500 comprises a ranging module 201, ranging module 201 comprising an emitter 203 (which may comprise the transmitting circuitry described above), a collimating element 204, a detector 205 (which may comprise the receiving circuitry, sampling circuitry and arithmetic circuitry described above) and a path altering element 206. The distance measurement module 201 is configured to emit a light beam, receive return light, and convert the return light into an electrical signal. Wherein the emitter 203 may be configured to emit a sequence of light pulses. In one embodiment, the transmitter 203 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the emitter 203 is a narrow bandwidth beam having a wavelength outside the visible range. The collimating element 204 is disposed on an emitting light path of the emitter, and is configured to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted from the emitter 203 into parallel light to be emitted to the scanning module. The collimating element is also for converging at least a portion of the return light reflected by the detector. The collimating element 204 may be a collimating lens or other element capable of collimating a light beam.
In the embodiment shown in fig. 5, the transmit and receive optical paths within the distance measuring device are combined by the optical path altering element 206 before the collimating element 204, so that the transmit and receive optical paths may share the same collimating element, making the optical path more compact. In other implementations, the emitter 203 and the detector 205 may use respective collimating elements, and the optical path changing element 206 may be disposed in the optical path after the collimating elements.
In the embodiment shown in fig. 5, since the beam aperture of the light beam emitted from the emitter 203 is small and the beam aperture of the return light received by the distance measuring device is large, the optical path changing element can adopt a small-area mirror to combine the emission optical path and the reception optical path. In other implementations, the optical path changing element may also be a mirror with a through hole, wherein the through hole is used for transmitting the outgoing light from the emitter 203, and the mirror is used for reflecting the return light to the detector 205. Therefore, the shielding of the bracket of the small reflector to the return light can be reduced in the case of adopting the small reflector.
In the embodiment shown in fig. 5, the optical path altering element is offset from the optical axis of the collimating element 204. In other implementations, the optical path altering element may also be located on the optical axis of the collimating element 204.
The ranging apparatus 500 further comprises a scanning module 202. The scanning module 202 is disposed on the emitting light path of the distance measuring module 201, and the scanning module 202 is configured to change the transmission direction of the collimated light beam 219 emitted by the collimating element 204, project the collimated light beam to the external environment, and project the return light beam to the collimating element 204. The return light is converged by the collimating element 204 onto the detector 205.
In one embodiment, the scanning module 202 may include at least one optical element for altering the propagation path of the light beam, wherein the optical element may alter the propagation path of the light beam by reflecting, refracting, diffracting, etc., the light beam. For example, the scanning module 202 includes a lens, mirror, prism, galvanometer, grating, liquid crystal, Optical Phased Array (Optical Phased Array), or any combination thereof. In one example, at least a portion of the optical elements is moved, for example, by a driving module, and the moved optical elements can reflect, refract, or diffract the light beam to different directions at different times. In some embodiments, multiple optical elements of the scanning module 202 may rotate or oscillate about a common axis 209, with each rotating or oscillating optical element serving to constantly change the direction of propagation of an incident beam. In one embodiment, the multiple optical elements of the scanning module 202 may rotate at different rotational speeds or oscillate at different speeds. In another embodiment, at least some of the optical elements of the scanning module 202 may rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also be rotated about different axes. In some embodiments, the multiple optical elements of the scanning module may also rotate in the same direction, or in different directions; or in the same direction, or in different directions, without limitation.
In one embodiment, the scanning module 202 includes a first optical element 214 and a driver 216 coupled to the first optical element 214, the driver 216 configured to drive the first optical element 214 to rotate about the rotation axis 209, such that the first optical element 214 redirects the collimated light beam 219. The first optical element 214 projects the collimated beam 219 into different directions. In one embodiment, the angle between the direction of the collimated beam 219 after it is altered by the first optical element and the axis of rotation 209 changes as the first optical element 214 is rotated. In one embodiment, the first optical element 214 includes a pair of opposing non-parallel surfaces through which the collimated light beam 219 passes. In one embodiment, the first optical element 214 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, the first optical element 114 comprises a wedge prism that refracts the collimated beam 219.
In one embodiment, the scanning module 202 further comprises a second optical element 215, the second optical element 215 rotating around a rotation axis 209, the rotation speed of the second optical element 215 being different from the rotation speed of the first optical element 214. The second optical element 215 is used to change the direction of the light beam projected by the first optical element 214. In one embodiment, the second optical element 215 is coupled to another driver 217, and the driver 217 drives the second optical element 215 to rotate. The first optical element 214 and the second optical element 215 may be driven by the same or different drivers, such that the first optical element 214 and the second optical element 215 rotate at different speeds and/or turns, thereby projecting the collimated light beam 219 into different directions in the ambient space, which may scan a larger spatial range. In one embodiment, the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively. The rotation speed of the first optical element 214 and the second optical element 215 can be determined according to the region and the pattern expected to be scanned in the actual application. The drives 216 and 217 may include motors or other drives.
In one embodiment, second optical element 215 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, second optical element 215 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, second optical element 215 comprises a wedge angle prism.
In one embodiment, the scan module 202 further comprises a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element comprises a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism having a thickness that varies along at least one radial direction. In one embodiment, the third optical element comprises a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotational directions.
Rotation of the optical elements in the scanning module 202 may project light in different directions, such as the directions of light 211 and 213, and thus scan the space around the ranging device 500. When the light 211 projected by the scanning module 202 hits the object to be detected 210, a part of the light is reflected by the object to be detected 210 to the distance measuring device 500 in the opposite direction to the projected light 211. The return light 212 reflected by the object 210 passes through the scanning module 202 and then enters the collimating element 204.
The detector 205 is placed on the same side of the collimating element 204 as the emitter 203, and the detector 205 is used to convert at least part of the return light passing through the collimating element 204 into an electrical signal.
In one embodiment, each optical element is coated with an antireflection coating. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
In one embodiment, a filter layer is coated on a surface of a component in the distance measuring device, which is located on the light beam propagation path, or a filter is arranged on the light beam propagation path, and is used for transmitting at least a wave band in which the light beam emitted by the emitter is located and reflecting other wave bands, so as to reduce noise brought to the receiver by ambient light.
In some embodiments, the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted. Further, the laser pulse reception time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this manner, the ranging apparatus 500 may calculate TOF using the pulse reception time information and the pulse emission time information, thereby determining the distance of the probe 210 to the ranging apparatus 500.
The distance and orientation detected by ranging device 500 may be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In one embodiment, the distance measuring device of the embodiment of the present invention may be applied to a movable platform, and the distance measuring device may be mounted on a platform body of the movable platform. The mobile platform with the distance measuring device can measure the external environment, for example, the distance between the mobile platform and an obstacle is measured for the purpose of avoiding the obstacle, and the external environment is mapped in two dimensions or three dimensions. In certain embodiments, the movable platform comprises at least one of an unmanned aerial vehicle, an automobile, a remote control car, a robot, a camera. When the distance measuring device is applied to the unmanned aerial vehicle, the platform body is a fuselage of the unmanned aerial vehicle. When the distance measuring device is applied to an automobile, the platform body is the automobile body of the automobile. The vehicle may be an autonomous vehicle or a semi-autonomous vehicle, without limitation. When the distance measuring device is applied to the remote control car, the platform body is the car body of the remote control car. When the distance measuring device is applied to a robot, the platform body is the robot. When the distance measuring device is applied to a camera, the platform body is the camera itself.
In one embodiment, the distributed radar system of embodiments of the present invention may be applied to a movable platform to map two or three dimensions of an external environment in multiple orientations of the movable platform in some embodiments the movable platform includes a body, a power system mounted to the body for powering the movable platform; and a distributed radar system as according to the present embodiment. The movable platform includes at least one of an unmanned aerial vehicle, an automobile, or a robot.
The embodiment of the invention provides a discharging circuit of a distance measuring device, a distributed radar system and a movable platform, wherein the direction detection module is used for judging whether an input power supply is in a power-off state or a non-power-off state, so that the input power supply does not work in the power-on process, the power supply circuit is ensured to be quickly full of charges, no extra energy loss exists, the input power supply works in the power-off process, and the residual charges on the power supply circuit are discharged, so that the stability of the circuit system is ensured.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such a program implementing the invention may be stored on a computer readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (15)
- A discharge circuit for a distance measuring device for discharging when an input power source is turned off, the discharge circuit comprising:the comparison module is used for comparing the voltage of the input power supply with the reference voltage and generating a comparison signal;the direction detection module is used for generating a detection signal which represents whether the input power supply is in a power-down state or a non-power-down state according to the comparison signal;and the discharging module is used for determining whether to discharge or not according to the detection signal.
- The discharge circuit of claim 1, wherein the direction detection module generates a detection signal indicating that the input power source is in a power-down state when the comparison signal is a rising edge signal or a falling edge signal.
- The discharge circuit of claim 1, wherein the detection signal comprises a high level signal or a low level signal.
- The discharge circuit of claim 1, wherein the discharge module is turned on to discharge when the detection signal indicates that the input power source is in a powered-down state and is turned off without discharging when the detection signal indicates that the input power source is in a non-powered-down state.
- The discharge circuit of any of claims 1-4, wherein the comparison module comprises:a reference circuit for generating the reference voltage;and the input end of the comparator is respectively connected with the input power supply and the output end of the reference circuit, and the output end of the comparator outputs the comparison signal.
- The discharge circuit of claim 5, wherein the comparison module further comprises:and the voltage division circuit is arranged between the input power supply and the input end of the comparator and is used for inputting the divided voltage generated by the input power supply into the comparator.
- The discharge circuit of claim 6, wherein the comparison module further comprises:and the voltage stabilizer is arranged between the input end of the comparator and the input power supply or the voltage division circuit and is used for stabilizing the voltage input into the comparator.
- The discharge circuit of claim 1, further comprising:and the auxiliary power supply module is used for generating the working voltage of the comparison module and/or the direction detection module.
- The discharge circuit of claim 8, wherein the auxiliary power module comprises a capacitor, a voltage regulator circuit, a power chip, a button cell, or a lithium battery.
- The discharge circuit of claim 1, wherein the direction detection module comprises a D flip-flop or a chip with edge detection function.
- The discharge circuit of claim 1, wherein the discharge module comprises a switching device that is turned on or off under control of the detection signal.
- The discharge circuit of claim 11, wherein the switching device comprises a MOS transistor, a triode, an analog switch, or a relay.
- A distributed radar system, comprising:one or more radars;a power supply circuit that generates an operating voltage for one or more of the radars based on an input power source;the discharge circuit of any of claims 1-12, a current input of the discharge circuit being connected to an output of the power supply circuit, an output of the discharge circuit being connected to ground.
- A movable platform, comprising:a body;the power system is arranged on the machine body and used for providing power for the movable platform;and a distributed radar system according to claim 13.
- The movable platform of claim 14, wherein the movable platform comprises a drone, an automobile, or a robot.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/071043 WO2020142956A1 (en) | 2019-01-09 | 2019-01-09 | Discharge circuit for distance measuring device, distributed radar system and mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111670527A true CN111670527A (en) | 2020-09-15 |
| CN111670527B CN111670527B (en) | 2024-06-11 |
Family
ID=71521861
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980005475.0A Active CN111670527B (en) | 2019-01-09 | 2019-01-09 | Discharge circuit for distance measuring device, distributed radar system and movable platform |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111670527B (en) |
| WO (1) | WO2020142956A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115662341A (en) * | 2022-10-31 | 2023-01-31 | 惠科股份有限公司 | Display driving circuit and display device |
Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4803378A (en) * | 1985-01-31 | 1989-02-07 | The Marconi Company Limited | Pulse generator |
| JP2001275349A (en) * | 2000-03-28 | 2001-10-05 | Matsushita Electric Works Ltd | Control circuit for power supply unit |
| JP2003005872A (en) * | 2002-04-22 | 2003-01-08 | Mitsubishi Electric Corp | Operation processor |
| EP1396400A1 (en) * | 2002-09-04 | 2004-03-10 | Renault s.a.s. | Control circuit for a vehicle security system |
| US20070146015A1 (en) * | 2005-12-26 | 2007-06-28 | Fujitsu Limited | Comparator circuit and control method thereof |
| CN101902030A (en) * | 2010-07-14 | 2010-12-01 | 西安交通大学 | Detecting and positioning device of arc fault of switch apparatus |
| CN102684240A (en) * | 2011-03-17 | 2012-09-19 | 上海中兴派能能源科技有限公司 | Management system applied to lithium ion battery and lithium ion battery pack |
| CN102749498A (en) * | 2012-07-16 | 2012-10-24 | 成都芯源系统有限公司 | Alternating voltage detection circuit and method thereof and safety capacitor discharge circuit |
| CN103138716A (en) * | 2013-01-31 | 2013-06-05 | 深圳威迈斯电源有限公司 | Power down triggered monostable protection circuit |
| CN203572867U (en) * | 2013-11-25 | 2014-04-30 | 深圳市金威源科技股份有限公司 | Input power supply power down detection circuit |
| CN104485706A (en) * | 2014-12-09 | 2015-04-01 | 上海中兴派能能源科技有限公司 | Discharge circuit for lithium battery pack |
| CN104579266A (en) * | 2014-11-14 | 2015-04-29 | 深圳市芯海科技有限公司 | Circuit system and power-on resetting method thereof |
| CN204866151U (en) * | 2015-06-10 | 2015-12-16 | 徐州博信矿山设备制造有限公司 | Mining electronic cage chair |
| CN205015387U (en) * | 2015-09-29 | 2016-02-03 | 龙威国际有限公司 | Anti -interference low -voltage detection chip |
| CN205124073U (en) * | 2015-11-09 | 2016-03-30 | 深圳市稳先微电子有限公司 | Utilize switch to realize circuit and lamps and lanterns of adjusting luminance |
| CN105572528A (en) * | 2014-11-04 | 2016-05-11 | 意法半导体股份有限公司 | Detection circuit, related active discharge circuit, integrated circuit and method |
| CN106028149A (en) * | 2016-06-21 | 2016-10-12 | 深圳市九洲电器有限公司 | Discharge circuit and discharge method for set top box during outage |
| CN106098098A (en) * | 2016-06-22 | 2016-11-09 | 上海华虹宏力半导体制造有限公司 | Current comparison circuit, memorizer and electric current comparative approach |
| CN106802372A (en) * | 2017-03-15 | 2017-06-06 | 圣邦微电子（北京）股份有限公司 | A kind of method for detecting capacitor's capacity change |
| CN108445468A (en) * | 2018-04-03 | 2018-08-24 | 上海禾赛光电科技有限公司 | A kind of distribution type laser radar |
| CN108649939A (en) * | 2018-04-16 | 2018-10-12 | 芯原微电子(上海)有限公司 | Power sense circuit and method |
| CN109061362A (en) * | 2018-07-24 | 2018-12-21 | 许继电源有限公司 | A kind of electric network power-fail detection circuit |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204886151U (en) * | 2015-09-14 | 2015-12-16 | 航天长峰朝阳电源有限公司 | Return difference formula battery over discharge protection module |
-
2019
- 2019-01-09 WO PCT/CN2019/071043 patent/WO2020142956A1/en active Application Filing
- 2019-01-09 CN CN201980005475.0A patent/CN111670527B/en active Active
Patent Citations (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4803378A (en) * | 1985-01-31 | 1989-02-07 | The Marconi Company Limited | Pulse generator |
| JP2001275349A (en) * | 2000-03-28 | 2001-10-05 | Matsushita Electric Works Ltd | Control circuit for power supply unit |
| JP2003005872A (en) * | 2002-04-22 | 2003-01-08 | Mitsubishi Electric Corp | Operation processor |
| EP1396400A1 (en) * | 2002-09-04 | 2004-03-10 | Renault s.a.s. | Control circuit for a vehicle security system |
| US20070146015A1 (en) * | 2005-12-26 | 2007-06-28 | Fujitsu Limited | Comparator circuit and control method thereof |
| CN101902030A (en) * | 2010-07-14 | 2010-12-01 | 西安交通大学 | Detecting and positioning device of arc fault of switch apparatus |
| CN102684240A (en) * | 2011-03-17 | 2012-09-19 | 上海中兴派能能源科技有限公司 | Management system applied to lithium ion battery and lithium ion battery pack |
| CN102749498A (en) * | 2012-07-16 | 2012-10-24 | 成都芯源系统有限公司 | Alternating voltage detection circuit and method thereof and safety capacitor discharge circuit |
| CN103138716A (en) * | 2013-01-31 | 2013-06-05 | 深圳威迈斯电源有限公司 | Power down triggered monostable protection circuit |
| CN203572867U (en) * | 2013-11-25 | 2014-04-30 | 深圳市金威源科技股份有限公司 | Input power supply power down detection circuit |
| CN105572528A (en) * | 2014-11-04 | 2016-05-11 | 意法半导体股份有限公司 | Detection circuit, related active discharge circuit, integrated circuit and method |
| CN104579266A (en) * | 2014-11-14 | 2015-04-29 | 深圳市芯海科技有限公司 | Circuit system and power-on resetting method thereof |
| CN104485706A (en) * | 2014-12-09 | 2015-04-01 | 上海中兴派能能源科技有限公司 | Discharge circuit for lithium battery pack |
| CN204866151U (en) * | 2015-06-10 | 2015-12-16 | 徐州博信矿山设备制造有限公司 | Mining electronic cage chair |
| CN205015387U (en) * | 2015-09-29 | 2016-02-03 | 龙威国际有限公司 | Anti -interference low -voltage detection chip |
| CN205124073U (en) * | 2015-11-09 | 2016-03-30 | 深圳市稳先微电子有限公司 | Utilize switch to realize circuit and lamps and lanterns of adjusting luminance |
| CN106028149A (en) * | 2016-06-21 | 2016-10-12 | 深圳市九洲电器有限公司 | Discharge circuit and discharge method for set top box during outage |
| CN106098098A (en) * | 2016-06-22 | 2016-11-09 | 上海华虹宏力半导体制造有限公司 | Current comparison circuit, memorizer and electric current comparative approach |
| CN106802372A (en) * | 2017-03-15 | 2017-06-06 | 圣邦微电子（北京）股份有限公司 | A kind of method for detecting capacitor's capacity change |
| CN108445468A (en) * | 2018-04-03 | 2018-08-24 | 上海禾赛光电科技有限公司 | A kind of distribution type laser radar |
| CN108649939A (en) * | 2018-04-16 | 2018-10-12 | 芯原微电子(上海)有限公司 | Power sense circuit and method |
| CN109061362A (en) * | 2018-07-24 | 2018-12-21 | 许继电源有限公司 | A kind of electric network power-fail detection circuit |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020142956A1 (en) | 2020-07-16 |
| CN111670527B (en) | 2024-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210142193U (en) | Distance measuring device and mobile platform | |
| WO2020142947A1 (en) | Light emitting device, distance measuring device and mobile platform | |
| CN111699442B (en) | Time measurement correction method and device | |
| CN211236240U (en) | Light emitting device, distance measuring device and mobile platform | |
| CN210038146U (en) | Distance measurement module, distance measurement device and movable platform | |
| CN211505895U (en) | Laser emitting device, peak holding circuit, distance measuring device and mobile platform | |
| US20220120899A1 (en) | Ranging device and mobile platform | |
| CN113924505A (en) | Distance measuring device, distance measuring method and movable platform | |
| CN209979845U (en) | Distance measuring device and mobile platform | |
| CN111670384A (en) | Light emission method, light emission device and scanning system | |
| CN111587381A (en) | Method for adjusting motion speed of scanning element, distance measuring device and mobile platform | |
| CN210199305U (en) | Scanning module, range unit and movable platform | |
| CN114402225A (en) | Distance measuring method, distance measuring device and movable platform | |
| CN111670527B (en) | Discharge circuit for distance measuring device, distributed radar system and movable platform | |
| US20210341580A1 (en) | Ranging device and mobile platform | |
| CN112219330A (en) | Laser receiving circuit, distance measuring device and mobile platform | |
| CN111670380A (en) | Abnormity recording method of distance measuring device, distance measuring device and movable platform | |
| CN111670375A (en) | Distance measuring device and mobile platform | |
| WO2020142948A1 (en) | Laser radar device, application-specific integrated circuit, and ranging apparatus | |
| US20210333399A1 (en) | Detection method, detection device, and lidar | |
| US20210341588A1 (en) | Ranging device and mobile platform | |
| CN111727375A (en) | Motor failure detection method, device and storage medium | |
| CN114556151A (en) | Distance measuring device, distance measuring method and movable platform | |
| CN111670568A (en) | Data synchronization method, distributed radar system and movable platform | |
| CN114080545A (en) | Data processing method and device, laser radar and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |