CN111880193B - Laser driving system and method and three-dimensional sensing system - Google Patents
Laser driving system and method and three-dimensional sensing system Download PDFInfo
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- CN111880193B CN111880193B CN202010688561.0A CN202010688561A CN111880193B CN 111880193 B CN111880193 B CN 111880193B CN 202010688561 A CN202010688561 A CN 202010688561A CN 111880193 B CN111880193 B CN 111880193B
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
Abstract
The invention discloses a laser driving system and method and a three-dimensional sensing system. The laser driving system includes: the device comprises a selector switch, a dToF power supply module, an iToF power supply module, a pulse generation module, a laser and a transistor; the power supply input end of the change-over switch is connected with a first power supply signal; the input end of the dToF power supply module is electrically connected with the first output end of the selector switch; the input end of the iToF power supply module is electrically connected with the second output end of the change-over switch; a first pole of the laser is electrically connected with the output end of the dToF power supply module and is electrically connected with the output end of the iToF power supply module; the grid electrode of the transistor is electrically connected with the pulse signal output end of the pulse generation module; the first pole of the transistor is electrically connected with the second pole of the laser; the second pole of the transistor is connected with the second power supply signal. The invention can meet the scene switching requirement in practical application.
Description
Technical Field
The embodiment of the invention relates to the technical field of laser driving, in particular to a laser driving system and method and a three-dimensional sensing system.
Background
Time of Flight (ToF) technology obtains information such as the position and shape of an object by measuring a Time delay between transmitted and received infrared light, and is thus widely used in the fields of 3D image acquisition, 3D sensing, and the like.
There are two types of Time-of-Flight techniques, namely, indirect Time of Flight (iToF) and Direct Time of Flight (dtoff), which have different modulation modes for infrared light emission. Typically, iToF and dtofs require different driving circuits for different application scenarios. The existing laser driving circuits are all driving circuits which aim at an iToF mode or a dToF mode independently, and the driving modes are single and cannot meet the requirements of far and near scene switching in practical application.
Disclosure of Invention
The embodiment of the invention provides a laser driving system and method and a three-dimensional sensing system, which are used for meeting the scene switching requirement in practical application.
In a first aspect, an embodiment of the present invention provides a laser driving system, where the laser driving system includes:
the change-over switch comprises a power supply input end, a first output end and a second output end; a power supply input end of the change-over switch is connected with a first power supply signal; the change-over switch is used for controlling the input first power supply signal to be output by the first output end or output by the second output end;
the dToF power supply module comprises an input end and an output end; the input end of the dToF power supply module is electrically connected with the first output end of the selector switch; the dToF power supply module is used for controlling the width of a pulse signal in a dToF mode;
the iToF power supply module comprises an input end and an output end; the input end of the iToF power supply module is electrically connected with the second output end of the change-over switch; the iToF power supply module is used for directly outputting the first power supply signal;
the pulse generation module comprises a pulse signal output end; the pulse generation module is used for outputting a pulse signal in a dToF mode or outputting a pulse signal in an iToF mode;
a laser including a first pole and a second pole; a first pole of the laser is electrically connected with the output end of the dToF power supply module and is electrically connected with the output end of the iToF power supply module; the laser is used for emitting light in response to a pulse signal;
a transistor including a gate, a first pole, and a second pole; the grid electrode of the transistor is electrically connected with the pulse signal output end of the pulse generation module; a first pole of the transistor is electrically connected with a second pole of the laser; and a second pole of the transistor is connected to a second power supply signal.
Optionally, the switch further comprises a control terminal;
the laser driving system further includes:
the switching control module comprises an input end and an output end; the input end of the switching control module receives the fed back distance information; the output end of the switching control module is electrically connected with the control end of the change-over switch, and the switching control module is used for controlling the change-over switch to automatically switch over according to the fed-back distance information.
Optionally, the switching control module controls the switching condition of the switch to be:
when the distance between the laser driving system and the object to be measured is smaller than a first set distance, the switching control module controls the switch to output an input first power supply signal from a second output end of the switch; the laser driving system executes an iToF mode;
when the distance between the laser driving system and the object to be measured is larger than a first set distance, the switching control module controls the switch to output an input first power supply signal from a first output end of the switch; the laser driving system performs a dtofmode.
Optionally, the switch is a manual switch; the manual change-over switch comprises a change-over key, and the change-over key is driven by external force to control the manual change-over switch to change over.
Optionally, the dtofpower module includes: a first resistor and a first capacitor;
a first end of the first resistor is electrically connected with a first output end of the change-over switch, and a second end of the first resistor is electrically connected with a first pole of the laser; the first end of the first capacitor is electrically connected with the second end of the first resistor, and the second end of the first capacitor is connected to the second power supply signal.
Optionally, the pulse generating module comprises:
a first pulse signal unit including an output terminal; the first pulse signal unit is used for generating a first input signal;
a first signal shaping unit including an input terminal and an output terminal; the input end of the first signal shaping unit is electrically connected with the output end of the first pulse signal unit; the first signal shaping unit is used for shaping the first input signal into a first square wave signal;
a signal delay unit including an input terminal and an output terminal; the input end of the signal delay unit is electrically connected with the output end of the first pulse signal unit; the signal delay unit is used for delaying the first input signal for a first preset time and then outputting the delayed first input signal to generate a first delayed signal;
the second signal shaping unit comprises an input end and an output end; the input end of the second signal shaping unit is electrically connected with the output end of the signal delay unit; the second signal shaping unit is used for shaping the first delay signal into a second square wave signal;
a first narrow pulse generating unit including a first input terminal, a second input terminal, and an output terminal; a first input end of the first narrow pulse generating unit is electrically connected with an output end of the first signal shaping unit; a second input end of the first narrow pulse generating unit is electrically connected with an output end of the second signal shaping unit; the output end of the first narrow pulse generating unit is electrically connected with the grid electrode of the transistor; the first narrow pulse generating unit is used for generating and outputting a pulse signal in a dTaF mode according to the received first square wave signal and the second square wave signal in the dTaF mode; or generating and outputting a pulse signal in the dToF mode according to the first square wave signal; or, the first narrow pulse generating unit is configured to generate and output a pulse signal in an iToF mode according to the received first square wave signal and the second square wave signal in the iToF mode.
Optionally, the first pulse signal unit further includes a control end;
the pulse generation module further comprises:
a first pulse control unit including a first output terminal; the first output end of the first pulse control unit is electrically connected with the control end of the first pulse signal unit; the first pulse control unit is used for controlling the working mode of the first pulse signal unit.
Optionally, the pulse generating module comprises:
a second pulse signal unit including an output terminal; the second pulse signal unit is used for generating a second input signal;
a third pulse signal unit including an output terminal; the third pulse signal unit is used for generating a third input signal;
a second narrow pulse generating unit including a first input terminal, a second input terminal, and an output terminal; a first input end of the second narrow pulse generating unit is electrically connected with an output end of the second pulse signal unit; a second input end of the second narrow pulse generating unit is electrically connected with an output end of the third pulse signal unit; the output end of the second narrow pulse generating unit is electrically connected with the grid electrode of the transistor; the second narrow pulse generating unit is used for generating and outputting a pulse signal in a dToF mode according to the received second input signal and the third input signal in the dToF mode; or generating and outputting a pulse signal in the dToF mode according to the second input signal; or generating and outputting a pulse signal in the dToF mode according to the third input signal; alternatively, the second narrow pulse generating unit is configured to generate and output a pulse signal in an iToF mode according to the received second input signal and the third input signal in the iToF mode.
Optionally, the second pulse signal unit further includes a control end, and the third pulse signal unit further includes a control end;
the pulse generation module further comprises:
a second pulse control unit comprising a first output terminal and a second output terminal; the first output end of the second pulse control unit is electrically connected with the control end of the second pulse signal unit, and the second output end of the second pulse control unit is electrically connected with the control end of the third pulse signal unit; the second pulse control unit is used for controlling the working modes of the second pulse signal unit and the third pulse signal unit.
Optionally, the laser comprises: edge-emitting laser diodes or vertical cavity surface emitting lasers.
Optionally, the transistor is a gallium nitride field effect transistor.
Optionally, the switch, the dtofpower module, the iToF power module, the pulse generation module, the laser, and the transistor are all integrated on a circuit board.
In a second aspect, an embodiment of the present invention provides a laser driving method, where based on a laser driving system provided in any embodiment of the present invention, the laser driving method includes:
controlling a switching mode of the switch so that the first power supply signal is connected to the dToF power supply module or the iToF power supply module; the dToF power supply module is used for controlling the width of a pulse signal in the dToF mode; the iToF power supply module is used for directly outputting the first power supply signal;
controlling the pulse generation module to output a pulse signal in the dToF mode or output a pulse signal in the iToF mode;
the transistor is switched on or off in response to a pulse signal in the dToF mode and control of the dToF power supply module; or the transistor is switched on or off in response to a pulse signal in the iToF mode;
the laser emits laser light when the transistor is turned on.
In a third aspect, embodiments of the present invention provide a three-dimensional sensing system, where the three-dimensional sensing system includes the laser driving system provided in any embodiment of the present invention.
The laser driving system provided by the embodiment of the invention comprises a selector switch, a dToF power module, an iToF power module and a pulse generation module, wherein the selector switch controls the dToF power module to work or the iToF power module to work, and correspondingly, the pulse generation module can provide a pulse signal in a dToF mode or a pulse signal in an iToF mode. That is, the embodiment of the present invention integrates the drive of the dToF mode and the iToF mode in the same laser driving system through a smart circuit design, and can achieve the following beneficial effects:
in a first aspect, for different application scenarios, the dToF mode and the iToF mode may be switched by a switch; and the dToF mode and the iToF mode do not influence each other.
In the second aspect, compared with the two driving circuits which are separately arranged, the embodiment of the invention realizes the sharing of circuit components such as the pulse generation module, the laser, the transistor and the like, thereby being beneficial to reducing the volume of the laser driving system.
In summary, the embodiment of the invention reduces the size of the laser driving system on the basis of meeting the scene switching requirement in practical application.
Drawings
Fig. 1 is a schematic structural diagram of a laser driving system according to an embodiment of the present invention;
fig. 2 is a schematic waveform diagram of an output optical signal in a dtaf mode according to an embodiment of the present invention;
fig. 3 is a schematic waveform diagram of an output optical signal in an iToF mode according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another laser driving system provided in an embodiment of the present invention;
FIG. 5 is a schematic circuit diagram of a laser driving system according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of another laser driving system provided in an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of another laser driving system provided in an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of another laser driving system provided in an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of another laser driving system provided in an embodiment of the present invention;
fig. 10 is a schematic flowchart of a laser driving method according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a three-dimensional sensing system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
The embodiment of the invention provides a laser driving system, which is used for driving a ToF output optical signal. Fig. 1 is a schematic structural diagram of a laser driving system according to an embodiment of the present invention. As shown in fig. 1, the laser driving system includes: a switch 110, a dtofpower module 120, an iToF power module 130, a pulse generation module 140, a laser 150, and a transistor 160.
The switch 110 includes a power input 111, a first output 112, and a second output 113; a power input end 111 of the switch 110 is connected to a first power signal; the switch 110 is used to control the input first power signal to be output by the first output terminal 112 or output by the second output terminal 113.
The dtofs power module 120 includes an input 121 and an output 122; the input end 121 of the dtoff power supply module 120 is electrically connected with the first output end 112 of the switch 110; the dtofpower module 120 is used to control the width of the pulse signal in the dtofmode.
The iToF power supply module 130 includes an input 131 and an output 132; the input end 131 of the iToF power module 130 is electrically connected to the second output end 113 of the switch 110; the iToF power module 130 is configured to directly output the first power signal.
The pulse generation module 140 includes a pulse signal output 141; the pulse generating module 140 is configured to output a pulse signal in a dtod mode or output a pulse signal in an iToF mode.
The laser 150 includes a first pole 151 and a second pole 152; the first pole 151 of the laser 150 is electrically connected to the output 122 of the dToF power supply module and to the output 132 of the iToF power supply module; the laser 150 is configured to emit light in response to the pulse signal.
The transistor 160 includes a gate 161, a first pole 162, and a second pole 163; the gate 161 of the transistor 160 is electrically connected to the pulse signal output terminal 141 of the pulse generation module 140; the first pole 162 of the transistor 160 is electrically connected to the second pole 152 of the laser 150; a second pole 163 of transistor 160 is coupled to the second power supply signal.
The working principle of the laser driving system is as follows:
when long-distance ranging is required, the switch 110 controls the first power supply signal to be output from the first output end 112, and the laser driving system enters a dtoff mode; in the dtod mode, the dtod power module 120 controls the width of the pulse signal in the dtod mode by charging and discharging a capacitor, for example. Meanwhile, the pulse signal output by the pulse generating module 140 controls the transistor 160 to be turned on, the driving current passes through the laser 150, and a pulse wave is emitted to the scene, and the waveform of the pulse wave is schematically shown in fig. 2, and only one pulse is emitted in one driving period. In fig. 2, tr represents a signal rise time (rise time), tf represents a signal fall time (fall time), and 90% and 10% of the highest point of the waveform are taken as reference points when tr and tf are calculated, respectively. Since the pulse width of the pulse signal is controlled by the dtot power module 120, in the dtot mode, the pulse generating module 140 is only used to turn on the transistor 160, and the pulse width of the pulse signal output by the pulse generating module 140 to the gate 161 of the transistor 160 may be greater than the actually required pulse width. Illustratively, the pulse width of the pulse signal in the dtofs mode may be 2ns, the duty cycle may be <1%, and the repetition frequency may be <1MHz. Alternatively, the interval between pulse signals in the dtod mode may be in the order of microseconds.
After the pulse wave is emitted, a Single Photon Avalanche Diode (SPAD) at the receiving end receives the pulse wave reflected from the target object, a Time Digital Converter (TDC) of the SPAD can record the flight Time of the received optical signal each Time, that is, the Time interval between the emitted pulse and the received pulse, and the depth of the object to be measured is calculated through the Time interval. Since the SPAD can measure the number of absorbed photons in a short time interval, the TDC has high time resolution, so that the dtofs mode requires a pulse signal having a nanosecond-order pulse width, a small duty ratio, and a low repetition frequency.
When short-distance ranging is required, the switch 110 controls the first power supply signal to be output from the second output terminal 113, and the laser driving system enters an iToF mode; in the iToF mode, the periodic continuous pulse signal output by the pulse generation module 140 controls the transistor 160 to be turned on and off. When the transistor 160 is on, a drive current passes through the laser 150 to emit laser light to the scene, and when the transistor 160 is off, no current flows through the laser 150 and the laser 150 does not emit light. The waveform of the output light in the iToF mode is schematically shown in fig. 3, and a plurality of pulses are emitted in one driving period. In fig. 3, tr represents the signal rising time, tf represents the signal falling time, and 90% and 10% of the highest point of the waveform are taken as reference points when calculating tr and tf, respectively. In the iToF mode, the pulse generation module 140 not only functions as a start pulse, but also determines the pulse width. Illustratively, the pulse width of the pulse signal in the iToF mode may be 2-5ns, the duty ratio may be 50%, and the repetition frequency may be 50-300MHz.
For example, after the pulse wave optical signal is emitted, the sensor at the receiving end receives the optical signal reflected from the object to be measured and performs photoelectric conversion, calculates a phase difference between the emitted signal and the received signal according to the accumulated charge within the exposure (integration) time, and obtains the depth of the target object according to the phase shift. Generally, three or more cycles of sampling signals are required to calculate the distance between one pixel point. The iToF mode therefore requires a pulse signal with a nanosecond pulse width, a large duty cycle, and a high repetition frequency.
The laser driving system provided in the embodiment of the present invention is provided with a switch 110, a dToF power module 120, an iToF power module 130, and a pulse generating module 140, where the switch 110 controls the dToF power module 120 or the iToF power module 130 to operate, and accordingly, the pulse generating module 140 may provide a pulse signal in a dToF mode or a pulse signal in an iToF mode. That is, the embodiment of the present invention integrates the drive of the dToF mode and the iToF mode in the same laser driving system through a smart circuit design, and can achieve the following beneficial effects:
in a first aspect, for different application scenarios, the dToF mode and the iToF mode may be switched by a switch; and the dToF mode and the iToF mode do not influence each other.
In the second aspect, compared with the two driving circuits which are separately arranged, the embodiment of the invention realizes the sharing of circuit components such as the pulse generation module, the laser, the transistor and the like, thereby being beneficial to reducing the volume of the laser driving system.
In summary, the embodiment of the invention reduces the size of the laser driving system on the basis of meeting the scene switching requirement in practical application.
On the basis of the above embodiments, optionally, the switch, the dtot power supply module, the iToF power supply module, the pulse generation module, the laser, and the transistor are all integrated on one circuit board to further reduce the size of the laser driving system.
In addition to the above embodiments, there are various ways of controlling the switching operation of the switch, and some of them will be described below, but the present invention is not limited thereto.
Fig. 4 is a schematic structural diagram of another laser driving system provided in the embodiment of the present invention. As shown in fig. 4, in an embodiment, optionally, in the laser driving system, the switch further includes a control terminal 114; the laser driving system further includes: a switching control module 170 comprising an input 171 and an output 172; the input end 171 of the switching control module receives the fed back distance information; the output end 172 of the switching control module is electrically connected to the control end 114 of the switch, and the switching control module 170 is configured to control the switch 110 to automatically switch according to the fed back distance information. The distance information fed back to the switching control module can be obtained by the receiving end.
According to the embodiment of the invention, the switching control module 170 is arranged to control the switching of the switch, so that the action of the switch 110 can be timely and accurately controlled, the automation and intelligence level of the laser driving system is enhanced, and the user experience is favorably improved.
Further, the switching control module 170 controls the switching conditions of the switch 110 to be:
when the distance between the laser driving system and the object to be measured is smaller than the first set distance, the switching control module 170 controls the switch 110 to output the input first power signal from the second output terminal 113 of the switch; the laser driving system performs the iToF mode.
When the distance between the laser driving system and the object to be measured is greater than the first set distance, the switching control module 170 controls the switch 110 to output the input first power signal from the first output end 112 of the switch; the laser driving system performs a dtod mode.
The application does not limit the application scene of the laser driving system. Alternatively, the laser drive system may be used as both an on-board lidar system and a camera. The first set distance may be set according to the requirement in practical application, and optionally, the first set distance may be set to 10m.
In one embodiment, optionally, the diverter switch is a manual diverter switch; the manual change-over switch comprises a change-over key, and the change-over key is driven by external force to control the manual change-over switch to change over.
The user can automatically switch the laser driving mode by utilizing the switching key according to the use scene. For example: when the method is applied to the automobile, the receiving end can determine the application scene in advance, and then the working mode is determined according to the application scene. Exemplarily, when the vehicle parks in a parking lot, the receiving end determines that the vehicle is close to other vehicles, or close to a wall or a road shoulder stone, or the vehicle runs at a low speed, and then the iToF mode is adopted; when the automobile runs fast, the receiving end determines that the automobile is far away from other automobiles or the running speed of the automobile is high, and then the dToF mode is adopted. For example, when the method is applied to image pickup, a dToF mode is adopted for long shot, and an iToF mode is adopted for short shot.
In the embodiment, the manual switch is arranged, so that the mode can be switched to a fixed mode in a fixed scene without the calculation process of the control module, convenience and rapidness are realized, and the size of the driving chip can be reduced.
Optionally, the laser driving system may include a manual switch and a switching control module at the same time to ensure the accuracy of switching between different driving modes.
In addition to the above embodiments, the present embodiment further explains a specific circuit configuration of the laser driving system, but the present invention is not limited thereto.
Fig. 5 is a schematic circuit diagram of a laser driving system according to an embodiment of the present invention. As shown in fig. 5, in one embodiment, optionally, dtot power module 120 includes: a first resistor R1 and a first capacitor C1; a first end of the first resistor R1 is electrically connected to the first output end 112 of the switch 110, and a second end of the first resistor R1 is electrically connected to the first pole of the laser 150; the first end of the first capacitor C1 is electrically connected to the second end of the first resistor R1, and the second end of the first capacitor C1 is connected to a second power signal.
The first resistor R1 and the first capacitor C1 are respectively a charging resistor and a charging/discharging capacitor in a dtoff mode. In the dtod mode, a first power signal charges a first capacitor C1 through a first resistor R1; alternatively, when the charging time is in the order of microseconds, the first resistor R1 may be taken to be in the order of k Ω and the first capacitor C1 to be in the order of nF. A pulse signal in a dToF mode is generated by the pulse generation module, when the transistor 160 receives the pulse signal, the circuit is started, and the first capacitor C1 discharges; optionally, the discharge time is about 2 nanoseconds. The dToF function is realized by the circulation. And the presence of the first capacitance C1 does not affect the iToF function.
The dToF power module 120 provided by the embodiment of the invention has a simple structure, and the stray inductance is incorporated into the circuit to control the pulse width of the pulse signal to be equal to about 2 (LC) ^0.5. Alternatively, when a pulse width of 2ns is required, the stray inductance may be taken to be 1nH and the first capacitance C1 to be 1nF. Also, since the pulse width in the dtod mode is controlled by the stray inductance and the first capacitor C1, the pulse width received by the gate of the transistor 160 may be larger than what is actually required.
With continued reference to fig. 5, in one embodiment, the iToF power module 130 is optionally a wire that directly shorts the second output terminal 113 of the switch with the first pole of the laser 150.
With continued reference to fig. 5, further, transistor 160 is a gan field effect transistor T1 because of the high current and high speed requirements of the driver circuit.
The channel type of the gan field effect transistor T1 may be an N channel or a P channel, among others. As shown in fig. 5, optionally, the channel type of the gan field effect transistor T1 is an N channel, and correspondingly, when the pulse signal is a high voltage, the gan field effect transistor T1 is turned on; the first power supply signal is a power supply, the voltage range of the power supply can be 1-300V, and the anode of the laser 150 is electrically connected with the output end of the dtoff power supply module 120 and the output end of the iToF power supply module 130; the second power signal is a ground signal and the cathode of the laser 150 is grounded.
With continuing reference to fig. 5, further, the laser 150 includes: edge-Emitting Laser diodes (EE-LEDs) or Vertical Cavity Surface Emitting Lasers (VCSELs).
With continued reference to fig. 5, optionally, the laser driving system may further include a second capacitor C2 for stabilizing the voltage of the first power signal, so as to maintain stable switching of the voltage when the circuit is turned on or the voltage is changed.
In addition to the above embodiments, there are various ways of generating the pulse signal, and some of them will be described below, but the present invention is not limited thereto.
Fig. 6 is a schematic structural diagram of another laser driving system according to an embodiment of the present invention. As shown in fig. 6, in one embodiment, the pulse generating module 140 optionally includes: a first pulse signal unit 410, a first signal shaping unit 420, a signal delay unit 430, a second signal shaping unit 440, and a first narrow pulse generating unit 450.
Wherein, the first pulse signal unit 410 includes an output terminal 411; the first pulse signal unit 410 is used for generating a first input signal. The first signal shaping unit 420 comprises an input 421 and an output 422; the input end 421 of the first signal shaping unit is electrically connected with the output end 411 of the first pulse signal unit; the first signal shaping unit 420 is configured to shape the first input signal into a first square wave signal. The signal delay unit 430 includes an input terminal 431 and an output terminal 432; the input terminal 431 of the signal delay unit is electrically connected with the output terminal 411 of the first pulse signal unit; the signal delay unit 430 is configured to delay the first input signal by a first preset time and output the delayed first input signal, so as to generate a first delayed signal. A second signal shaping unit 440 comprising an input 441 and an output 442; the input end 441 of the second signal shaping unit is electrically connected with the output end 432 of the signal delay unit; the second signal shaping unit 440 is configured to shape the first delayed signal into a second square wave signal. A first narrow pulse generating unit 450 including a first input terminal 451, a second input terminal 452, and an output terminal 453; the first input terminal 451 of the first narrow pulse generating unit is electrically connected to the output terminal 422 of the first signal shaping unit; the second input terminal 452 of the first narrow pulse generating unit is electrically connected to the output terminal 442 of the second signal shaping unit; the output terminal 453 of the first narrow pulse generating unit is electrically connected to the gate 161 of the transistor 160. The first narrow pulse generating unit 450 is configured to generate and output a pulse signal in a dtot mode according to the received first square wave signal and the second square wave signal in the dtot mode; or generating and outputting a pulse signal in a dTaF mode according to the first square wave signal; alternatively, the first narrow pulse generating unit 450 is configured to generate and output a pulse signal in the iToF mode according to the received first square wave signal and the second square wave signal in the iToF mode.
The pulse generation module 140 works as follows:
the first pulse signal unit 410 outputs a first input signal. In particular, the first input signal may be a periodic input signal of arbitrary shape, for example a sinusoidal signal. The first signal shaping unit 420 shapes the first input signal of an arbitrary waveform into a first square wave signal for processing such as logical operation or the like by the subsequent first narrow pulse generating unit 450. The signal delay unit 430 delays the first input signal by a first preset time and outputs a first delayed signal. Illustratively, the signal delay unit 430 may be implemented by an RC circuit, or by device delay of other devices, such as by logic gate delay, etc. Alternatively, the first preset time may be a pulse width required in the iToF mode. The second signal shaping unit 440 shapes the first delayed signal and processes the shaped first delayed signal into a second square wave signal.
In the iToF mode, the first narrow pulse generating unit 450 generates and outputs a pulse signal in the iToF mode from the received first square wave signal and second square wave signal. Among them, the first narrow pulse generating unit 450 may include a logic circuit to implement a function of generating a narrow pulse. Illustratively, the first narrow pulse generating unit 450 may include an xor gate, and the xor gate may perform xor processing on the first square wave signal (corresponding to the initial square wave signal) and the second square wave signal (corresponding to the delayed square wave signal), and output a high level when the levels of the two are different, so that the first preset time may be a pulse width of the pulse signal, and at the same time, the duty ratio of the pulse signal may be adjusted by adjusting the first preset time.
In the dToF mode, optionally, the first narrow pulse generating unit 450 may perform the same processing on the first square wave signal and the second square wave signal as in the iToF mode described above; a selection module for outputting only the first square wave signal to turn on the transistor 160; it is also possible to output only the second square wave signal for turning on the transistor 160.
With continued reference to fig. 6, further, the first pulse signal unit 410 further includes a control terminal 412; the pulse generation module 140 further includes a first pulse control unit 460. The first pulse control unit 460 includes a first output terminal 461; the first output terminal 461 of the first pulse control unit is electrically connected with the control terminal 412 of the first pulse signal unit; the first pulse control unit 460 is used for controlling the operation mode of the first pulse signal unit 410.
In the dtofs mode, the first pulse control unit 460 controls the first pulse signal unit 410 to output a turn-on signal of the transistor 160, for example, a pulse signal with a pulse width larger than an actual requirement, a step-type high level or a continuous high level, and the like; in the iToF mode, the first pulse control unit 460 controls the first pulse signal unit 410 to output a pulse signal required for the iToF mode.
Alternatively, the first pulse control unit 460 and the switching control module 170 in the foregoing embodiments may be the same control unit to further reduce the volume of the laser driving system.
Fig. 7 is a schematic structural diagram of another laser driving system according to an embodiment of the present invention. As shown in fig. 7, in one embodiment, the pulse generation module 140 optionally includes: a second pulse signal unit 510, a third pulse signal unit 520, and a second narrow pulse generating unit 530.
The second pulse signal unit 510 includes an output terminal 511; the second pulse signal unit 510 is used for generating a second input signal. The third pulse signal unit 520 includes an output terminal 521; the third pulse signal unit 520 is used for generating a third input signal. The second narrow pulse generating unit 530 includes a first input terminal 531, a second input terminal 532, and an output terminal 533; the first input terminal 531 of the second narrow pulse generating unit is electrically connected with the output terminal 511 of the second pulse signal unit; the second input end 532 of the second narrow pulse generating unit is electrically connected with the output end 521 of the third pulse signal unit; the output terminal 533 of the second narrow pulse generating unit is electrically connected to the gate electrode 161 of the transistor 160. The second narrow pulse generating unit 530 is configured to generate and output a pulse signal in the dtofmode according to the received second input signal and the third input signal in the dtofmode; or generating and outputting a pulse signal in a dToF mode according to the second input signal; or generating and outputting a pulse signal in a dToF mode according to the third input signal; alternatively, the second narrow pulse generating unit 530 is configured to generate and output a pulse signal in the iToF mode according to the received second input signal and the third input signal in the iToF mode.
In this embodiment, the pulse generation module 140 operates according to the following principle:
the second pulse signal unit 510 outputs a second input signal; illustratively, the second input signal is a square wave signal. The third pulse signal unit 520 outputs a third input signal; illustratively, the third input signal is a square wave signal.
In the iToF mode, there is a time difference in timing between the second input signal and the third input signal, and the time difference is a pulse width of the pulse signal in the iToF mode. In this mode, the second narrow pulse generating unit 530 may perform a function of a differential signal, that is, output a high level when the second input signal and the third input signal are different in level. In the dtod mode, the same pulse signal as in the iToF mode may be used, and the second narrow pulse generating unit 530 may output only the second input signal or the third input signal as the pulse signal in this mode.
With continued reference to fig. 7, further, the second pulse signal unit 510 further includes a control terminal 512, and the third pulse signal unit 520 further includes a control terminal 522; the pulse generation module 140 further includes: a second pulse control unit 540, the second pulse control unit 540 including a first output 541 and a second output 542; the first output end 541 of the second pulse control unit is electrically connected with the control end 512 of the second pulse signal unit, and the second output end 542 of the second pulse control unit is electrically connected with the control end 522 of the third pulse signal unit; the second pulse control unit 540 is used for controlling the working modes of the second pulse signal unit and the third pulse signal unit.
In the iToF mode, the second pulse control unit 540 controls the timing of the signals generated by the second pulse signal unit 510 and the third pulse signal unit 520 to provide the pulse signals required by the iToF mode. In the dtod mode, the second pulse control unit 540 controls the second pulse signal unit 510 and/or the third pulse signal unit 520 to output the turn-on signal of the transistor 160. For example, the second pulse control unit 540 may control the second pulse signal unit 510 to be turned on and the third pulse signal unit 520 to be turned off; or controls the third pulse signal unit 520 to be turned on and the second pulse signal unit 510 to be turned off.
Alternatively, the second pulse control unit 540 and the switching control module 170 in the foregoing embodiments may be the same control unit to further reduce the volume of the laser driving system.
Fig. 8 is a schematic structural diagram of another laser driving system according to an embodiment of the present invention. In one embodiment, based on fig. 6 and 7, the pulse generating module 140 optionally includes both the first pulse signal unit 410, the second pulse signal unit 510 and the third pulse signal unit 521. The first and second narrow pulse generating units 450 and 530 are integrated in the third narrow pulse generating unit 650, and the first and second pulse control units 460 and 540 are integrated in the third pulse control unit 660.
The third narrow pulse generating unit 650 includes a first input terminal 651, a second input terminal 652, a third input terminal 653, a fourth input terminal 654, and an output terminal 655; the first input terminal 651 of the third narrow pulse generating unit is electrically connected to the output terminal 422 of the first signal shaping unit, the second input terminal 652 of the third narrow pulse generating unit is electrically connected to the output terminal 442 of the second signal shaping unit, the third input terminal 653 of the third narrow pulse generating unit is electrically connected to the output terminal 511 of the second pulse signal unit, the fourth input terminal 654 of the third narrow pulse generating unit is electrically connected to the output terminal 521 of the second pulse signal unit, and the output terminal 655 of the third narrow pulse generating unit is electrically connected to the gate electrode 161 of the transistor 160. The third pulse control unit 660 includes a first output terminal 661, a second output terminal 662, and a third output terminal 663. The first output port 661 of the third pulse control unit is electrically connected to the control port 412 of the first pulse signal unit, the second output port 662 of the third pulse control unit is electrically connected to the control port 512 of the second pulse signal unit, and the third output port 663 of the third pulse control unit is electrically connected to the control port 522 of the third pulse signal unit.
In this embodiment, the two structures of the pulse generating module 140 are combined to further ensure the accuracy of the pulse signal in the dtod mode and the pulse signal in the iToF mode.
Alternatively, in one embodiment, as shown in fig. 9, the first input terminal 651 and the third input terminal 653 of the third narrow pulse generating unit 650 may be the same pin 651; the second input 652 and the fourth input 654 of the third narrow pulse generating unit 650 may be the same pin 652.
Alternatively, the third pulse control unit 660 may be the same control unit as the switching control module 170 in the foregoing embodiment, so as to further reduce the volume of the laser driving system.
The embodiment of the invention also provides a laser driving method, and fig. 10 is a schematic flow chart of the laser driving method provided by the embodiment of the invention. As shown in fig. 10, according to the laser driving system provided in any embodiment of the present invention, the laser driving method includes the following steps:
s110, controlling the switching mode of the switch so that the first power supply signal is connected to the dToF power supply module or the iToF power supply module; the dToF power supply module is used for controlling the width of a pulse signal in a dToF mode; the iToF power supply module is used for directly outputting a first power supply signal;
s120, controlling the pulse generation module to output a pulse signal in a dToF mode or output a pulse signal in an iToF mode;
s130, the transistor is switched on or off in response to the pulse signal in the dTaF mode and the control of the dTaF power supply module; or the transistor is switched on or off in response to the pulse signal in the iToF mode;
and S140, emitting laser by the laser when the transistor is turned on.
The laser driving method provided by the embodiment of the invention controls the change-over switch to enable the first power supply signal to be connected to the dToF power supply module or the iToF power supply module; accordingly, the pulse generation module is controlled to output a pulse signal in a dtod mode or output a pulse signal in an iToF mode. In the embodiment of the invention, the dToF driving method and the iToF driving method are integrated, and the switching between the dToF driving mode and the iToF driving mode can be realized by controlling the selector switch according to different application scenes; and the dToF driving mode and the iToF driving mode do not influence each other.
An embodiment of the present invention further provides a three-dimensional sensing system, and fig. 11 is a schematic structural diagram of the three-dimensional sensing system provided in the embodiment of the present invention. As shown in fig. 11, the three-dimensional sensing system 800 includes a laser driving system 810 provided by any embodiment of the invention, with corresponding advantages.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the particular embodiments described herein, and that various obvious changes, rearrangements and substitutions will now be apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (14)
1. A laser driving system, comprising:
the change-over switch comprises a power supply input end, a first output end and a second output end; a power supply input end of the change-over switch is connected with a first power supply signal; the change-over switch is used for controlling the input first power supply signal to be output by the first output end or output by the second output end;
the dToF power supply module comprises an input end and an output end; the input end of the dToF power supply module is electrically connected with the first output end of the selector switch; the dToF power supply module is used for controlling the width of a pulse signal in a dToF mode;
the iToF power supply module comprises an input end and an output end; the input end of the iToF power supply module is electrically connected with the second output end of the change-over switch; the iToF power supply module is used for directly outputting the first power supply signal;
the pulse generation module comprises a pulse signal output end; the pulse generating module is used for outputting a pulse signal in a dToF mode or outputting a pulse signal in an iToF mode;
a laser comprising a first pole and a second pole; a first pole of the laser is electrically connected with the output end of the dToF power supply module and is electrically connected with the output end of the iToF power supply module; the laser is used for emitting light in response to a pulse signal;
a transistor including a gate, a first pole, and a second pole; the grid electrode of the transistor is electrically connected with the pulse signal output end of the pulse generation module; a first pole of the transistor is electrically connected with a second pole of the laser; and a second pole of the transistor is connected to a second power supply signal.
2. The laser driving system according to claim 1, wherein the changeover switch further comprises a control terminal;
the laser driving system further includes:
the switching control module comprises an input end and an output end; the input end of the switching control module receives the fed back distance information; the output end of the switching control module is electrically connected with the control end of the change-over switch, and the switching control module is used for controlling the change-over switch to automatically switch over according to the fed-back distance information.
3. The laser driving system according to claim 2, wherein the switching control module controls the switching condition of the switch to be:
when the distance between the laser driving system and the object to be measured is smaller than a first set distance, the switching control module controls the switch to output an input first power supply signal from a second output end of the switch; the laser driving system executes an iToF mode;
when the distance between the laser driving system and the measured object is larger than a first set distance, the switching control module controls the switch to output an input first power supply signal from a first output end of the switch; the laser driving system performs a dtofmode.
4. The laser driving system according to claim 1, wherein the changeover switch is a manual changeover switch; the manual change-over switch comprises a change-over key, and the change-over key is driven by external force to control the manual change-over switch to change over.
5. The laser driving system of claim 1, wherein the dToF power supply module comprises: a first resistor and a first capacitor;
a first end of the first resistor is electrically connected with a first output end of the change-over switch, and a second end of the first resistor is electrically connected with a first pole of the laser; the first end of the first capacitor is electrically connected with the second end of the first resistor, and the second end of the first capacitor is connected to the second power supply signal.
6. The laser driving system of claim 1, wherein the pulse generation module comprises:
a first pulse signal unit including an output terminal; the first pulse signal unit is used for generating a first input signal;
a first signal shaping unit including an input terminal and an output terminal; the input end of the first signal shaping unit is electrically connected with the output end of the first pulse signal unit; the first signal shaping unit is used for shaping the first input signal into a first square wave signal;
a signal delay unit including an input terminal and an output terminal; the input end of the signal delay unit is electrically connected with the output end of the first pulse signal unit; the signal delay unit is used for delaying the first input signal for a first preset time and then outputting the delayed first input signal to generate a first delayed signal;
a second signal shaping unit including an input terminal and an output terminal; the input end of the second signal shaping unit is electrically connected with the output end of the signal delay unit; the second signal shaping unit is used for shaping the first delay signal into a second square wave signal;
a first narrow pulse generating unit including a first input terminal, a second input terminal, and an output terminal; a first input end of the first narrow pulse generating unit is electrically connected with an output end of the first signal shaping unit; a second input end of the first narrow pulse generating unit is electrically connected with an output end of the second signal shaping unit; the output end of the first narrow pulse generating unit is electrically connected with the grid electrode of the transistor; the first narrow pulse generating unit is used for generating and outputting a pulse signal in a dTaF mode according to the received first square wave signal and the second square wave signal in the dTaF mode; or generating and outputting a pulse signal in the dToF mode according to the first square wave signal; or, the first narrow pulse generating unit is configured to generate and output a pulse signal in an iToF mode according to the received first square wave signal and the second square wave signal in the iToF mode.
7. The laser driving system according to claim 6, wherein the first pulse signal unit further comprises a control terminal;
the pulse generation module further comprises:
a first pulse control unit including a first output terminal; the first output end of the first pulse control unit is electrically connected with the control end of the first pulse signal unit; the first pulse control unit is used for controlling the working mode of the first pulse signal unit.
8. The laser driving system of claim 1, wherein the pulse generation module comprises:
a second pulse signal unit including an output terminal; the second pulse signal unit is used for generating a second input signal;
a third pulse signal unit including an output terminal; the third pulse signal unit is used for generating a third input signal;
a second narrow pulse generating unit including a first input terminal, a second input terminal, and an output terminal; a first input end of the second narrow pulse generating unit is electrically connected with an output end of the second pulse signal unit; a second input end of the second narrow pulse generating unit is electrically connected with an output end of the third pulse signal unit; the output end of the second narrow pulse generating unit is electrically connected with the grid electrode of the transistor; the second narrow pulse generating unit is used for generating and outputting a pulse signal in a dToF mode according to the received second input signal and the third input signal in the dToF mode; or generating and outputting a pulse signal in the dToF mode according to the second input signal; or generating and outputting a pulse signal in the dToF mode according to the third input signal; or, the second narrow pulse generating unit is configured to generate and output a pulse signal in the iToF mode according to the received second input signal and the third input signal in the iToF mode.
9. The laser driving system according to claim 8, wherein the second pulse signal unit further comprises a control terminal, and the third pulse signal unit further comprises a control terminal;
the pulse generation module further comprises:
a second pulse control unit comprising a first output and a second output; the first output end of the second pulse control unit is electrically connected with the control end of the second pulse signal unit, and the second output end of the second pulse control unit is electrically connected with the control end of the third pulse signal unit; the second pulse control unit is used for controlling the working modes of the second pulse signal unit and the third pulse signal unit.
10. The laser driving system according to claim 1, wherein the laser comprises: edge-emitting laser diodes or vertical cavity surface emitting lasers.
11. The laser driving system according to claim 1, wherein the transistor is a gallium nitride field effect transistor.
12. The laser driving system according to claim 1, wherein the switch, the dToF power supply module, the iToF power supply module, the pulse generation module, the laser, and the transistor are all integrated on one circuit board.
13. A laser driving method based on the laser driving system according to any one of claims 1 to 12, the laser driving method comprising:
controlling a switching mode of the switch so that the first power supply signal is connected to the dToF power supply module or the iToF power supply module; the dToF power supply module is used for controlling the width of a pulse signal in the dToF mode; the iToF power supply module is used for directly outputting the first power supply signal;
controlling the pulse generation module to output a pulse signal in the dToF mode or output a pulse signal in the iToF mode;
the transistor is switched on or off in response to a pulse signal in the dToF mode and control of the dToF power supply module; or the transistor is switched on or off in response to a pulse signal in the iToF mode;
the laser emits laser light when the transistor is turned on.
14. A three-dimensional sensing system comprising a laser driving system according to any of claims 1-12.
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