CN221080618U - Driving circuit, driving system, laser radar and movable platform - Google Patents

Abstract

The application discloses a driving circuit, a driving system, a laser radar and a movable platform, wherein a plurality of laser transmitters driven by the driving circuit are connected with a common end in a common electrode N-pole mode, and the driving circuit comprises a switch module, an energy storage module and a voltage clamping module. The switch module is connected with the public end and used for controlling the light emission of the laser transmitter; the energy storage module is connected with the P poles of the plurality of laser transmitters and used for releasing energy to the target laser transmitters when the switch module is closed so as to drive the target laser transmitters to emit light, and the target laser transmitters comprise at least one of the plurality of laser transmitters; the voltage clamping module is connected with the P electrode of the laser transmitter and is used for enabling the difference value between the potential of the P electrode of the non-target laser transmitter and the potential of the public end of the non-target laser transmitter when the target laser transmitter is conducted to be smaller than the conduction threshold voltage of the non-target laser transmitter when the target laser transmitter is in a luminous state.

Description

Driving circuit, driving system, laser radar and movable platform

Technical Field

The application relates to the technical field of lasers, in particular to a driving circuit, a driving system, a laser radar and a movable platform of a laser transmitter.

Background

The common N-pole (i.e., negative) laser transmitter driving circuit typically uses P-type metal oxide semiconductor field effect transistor (PMOS) with higher side driving, but the PMOS has slower turn-on speed than the N-type metal oxide semiconductor field effect transistor (NMOS, negative channel Metal Oxide Semiconductor).

In order to solve the problem, the method adopted is as follows: the two modes of cutting 1*M (M is a positive integer greater than or equal to 2) bar into single laser emitters and adopting NMOS driving can be summarized as follows: (1) A single laser emitter, an energy storage capacitor and an NMOS drive, and then X copies are duplicated to X rays for emission; or (2) a plurality of laser transmitters, each laser transmitter is matched with an NMOS drive and a shared energy storage capacitor to form multi-line transmission.

However, based on the mode that a plurality of laser transmitters adopt the altogether N pole drive, can introduce parasitic inductance in laser transmitter encapsulation process, in the target laser transmitter by the excitation process, because receive the influence of the reverse voltage that parasitic inductance produced that the public end exists, other non-target laser transmitters probably by unusual triggering to introduce extra crosstalk for laser radar, and then influence laser radar's measurement accuracy.

Disclosure of utility model

Based on the above, the embodiment of the application provides a driving circuit, a driving system, a laser radar and a movable platform of a laser emitter.

In a first aspect, an embodiment of the present application provides a driving circuit for a laser emitter, where a plurality of laser emitters are connected to a common terminal by an N-pole common electrode, and the driving circuit includes:

the switch module is connected with the public end and used for controlling the light emission of the laser transmitter;

An energy storage module connected to the P-poles of a plurality of the laser emitters and configured to release energy to a target laser emitter when the switch module is closed to drive the target laser emitter to emit light, the target laser emitter including at least one of the plurality of laser emitters;

The voltage clamping module is connected with the P electrode of the laser emitter and is used for enabling the difference between the potential of the P electrode of the non-target laser emitter and the potential of the common end when the target laser emitter is conducted to be smaller than the conduction threshold voltage of the non-target laser emitter when the target laser emitter is in a luminous state, wherein the non-target laser emitter comprises a plurality of laser emitters except for the target laser emitter.

In some embodiments, the switch module includes a conduction switch common to the plurality of laser emitters, the conduction switch for controlling conduction of the laser emitters with the energy storage module.

In some embodiments, the voltage clamping module is disposed in parallel with the energy storage module at the P-pole of the laser transmitter.

In some embodiments, the parasitic inductance at the common can cause a potential of the common to decrease, the common potential being the potential reduced by the parasitic inductance.

In some embodiments, the voltage clamping module includes a voltage clamping power source for causing a difference between a potential of a P-pole of the non-target laser transmitter and the common potential when the target laser transmitter is on to be less than a turn-on threshold voltage of the non-target laser transmitter when the target laser transmitter is in a light emitting state.

In some embodiments, the voltage clamp power supply includes a negative voltage power supply for causing the potential of the P-pole of the non-target laser transmitter to be a negative potential provided by the negative voltage power supply when the target laser transmitter is in a light emitting state.

In some embodiments, the voltage clamping module further comprises a control switch for communicating the voltage clamping power supply and the non-target laser transmitter when the target laser transmitter is in a light emitting state, so that a difference between a potential of a P-pole of the non-target laser transmitter and the common terminal potential when the target laser transmitter is turned on is smaller than a turn-on threshold voltage of the non-target laser transmitter.

In some embodiments, the driving circuit further comprises a charging module electrically connected to the P-pole of the laser transmitter for storing energy provided by the voltage clamp power source to charge the energy storage module.

In some embodiments, the energy storage module includes a plurality of energy storage units, each of the energy storage units being electrically connected to a corresponding one of the laser emitters and configured to release energy to the corresponding laser emitter when the switch module is closed to drive the corresponding laser emitter to emit light.

In some embodiments, the driving circuit further includes a charging module including a plurality of charging units, each of the charging units being connected to a corresponding one of the energy storage units and being configured to charge the corresponding one of the energy storage units.

In some embodiments, the charging unit includes an energy storage inductor and an anti-reflection element, a first end of the energy storage inductor is electrically connected with a first electrode of an external power supply device, a second end of the energy storage inductor is electrically connected with the corresponding energy storage unit through the anti-reflection element, and a second end of the energy storage inductor is electrically connected with a second electrode of the power supply device through a control component, and a potential of the first electrode is greater than a potential of the second electrode.

In a second aspect, the present application further provides a driving system of a laser emitter, where the driving system includes a power supply device and the driving circuit, and the power supply device is used to provide a driving voltage to the driving circuit.

In some embodiments, the driving system further includes a voltage conversion circuit through which the power supply device supplies a driving voltage to the driving circuit.

In a third aspect, the present application further provides a laser radar, where the laser radar includes a plurality of laser transmitters and the driving circuit described above;

Or the laser radar comprises a plurality of light emitters and the driving system.

In a fourth aspect, the present application is a mobile platform comprising the lidar described above.

The driving circuit of the laser transmitters provided by the embodiment of the application is used for driving a plurality of laser transmitters sharing N poles, at least comprises a switch module, an energy storage module and a voltage clamp module, the energy storage module is arranged to be connected with the P poles of the plurality of laser transmitters by utilizing the energy storage module, and energy is released to the target laser transmitters when the switch module is closed, so that the target laser transmitters are driven to emit light, and the target laser transmitters comprise at least one of the plurality of laser transmitters. Meanwhile, by arranging the voltage clamping module, when the target laser transmitters are in a luminous state, the difference between the potential of the P pole of the non-target laser transmitters and the potential of the public end of the target laser transmitters is smaller than the conduction threshold voltage of the non-target laser transmitters, so that the target laser transmitters in the plurality of laser transmitters emit light in the luminous process, the non-target laser transmitters do not emit light, the non-target laser transmitters are prevented from being triggered abnormally, and the problem of introducing extra crosstalk to the laser radar is solved, and the measurement accuracy of the laser radar is effectively improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic block diagram of a laser radar according to an embodiment of the present application;

fig. 2 is a schematic circuit diagram of a lidar according to an embodiment of the present application;

Fig. 3 is a schematic diagram of a circuit modification structure of a lidar according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that the description of "first", "second", etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implying an indication of the number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.

In the description of the present utility model, it should be noted that the terms "mounted," "connected," and "coupled" are to be construed broadly, as well as, for example, fixedly coupled, detachably coupled, or integrally coupled, unless otherwise specifically indicated and defined. Either mechanically or electrically. Can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

The common N-pole (i.e., negative) laser transmitter driving circuit typically uses P-type metal oxide semiconductor field effect transistor (PMOS) with higher side driving, but the PMOS has slower turn-on speed than the N-type metal oxide semiconductor field effect transistor (NMOS, negative channel Metal Oxide Semiconductor).

In order to solve the problem, the method adopted is as follows: the two modes of cutting 1*M (M is a positive integer greater than or equal to 2) bar into single laser emitters and adopting NMOS driving can be summarized as follows: (1) A single laser emitter, an energy storage capacitor and an NMOS drive, and then X copies are duplicated to X rays for emission; or (2) a plurality of laser transmitters, each laser transmitter is matched with an NMOS drive and a shared energy storage capacitor to form multi-line transmission.

However, based on the mode that a plurality of laser transmitters adopt the common N pole drive, because parasitic inductance can be introduced in the laser transmitter encapsulation process, in the target laser transmitter excited the in-process, because the reverse voltage's that receives the parasitic inductance that exists of public end influence, other non-target laser transmitters probably by unusual triggering to introduce extra crosstalk for the laser radar, and then influence the measurement accuracy of laser radar.

In order to solve the above problems, an embodiment of the present application provides a driving circuit, a driving system, a laser radar and a movable platform of a laser transmitter, where the driving circuit at least includes a switch module, an energy storage module and a voltage clamp module, and the energy storage module is configured to connect with P poles of a plurality of laser transmitters by using the energy storage module, and release energy to a target laser transmitter when the switch module is closed, so as to drive the target laser transmitter to emit light, and the target laser transmitter includes at least one of the plurality of laser transmitters. Meanwhile, by arranging the voltage clamping module, when the target laser transmitters are in a luminous state, the difference between the potential of the P pole of the non-target laser transmitters and the potential of the public end of the target laser transmitters is smaller than the conduction threshold voltage of the non-target laser transmitters, so that the target laser transmitters in the plurality of laser transmitters emit light in the luminous process, the non-target laser transmitters do not emit light, the non-target laser transmitters are prevented from being triggered abnormally, and the problem of introducing extra crosstalk to the laser radar is solved, and the measurement accuracy of the laser radar is effectively improved.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a schematic circuit diagram of a laser radar according to the present application.

As shown in fig. 1, the laser radar 100 includes a laser module 10 and a driving system (not shown) for driving the laser module 10, the laser module 10 includes a plurality of laser emitters, and the laser module 10 is provided with a first connection terminal and a second connection terminal, and the driving system is connected with the laser module 10 through the first connection terminal and the second connection terminal of the laser module 10 to drive a target laser emitter among the plurality of laser emitters of the laser module 10 to emit light.

The driving system at least comprises a driving circuit 20, a first connecting end of the laser module 10 is a common end, N poles of a plurality of laser transmitters of the laser module 10 are connected to the common end in a common mode, and P poles of each laser transmitter of the laser module 10 are connected with the driving circuit 20 through corresponding second connecting ends.

Optionally, the driving circuit 20 includes a switch module 21, an energy storage module 22, and a voltage clamping module 23, where the switch module 21 is connected to a common terminal of the laser module 10 and is used to control light emission of a laser emitter of the laser module 10.

An energy storage module 22 connected to the P poles of the plurality of laser emitters and configured to release energy to the target laser emitters when the switch module 21 is closed to drive the target laser emitters to emit light, the target laser emitters including at least one of the plurality of laser emitters.

And the voltage clamping module 23 is connected with the P electrode of the laser emitter and is used for enabling the difference value between the potential of the P electrode of the non-target laser emitter and the potential of the public end when the target laser emitter is conducted to be smaller than the conduction threshold voltage of the non-target laser emitter when the target laser emitter is in a luminous state, wherein the non-target laser emitter comprises laser emitters except the target laser emitter in the plurality of laser emitters.

For ease of understanding, the embodiment of the present application is described by taking the example that the laser module 10 includes 4 laser transmitters, but the embodiment is not limited to the example that the laser transmitters of the laser module 10 may be 4.

For convenience of distinction, the 4 laser transmitters are respectively marked as a laser transmitter D1, a laser transmitter D2, a laser transmitter D3 and a laser transmitter D4, and the respective N poles of the laser transmitter D1, the laser transmitter D2, the laser transmitter D3 and the laser transmitter D4 are connected to the common end of the laser module 10, and the switch module 21 is also connected to the common end of the laser module 10.

When the laser emitter D1 of the laser module 10 is required to emit light as a target laser emitter, the switch module 21 is controlled to be closed, so that the switch module 21 is in a conducting state, at this time, the energy storage module 22 releases energy to the laser emitter D1 to drive the laser emitter D1 to emit light, and in the process of emitting light of the laser emitter D1, parasitic inductance PL exists at a common end of the laser emitter module 10 due to the packaging process and wiring of each laser emitter in the laser module 10, wherein the parasitic inductance PL at the common end can reduce the potential of the common end, and the potential of the common end is the potential reduced under the influence of the parasitic inductance PL. In addition, during the process that the laser emitter D1 (i.e., the target laser emitter) is excited to emit light, the current on the laser emitter D1 gradually decreases, so that the parasitic inductance PL of the common terminal generates a reverse voltage, so that the N-terminal voltage of all the laser diodes of the laser emitting module 10 will decrease to PL x dI _d1/dt, and further a forward voltage drop is generated at two ends of the non-target laser emitter (i.e., the laser emitters D2-D4), and when the forward voltage drop exceeds the forward conduction voltage drop of the laser emitters, the non-target laser emitter emits light, which causes crosstalk to the optical channel of the laser emitter D1, affects the light emitting quality of the laser module 10, and finally causes a decrease in the accuracy of measurement data of the laser radar 100, such as a decrease in the ranging accuracy, where the non-target laser emitters include laser emitters other than the target laser emitters.

In this embodiment of the present application, the driving circuit 20 is provided with a voltage clamping module 23, where the voltage clamping module 23 is configured to provide a clamping voltage to the non-target laser emitter when the target laser emitter (e.g., the laser emitter D1) is in a light emitting state, so that a difference between a potential of a P pole of the non-target laser emitter (e.g., the laser emitters D2-D4) and a potential of a common terminal when the target laser emitter is turned on is smaller than a turn-on threshold voltage of the non-target laser emitter, e.g., when the turn-on threshold voltage of the non-target laser emitter is Vf, a potential of a P pole and the common terminal of the non-target laser emitter is VL, and VL is smaller than Vf, so that the non-target laser emitter cannot be turned on during light emission of the target laser, and cannot generate optical crosstalk, thereby ensuring light emission quality of the target laser and improving measurement accuracy of the laser radar 100.

As shown in fig. 1, in some embodiments, the switch module 21 includes a turn-on switch Q that is shared by a plurality of laser emitters, the turn-on switch Q being used to control the turn-on of the laser emitters to the energy storage module 22. Based on the fact that a plurality of laser transmitters share one conducting switch for light-emitting control, cost of a driving circuit can be effectively reduced.

Illustratively, the on-switch includes a controlled terminal, a first connection terminal and a second connection terminal, where the first connection terminal is connected to the common terminal of the laser emission module 10, and the second connection terminal is grounded and has an on state and an off state, and can receive a controlled signal of the controlled terminal, so as to switch between the on state and the off state, and the on-switch includes, but is not limited to, a MOS transistor and a BJT transistor, and is not limited thereto, so long as the on-switch has an on state and an off state, and can switch between the on state and the off state.

The conduction switch is in a conduction state, and a conduction path between the energy storage module 22 and the corresponding target laser emitter is in a conduction state, so that the energy storage module 22 can release energy to the target laser emitter, and the target laser emitter emits light. The on-switch is in an off state, and the conductive path between the energy storage module 22 and the corresponding target laser transmitter is in an off state.

In some embodiments, the voltage clamping module 23 is disposed in parallel with the energy storage module 22 at the P-pole of the laser transmitter. As shown in fig. 1, the output end of the voltage clamping module 23 is connected with the P pole of each laser emitter of the laser emitting module 10, the output end of the energy storage module 22 is also connected with the P pole of each laser emitter of the laser emitting module 10, and the output end of the voltage clamping module 23 is connected to the connection path between the energy storage module 22 and the laser emitting module 10.

In some embodiments, voltage clamping module 23 includes a voltage clamping power supply 231 for causing the difference between the potential of the P-pole of the non-target laser transmitter and the potential of the common when the target laser transmitter is on to be less than the on threshold voltage of the non-target laser transmitter when the target laser transmitter is in a light emitting state.

Optionally, the voltage clamp power supply 231 includes a negative voltage power supply for causing the potential of the P-pole of the non-target laser transmitter to be a negative potential provided by the negative voltage power supply when the target laser transmitter is in a light emitting state.

Referring to fig. 2, the voltage clamping power supply 231 is configured to provide a clamping voltage, where the clamping voltage may be positive or negative, that is, the voltage clamping power supply 231 may be positive or negative, when the target laser emitter is in a light emitting state, to provide the clamping voltage to the non-target laser emitter, so that a difference between a P-pole potential of the non-target laser emitter and a common-end potential of the target laser emitter when the target laser emitter is turned on is smaller than a turn-on threshold voltage of the non-target laser emitter.

Optionally, the voltage clamping module 23 further includes a control switch, where the control switch is configured to connect the voltage clamping power supply 231 and the non-target laser transmitter when the target laser transmitter is in a light emitting state, so that a difference between a potential of a P pole of the non-target laser transmitter and a common terminal potential when the target laser transmitter is turned on is smaller than a turn-on threshold voltage of the non-target laser transmitter.

As shown in fig. 2, for example, each laser transmitter of the laser transmitter module 10 is connected to a voltage clamping power supply 231 through a corresponding control switch. The laser emitter D1 of the laser emission module 10 is connected to the voltage clamping power supply 231 through the control switch Q2, wherein a first end of the control switch Q2 is connected to the laser emitter D1, a second end of the control switch Q2 is connected to the voltage clamping power supply 231, a controlled end of the control switch Q2 is used for receiving a control signal to control the control switch Q2 to switch between a conducting state and a disconnecting state, the control switch Q2 is in a conducting state, and the voltage clamping power supply 231 can provide clamping voltage to the corresponding laser emitter D1.

The laser emitter D2 of the laser emission module 10 is connected to the voltage clamping power supply 231 through the control switch Q3, wherein a first end of the control switch Q3 is connected to the laser emitter D2, a second end of the control switch Q3 is connected to the voltage clamping power supply 231, a controlled end of the control switch Q3 is used for receiving a control signal to control the control switch Q3 to switch between a conducting state and a disconnecting state, the control switch Q3 is in a conducting state, and the voltage clamping power supply 231 can provide clamping voltage to the corresponding laser emitter D2.

The laser emitter D3 of the laser emission module 10 is connected to the voltage clamping power supply 231 through the control switch Q4, wherein a first end of the control switch Q4 is connected to the laser emitter D3, a second end of the control switch Q4 is connected to the voltage clamping power supply 231, a controlled end of the control switch Q4 is used for receiving a control signal to control the control switch Q4 to switch between a conducting state and a disconnecting state, the control switch Q4 is in a conducting state, and the voltage clamping power supply 231 can provide clamping voltage to the corresponding laser emitter D3.

The laser transmitter D4 of the laser transmitter module 10 is connected to the voltage clamping power supply 231 through the control switch Q5. The first end of the control switch Q5 is connected to the laser emitter D4, the second end of the control switch Q5 is connected to the voltage clamping power supply 231, the controlled end of the control switch Q5 is configured to receive a control signal to control the control switch Q5 to switch between an on state and an off state, and the control switch Q5 is in an on state, where the voltage clamping power supply 231 can provide a clamping voltage to the corresponding laser emitter D4.

When the laser emitter D1 is used as a target laser emitter, the laser emitters D2-D4 are non-target laser emitters, the corresponding control switches Q3-Q5 of the voltage clamping module 23 are controlled to be closed, so that the voltage clamping power supply 231 is connected to the corresponding non-target laser emitters D2-D4, clamping voltages are provided for the non-target laser emitters D2-D4, the potential of the P poles of the non-target laser emitters D2-D4 is clamped at a preset value, and the difference between the potential of the P poles of the non-target laser emitters D2-D4 and the potential of the common end when the target laser emitter D1 is conducted is smaller than the conduction threshold voltage of the non-target laser emitters D2-D4, so that the non-target laser emitters D2-D4 cannot be excited to emit light.

It can be appreciated that the voltage clamping power supply 231 may also be configured to provide a clamping voltage to the non-target laser emitter, where the voltage clamping power supply 231 is connected to the corresponding non-target laser emitter, and when the target laser emitter is in a light emitting state, the voltage clamping power supply 231 is controlled to provide a clamping voltage to the corresponding non-target laser emitter, so as to clamp the potential of the P pole of the non-target laser emitter to a preset value, so that the difference between the potential of the P pole of the non-target laser emitter and the potential of the common terminal when the target laser emitter is turned on is smaller than the turn-on threshold voltage of the non-target laser emitter, and further the non-target laser emitter cannot be excited to emit light.

In some embodiments, the voltage clamp power supply 231 includes a negative voltage power supply for causing the potential of the P-pole of the non-target laser transmitter to be a negative potential provided by the negative voltage power supply when the target laser transmitter is in a light emitting state.

As shown in fig. 2, for example, when the laser emitter D1 is a target laser emitter, the voltage clamping power supply 231 is a negative voltage power supply, and when the laser emitter D1 is the target laser emitter, the voltage clamping power supply 231 is connected to the corresponding non-target laser emitter D2-D4 by controlling the control switches Q3-Q5 corresponding to the voltage clamping module 23 to be closed, and clamping voltage is provided to the non-target laser emitter D2-D4, so that the potential of the P pole of the non-target laser emitter D2-D4 is clamped to a negative potential corresponding to the negative voltage power supply, so that the potential of the P pole of the non-target laser emitter D2-D4 is reversely biased, and the difference between the potential of the P pole of the non-target laser emitter D2-D4 and the potential of the common end of the target laser emitter D1 is smaller than the conduction threshold voltage of the non-target laser emitter D2-D4, so that the non-target laser emitter D2-D4 cannot be excited to emit light in the process of using the laser emitter D1 as the target laser emitter.

In some embodiments, the driving circuit 20 further includes a charging module 24, where the charging module 24 is electrically connected to the P pole of the laser transmitter, and is configured to store energy provided by the voltage clamping power supply 231 to charge the energy storage module 22.

As shown in fig. 2, the driving circuit 20 further includes a charging module 24, where the charging module 24 is connected to the P-pole of each laser emitter of the laser emitting module 10, and is configured to store energy and charge the energy storage module 22 with the stored energy. The energy stored in the charging module 24 may be provided by the voltage clamp power supply 231, or may be provided by an external power supply, or alternatively, the energy stored in the charging module 24 may be provided by the voltage clamp power supply 231.

In some embodiments, the energy storage module 22 includes a plurality of energy storage units, each of which is electrically connected to a corresponding laser emitter and is configured to release energy to the corresponding laser emitter when the switch module 21 is closed to drive the corresponding laser emitter to emit light.

As shown in fig. 2, for example, the energy storage module 22 includes 4 energy storage units, namely, an energy storage unit C1, an energy storage unit C2, an energy storage unit C3, and an energy storage unit C4. Each energy storage unit is connected to a respective one of the laser transmitters to release energy to the respective laser transmitter when the switch module 21 is closed, thereby driving the respective laser transmitter to emit light. For example, the energy storage unit C1 is connected to the laser emitter D1 for releasing energy to the laser emitter D1 when the switch module 21 is closed to cause the laser emitter D1 to emit light. The energy storage unit C2 is connected to the laser emitter D2 for releasing energy to the laser emitter D2 when the switch module 21 is closed, so that the laser emitter D2 emits light. The energy storage unit C3 is connected to the laser emitter D3 for releasing energy to the laser emitter D3 when the switch module 21 is closed, so that the laser emitter D3 emits light. The energy storage unit C4 is connected to the laser emitter D4 for releasing energy to the laser emitter D4 when the switch module 21 is closed, so that the laser emitter D4 emits light.

In some embodiments, the charging module 24 includes a plurality of charging units, each of which is connected to and is configured to charge a corresponding one of the energy storage units.

For example, the energy storage units C1, C2, C3, and C4 of the energy storage module 22 are respectively connected to a corresponding charging unit, and each charging unit is configured to charge the respective connected energy storage unit.

It will be appreciated that the power provided by the charging unit to the energy storage unit may be provided by the voltage clamp power supply 231, may be provided by the charging unit itself, or may be provided by an external power supply, which is not limited herein.

Preferably, the charging unit of the charging module 24 is charged by the voltage clamp power supply 231.

Optionally, each group of charging units at least comprises an energy storage inductor and an anti-reflection element, a first end of the energy storage inductor is electrically connected with a first electrode of an external power supply device, a second end of the energy storage inductor is electrically connected with a corresponding energy storage unit through the anti-reflection element, a second end of the energy storage inductor is electrically connected with a second electrode of the power supply device through the control component, and the potential of the first electrode is greater than that of the second electrode. Optionally, the anti-reflective element comprises a diode.

As shown in fig. 2, the charging module 24 includes 4 groups of charging units, each group of charging units includes at least one energy storage inductor, and then the charging module 24 includes at least 4 energy storage inductors, which are respectively an energy storage inductor L1, an energy storage inductor L2, an energy storage inductor L3, and an energy storage inductor L4, where the energy storage inductor L1 is connected with the energy storage unit C1 and is used for charging the energy storage unit C1, the energy storage inductor L2 is connected with the energy storage unit C2 and is used for charging the energy storage unit C2, the energy storage inductor L3 is connected with the energy storage unit C3 and is used for charging the energy storage unit C3, and the energy storage inductor L4 is connected with the energy storage unit C4 and is used for charging the energy storage unit C4.

The voltage clamp power supply 231 is taken as a negative voltage power supply, the energy storage inductor L1 is charged by the voltage clamp power supply 231, and the energy storage inductor L1 is taken as an energy storage unit C1 for charging.

When the energy storage inductor L1 is charged, the control switch Q2 is controlled to be turned on, the control switch Q1 is controlled to be turned off, and the control switches Q3-Q5 are controlled to be turned off respectively, at this time, potential differences exist at two ends of the energy storage inductor L1, so that the voltage clamp power supply 231 charges the energy storage inductor L1, and the energy stored in the energy storage inductor L1 is improved until the charging is finished.

When the energy storage inductor L1 charges the energy storage unit C1, the control switch Q2 is controlled to be turned off, and the control switches Q1, Q3 and Q5 are maintained to be turned off, at this time, a conductive path is formed between the energy storage inductor L1 and the energy storage unit C1, so that the energy storage inductor L1 charges the energy storage unit C1.

Similarly, when the energy storage inductor L2 is charged, the control switch Q3 is controlled to be turned on, the conduction switch Q1 is controlled to be turned on, and the control switches Q2 and Q4-Q5 are controlled to be turned off, at this time, potential differences exist at two ends of the energy storage inductor L2, so that the voltage clamp power supply 231 charges the energy storage inductor L2, and the energy stored in the energy storage inductor L2 is improved until the charging is finished.

When the energy storage inductor L2 charges the energy storage unit C2, the control switch Q3 is controlled to be turned off, and the control switches Q1, Q2 and Q4-Q5 are maintained to be turned off, at this time, a conductive path is formed between the energy storage inductor L2 and the energy storage unit C2, so that the energy storage inductor L2 charges the energy storage unit C2.

In some embodiments, the driving system further includes a power supply device (not shown) for providing a driving voltage to the driving circuit 20, optionally, the driving voltage provided by the power supply device is a clamping voltage provided by the voltage clamping module 23 to the laser emitting module 10.

Optionally, the driving system further comprises a voltage conversion circuit (not shown), and the power supply device provides a driving voltage to the driving circuit 20 through the voltage conversion circuit, optionally, the power supply device provides the driving voltage to the driving circuit 20 through the voltage conversion circuit as a clamping voltage provided by the voltage clamping module 23 to the laser emission module 10.

Illustratively, the first voltage directly output by the driving system is typically different in voltage level from the second voltage required by the driving circuit 20, and thus the first voltage output by the driving system is converted into the second voltage required by the driving circuit 20 by the voltage conversion circuit to supply power to the driving circuit 20 through the second voltage.

As shown in fig. 2, for example, the voltage directly output by the driving system is positive voltage PV, and the driving voltage required by the driving circuit 20 is negative voltage NV, so the positive voltage PV is converted into the negative voltage NV adapted by the driving circuit 20 by the voltage conversion circuit, where the magnitude of the positive voltage PV is set according to the system requirement, and is not limited herein, for example, 12V, 24V, 36V, and 48V. The magnitude of the negative pressure NV can also be set by the requirements of the drive circuit 20, e.g., -5V, -12V.

In some embodiments, the clamping voltage provided by the voltage clamping module 23 is the output voltage of the power supply device.

As shown in fig. 3, based on the driving voltage (e.g., clamping voltage) required by the driving circuit 20 in the driving system, the positive voltage PV of the power supply device is converted to the negative voltage NV, and when the circuit power consumption is relatively high, the efficiency of the positive voltage PV to negative voltage circuit is only about 80%, for example, if the input power provided by the power supply device of the driving system is 5W (1-80%) of the power consumption of 1W is lost only in the process of converting to the negative voltage NV, the power consumption of the driving system is increased, and meanwhile, the lost power consumption is directly converted to heat, so that the heat dissipation difficulty of the driving system is further increased. Therefore, it is necessary to reduce the power consumption of the emitter board under the condition that the driving electric power of the laser emitter module is not changed (the corresponding optical power is not changed).

Based on the above power conversion loss problem, the positive voltage may be provided to the driving circuit 20, and the overall voltage of the driving circuit 20 may be raised by a preset value when the positive voltage is provided. For example, the positive voltage PV output by the power supply device is directly used as the driving power supply of the driving circuit 20, so that the extra power supply conversion is avoided in the energy conversion path, and the circuit power consumption is further optimized.

In this positive voltage driving scheme, the reference level of the driving circuit 20 is raised integrally, for example, the negative voltage NV and the ground point voltage are raised integrally by a preset value, which can be set as required, and preferably, the raised reference voltage value is the same as the negative voltage value.

For example, the original negative voltage NV in the driving circuit 20 is-5V, and the negative voltage NV in the original power supply node is changed to 0V, namely, the ground. The ground GND in the original power supply node in the driving circuit 20 becomes the positive voltage PV output from the power supply device.

The present application also provides a mobile platform comprising at least lidar 100 in specific forms including, but not limited to, aircraft, vehicles, boats, robots, robotic animals, machine toys, and the like.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (15)

1. A drive circuit for a laser transmitter, wherein the number of laser transmitters is a plurality of, and a plurality of N-poles of the laser transmitters are connected to a common terminal, the drive circuit comprising:

the switch module is connected with the public end and used for controlling the light emission of the laser transmitter;

An energy storage module connected to the P-poles of a plurality of the laser emitters and configured to release energy to a target laser emitter when the switch module is closed to drive the target laser emitter to emit light, the target laser emitter including at least one of the plurality of laser emitters;

The voltage clamping module is connected with the P electrode of the laser emitter and is used for enabling the difference between the potential of the P electrode of the non-target laser emitter and the potential of the common end when the target laser emitter is conducted to be smaller than the conduction threshold voltage of the non-target laser emitter when the target laser emitter is in a luminous state, wherein the non-target laser emitter comprises a plurality of laser emitters except for the target laser emitter.

2. The drive circuit of claim 1, wherein the switch module includes a turn-on switch common to a plurality of the laser emitters, the turn-on switch for controlling turn-on of the laser emitters with the energy storage module.

3. The drive circuit of claim 1, wherein the voltage clamping module is disposed in parallel with the energy storage module at a P-pole of the laser transmitter.

4. The drive circuit of claim 1, wherein a parasitic inductance at the common terminal is capable of reducing a potential of the common terminal, the common terminal potential being the reduced potential affected by the parasitic inductance.

5. The drive circuit of claim 1, wherein the voltage clamping module includes a voltage clamping power supply for causing a difference between a potential of a P-pole of the non-target laser transmitter and the common potential when the target laser transmitter is on to be less than a turn-on threshold voltage of the non-target laser transmitter when the target laser transmitter is in a light emitting state.

6. The drive circuit of claim 5, wherein the voltage clamp power supply comprises a negative voltage power supply for causing the potential of the P-pole of the non-target laser transmitter to be a negative potential provided by the negative voltage power supply when the target laser transmitter is in a light emitting state.

7. The drive circuit of claim 5, wherein the voltage clamping module further comprises a control switch for connecting the voltage clamping power supply and the non-target laser transmitter when the target laser transmitter is in a light emitting state such that a difference between a potential of a P-pole of the non-target laser transmitter and the common terminal potential when the target laser transmitter is on is less than an on threshold voltage of the non-target laser transmitter.

8. The drive circuit of claim 5, further comprising a charging module electrically connected to the P-pole of the laser transmitter for storing energy provided by the voltage clamp power source to charge the energy storage module.

9. The drive circuit of claim 1, wherein the energy storage module comprises a plurality of energy storage units, each of the energy storage units being electrically connected to a corresponding one of the laser emitters and configured to release energy to the corresponding laser emitter when the switch module is closed to drive the corresponding laser emitter to emit light.

10. The drive circuit of claim 9, further comprising a charging module comprising a plurality of charging units, each charging unit being coupled to a corresponding one of the energy storage units and configured to charge the corresponding one of the energy storage units.

11. The drive circuit according to claim 10, wherein the charging unit includes an energy storage inductance and an anti-reflection element, a first end of the energy storage inductance is electrically connected to a first electrode of an external power supply device, a second end of the energy storage inductance is electrically connected to the corresponding energy storage unit through the anti-reflection element, and a second end of the energy storage inductance is electrically connected to a second electrode of the power supply device through a control part, and a potential of the first electrode is greater than a potential of the second electrode.

12. A driving system for a laser transmitter, characterized in that the driving system comprises a power supply means for supplying a driving voltage to the driving circuit and a driving circuit according to any one of claims 1-11.

13. The drive system of claim 12, further comprising a voltage conversion circuit, wherein the power supply device provides a drive voltage to the drive circuit through the voltage conversion circuit.

14. A lidar comprising a plurality of laser transmitters and the drive circuit of any of claims 1-11;

Or the lidar comprises a plurality of light emitters and the drive system of claim 12 or 13.

15. A mobile platform comprising the lidar of claim 14.