WO2022261835A1

WO2022261835A1 - Light emitting device and control method therefor, distance measuring device, and movable platform

Info

Publication number: WO2022261835A1
Application number: PCT/CN2021/100170
Authority: WO
Inventors: 张朝
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2022-12-22

Abstract

The present application provides a light emitting device and a control method therefor, a distance measuring device, and a movable platform, the light emitting device comprising: one charging circuit, which comprises a power source and at least one charging element connected to the power source; and at least two groups of emission components, which are connected to at least one charging element, the at least one charging element being used to supply power to the at least two groups of emission components, so that the at least two groups of emission components emit in sequence light pulse sequences, and the power supply being used to charge at least one charging element by means of the same charging circuit before the at least one charging element supplies power to different emission components. The light emitting device of the present application simplifies circuits, has a simple structure, reduces hardware costs and is easy to control.

Description

Light emitting device and control method thereof, distance measuring device, movable platform

technical field

The present application relates to the field of circuit technology, and in particular to a light emitting device and a control method thereof, a distance measuring device, and a movable platform.

Background technique

In the fields of lidar, laser ranging, etc., since the products are directly used in real-life scenarios, there is a risk that the laser will be directly injected into the human eye. Therefore, the Accessible Emission Limit (AEL) stipulates that the laser emission cannot exceed the energy value specified in the safety regulations. So as to ensure that even when the laser is incident on the human eye, it will not cause harm to the human body. Therefore, in the design of the laser emission scheme, the optical power should be increased as much as possible under the premise of being less than the safety limit, so as to achieve a longer detection distance. In the design of a multi-line laser emission driving scheme, since different lasers usually use different charging circuits to charge the charging components, the circuit structure is relatively complicated, requiring multiple hardware to realize multiple charging circuits, and the hardware cost is high.

Therefore, in view of the above problems, the present application provides a light emitting device and a control method thereof, a distance measuring device, and a movable platform.

Contents of the invention

The present application has been made to solve at least one of the above-mentioned problems. Specifically, the first aspect of the present application provides a light emitting device, including:

a charging circuit comprising a power source and at least one charging element connected to said power source;

At least two groups of emitting components are connected to the at least one charging element, and the at least one charging element is used to supply power to the at least two groups of emitting components, so that the at least two groups of emitting components sequentially emit light pulse sequences, and at the Before the at least one charging element supplies power to different emitting components, the power supply is used to charge the at least one charging element through the same charging circuit.

The second aspect of the present application provides a method for controlling a light emitting device, the light emitting device includes a charging circuit and at least two sets of emitting components, the charging circuit includes a power supply and at least one charging element connected to the power supply, The at least two groups of emitting components are connected to the at least one charging element, and the control method includes:

controlling the power supply to charge the at least one charging element through the same charging circuit;

The at least one charging element is controlled to supply power to the at least two groups of emitting components, so that the at least two groups of emitting components sequentially emit light pulse sequences.

The third aspect of the present application provides a distance measuring device, the distance measuring device comprising:

The aforementioned light emitting device is used to sequentially emit laser pulse sequences;

The receiving circuit is used to convert the received laser pulse sequence reflected by the object into an electrical signal output;

a sampling circuit, configured to sample the electrical signal output by the receiving circuit, so as to measure the time difference between emission and reception of the laser pulse sequence;

An arithmetic circuit, configured to receive the time difference output by the sampling circuit, and calculate a distance measurement result.

The fourth aspect of the present application provides a mobile platform, which includes:

Movable platform body;

The aforementioned ranging device is installed on the movable platform body.

A fifth aspect of the present application provides a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the aforementioned control method are implemented.

The present application provides the above-mentioned light emitting device and its control method, distance measuring device, and movable platform, and through at least two groups of emitting components sharing the same charging circuit, it can be realized that in the process of emitting light pulses from different groups of emitting components, only through the same The charging circuit charges the charging element, and there is no need to design different charging circuits for different groups of transmitting components. Therefore, the circuit is simplified, the structure is simple, the hardware cost is reduced, and it is easier to control.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic diagram of a circuit structure of a light emitting device;

FIG. 2 is a timing control diagram of the light emitting device shown in FIG. 1;

Fig. 3 is a schematic diagram of the connection relationship between modules of a light emitting device provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a circuit structure of a light emitting device provided by an embodiment of the present application;

FIG. 5 is a timing control diagram of the light emitting device shown in FIG. 4;

FIG. 6 is a schematic diagram of a method for controlling a light emitting device provided by an embodiment of the present application;

Fig. 7 is a frame diagram of a ranging device provided by an embodiment of the present application;

Fig. 8 is a schematic diagram of an embodiment of a distance measuring device provided by an embodiment of the present application using a coaxial optical path.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

In the fields of lidar, laser ranging, etc., since the products are directly used in real-life scenarios, there is a risk that the laser will be directly injected into the human eye. Therefore, the Accessible Emission Limit (AEL) stipulates that the laser emission cannot exceed the energy value specified in the safety regulations. So as to ensure that even when the laser is incident on the human eye, it will not cause harm to the human body. Therefore, in the design of the laser emission scheme, the optical power should be increased as much as possible under the premise of being less than the safety limit, so as to achieve a longer detection distance. In the design of the multi-line laser emission drive scheme, due to the individual differences of the laser or the device of the drive circuit, the use of a complete emission drive scheme will lead to differences in the output power of each line, and thus differences in the detection distance, which will affect the performance of each line consistency.

First, the inventors of the present application proposed a light emitting device. The circuit structure and timing of a light emitting device are described with reference to Fig. 1 and Fig. 2, wherein Fig. 1 is a schematic diagram of a circuit structure of a light emitting device; Fig. 2 is a timing control of the light emitting device shown in Fig. 1 picture. Wherein, in the present application, the light emitting device is used to emit a sequence of light pulses, for example, the light emitting device is a laser emitting device, which is used to emit a sequence of laser pulses.

The light emitting device shown in Figure 1 performs laser emission according to the time sequence in Figure 2. As shown in Figure 1, the light emitting device includes 3 lasers, such as D3, D6, and D9 shown in Figure 1, composed of 3 lasers A 3-line laser emission drive circuit is developed. The working process of each line of laser emission drive circuit mainly includes charging (the power supply charges the inductor), light emission (the capacitor drives the laser to emit light), reset (capacitor discharge reset) and energy transfer (the inductor will store the energy transfer to capacitor) four processes. For ease of description, the laser emission drive circuit that drives D3 to emit light is called the first line laser emission drive circuit, the laser emission drive circuit that drives D6 to emit light is called the second line laser emission drive circuit, and the laser emission drive circuit that drives D9 to emit light is called The third line laser emission drive circuit. The working process of the first-line laser emission driving circuit (the laser emission driving circuit driving D3 to emit light) will be introduced as an example below. As shown in Figure 2, t0 to t3 is the charging process, t0 to t1 is the light emitting process, t1 to t2 is the reset process, and t3-t4 is the energy transfer process. It should be noted that, in fact, the luminescence and energy transfer processes are very short, and the luminescence may be a subset of t0 to t1, for example, starting from t0 for a short period of time, which is shorter than the time period from t0 to t1, and the energy transfer It is also possible to be a subset of t3 to t4, for example starting from t3 for a short period of time which is smaller than the time period of t3 to t4. At time t0, the control signal START1 turns on the switch MOS transistor (that is, Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET for short)) Q1, Q1 turns on the branch where it is located, and supplies power to the inductor L1 is charged (as shown in circuit 11 in FIG. 1 ), and capacitor C1 drives a laser (including a laser diode) D3 to emit light (as shown in circuit 13 in FIG. 1 ). From t1 to t2 is the reset phase. At t1, the reset signal RESET turns on the switch MOS transistor Q4 to discharge and reset the capacitor C1 (as shown in loop 14 in FIG. 1 ), so as to release the residual energy in the capacitor C1. At time t2, the reset signal RESET turns off the switch MOS transistor Q4 to prepare for the next charging of the capacitor. At time t3, the control signal START1 turns off the switch MOS transistor Q1, and the inductor transfers its stored energy to the capacitor C1 through the diode D1 and the diode D2 (as shown in loop 12 in FIG. 1 ). t4 to t7 are the processes of charging, emitting light, resetting and energy transfer of the second line laser (including laser diode) D6. t8-t11 is the process of charging, emitting light, resetting, and energy transfer of the third-line laser D9 (including the laser diode). At this point, one cycle is completed. At time t12, the next cycle starts again from the first-line laser D3 (including the laser diode), and cycles in turn. However, when the first-line laser emission drive circuit (the laser emission drive circuit that drives D3 to emit light) charges the inductor L1, the power supply needs to charge L1 through the L1, D1, and Q1 loops, as shown in loop 11 in Figure 1 , when the second-line laser emission drive circuit (the laser emission drive circuit that drives D6 to emit light) charges the inductance L1, the power supply needs to charge L1 through the L1, D4, and Q2 loops, as shown in the loop 15 in Figure 1, the first When the three-line laser emission drive circuit (the laser emission drive circuit that drives D9 to emit light) charges the inductor L1, the power supply needs to charge L1 through the L1, D7, and Q3 loops, as shown in loop 16 in FIG. 1 . In the process of driving different light emitters to emit light, the charging element L1 uses different charging circuits such as circuit 11, circuit 15, and circuit 16 to charge, resulting in a relatively complicated circuit structure, which requires D1, D4, D7, and Q1, Q2, Multiple charging circuits such as Q3 are used to realize multiple charging circuits, and the hardware cost is high. In practical engineering applications, when the number of lines of the laser emission drive circuit increases, the hardware cost will be even higher, and the hardware circuit design and timing control will follow. become more complicated.

Furthermore, in the process of charging L1, it is necessary to control the charging of L1 through the closing of Q4, and the process of driving D3 to emit light through C1 also needs to be controlled through the closing of Q4, because Q4 is used to control charging and It is used to control the lighting, so that the charging process and the lighting process must be combined together. It is impossible to decouple the charging process and the lighting process, and it is also impossible to decouple the charging module and the lighting module in the circuit design. This interdependent and mutually restrictive design Reduced control flexibility.

In addition, after the inductor transfers the energy to the capacitor, the energy is kept in the capacitor until the next light emission, corresponding to t3 to t4, t7 to t8, etc. in Figure 2. When the temperature rises, the leakage current of lasers (including laser diodes) (D3, D6, D9) and switching MOS tubes (Q1, Q2, Q3) increases, resulting in a drop in capacitor voltage. When the light-emitting interval (t0 to t4, t4 to t8) between the two lines is fixed, but the charging pulse width (t0 to t3, t4 to t7) is inconsistent, the duration of leakage (t3 to t4, t7 to t8) is also inconsistent, resulting in The calibrated power becomes uneven when emitting light at high temperature, which affects the consistency of the performance of each line. For the same laser (including laser diodes), the luminous power decreases with the increase of operating temperature; at the same time, the photoelectric conversion efficiency gradually decreases with the aging of the working time. Therefore, in the multi-line transmission scheme, it is necessary to realize that the power of each line can be adjusted, so as to compensate for individual device differences, temperature changes, and aging attenuation differences. In view of the complex circuit structure and high hardware cost in the above-mentioned multi-line laser emission driving scheme, an embodiment of the present application also provides a light emitting device, including: a charging circuit, including a power supply and at least one charging circuit connected to the power supply Components; at least two groups of emitting components, connected to at least one charging component, at least one charging component is used to supply power to at least two groups of emitting components, so that at least two groups of emitting components sequentially emit light pulse sequences, and at least one charging component emits to different The power supply is used to charge at least one charging element via the same charging circuit before the components are powered. Wherein, the connection between at least two sets of emitting components and at least one charging element may be direct connection or indirect connection through other components or modules. At least one charging element can directly supply power to at least two groups of emitting components, and can also indirectly supply power to at least two groups of emitting components through other components. The energy element supplies power to at least two sets of radiating assemblies. In the light emitting device provided by the present application, by sharing the same charging circuit with at least two groups of emitting components, it is possible to charge the charging element only through the same charging circuit during the process of emitting light pulses from different groups of emitting components, and it is not necessary to charge the charging components for different groups. The transmitting components are designed with different charging circuits, so the circuit is simplified, the structure is simple, the hardware cost is reduced, and it is easier to control.

Optionally, the light emitting device 30 provided by the embodiment of the present application, as shown in FIG. The energy module 32 is connected, and the energy storage module 32 is connected with at least two groups of transmitting assemblies 33 respectively.

Optionally, the charging module 31 includes at least one charging element in the above-mentioned charging circuit, and also includes at least one first switch, at least one first switch is used to control the at least one charging element and the power supply, to control the power supply A charging element performs charging.

Optionally, the energy storage module 32 includes at least one energy storage element and at least one second switch, and the at least one second switch is used to control the on-off of the charging module 31 and the at least one energy storage element to control the charging module 31 to Energy is transferred to at least one energy storage element.

Optionally, each group of emitting components 33 includes a light emitter and at least one third switch, and the at least one third switch is used to control the on-off of the energy storage module 32 and the light emitter to control the energy storage module 32 Discharge the light emitters in the group, causing the light emitters to emit light.

In the light emitting device provided by the embodiment of the present application, the charging module is connected to the energy storage module, and the energy storage module is connected to at least two sets of emitting components respectively. The charging module and the emitting component control the on-off of their respective circuits through their respective switches, so that charging can be realized. The independent control between the module and the launch assembly improves the control flexibility and makes the control easier.

Optionally, referring to FIG. 3 again, the light emitting device 30 may further include a reset module 34 connected to the energy storage module for releasing energy stored in at least one energy storage element in the energy storage module. In an implementation manner, the reset module 34 is used for releasing the energy stored in the at least one energy storage element before the charging module 31 starts transferring energy to the at least one energy storage element. There may or may not be an interval between when the reset module 34 releases the energy stored in the at least one energy storage element and when the charging module 31 starts transferring energy to the at least one energy storage element. Exemplarily, the interval time is less than the time it takes for the power source to charge the at least one charging element.

By releasing the stored energy before transferring energy to the energy storage element, that is, resetting the energy storage element, the energy stored in the energy storage element can be more precisely controlled, so that each emission of light can be more precisely controlled The power of the pulse. If there is energy stored in the energy storage element before the energy is transferred to the energy storage element, transferring energy to it without resetting the energy storage element will cause the energy actually stored in the energy storage element to be greater than the energy transferred to it, The light pulse emitted at this time may exceed the safety limit, and because the energy value stored in the energy storage element may be different before transferring energy to the energy storage element each time, if the energy storage element is not reset, the light pulse emitted each time will be The power is inconsistent, seriously affecting the performance of the light emitting device.

Optionally, the reset module 34 includes at least one fourth switch, which is connected to the at least one energy storage element, and is used to control the connection between the ground and the at least one energy storage element, so as to control the at least one energy storage element to release its stored energy. energy of. The at least one fourth switch may be directly or indirectly connected to the ground. Exemplarily, the at least one fourth switch may be connected to the ground wire or to the housing of the light emitting device, which is not limited in the present application.

Optionally, the fourth switch may be the first switch and the second switch in the foregoing embodiments. Exemplarily, when both the first switch and the second switch are in the closed state, the connection between the ground and the at least one energy storage element is controlled to control the at least one energy storage element to release the stored energy. The reset module can further reduce the hardware cost by multiplexing the switches of the charging module and the energy storage module. The circuit structure and timing control of an embodiment of the present application will be introduced below in conjunction with FIG. 4 and FIG. 5. It should be noted that the circuit structure of FIG. 4 and the timing control of FIG. 5 are only an implementation of the embodiment of the present application. Improvements on this basis are all within the protection scope of the present application. Figure 4 is a schematic diagram of the circuit structure of a light emitting device provided by an embodiment of the present application, the circuit structure can be applied to the light emitting device of any of the foregoing embodiments, and Figure 5 corresponds to the light emitting device shown in Figure 4 Timing control diagram, the timing can also be used to control the light emitting device in the foregoing embodiments.

In the light emitting device provided by an embodiment of the present application, as shown in FIG. 4 , the negative pole of the power supply is grounded, and the positive pole of the power supply is electrically connected to the first end of the charging element L1 . The charging element L1 can be an inductor or other elements capable of storing energy. Optionally, the number of charging elements L1 may be 1, or 2, or 3, or more. Optionally, two or more charging elements L1 can be connected in series, in parallel, or mixed together. The second terminal of the charging element L1 is connected to the first terminal of the first switch Q4, and the second terminal of the first switch Q4 is grounded. The first switch Q4 is any switch or switch circuit that can realize a switch function. Optionally, the first switch Q4 may be a field effect transistor, or a diode, or a triode. Optionally, there may be a parasitic diode inside the first switch Q4. Optionally, the first switch Q4 is connected in parallel with a diode. The second end of the charging element L1 is also connected to the second end of the second switch Q5, and the first end of the second switch Q5 is connected to the first end of the energy storage element C1. The second switch Q5 is any switch or switch circuit that can realize a switch function. Optionally, the second switch Q5 may be a field effect transistor, or a diode, or a triode. Optionally, there may be a parasitic diode inside the second switch Q5. Optionally, the second switch Q5 is connected in parallel with a diode. Optionally, the energy storage element C1 may be a capacitor or other elements capable of storing energy. Optionally, the number of energy storage elements C1 may be 1, or 2, or 3, or more. Optionally, two or more energy storage elements C1 can be connected in series, in parallel, or mixed together. The second end of the energy storage element C1 is grounded, and the first end of the energy storage element C1 is also connected to at least two sets of emitting assemblies, that is, at least two sets of emitting assemblies are connected in parallel and electrically connected to the first end of the energy storage element C1. Optionally, the light emitter may be an element capable of emitting light such as a laser or a light emitting diode. Optionally, the first ends of the light emitters D3, D6, and D9 in each group of emitting components are electrically connected to the first end of the energy storage element C1. When the light emitters are laser diodes, the first ends can be laser diodes The anode of the third switch Q1, Q2, Q3 in each group of emission components (for example, the drain of the MOS transistor) is electrically connected to the second end of the light emitter D3, D6, D9 (for example, the second end can be the cathode of the laser diode), the second terminals (for example, the source) of the third switches Q1, Q2, Q3 are all grounded, or, in other examples, can also be the The first end (for example, the drain) of the third switch Q1, Q2, Q3 is electrically connected to the first end of the energy storage element C1 in the energy storage circuit 23, and the second end (for example, the source) of the third switch Q1, Q2, Q3 ) is electrically connected to the first end of the light emitters D3, D6, D9, the first end may be the anode of the laser diode, and the second end of the light emitters D3, D6, D9 is grounded. It is worth mentioning that, on the premise of no contradiction, the positions of the components shown in FIG. 4 can be exchanged, or other components can also be added.

In conjunction with FIG. 5, the specific timing of the light emitting device in FIG. 4 is exemplarily described as follows:

Taking the 3-line light emitting device as an example, the light-emitting process of each line light emitter (such as a laser diode) is described. The light-emitting process of each line light emitter can be divided into three processes, charging (resetting)->energy transfer- > glow.

Firstly, the period from t0 to t5 is the light emitting process of the light emitter D3, specifically as follows:

The first stage (that is, the charging (resetting) stage): at time t0, the DOWN signal is pulled high (that is, at a high level), the first switch Q4 is turned on, and the power supply V charges the charging element L1 through the first switch Q4, as As shown in the charging circuit 22 in Fig. 4; at time t1, the UP signal is pulled high, and the second switch Q5 is turned on. The path Q4 performs discharge reset, as shown in path 24 in FIG. 4 ; at time t2, the second switch Q5 is turned off, the energy storage element C1 is in a reset state, and the charging element L1 continues to charge. By changing the duration between t0-t1 (or t0-t3), the amount of charging to the charging element L1 is adjusted, so as to ensure the consistency of the luminous power of different lasers.

The second stage (that is, the energy transfer stage): at time t3, the DOWN signal is pulled low, the first switch Q4 is turned off, and the energy stored in the charging element L1 passes through the charging element L1, the second switch Q5 (for example, the body diode of the second switch Q5 ) is transferred to the energy storage element C1, as shown by path 23 in FIG. 4 .

The third stage (that is, the light-emitting stage): at time t4, the START1 signal is pulled high, the third switch Q1 (such as a MOS transistor) is turned on, and the voltage in the energy storage element C1 passes through the energy storage element C1, the light emitter D3, and the third switch The Q1 path (also referred to as the loop herein) drives the laser such as the light emitter D3 to emit light, as shown in the path 25 in FIG. As shown in the path 21 in FIG. 4 ; at time t5 (at this time, the light emission has ended), the START1 signal is pulled low, and the third switch Q1 is turned off. So far, the light emitting process of the light emitter D3 is completed.

Then proceed to the light emitting process of the light emitter D6 in the next cycle (corresponding to the period from t6 to t11), as follows:

The first stage (that is, the charging (resetting) stage): at time t6, the DOWN signal is pulled high (that is, at a high level), the first switch Q4 is turned on, and the power supply V charges the charging element L1 through the first switch Q4, as As shown in the charging circuit 22 in Figure 4; at time t7, the UP signal is pulled high, and the second switch Q5 is turned on. The path Q4 performs discharge reset, as shown in path 24 in FIG. 4 ; at time t8, the second switch Q5 is turned off, the energy storage element C1 is in a reset state, and the charging element L1 continues to charge. By changing the duration between t6-t7 (or t6-t9), the charging amount of the charging element L1 is adjusted, so as to ensure the consistency of the luminous power of different lasers.

The second stage (that is, the energy transfer stage): at time t9, the DOWN signal is pulled low, the first switch Q4 is turned off, and the energy stored in the charging element L1 passes through the charging element L1, the second switch Q5 (for example, the body diode of the second switch Q5 ) is transferred to the energy storage element C1, as shown by path 23 in FIG. 4 .

The third stage (that is, the light-emitting stage): at time t10, the START2 signal is pulled high, the third switch Q2 is turned on, and the voltage in the energy storage element C1 passes through the path of the energy storage element C1, the laser diode D6, and the third switch Q2 (also referred to herein as circuit) to drive a laser such as laser diode D6 to emit light, as shown in path 26 in Figure 4; at the same time, the current in the charging element L1 is reversed, and the body diode of the first switch Q4 provides freewheeling, as shown in path 21 in Figure 4 ; At time t11 (light emission is over at this time), the START2 signal is pulled low, and the third switch Q2 is turned off. So far, the light emitting process of the laser diode D6 is completed.

Then carry out the light emitting process of the laser diode D9 in the next cycle (corresponding to the period from t12 to t17), as follows:

The first stage (that is, the charging (resetting) stage): at time t12, the DOWN signal is pulled high (that is, at a high level), the first switch Q4 is turned on, and the power supply V charges the charging element L1 through the first switch Q4, as As shown in path 22 in Figure 4; at time t13, the UP signal is pulled high, and the second switch Q5 is turned on. At this time, if there is electricity in the energy storage element C1, it will pass through the energy storage element C1, the second switch Q5, and the first switch Q4 The path performs discharge reset, as shown in path 24 in FIG. 4 ; at time t14, the second switch Q5 is turned off, the energy storage element C1 is in a reset state, and the charging element L1 continues to charge. By changing the time length between t12-t13 (or t12-t15), the charging amount of the charging element L1 is adjusted, so as to ensure the consistency of the luminous power of different lasers.

The second stage (that is, the energy transfer stage): at time t15, the DOWN signal is pulled low, the first switch Q4 is turned off, and the energy stored in the charging element L1 passes through the charging element L1, the second switch Q5 (for example, the body diode of the second switch Q5 ) is transferred to the energy storage element C1, as shown by path 23 in FIG. 4 .

The third stage (that is, the light-emitting stage): at time t16, the START3 signal is pulled high, the third switch Q3 is turned on, and the voltage in the energy storage element C1 passes through the path of the energy storage element C1, the laser diode D9, and the third switch Q3 (also referred to herein as circuit) to drive a laser such as a laser diode D8 to emit light, as shown in path 27 in Figure 4; at the same time, the current in the charging element L1 is reversed, and the body diode of the first switch Q4 provides freewheeling, as shown in path 21 in Figure 4 ; At time t117 (light emission is over at this time), the START3 signal is pulled low, and the third switch Q3 is turned off. So far, the light emitting process of the laser diode D9 is completed.

In the light-emitting device of the embodiment of the present application, since the charging element L1 only uses the same charging circuit 22 for charging during the process of driving different light emitters to emit light, the circuit structure is relatively simple, and it does not need to add multiple hardware such as switching circuits and diodes. Multiple charging circuits are realized, and the hardware cost is low. The energy storage module is connected to at least two sets of transmitting components, and the charging module and the transmitting component control the on-off of their respective circuits through their own switches, which can realize independent control between the charging module and the transmitting component, which improves the flexibility of control, and at the same time Also makes the control easier. And only by controlling the opening or closing of Q4 through the DOWN signal can control the charging time of the charging element L1, and then adjust the charging amount of the charging element L1, so as to ensure the consistency of the luminous power of different lasers. Compared with the need for multiple switches to cooperate According to the prior art, the embodiment of the present application makes the control easier.

The light-emitting device in the embodiment of the present application is described in detail below. As an example, the light-emitting device in the embodiment of the present application includes a charging circuit, and the charging circuit includes a power supply and at least one charging element connected to the power supply, for example, as shown in Figure 4 In the charging circuit 22 shown (indicated by the arrow curve marked with reference numeral 22 in FIG. 4 ), the charging element L1 can be, for example, an inductor, or other charging elements capable of storing electrical energy and releasing it when needed. The number of charging elements can be reasonably set according to needs. In the example shown in FIG. A plurality of inductors, these inductors may be connected in series, parallel, or mixed with each other, and the inductors connected in series, parallel, or mixed are connected in series with the power supply.

Optionally, the charging circuit further includes at least one first switch, the power supply, at least one charging element and at least one first switch are connected in series, and the first switch is used to control the conduction of the charging circuit so that the power supply passes through the first switch to at least one The charging element is charged. For example, as shown in FIG. 4 , the first switch Q4 may be any switch or switch circuit that can realize a switch function. Optionally, the first switch Q4 may be a field effect transistor (MOS transistor), or a diode, or a triode. Optionally, the MOS transistor can be NMOS or PMOS, the gate of the first switch Q4 is electrically connected to the control signal DOWN, and the first switch Q4 is controlled to be turned on and off by the control signal DOWN. When the first switch Q4 is turned on, The charging circuit 22 is turned on, so that the power supply V charges at least one charging element L1 through the first switch Q4, and the current output from the power supply V flows through the charging element L1 and then flows through the first switch Q4. Optionally, there may be a parasitic diode inside the first switch Q4. Optionally, the first switch Q4 is connected in parallel with a diode.

Further, in order to realize the light emitting function of the light emitting device, the light emitting device of the present application includes at least two groups of emitting components, and each group of emitting components is used to emit light beams, such as emitting laser light, after obtaining electric energy. The number of emitting components included in the light emitting device can be reasonably set according to actual needs. In the example shown in Figure 4, the light emitting device includes 3 sets of emitting components. In other examples, other numbers of emitting components can also be included. For example, 4 groups, 5 groups, 6 groups, etc. Optionally, each group of emitting components includes a light emitter and at least one third switch, and each group of light emitters and at least one third switch are connected in series. In the example shown in Figure 4, each group of emitting components includes a light emitter and a third switch, wherein the first group of emitting components includes a light emitter D3 and a third switch Q1, and the second group of emitting components includes a light The transmitter D6 and the third switch Q2, and the third group of transmitting components includes the light transmitter D9 and the third switch Q3. Optionally, the light emitter may be a laser, and the laser may be a laser diode, or other devices capable of emitting light, such as a light emitting diode. The third switch is used to control the light emission of the light emitter connected in series with it. For example, when the third switch is turned on, the light emitter connected to the third switch obtains electric energy and emits light. Optionally, the third switch may include a MOS transistor, such as NMOS or PMOS, the gate of the MOS transistor is electrically connected to a control signal, and the control signal controls the turn-on and turn-off of the MOS transistor. Optionally, as shown in FIG. 4, for example, the third switch Q1 of the first group of emission components is, for example, the gate of a MOS transistor electrically connected to the control signal START1, and the third switch Q2 of the second group of emission components is, for example, the gate of a MOS transistor. The electrode is electrically connected to the control signal START2, and the gate of the third switch Q3 of the third group of emitting components, such as a MOS transistor, is electrically connected to the control signal START3.

In order to provide electric energy to each group of transmitting components, each group of transmitting components is connected to the charging circuit respectively, for example, each group of transmitting components is respectively connected to at least one charging element of the charging circuit, and at least one charging element is used to supply power to each group of transmitting components, so that Each group of emitting components sequentially emits light pulse sequences. Optionally, each group of emitting components can be directly connected to the charging element, or other components, such as one or more diodes, can also be connected between each group of emitting components and the charging element , transistor, one or more resistors, etc. Further, in order to realize the light emission of the emitting assembly, before at least one charging element of the charging loop supplies power to different emitting assemblies, the power supply is used to charge at least one charging element in the charging loop through the same charging loop, thereby ensuring that the emitting assembly emits light Before, the electric energy used to emit light from the emitting components is stored in the charging element, and, compared with the scheme in which each group of emitting components uses a different charging circuit, since each group of emitting components of the light emitting device of the present application is connected to the same charging circuit, Therefore, multiple sets of emitting components reuse the same charging circuit, thereby simplifying the circuit of the light emitting device, reducing hardware costs, and making it easier to control.

In one example, optionally, each group of emitting components further includes diodes connected in parallel with each light emitter, such as diodes D2, D5, and D8 shown in FIG. 4, which protect the light emitters, and the diodes Configured to prevent reverse biasing from damaging the light emitters (e.g., laser diodes) by carrying current to each light emitter, optionally, the first end of the diode (e.g., the cathode) can be electrically connected to a storage circuit (described below) Described in detail in the text), the second end of the diode, such as the anode, is electrically connected to the first end of the third switch. When the third switch is a MOS tube, the first end of the third switch can be the drain of the MOS tube. Optionally, The first end of the diode is directly electrically connected to the end where the energy storage element of the energy storage circuit is connected to the light emitter, or, optionally, other components are connected between the first end of the diode and the energy storage element of the energy storage circuit , other components include but not limited to resistors, other diodes, transistors, etc. Optionally, the diodes connected in parallel with each light emitter may include Schottky diodes. In other examples, the diodes connected in parallel with each light emitter can also be electrically connected to the energy storage circuit through their respective third switches. For example, as shown in FIG. 4, the first end of the diode D2 can also be connected through the third switch Q1 Electrically connected to the energy storage element C1 of the energy storage circuit, the first end of the diode D5 can also be electrically connected to the energy storage element C1 of the energy storage circuit through the third switch Q2, and the first end of the diode D8 can also be electrically connected to the energy storage element C1 through the third switch Q3 The energy storage element C1 is electrically connected to the energy storage circuit. The light emitters in each emitting assembly can be packaged in any suitable packaging manner, for example, they can be packaged in different packaging structures. In one example, the light emitters in each emitting assembly in at least two groups of emitting assemblies are packaged in In a device, by packaging the light emitter in a device, the reliability of the device can be improved.

The direction of the emitted light of each group of light emitters can be reasonably designed according to actual needs, for example, for the light emitters in two different emitting assemblies in at least two groups of emitting assemblies, the directions of emitted light such as laser light are parallel Or they are not parallel, or they can be arbitrary groups of parallel, others are not parallel, etc.

As an example, the light-emitting device of the present application further includes an energy storage circuit, the energy storage circuit includes at least one energy storage element and at least one charging element (that is, the charging element in the charging circuit), and at least one charging element is used to pass through the energy storage circuit Energy is transferred to at least one energy storage element such that the at least one energy storage element powers at least two sets of transmitting assemblies. Wherein, the number of energy storage circuits can be reasonably set according to actual needs. For example, the number of energy storage circuits can be 1, 2, 3, etc., and the number of energy storage elements included in the energy storage circuits can also be reasonably set according to needs. For example, it can be 1, 2, 3, 4, etc., and multiple energy storage elements can be connected in series or in parallel. Optionally, the energy storage circuit 23 shown in FIG. 4 (in FIG. The arrow curve marked by the reference mark 23 represents), the quantity of the energy storage circuit 23 can be one, and at least one charging element L1 (such as an inductor) is used to transfer energy to at least one energy storage element C1 through the same energy storage circuit 23 ( Such as capacitor), because the same charging circuit and energy storage circuit are reused by different groups of transmitting components of the present application, so the circuit is simplified, the structure is simple, and it is easier to control.

Herein, the energy storage element is, for example, any element capable of storing electric energy and releasing electric energy when needed, for example, the energy storage element includes a capacitor.

Optionally, the energy storage circuit may also include other components other than at least one energy storage element and at least one charging element. For example, the energy storage circuit further includes at least one second switch and a diode. When the first switch is turned off and When the second switch is turned off, the charging element releases the stored energy through a diode to charge at least one energy storage element. Optionally, the diode is a body diode of the second switch, or the diode is a diode connected in parallel with the second switch, The anode of the diode is electrically connected to the charging element, and the cathode of the diode is electrically connected to the energy storage element. For example, as shown in FIG. 4 , the second switch Q5 is a MOS transistor, and the diode is a body diode of the MOS transistor. By arranging the diode and using the characteristics of the forward conduction and reverse cutoff of the diode, when the first switch is turned off and the second switch is turned off, the charging element releases the stored energy through the diode to charge at least one energy storage element, and the charging element After charging the energy storage element, when the second switch is turned off, the electric energy can be kept in the charging element by utilizing the reverse cut-off characteristic of the diode, so as to supply power to the light emitting component to make it emit light. In other examples, the energy storage circuit may further include, for example, at least one resistor and the like. It is worth mentioning that, under the premise of no contradiction, the positions of the various components in the energy storage circuit can also be exchanged.

In order to realize the light-emitting function of the light-emitting device, optionally, each group of emitting components is connected to an energy storage circuit in parallel. When the third switch of any one of the at least two groups of emitting components is turned on, at least one energy storage element is used to The first light emitter discharges to make the first light emitter emit light, the first light emitter is a light emitter connected to the third switch that is turned on, and the first light emitter is any one of at least two groups of emitting components The light emitter in, for example, comprises 3 groups of emission assemblies in the light emission device as shown in Figure 4, and each group of emission assemblies is connected in parallel to the energy storage element C1 of the energy storage circuit 23, and the first light emitter can be a light emission Any one of the device D3, the light emitter D6, and the light emitter D9. When the third switch Q1 is turned on, the voltage in the energy storage element C1 (such as a capacitor) passes through the energy storage element C1, the light emitter D3, and the third switch. The Q1 path (also referred to herein as a loop) drives the light emitter D3 to emit light, as shown in path 25 in Figure 4; when the third switch Q2 is turned on, the voltage in the energy storage element C2 (such as a capacitor) passes through the energy storage element C2, the light The transmitter D6 and the third switch Q2 path (also referred to herein as a loop) drive the light emitter D6 to emit light, as shown in the path 26 in Figure 4; when the third switch Q3 is turned on, the voltage in the energy storage element C3 (such as a capacitor) The light emitter D9 is driven to emit light through the energy storage element C3, the light emitter D9, and the third switch Q3 path (also referred to herein as a loop), as shown in path 27 in FIG. 4 .

As an example, the light emitting device of the present application further includes a reset circuit, the reset circuit includes at least one energy storage element, and the reset circuit is used to release the energy in the at least one energy storage element when the power supply charges the at least one charging element, The energy storage element is also the energy storage element in the energy storage circuit. By releasing the energy in the energy storage element, the residual energy of the energy storage element is prevented from causing the energy of the light emitter in the emitting component to exceed the safety value when emitting light.

Optionally, the reset circuit further includes at least one second switch and at least one first switch (the first switch is also the first switch in the charging circuit), at least one energy storage element, at least one second switch and at least one The first switch is connected in series, and the first switch and the second switch are also used to control the conduction of the reset circuit, so that at least one energy storage element releases energy through the first switch and the second switch. Optionally, the reset circuit 24 shown in FIG. 4 (represented by the arrow curve marked by reference numeral 24 in FIG. 4 ) includes an energy storage element C1 such as a capacitor, a second switch Q5, a first switch Q4, and a second switch Q5. The switch Q5 may include a MOS transistor, and the MOS transistor may be NMOS or PMOS. The gate of the second switch Q5 is electrically connected to the control signal UP, and the turn-on and turn-off of the second switch Q5 is controlled by the control signal. When the second switch Q5 When both the first switch Q4 and the first switch Q4 are turned on, the reset circuit 24 is turned on, so that at least one energy storage element C1 releases energy through the first switch Q4 and the second switch Q5.

Herein, the period between the current lighting period of at least two groups of emitting components and the last lighting period of at least two groups of emitting components can be regarded as a period, and according to this period, the light emitters of the light emitting device can emit light in sequence. The period may be, for example, the time between the start of the last light-emitting period and the start of the current light-emitting period, or the period may also be the time between the end of the last light-emitting period and the end of the current light-emitting period, or It can be any other suitable division method. Optionally, at least two groups of emitting components are used to periodically emit light pulse sequences. Herein, the light emitter that is emitting light during the current light-emitting period and the light emitter that was emitting light during the previous light-emitting period may be the same light emitter, or Can be different light emitters. In one example, at least two groups of emitting components include a first light emitter and a second light emitter, the first light emitter and the second light emitter have different light-emitting durations (also referred to herein as light-emitting periods), and the two belong to different group of emitting components, in other examples, at least two light emitters in two sets of emitting components have the same light emitting time, and some of the light emitters have the same light emitting time, or at least two groups of light emitters in the emitting components emit light devices have the same lighting duration. Optionally, in multiple cycles, the interval T between two adjacent lighting periods can be made the same or different through timing adjustment.

Optionally, a first period, a second period and a third period are included between the current lighting period of at least two groups of emitting assemblies and the last lighting period of at least two groups of emitting assemblies. Optionally, in FIGS. 4 and 5 In the illustrated embodiment, if the current lighting period is the period from t10 to t11 in FIG. 5, and the light emitter D6 in FIG. What emits light is the light emitter D3, the power supply V is used to charge at least one charging element L1 through the same charging circuit 22 in the first period (corresponding to the period t6 to t9 in Figure 5), and the reset circuit 24 is used to charge the power supply V releases the energy in at least one energy storage element C1 during the second period (corresponding to the period t7 to t8 in FIG. 5 ) within the first period during which at least one charging element L1 is charged, and at least one charging element L1 is used for the third period (for example, corresponding to part or all of the period from t9 to t10 in FIG. 5 ), the energy is transferred to at least one energy storage element C1 through the energy storage circuit 23, and at least one energy storage element C1 is used for the current lighting period (FIG. 5 During the period from t10 to t11), power is supplied to the light emitter D6 that is currently emitting light.

Optionally, there is also a waiting time between the first period and the last lighting period of at least two groups of emitting assemblies, and the waiting time refers to the time period in one cycle except the lighting period, the first period, the second period and the third period. time. In a specific example, as shown in Figure 4 and Figure 5, if the current lighting period is the period from t10 to t11 in Figure 5, then the last lighting period of the emitting component is from t4 to t5, and the waiting time can be from t5 to t6 time between.

In one example, the current light-emitting period is located after the third period, and the interval between the third period and the current light-emitting period is less than a preset interval, which can be reasonably set according to actual needs. Optionally, the preset interval is the second A period of time, or, further, the preset interval is the current light-emitting period, the first period and the current light-emitting period are usually a very short time, and the first period is generally greater than the duration of the light-emitting period, by controlling the third period and the current light-emitting period The time interval is smaller than the first time period, and further smaller than the current light-emitting time period, so as to ensure that the interval between the third time period and the current light-emitting time period is very small. Afterwards, the light emitter emits light, so that in the emitting assembly of the present application, after the charging element L1 transfers energy to the energy storage element C1, the energy is kept in the energy storage element C1 for a short time, and then the next time is carried out. glow. Therefore, even when the temperature rises, the leakage current of the laser diode and the switching MOS tube increases, resulting in a drop in the capacitor voltage. Due to the short drop time, the amount of drop in the capacitor is limited, and the high temperature leakage of the capacitor is well suppressed. The problem.

By adjusting the duration of the first period or the third period, the voltage on the energy storage element C1 before each emission of the laser diode can be adjusted to ensure power uniformity. Or achieve individual control of each launch.

In the embodiment of the present application, the amount of charging the charging element such as the charging element L1 can be adjusted by adjusting the length of the first period of time for powering the light emitter that emits light in the current light-emitting period, so as to adjust the laser diode before each emission. The energy storage element C1 is, for example, the voltage on the capacitor, so as to ensure the consistency of the luminous power of different light emitters.

In one example, the length of the first period of time is determined by at least one of the following: the preset luminous power of the light emitters of each group of emitting components, the working time of the light emitters of each group of emitting components, the light emission of each group of emitting components The ambient temperature of the emitter, the physical properties of the light emitter, the size of the energy storage element (that is, the energy storage element in the energy storage circuit) used to supply power to each group of emission components (for example, when the energy storage element is a capacitor, the energy storage element The size of the energy element (that is, the size of the capacitor) and the size of the charging element. According to such settings, in the multi-line emission scheme, the luminous power of each line can be adjusted, thereby compensating for individual device differences, environmental temperature changes, and aging attenuation differences. Wait. Optionally, the longer the working time of the emitting component is, the longer the duration of the first period is. The photoelectric conversion efficiency gradually decreases; optionally, the higher the ambient temperature of the emitting component, the longer the duration of the first period. For example, the problem that the luminous power of lasers decreases with the unreasonable rise of the environment, through such adjustments, the luminous power drop caused by temperature rise can be compensated.

The energy stored on the energy storage element C1 is controlled by controlling the charging time of the charging element L1 by the power source V (that is, the length of the first period), and then the luminous energy of the light emitters of each group is controlled. That is, in each cycle, the luminous energy of the light emitter can be controlled.

When the control signal of the third switch of each group of emitting components occurs periodically, each group of light emitters (such as laser diodes) outputs an optical pulse every time the third switch connected to it is turned on, and each time In the cycle, the length of the charging time of the power supply V to the charging element L1 can be controlled respectively, thereby controlling the energy of the output pulse of the laser diode in each cycle. The energy can be controlled, therefore, it can be guaranteed that the energy of each output pulse of the optical transmitter meets the regulation of the safety value. Moreover, under the premise of satisfying the safety value at the same time, the energy of each output pulse can also be controlled separately, so as to realize the individual control of individual pulses in the pulse sequence, and flexibly control the optical pulse in the emitting component.

In order to control each switch, optionally, the light emitting device further includes a control circuit, the control circuit is used to control the first switch to be turned on and off; and/or, the control circuit is also used to control the second switch to be turned on and off. and/or, the control circuit is also used to control the third switch on and off, for example, the control circuit can send a control signal according to the sequence shown in Figure 5, for example, as shown in Figure 5, The control circuit is used to control the first switch Q4 to be turned on through the control signal DOWN (for example, high level) during the first period (for example t0-t3, or t6-t9, or t12-t15). For another example, the control circuit is used to control the second switch Q5, such as a MOS transistor, to turn on through the control signal UP (for example, a high level) during the second period (t1-t2, t7-t8 or t13-t14) to store energy. Element C1 performs discharge reset. For another example, the control circuit is used to control the first switch Q4 to be turned off by pulling the control signal DOWN low during the third period (t3-t4, t9-t10 or t15-t16), so that the energy stored in the charging element L1 can pass through The charging element L1 and the body diode of the second switch Q5 are transferred to the energy storage element C1. For another example, the control circuit is used to pass a control signal (for example, START1, START2 or START3 (which may be at a high level) controls the third switches Q1, Q2, Q3 to turn on, thereby respectively controlling the light emitters D3, D6, D9 to emit light. The control circuits used to control different switches can be the same control circuit or different control circuits, or some switches use the same control circuit and some switches use different control circuits.

To sum up, at least two sets of emission components of the light emitting device of the present application share a charging circuit and an energy storage circuit. Therefore, the light emitting device of the present application simplifies the circuit, has a simple structure, reduces hardware costs, is easier to control, and at least The power of the two sets of emitting components can be adjusted independently, both of which can meet the limits of human eye safety, realize accurate calibration of the output power of the multi-line laser, and improve the consistency of light emission of the light emitting device, and the light emitting device of the present application can also avoid Capacitor voltage high temperature leakage problem.

Next, the method for controlling a light emitting device of the present application will be described with reference to FIG. 6 , wherein FIG. 6 is a schematic diagram of a method for controlling a light emitting device provided by an embodiment of the present application. The execution subject of the control method may be the aforementioned light emitting device, or may also be the distance measuring device to which the light emitting device belongs, or may also be the movable platform to which the distance measuring device belongs. Wherein, the detailed description about the structure of the light emitting device can refer to the above, and will not be repeated here.

As an example, as shown in Figure 6, the light emitting device includes a charging circuit and at least two groups of emitting components, the charging circuit includes a power supply and at least one charging element connected to the power supply, at least two groups of emitting components are connected to at least one charging element, this The control method 500 of the light-emitting device of the application includes the following steps: In step S501, control the power supply to charge at least one charging element through the same charging circuit; in step S502, control at least one charging element to supply power to at least two groups of emitting components , so that at least two groups of emitting components sequentially emit light pulse sequences.

The charging loop also includes at least one first switch, and the power supply, at least one charging element and at least one first switch are connected in series. In step S501, controlling the power supply to charge the at least one charging element through the same charging loop includes: controlling the first switch conduction to control the conduction of the charging loop, so that the power supply can charge at least one charging element through the same charging loop. For example, as shown in FIG. 4, the first switch Q4 may include a MOS transistor, and the MOS transistor may be NMOS or PMOS. The gate of the first switch Q4 is electrically connected to the control signal DOWN, and the conduction of the first switch Q4 is controlled by the control signal DOWN. and off, when the first switch Q4 is turned on, the charging circuit 22 is turned on, so that the power supply V charges at least one charging element L1 through the first switch Q4. Further, the light emitting device also includes an energy storage circuit, the energy storage circuit includes at least one energy storage element and at least one charging element, and at least one charging element is controlled to supply power to at least two groups of emitting components, so that at least two groups of emitting components sequentially emit light pulses The sequence includes: controlling at least one charging element to transfer energy to at least one energy storage element through an energy storage circuit, so that at least one energy storage element supplies power to at least two groups of transmitting assemblies.

Optionally, as shown in FIG. 4, the energy storage circuit is a path 23, and the number of the energy storage circuit 23 is one, and at least one charging element is controlled to transfer energy to at least one energy storage element through the energy storage circuit, so that at least one energy storage circuit The energy element supplies power to at least two groups of transmitting assemblies, including: controlling at least one charging element to transfer energy to at least one energy storage element through the same energy storage circuit, since different groups of transmitting assemblies of the present application reuse the same charging circuit and The energy storage circuit thus simplifies the circuit, has a simple structure and is easier to control.

In one example, the energy storage circuit further includes at least one second switch and a diode, the diode is the body diode of the second switch or the diode is a diode connected in parallel with the second switch, the second switch includes a transistor, and controls at least one charging element to pass through the storage The energy loop transfers energy to at least one energy storage element, including: when the first switch is controlled to be turned off and the second switch is turned off, the charging element releases the stored energy through a diode to charge the at least one energy storage element. By arranging the diode and using the characteristics of the forward conduction and reverse cutoff of the diode, when the first switch is turned off and the second switch is turned off, the charging element releases the stored energy through the diode to charge at least one energy storage element, and the charging element After charging the energy storage element, when the second switch is turned off, the electric energy can be kept in the charging element by utilizing the reverse cut-off characteristic of the diode, so as to supply power to the light emitting component to make it emit light.

In one example, the light-emitting device further includes a reset circuit, and the reset circuit includes at least one energy storage element. The control method of the present application further includes: controlling the reset circuit to release at least one energy storage element during the process of charging the at least one charging element by the power supply. The energy in the energy element is released by releasing the energy in the energy storage element to prevent the residual energy of the energy storage element from causing the energy of the light emitter in the emitting component to exceed the safety value when emitting light.

In one example, the reset circuit further includes at least one second switch and at least one first switch, at least one energy storage element, at least one second switch, and at least one first switch are connected in series, and the reset circuit is controlled when the power supply to the at least one charging element During the charging process, releasing the energy in at least one energy storage element includes: controlling the conduction of the first switch and the conduction of the second switch to control the conduction of the reset circuit, so that at least one energy storage element passes through the first switch and the second switch. Two switches release energy. Optionally, as shown in FIG. 4, the reset circuit is a path 24, and the reset circuit 24 includes an energy storage element C1 such as a capacitor, a second switch Q5, and a first switch Q4. The second switch Q5 may include a MOS transistor, and the MOS transistor may be NMOS or PMOS, the gate of the second switching transistor Q5 is electrically connected to the control signal UP, and the second switch Q5 is controlled to be turned on and off by the control signal, and when both the second switch Q5 and the first switch Q4 are turned on, the reset The circuit 24 is turned on, so that at least one energy storage element C1 releases energy through the first switch Q4 and the second switch Q5.

In step S502, each group of emission components includes a light emitter and at least one third switch, each group of light emitters and at least one third switch are connected in series, and each group of emission components is connected to the energy storage circuit in parallel to control at least one charging The element supplies power to at least two groups of emitting components, so that at least two groups of emitting components sequentially emit light pulse sequences, including: when the third switch controlling any one of the at least two groups of emitting components is turned on, at least one energy storage element supplies power to the second A light emitter is discharged to make a first light emitter connected to the conductive third switch to emit light. The first light emitter is the light emitter in any one group in at least two groups of emission assemblies, for example, comprises 3 groups of emission assemblies in the light emission device as shown in Figure 4, and each group of emission assemblies is connected in parallel to the energy storage circuit 23 The energy storage element C1, the first light emitter can be any one of the light emitter D3, light emitter D6, and light emitter D9, when the third switch Q1 is controlled to be turned on, the energy storage element C1 (such as a capacitor) The medium voltage drives the light emitter D3 to emit light through the energy storage element C1, the light emitter D3, and the third switch Q1 path (also referred to herein as a loop), as shown in path 25 in Figure 4; when the third switch Q2 is turned on, the storage The voltage in the energy element C2 (such as a capacitor) drives the light emitter D6 to emit light through the energy storage element C2, the light emitter D6, and the third switch Q2 path (also referred to herein as a loop), as shown in path 26 in Figure 4; when the third When the switch Q3 is turned on, the voltage in the energy storage element C3 (such as a capacitor) drives the light emitter D9 to emit light through the path of the energy storage element C3, the light emitter D9, and the third switch Q3 (also called a loop herein), as shown in the path in Figure 4 27.

Herein, the period between the current lighting period of at least two groups of emitting components and the last lighting period of at least two groups of emitting components can be regarded as a period, and according to this period, the light emitters of the light emitting device can emit light in sequence. The period may be, for example, the time between the start of the last light-emitting period and the start of the current light-emitting period, or the period may also be the time between the end of the last light-emitting period and the end of the current light-emitting period, or It can be any other suitable division method. Optionally, at least two groups of emitting components are used to periodically emit light pulse sequences. Herein, the light emitter that is emitting light during the current light-emitting period and the light emitter that was emitting light during the previous light-emitting period may be the same light emitter, or Can be different light emitters. In one example, at least two groups of emitting components include a first light emitter and a second light emitter, the first light emitter and the second light emitter have different light-emitting durations (also referred to herein as light-emitting periods), and the two belong to different group of emitting components, in other examples, at least two light emitters in two sets of emitting components have the same light emitting time, and some of the light emitters have the same light emitting time, or at least two groups of light emitters in the emitting components emit light devices have the same lighting duration. Optionally, in multiple cycles, the interval T between two adjacent lighting periods can be made the same or different through timing adjustment. Optionally, a first period, a second period and a third period are included between the current lighting period of at least two groups of emitting assemblies and the last lighting period of at least two groups of emitting assemblies. Optionally, in FIGS. 4 and 5 In the illustrated embodiment, if the current lighting period is the period from t10 to t11 in FIG. 5, and the light emitter D6 in FIG. What emits light is the light emitter D3, the power supply V is used to charge at least one charging element L1 through the same charging circuit 22 in the first period (corresponding to the period t6 to t9 in Figure 5), and the reset circuit 24 is used to charge the power supply V releases the energy in at least one energy storage element C1 during the second period (corresponding to the period t7 to t8 in FIG. 5 ) within the first period during which at least one charging element L1 is charged, and at least one charging element L1 is used for the third period (for example, corresponding to part or all of the period from t9 to t10 in FIG. 5 ), the energy is transferred to at least one energy storage element C1 through the energy storage circuit 23, and at least one energy storage element C1 is used for the current lighting period (FIG. 5 During the period from t10 to t11), power is supplied to the light emitter D6 that is currently emitting light.

Optionally, the current lighting period is located after the third period, and the interval between the third period and the current lighting period is smaller than the first period, and further, the interval between the third period and the current lighting period is smaller than the current lighting period. By controlling the interval between the third period and the current light-emitting period as small as possible, after storing energy in the energy storage element of the energy storage circuit, it will emit light after a relatively small time interval, so that the present application In the emission component, after the charging element L1 transfers energy to the energy storage element C1, the energy is kept in the energy storage element C1 for a short time, and then the next light emission is performed. Therefore, even when the temperature rises, the leakage current of the laser diode and the switching MOS tube increases, resulting in a drop in the capacitor voltage. Due to the short drop time, the amount of drop in the capacitor is limited, and the high temperature leakage of the capacitor is well suppressed. The problem. Optionally, there is a waiting time between the first period and the last lighting period of at least two groups of emitting assemblies. Details about the waiting time can be referred to above, and will not be repeated here.

In the embodiment of the present application, the amount of charging the charging element L1, such as an inductor, can be adjusted by adjusting the duration of the first period for powering the light emitter that emits light in the current light-emitting period, so as to ensure the light emission of different light emitters Consistency of power.

In one example, the length of the first period of time is determined by at least one of the following: the preset luminous power of the light emitters of each group of emitting components, the working time of the light emitters of each group of emitting components, the light emission of each group of emitting components The ambient temperature of the emitter, the physical properties of the light emitter, the size of the energy storage element (that is, the energy storage element in the energy storage circuit) used to supply power to each group of emission components (for example, when the energy storage element is a capacitor, the energy storage element The size of the energy element (that is, the size of the capacitor) and the size of the charging element. According to such settings, in the multi-line emission scheme, the luminous power of each line can be adjusted, thereby compensating for individual device differences, environmental temperature changes, and aging attenuation differences. Wait. For example, the longer the working time of the emitting component is, the longer the duration of the first period is. The problem of gradual decline in conversion efficiency; another example, the higher the ambient temperature of the emitting component, the longer the duration of the first period. The problem that the luminous power decreases with the unreasonable rise of the environment, through such adjustments, the luminous power drop caused by the temperature rise can be compensated.

By controlling the charging time of the power supply V to the inductor L1 (ie, the length of the first period), the energy stored in the energy storage element such as the capacitor C1 is controlled, thereby controlling the luminous energy of the light emitters of each group. That is, in each cycle, the luminous energy of the light emitter can be controlled.

Since the control method of the present application is used to control the light emission of the light emitting device, it also has the same advantages as the aforementioned light emitting device.

And for multi-wire, take two wires as an example, when the lighting interval between the two wires is fixed, even if the charging pulse width is inconsistent, because the duration of leakage in the two wires is relatively short, the calibrated power will not emit light at high temperature. It will become uneven, so that the consistency of the output of each group of emitting components in the light emitting device can be ensured, and therefore, the performance of the light emitting device can be guaranteed. Furthermore, it can be ensured that all the light emitting devices can meet the safety regulations.

Moreover, while achieving the above purpose, the light emitting device does not add new hardware, and multiple components in the circuit are multiplexed, and a relatively simple connection method of the emitting components is used to achieve excellent performance, simplify the circuit, and reduce the hardware cost.

Next, with reference to Fig. 7 and Fig. 8, the structure of a distance measuring device in the embodiment of the present application will be described in detail. The distance measuring device includes a laser radar. Devices can also be applied to this application.

The solutions of the light emitting device provided by various embodiments of the present application may be applied to a distance measuring device, and the distance measuring device may be electronic equipment such as a laser radar, a laser distance measuring device, and the like. In one embodiment, the ranging device is used to sense external environment information, for example, distance information, orientation information, reflection intensity information, speed information, etc. of environmental objects. In an implementation manner, the distance measuring device can detect the distance from the detection object to the distance measurement device by measuring the time of light propagation between the distance measurement device and the detection object, that is, the time of flight (Time-of-Flight, TOF). Or, the distance measuring device can also detect the distance from the detection object to the distance measuring device by other technologies, such as a distance measuring method based on phase shift (phase shift) measurement, or a distance measuring method based on frequency shift (frequency shift) measurement, in This is not limited.

For ease of understanding, the working process of distance measurement will be described below with reference to the distance measurement device 100 shown in FIG. 7 .

Specifically, as shown in FIG. 7 , the ranging device 100 of the present application includes a transmitting circuit 110 , and the transmitting circuit 110 may include the above-mentioned light emitting device for sequentially emitting laser pulse sequences. The distance measuring device 100 of the present application also includes: the receiving circuit 120 is used to convert the received laser pulse sequence reflected by the object into an electrical signal output; the sampling circuit 130 is used to sample the electrical signal output by the receiving circuit to measure The time difference between the emission and the reception of the laser pulse sequence; the arithmetic circuit 140 is used to receive the time difference output by the sampling circuit, and calculate the distance measurement result.

The transmitting circuit 110 can emit a sequence of light pulses (eg, a sequence of laser pulses). The receiving circuit 120 can receive the optical pulse sequence reflected by the object to be detected, that is, obtain the pulse waveform of the echo signal through it, and perform photoelectric conversion on the optical pulse sequence to obtain an electrical signal, and then process the electrical signal. output to the sampling circuit 130. The sampling circuit 130 can sample the electrical signal to obtain a sampling result. The arithmetic circuit 140 can determine the distance between the ranging device 100 and the detected object, that is, the depth, based on the sampling result of the sampling circuit 130 .

Optionally, the distance measuring device 100 may further include a control circuit 150, which can control other circuits, for example, control the working time of each circuit and/or set parameters for each circuit.

It should be understood that although the ranging device shown in FIG. 7 includes a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a light beam for detection, the embodiment of the present application is not limited thereto. The transmitting circuit The number of any one of the receiving circuit, the sampling circuit, and the computing circuit can also be at least two, for emitting at least two light beams along the same direction or respectively along different directions; wherein, the at least two light paths can be simultaneously It can also be emitted at different times. In an example, the light emitting chips in the at least two emitting circuits are packaged in the same module. For example, each emitting circuit includes a laser emitting chip, and the dies of the laser emitting chips in the at least two emitting circuits are packaged together and accommodated in the same packaging space.

In some implementations, in addition to the circuit shown in FIG. 7 , the distance measuring device 100 can also include a scanning module, which is used to change the propagation direction of at least one optical pulse sequence (such as a laser pulse sequence) emitted by the transmitting circuit, so as to scan the field of view. to scan. Exemplarily, the scanning area of the scanning module within the field of view of the ranging device increases with the accumulation of time.

Wherein, the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130 and the operation circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the operation circuit 140 and the control circuit 150 may be called a measuring circuit. The ranging module can be independent of other modules, for example, the scanning module.

A coaxial optical path may be used in the distance measuring device, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the light path in the distance measuring device. For example, after the at least one laser pulse sequence emitted by the transmitting circuit changes its propagation direction and exits through the scanning module, the laser pulse sequence reflected by the detection object enters the receiving circuit after passing through the scanning module. Alternatively, the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance measuring device. Fig. 8 shows a schematic diagram of an embodiment in which the distance measuring device of the present application adopts a coaxial optical path.

The ranging device 200 includes a ranging module 210, and the ranging module 210 includes a transmitter 203 (may include the above-mentioned transmitting circuit, and the transmitting circuit includes the aforementioned light emitting device), a collimating element 204, and a detector 205 (may include the above-mentioned receiving circuit). circuit, sampling circuit and arithmetic circuit) and optical path changing element 206. The distance measuring module 210 is used for emitting light beams, receiving return light, and converting the return light into electrical signals. Wherein, the transmitter 203 can be used to transmit the light pulse sequence. In one embodiment, the transmitter 203 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam whose wavelength is outside the range of visible light. The collimating element 204 is arranged on the outgoing light path of the emitter, and is used for collimating the light beam emitted from the emitter 203, and collimating the light beam emitted by the emitter 203 into a parallel light that is emitted to the scanning module. The collimating element is also used to converge at least a portion of the return light reflected by the detection object. The collimating element 204 may be a collimating lens or other elements capable of collimating light beams.

In the embodiment shown in Fig. 8, the transmitting optical path and the receiving optical path in the distance measuring device are combined before the collimating element 204 through the optical path changing element 206, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path more compact. In some other implementation manners, it is also possible that the emitter 203 and the detector 205 respectively use their own collimating elements, and the optical path changing element 206 is arranged on the optical path after the collimating element.

In the embodiment shown in Figure 8, since the beam aperture of the beam emitted by the transmitter 203 is relatively small, the beam aperture of the return light received by the distance measuring device is relatively large, so the optical path changing element can use a small-area reflector to The emitting light path and the receiving light path are merged. In some other implementation manners, the optical path changing element may also use a reflector with a through hole, wherein the through hole is used to transmit the outgoing light of the emitter 203 , and the reflector is used to reflect the return light to the detector 205 . In this way, the shielding of the return light by the support of the small reflector in the case of using the small reflector can be reduced.

In the embodiment shown in FIG. 8 , the optical path changing element deviates from the optical axis of the collimating element 204 . In some other implementation manners, the optical path changing element may also be located on the optical axis of the collimating element 204 .

The ranging device 200 also includes a scanning module 202 . The scanning module 202 is placed on the outgoing optical path of the distance measuring module 210. The scanning module 202 is used to change the transmission direction of the collimated light beam 219 emitted by the collimating element 204 and project it to the external environment, and project the return light to the collimating element 204 . The returned light is converged onto the detector 205 through the collimation element 204 .

In one embodiment, the scanning module 202 may include at least one optical element for changing the propagation path of the beam, wherein the optical element may change the propagation path of the beam by reflecting, refracting, diffracting, etc., such as an optical The element includes at least one light-refracting element with non-parallel exit and entrance faces. For example, the scanning module 202 includes a lens, a mirror, a prism, a vibrating mirror, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements. In an example, at least part of the optical elements are movable, for example, driven by a driving module to move the at least part of the optical elements, and the moving optical elements can reflect, refract or diffract light beams to different directions at different times. In some embodiments, multiple optical elements of scanning module 202 may rotate or vibrate about a common axis 209, with each rotating or vibrating optical element serving to continuously change the direction of propagation of the incident light beam. In one embodiment, the multiple optical elements of scanning module 202 may rotate at different rotational speeds, or vibrate at different speeds. In another embodiment, at least some of the optical elements of scanning module 202 may rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also rotate about different axes. In some embodiments, the multiple optical elements of the scanning module may also rotate in the same direction or in different directions; or vibrate in the same direction or in different directions, which is not limited here.

In one embodiment, the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214, the driver 216 is used to drive the first optical element 214 to rotate around the rotation axis 209, so that the first optical element 214 changes The direction of the collimated light beam 219 . The first optical element 214 projects the collimated light beam 219 in different directions. In one embodiment, the angle between the direction of the collimated light beam 219 changed by the first optical element and the rotation axis 209 changes as the first optical element 214 rotates. In one embodiment, first optical element 214 includes a pair of opposing non-parallel surfaces through which collimated light beam 219 passes. In one embodiment, the first optical element 214 comprises a prism having a thickness varying along at least one radial direction. In one embodiment, the first optical element 214 includes a wedge prism that refracts the collimated light beam 219 .

In one embodiment, the scanning module 202 further includes a second optical element 215 , the second optical element 215 rotates around the rotation axis 209 , and the rotation speed of the second optical element 215 is different from that of the first optical element 214 . The second optical element 215 is used to change the direction of the light beam projected by the first optical element 214 . In one embodiment, the second optical element 215 is connected with another driver 217, and the driver 217 drives the second optical element 215 to rotate. The first optical element 214 and the second optical element 215 can be driven by the same or different drivers, so that the rotation speed and/or the direction of rotation of the first optical element 214 and the second optical element 215 are different, thereby projecting a collimated light beam 219 to the external space In different directions, a larger spatial range can be scanned. In one embodiment, the controller 218 controls the

drivers

216 and 217 to drive the first optical element 214 and the second optical element 215 respectively. The rotational speeds of the first optical element 214 and the second optical element 215 can be determined according to the area and pattern expected to be scanned in practical applications.

Drivers

216 and 217 may include motors or other drivers.

In one embodiment, the second optical element 215 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 comprises a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 215 includes a wedge prism.

In one embodiment, the scanning module 202 further includes a third optical element (not shown in the figure) and a driver for driving the movement of the third optical element. Optionally, the third optical element comprises a pair of opposite non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism whose thickness varies along at least one radial direction. In one embodiment, the third optical element comprises a wedge prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or deflections.

In one embodiment, the scanning module includes 2 or 3 photorefractive elements sequentially arranged on the outgoing light path of the light pulse sequence. Optionally, at least two light refraction elements in the scanning module rotate during scanning to change the direction of the light pulse sequence.

The scanning path of the scanning module is different at least partly at different times, and the rotation of each optical element in the scanning module 202 can project light to different directions, such as the direction of the projected light 211 and the direction 213, so that the space around the distance measuring device 200 to scan. When the light 211 projected by the scanning module 202 hits the detection object 201 , a part of the light is reflected by the detection object 201 to the distance measuring device 200 in a direction opposite to the projected light 211 . The return light 212 reflected by the detection object 201 enters the collimation element 204 after passing through the scanning module 202 .

The detector 205 is placed on the same side of the collimation element 204 as the emitter 203, and the detector 205 is used to convert at least part of the return light passing through the collimation element 204 into an electrical signal.

In one embodiment, each optical element is coated with an anti-reflection film. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.

In one embodiment, a filter layer is coated on the surface of a component located on the beam propagation path in the ranging device, or an optical filter is arranged on the beam propagation path, for at least transmitting the wavelength band of the beam emitted by the transmitter, Reflect other bands to reduce noise from ambient light to the receiver.

In some embodiments, the transmitter 203 may include a laser diode, and the laser diode emits nanosecond-level laser pulses. Further, the laser pulse receiving time can be determined, for example, the laser pulse receiving time can be determined by detecting the rising edge time and/or falling edge time of the electrical signal pulse. In this way, the distance measuring device 200 can calculate the TOF by using the pulse receiving time information and the pulse sending time information, so as to determine the distance from the detection object 201 to the distance measuring device 200 .

The distance and orientation detected by the ranging device 200 can be used for remote sensing, obstacle avoidance, surveying and mapping, modeling, navigation and so on. In one embodiment, the ranging device of the embodiment of the present application may be applied to a movable platform, and the ranging device may be installed on a platform body of the movable platform. The movable platform with the distance measuring device can measure the external environment, for example, measure the distance between the movable platform and obstacles for purposes such as obstacle avoidance, and perform two-dimensional or three-dimensional mapping of the external environment. In some embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, an automobile, a remote controlled vehicle, a robot, a boat, and a camera. When the ranging device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle. When the distance measuring device is applied to a car, the platform body is the body of the car. The car may be an automatic driving car or a semi-automatic driving car, which is not limited here. When the distance measuring device is applied to the remote control car, the platform body is the body of the remote control car. When the ranging device is applied to a robot, the platform body is a robot. When the distance measuring device is applied to the camera, the platform body is the camera itself.

This application provides the above-mentioned light emitting device, distance measuring device and movable platform to provide a laser emission scheme that meets human eye safety regulations. When a single fault occurs in the system, the circuit in the above device can ensure that the laser radiation value does not exceed Safety value, so as to ensure the safety of the laser device.

In addition, the embodiment of the present application also provides a computer storage medium on which a computer program is stored. One or more computer program instructions can be stored on the computer-readable storage medium, and the processor can execute the program instructions stored in the memory to realize the functions (implemented by the processor) and/or other desired functions in the embodiments of the present application herein. function, for example, to execute the corresponding steps of the control method of the light emitting device according to the embodiment of the present application, various application programs and various data can also be stored in the computer-readable storage medium, such as various application programs used and/or generated kind of data etc.

For example, a computer storage medium may include, for example, a memory card of a smartphone, a memory component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only Memory (CD-ROM), USB memory, or any combination of the above storage media. The computer readable storage medium can be any combination of one or more computer readable storage medium. For example, a computer-readable storage medium contains computer-readable program codes for converting point cloud data into two-dimensional images, and/or computer-readable program codes for performing three-dimensional reconstruction of point cloud data, etc.

It should be understood that each part of the present application may be realized by hardware, software, firmware or a combination thereof. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented by any one or a combination of the following techniques known in the art: a discrete Logic circuits, ASICs with suitable combinational logic gates, Programmable Gate Array (hereinafter referred to as: PGA), Field Programmable Gate Array (Field Programmable Gate Array; referred to as: FPGA), etc.

The technical terms used in the embodiments of the present application are only used to describe specific embodiments and are not intended to limit the present application. As used herein, the singular forms "a", "the" and "" are used to include the plural forms as well, unless the context clearly dictates otherwise. Further, the use of "comprising" and/or "comprising" used in the description means that there are said features, integers, steps, operations, elements and/or components, but it does not exclude the existence or addition of one or more other features, integers, steps, operations, elements and/or components.

The corresponding structures, materials, acts, and equivalents of all means or step and function elements in the appended claims, if any, are intended to include any structure, material, or act for performing the function in combination with other explicitly claimed elements. The description of the present application has been presented for purposes of example and description, but is not intended to be exhaustive or to limit the invention to the form disclosed. Various modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the application. The embodiments described in the application can better reveal the principle and practical application of the application, and enable those skilled in the art to understand the application.

The flowchart described in this application is only an embodiment, and there may be various modifications and changes to this illustration or the steps in this application without departing from the spirit of this application. For example, the steps may be performed in a different order, or certain steps may be added, deleted or modified. Those skilled in the art can understand that all or part of the processes of the above embodiments are realized, and equivalent changes made according to the claims of the present application still fall within the scope of the invention.

Claims

A light emitting device, characterized in that it comprises:

a charging circuit comprising a power source and at least one charging element connected to said power source;

At least two groups of emitting components are connected to the at least one charging element, and the at least one charging element is used to supply power to the at least two groups of emitting components, so that the at least two groups of emitting components sequentially emit light pulse sequences, and at the Before the at least one charging element supplies power to different emitting components, the power supply is used to charge the at least one charging element through the same charging circuit.
The light emitting device according to claim 1, further comprising an energy storage circuit, the energy storage circuit comprising at least one energy storage element and the at least one charging element, and the at least one charging element The element is used to transfer energy to the at least one energy storage element through the energy storage circuit, so that the at least one energy storage element supplies power to the at least two groups of transmitting components.
The light emitting device according to claim 2, wherein the number of the energy storage circuit is one, and the at least one charging element is used to transfer energy to the at least one energy storage circuit through the same energy storage circuit. energy components.
The light emitting device according to claim 2, characterized in that, the light emitting device further comprises a reset circuit, the reset circuit includes the at least one energy storage element, and the reset circuit is used for the power supply to the During the charging process of the at least one charging element, the energy in the at least one energy storage element is released.
The light-emitting device according to any one of claims 1-4, wherein the charging circuit further comprises at least one first switch, and the power supply, the at least one charging element and the at least one first switch connected in series, the first switch is used to control the conduction of the charging circuit, so that the power supply charges the at least one charging element through the first switch.
The light emitting device according to claim 5, wherein the reset circuit further comprises at least one second switch and the at least one first switch, the at least one energy storage element, the at least one second switch connected in series with the at least one first switch, the first switch and the second switch are also used to control the conduction of the reset circuit, so that the at least one energy storage element passes through the first switch and the The second switch releases energy.
The light emitting device according to claim 6, wherein the energy storage circuit further comprises the at least one second switch and a diode, when the first switch is turned off and the second switch is turned off, The charging element discharges the stored energy through the diode to charge the at least one energy storage element, wherein the diode is a body diode of the second switch, or the diode is a body diode connected to the second switch. switch diodes in parallel.
The light emitting device according to claim 2, wherein each group of said emitting components comprises a light emitter and at least one third switch, and each group of said light emitter and said at least one third switch are connected in series , each group of the emission components is connected in parallel with the energy storage circuit, when the third switch of any one of the at least two groups of the emission components is turned on, the at least one energy storage element is used to supply the first The light emitter is discharged to make the first light emitter to emit light, and the first light emitter is a light emitter connected to the turned-on third switch.
The light emitting device according to claim 2, wherein the at least two groups of emitting components are used to periodically emit light pulse sequences, and during the current light-emitting period of the at least two groups of emitting components and the last time the at least two A first period and a third period are included between the light-emitting periods of the group emitting components, and the power supply is used to charge the at least one charging element through the same charging circuit within the first period, and the at least one The charging element is used to transfer energy to the at least one energy storage element through the energy storage circuit during the third period, and the at least one energy storage element is also used to discharge during the current lighting period to provide the current lighting The light emitter is powered, the current lighting period is located after the third period, and the interval between the third period and the current lighting period is smaller than the first period.
The light-emitting device according to claim 9, wherein the interval between the third period and the current light-emitting period is smaller than the current light-emitting period.
The light emitting device according to claim 2, wherein the at least two groups of emitting components are used to periodically emit light pulse sequences, and during the current light-emitting period of the at least two groups of emitting components and the last time the at least two The light-emitting periods of the group of emitting components include a first period, a second period and a third period, and the power supply is used to charge the at least one charging element through the same charging circuit in the first period, The reset circuit is used to release the energy in the at least one energy storage element during the second period of the first period when the power supply charges the at least one charging element, and the at least one charging element is used for During the third period of time, the energy is transferred to the at least one energy storage element through the energy storage circuit, and the at least one energy storage element is used to supply power to the light emitter that is currently emitting light during the current light emitting period.
The light-emitting device according to claim 11, wherein there is a waiting time between the first period and the last light-emitting period of the at least two groups of emitting components.
The light-emitting device according to any one of claims 1 to 12, wherein the power supply is used to charge the at least one charging element through the same charging circuit within the first period of time, wherein the The length of the first period of time depends on at least one of the following: the preset luminous power of the light emitters of each group of emitting components, the working time of the light emitters of each group of emitting components, and the environment of the light emitters of each group of emitting components Temperature, physical properties of the light emitter, size of the energy storage element used to power each set of emitting components, size of said charging element.
The light emitting device according to any one of claims 1 to 13, characterized in that,

The at least two groups of emitting components include a first light emitter and a second light emitter, wherein the first light emitter and the second light emitter have different lighting durations, and they belong to different groups of emitting components .
The light emitting device according to any one of claims 1 to 14, wherein the power supply is used to charge the at least one charging element through the same charging circuit within the first period of time, and the emitting The longer the working duration of the component is, the longer the duration of the first period is.
The light-emitting device according to any one of claims 1 to 15, wherein the power supply is used to charge the at least one charging element through the same charging circuit within the first period of time, and the emitting The higher the ambient temperature of the component is, the longer the duration of the first period is.
The light-emitting device according to any one of claims 5 to 7, or claim 8, wherein the light-emitting device further comprises a control circuit, the control circuit is used to control the conduction of the first switch and off; and/or, the control circuit is also used to control the second switch on and off; and/or, the control circuit is also used to control the third switch on and off open.
The light emitting device according to any one of claims 1 to 17, wherein the charging circuit further comprises at least one first switch, the light emitting device further comprises an energy storage circuit and a reset circuit, and the energy storage The loop includes at least one energy storage element and the at least one charging element, the reset loop includes the at least one first switch and at least one second switch, the first end of the charging element is connected to the power supply, and the charging The second end of the element is connected to the first end of the first switch, the second end of the first switch is grounded, the second end of the charging element is also connected to the second end of the second switch, the first The first end of the second switch is connected to the first end of the energy storage element, the second end of the energy storage element is grounded, and the first end of the energy storage element is also connected to at least two groups of the emitting assemblies.
The light emitting device according to any one of claims 1 to 18, wherein the light emitters in each of the emitting assemblies of the at least two groups of emitting assemblies are packaged in one device.
The light emitting device according to any one of claims 1 to 19, characterized in that, for the light emitters in two different emitting assemblies in the at least two groups of emitting assemblies, the direction of the emitted light is parallel Or not parallel.
The light emitting device according to any one of claims 2 to 20, wherein the charging element comprises an inductor, and the energy storage element comprises a capacitor.
A method for controlling a light emitting device, characterized in that the light emitting device includes a charging circuit and at least two groups of emitting components, the charging circuit includes a power supply and at least one charging element connected to the power supply, and the at least Two groups of transmitting components are connected to the at least one charging element, and the control method includes:

controlling the power supply to charge the at least one charging element through the same charging circuit;

The at least one charging element is controlled to supply power to the at least two groups of emitting components, so that the at least two groups of emitting components sequentially emit light pulse sequences.
The control method according to claim 22, wherein the light emitting device further includes an energy storage circuit, the energy storage circuit includes at least one energy storage element and the at least one charging element, and the control of the at least A charging element supplies power to the at least two groups of emitting components, so that the at least two groups of emitting components sequentially emit light pulse sequences, including:

The at least one charging element is controlled to transfer energy to the at least one energy storage element through the energy storage circuit, so that the at least one energy storage element supplies power to the at least two groups of emitting assemblies.
The control method according to claim 23, wherein the number of said energy storage circuits is one, and said controlling said at least one charging element transfers energy to said at least one energy storage element through said energy storage circuits , so that the at least one energy storage element supplies power to the at least two groups of transmitting components, including:

The at least one charging element is controlled to transfer energy to the at least one energy storage element through the same energy storage circuit.
The control method according to claim 23, wherein the light emitting device further comprises a reset circuit, the reset circuit comprises the at least one energy storage element, and the control method further comprises:

The reset circuit is controlled to release the energy in the at least one energy storage element when the power supply is charging the at least one charging element.
The control method according to any one of claims 22-25, wherein the charging circuit further includes at least one first switch, and the power supply, the at least one charging element and the at least one first switch are connected in series , the controlling the power supply to charge the at least one charging element through the same charging circuit includes:

The conduction of the first switch is controlled to control the conduction of the charging loop, so that the power supply charges the at least one charging element through the same charging loop.
The control method according to claim 26, wherein the reset circuit further comprises at least one second switch and at least one first switch, and the at least one energy storage element, the at least one second switch and the At least one first switch is connected in series to control the reset circuit to release the energy in the at least one energy storage element during the process of the power supply charging the at least one charging element, including:

The first switch is controlled to be turned on and the second switch is turned on to control the reset circuit to be turned on, so that the at least one energy storage element releases energy through the first switch and the second switch.
The control method according to claim 27, characterized in that, the energy storage circuit further comprises at least one second switch and a diode, the diode is the body diode of the second switch or the diode is connected to the second switch Diodes connected in parallel, the second switch includes a transistor, and the controlling the at least one charging element to transfer energy to the at least one energy storage element through the energy storage circuit includes:

When the first switch is controlled to be turned off and the second switch is turned off, the charging element discharges the stored energy through the diode to charge the at least one energy storage element.
The control method according to claim 23, characterized in that, the emitting components of each group include a light emitter and at least one third switch, and the light emitter of each group is connected in series with the at least one third switch, Each group of emitting components is connected to the energy storage circuit in parallel, and the at least one charging element is controlled to supply power to the at least two groups of emitting components, so that the at least two groups of emitting components sequentially emit light pulse sequences, including:

When the third switch controlling any one of the at least two groups of emitting components is turned on, the at least one energy storage element is used to discharge the first light emitter, so that the first light emitter emits light, so The first light transmitter is a light transmitter connected to the turned-on third switch.
The control method according to claim 23, wherein the at least two groups of emitting components are used to emit light pulse sequences periodically, and during the current light-emitting period of the at least two groups of emitting components and the last time the at least two groups of emitting components A first period and a third period are included between the light-emitting periods of the emitting component, and the power supply is used to charge the at least one charging element through the same charging circuit within the first period, and the at least one charging element The element is used to transfer energy to the at least one energy storage element through the energy storage circuit during the third period, and the at least one energy storage element is also used to discharge during the current light-emitting period, so as to supply the current light-emitting The light emitter supplies power, the current lighting period is located after the third period, and the interval between the third period and the current lighting period is smaller than the first period.
The control method according to claim 23, wherein the interval between the third period and the current lighting period is smaller than the current lighting period.
The control method according to claim 23, wherein:

The at least two groups of emitting components are used to periodically emit light pulse sequences, and the period between the current light-emitting period of the at least two groups of emitting components and the last light-emitting period of the at least two groups of emitting components includes a first period, a second period and a third period, the power supply is used to charge the at least one charging element through the same charging circuit in the first period, and the reset circuit is used to charge the at least one charging element during the power supply The charging element releases the energy in the at least one energy storage element during the second period during the first period of charging, and the at least one charging element is used to transfer energy through the energy storage circuit during the third period. transfer to the at least one energy storage element, and the at least one energy storage element is used to supply power to the light emitter that is currently emitting light during the current light emitting period.
The control method according to claim 32, characterized in that there is a waiting time between the first period and the last lighting period of the at least two groups of emitting assemblies.
The control method according to any one of claims 22 to 33, wherein the power supply is used to charge the at least one charging element through the same charging circuit within the first period of time, wherein the The duration of the first period is determined by at least one of the following: the preset luminous power of the light emitters of each group of emitting components, the working time of the light emitters of each group of emitting components, and the ambient temperature of the light emitters of each group of emitting components , the physical properties of the light emitter, the size of the energy storage element for powering each group of emitting components, and the size of the charging element.
The control method according to any one of claims 22 to 34, wherein the at least two groups of emitting components include a first light emitter and a second light emitter, wherein the first light emitter and the The lighting duration of the second light emitter is different, and they belong to different groups of emitting components.
The control method according to any one of claims 22 to 35, wherein the power supply is used to charge the at least one charging element through the same charging circuit within the first period of time, and the transmitting component The longer the working time of , the longer the duration of the first period.
The control method according to any one of claims 22 to 36, wherein the power supply is used to charge the at least one charging element through the same charging circuit within the first period of time, and the transmitting component The higher the ambient temperature, the longer the first period of time.
According to the control method according to any one of claims 26 to 28, or claim 29, the light emitting device further includes a control circuit, the control circuit is used to control the conduction and and/or, the control circuit is also used to control the on and off of the second switch; and/or, the control circuit is also used to control the on and off of the third switch .
The control method according to any one of claims 22 to 38, characterized in that,

The charging circuit also includes at least one first switch, the light emitting device also includes an energy storage circuit and a reset circuit, the energy storage circuit includes at least one energy storage element and the at least one charging element, and the reset circuit includes For the at least one first switch and at least one second switch, the first end of the charging element is connected to the power supply, the second end of the charging element is connected to the first end of the first switch, and the first The second end of the switch is grounded, the second end of the charging element is also connected to the second end of the second switch, the first end of the second switch is connected to the first end of the energy storage element, and the The second end of the energy storage element is grounded, and the first end of the energy storage element is also connected to at least two groups of the emitting assemblies.
The control method according to any one of claims 22 to 39, characterized in that the light emitters in each emitting assembly of the at least two groups of emitting assemblies are packaged in one device.
The control method according to any one of claims 22 to 40, characterized in that, for the light emitters in two different emitting assemblies in the at least two groups of emitting assemblies, the direction of the emitted light is parallel or not parallel.
The control method according to any one of claims 23 to 41, wherein the charging element includes an inductor, and the energy storage element includes a capacitor.
A distance measuring device, characterized in that the distance measuring device comprises:

The light emitting device according to any one of claims 1 to 21, which is used to sequentially emit laser pulse sequences;

The receiving circuit is used to convert the received laser pulse sequence reflected by the object into an electrical signal output;

a sampling circuit, configured to sample the electrical signal output by the receiving circuit, so as to measure the time difference between emission and reception of the laser pulse sequence;

An arithmetic circuit, configured to receive the time difference output by the sampling circuit, and calculate a distance measurement result.
A mobile platform, characterized in that the mobile platform comprises:

Movable platform body;

The distance measuring device according to claim 43, installed on the movable platform body.
A computer storage medium, on which a computer program is stored, wherein the computer program implements the steps of the control method according to any one of claims 22 to 42 when the computer program is executed by a processor.