WO2020061968A1 - Light-emitting apparatus, distance measurement apparatus and mobile platform - Google Patents

Light-emitting apparatus, distance measurement apparatus and mobile platform Download PDF

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Publication number
WO2020061968A1
WO2020061968A1 PCT/CN2018/108150 CN2018108150W WO2020061968A1 WO 2020061968 A1 WO2020061968 A1 WO 2020061968A1 CN 2018108150 W CN2018108150 W CN 2018108150W WO 2020061968 A1 WO2020061968 A1 WO 2020061968A1
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WO
WIPO (PCT)
Prior art keywords
circuit
light emitting
emitting device
energy storage
laser
Prior art date
Application number
PCT/CN2018/108150
Other languages
French (fr)
Chinese (zh)
Inventor
黄森洪
陈江波
刘祥
董帅
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201890000594.8U priority Critical patent/CN211236240U/en
Priority to PCT/CN2018/108150 priority patent/WO2020061968A1/en
Publication of WO2020061968A1 publication Critical patent/WO2020061968A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters

Definitions

  • the invention relates to the technical field of circuits, and in particular, to a light emitting device, a distance measuring device, and a mobile platform.
  • AEL Accessible Emission Limit
  • the present invention designs a laser emission scheme that meets human eye safety regulations.
  • the protection circuit can ensure that the laser radiation value does not exceed the safety value.
  • a first aspect of the present invention provides a light emitting device, including: a power source, a laser transmitter, an energy storage circuit, and a control circuit, the energy storage circuit is respectively connected to the power source and the laser transmitter, and the energy storage
  • the circuit includes at least one capacitor; the control circuit is configured to turn on the power supply and the energy storage circuit in a first period, so that the power supply charges the capacitor in the energy storage circuit until the capacitor voltage is saturated ;
  • the control circuit is further configured to turn on the laser transmitter and the energy storage circuit in a second period, so that the energy storage circuit supplies power to the laser transmitter, so that the laser transmitter emits light pulses Signal until the output current of the capacitor is lower than the threshold current of the laser transmitter.
  • the light emitting device further includes a boosting circuit, and the boosting circuit is configured to boost an input voltage to meet the requirements of different laser transmitters.
  • the energy stored in the at least one capacitor has a preset upper limit value.
  • control circuit includes a switching circuit connected to the laser transmitter and a driving circuit connected to the switching circuit; the driving circuit is configured to receive a second driving signal within the second period, and Controlling the switching circuit to turn on the laser transmitter and the energy storage circuit according to the second driving signal.
  • the driving circuit is further configured to receive a first driving signal within the first period of time, and control the switching circuit to turn on the power source and the energy storage circuit according to the first driving signal.
  • the light emitting device emits a laser pulse signal.
  • the laser emitter includes a laser diode; a first end of the laser diode is connected to the energy storage circuit, a second end of the laser diode is connected to a first end of the switching circuit; the driver The circuit is connected to the second end of the switching circuit, wherein the driving circuit controls the switching circuit; and the third end of the switching circuit is connected to ground.
  • the energy storage circuit includes a charging circuit for connecting the at least one capacitor and the power source, and the power source charges the at least one capacitor through the charging circuit during the first period.
  • the charging circuit further includes at least one resistor, one end of the at least one resistor is connected to a third end of the transistor, and the other end is connected to the capacitor.
  • the charging circuit includes at least two resistors, one end of the at least two resistors is connected to a third end of the transistor, and the other end is connected to the capacitor.
  • one end of the capacitor is connected to the voltage calibration source and the charging circuit, and the other end is connected to the power source.
  • a voltage limiting circuit for limiting the voltage across the energy storage circuit to prevent the voltage across the energy storage circuit from exceeding a predetermined value.
  • the voltage limiting circuit includes a diode, one end of the diode in the voltage limiting circuit is connected to the power source, and the other end is connected to a ground terminal of the energy storage circuit.
  • the charging circuit further includes a current limiting circuit for protecting the charging circuit to prevent the current on the charging circuit from exceeding its rated value.
  • the current limiting circuit includes a resistor, a voltage calibration source, and a transistor.
  • one end of the resistor in the current limiting circuit is connected to the output end of the boost circuit, and the other end is connected to a voltage calibration source.
  • a first terminal of the transistor is connected to an output terminal of the boost circuit, a second terminal is connected to the other terminal of the resistor of the current limiting circuit, and a third terminal is connected to one terminal of the capacitor.
  • a first end of the voltage calibration source is connected to a resistor in the current limiting circuit and a second end of the triode, a second end is connected to an input end of the laser transmitter, and a third end is connected to A third end of the triode.
  • the power source includes two power sources, which respectively provide energy for the laser transmitter and the energy storage circuit.
  • an embodiment of the present invention further provides a distance measuring device, including: the light emitting device according to the first aspect, for sequentially emitting laser pulse signals; and a photoelectric conversion circuit for receiving the light emitted by the light emitting device. At least part of the optical signal reflected by the laser pulse signal reflected by the object, and converting the received optical signal into an electrical signal; a sampling circuit for sampling the electrical signal from the photoelectric conversion circuit to obtain a sampling result; an arithmetic circuit For calculating a distance between the object and the distance measuring device according to the sampling result.
  • the number of the light emitting devices and the number of the photoelectric conversion circuits are respectively at least two; each of the photoelectric conversion circuits is configured to receive a laser pulse signal emitted from a corresponding light emitting device and reflected back by an object. At least part of the optical signal, and converting the received optical signal into an electrical signal.
  • the laser ranging device further includes a scanning module; the scanning module is configured to change the transmission direction of the laser pulse signal and emit the laser pulse signal, and the laser pulse signal reflected by the object passes through the scanning module and enters the laser pulse signal. Photoelectric conversion circuit.
  • the scanning module includes a driver and a prism with uneven thickness, the driver is used to drive the prism to rotate to change the laser pulse signal passing through the prism to emit in different directions.
  • the scanning module includes two drivers and two prisms of uneven thickness arranged side by side, the two drivers are respectively used to drive the two prisms to rotate in opposite directions; from the laser emission The laser pulse signal of the device passes through the two prisms in turn and is emitted after changing the transmission direction.
  • an embodiment of the present invention further provides a mobile platform.
  • the mobile platform includes any one of the light emitting device and the platform body described in the first aspect, and the ranging device is installed on the platform body.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a car, and a remotely controlled vehicle.
  • the present invention provides the above-mentioned light emitting device, ranging device, and mobile platform to provide a laser emission solution that meets human eye safety requirements.
  • the circuit in the device can ensure that the laser radiation value does not exceed Specifications to ensure the safety of the laser device.
  • FIG. 1 is a schematic diagram of a connection mode of a laser emitting device provided in the prior art
  • 2A is a first schematic structural diagram of a laser emitting device according to an embodiment of the present invention.
  • 2B is a schematic diagram of a first structure of a laser emitting device according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a second structure of a laser emitting device according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a third structure of a laser emitting device according to an embodiment of the present invention.
  • FIG. 5 is a first schematic structural diagram of a charging circuit according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a second structure of a charging circuit according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a part of an energy storage circuit according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of a wiring failure or short circuit of a first component according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of a wiring failure or short circuit of a second component according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a third component wiring failure or short circuit provided by an embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a fourth component wiring failure or short circuit provided by an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of a fifth component failure or short circuit connection provided by an embodiment of the present invention.
  • FIG. 13 is a schematic wiring diagram of a sixth component failure or short circuit provided by an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of a seventh component wiring failure or short circuit provided by an embodiment of the present invention.
  • FIG. 15 is a schematic diagram of wiring of an eighth component failure or short circuit provided by an embodiment of the present invention.
  • 16 is a schematic frame diagram of a ranging device according to an embodiment of the present invention.
  • FIG. 17 is a schematic diagram of an embodiment in which a distance measuring device according to an embodiment of the present invention uses a coaxial optical path.
  • the existing scheme uses a pulse-driven design light emitting device, which includes a power source, a light source, and a control circuit.
  • the power source is VCC_LD
  • the light source is a pulsed laser diode
  • the control circuit includes a driving circuit and a switching circuit NMOS.
  • the driver When the pulse signal is at a high level, the driver outputs high voltage and high current, quickly turns on the MOS tube, the cathode of the pulsed laser diode is grounded, and the anode is connected to the power source VCC_LD. There is a voltage difference. At this time, the laser diode is turned on and emits light.
  • the MOS tube When the pulsed signal is At a low level, the MOS tube is turned off, and the laser diode is also turned off. Therefore, by controlling the duty cycle and frequency of the pulse signal, the duration and frequency of light emission of the laser diode can be controlled, and then the radiation amount of the laser diode can be controlled.
  • the problem with this solution is that if there is a single fault in the system, for example: (1) there is a bug in the software, the pulse width of the pulse signal is too large; (2) the MOS tube fails, and it is directly short-circuited; (3) the power supply is faulty, VCC_LD Too high, when the (1) failure occurs, the pulse width is too long will cause the laser diode to emit light for too long, which will cause the total radiation amount to exceed the predetermined value, will exceed the human eye safety regulations, when the (2) In the case of failure, the failure of the MOS tube will cause the laser diode to be always in the light-emitting state. This will cause the total radiation to exceed the predetermined value and exceed the human eye safety requirement.
  • FIG. 2A a light emitting circuit is shown in FIG. 2A:
  • the light emitting device includes a power source, a light source, a control circuit, and an energy storage circuit.
  • the power source is VCC_LD, which is the energy supply end of the light source.
  • the light source is a pulsed laser diode.
  • the control circuit includes a driving circuit and a switching circuit NMOS.
  • the energy storage circuit includes a resistor R and a capacitor C.
  • the energy storage circuit is a capacitor C and the charging circuit is a resistor R. .
  • the voltage control signal can set the output value of the BOOST booster circuit to adjust the working voltage of the laser diode VCC_LD.
  • the pulse signal is at a low level, the MOS tube is turned off and the laser diode is also turned off. At this time, the capacitor C is connected to the capacitor C through the resistor R. Charge until the capacitor voltage is VCC_LD;
  • the driver When the pulse signal is at a high level, the driver outputs high voltage and large current, quickly turns on the MOS tube, and the capacitor C is discharged through the laser diode and the MOS tube, so that the laser diode is turned on and emits light; that is, the control circuit is used for the first period
  • the VCC_LD and the capacitor C are turned on, so that the power source charges the capacitor C until the capacitor voltage is saturated; the control circuit is further configured to turn on the laser diode and the capacitor C in the second period, so that the capacitor C is connected to the laser
  • the diode is powered to make the light source emit a light pulse signal until the output current of the capacitor is lower than the threshold current of the laser transmitter.
  • the energy stored in the energy storage circuit has an upper limit value, which is determined by the capacitance value of the capacitor C and the operating voltage VCC_LD.
  • the emission power of the laser diode is related to the charge of the capacitor.
  • the laser diode stops emitting light. Because the light emitting power and light emitting time of the laser diode are only related to the capacitor C, even if the above (1) failure occurs, there is a bug in the software, and the pulse width of the pulse signal is too large.
  • the MOS tube is turned on for a long time, but the laser diode
  • the luminous power is mainly related to the charge of the capacitor and has nothing to do with the pulse signal; therefore, after one light emission, the amount of the capacitor charge is not enough to excite the diode to emit light, and even if the MOS tube is turned on, it will not continue to emit light; the second fault occurs 2)
  • the MOS tube fails and is directly short-circuited. As in the case of (1), after the laser diode emits light once, it will not continue to emit light.
  • the light transmitting circuit further includes a zener diode in parallel with the capacitor C, which is used to protect the voltage of the capacitor C not exceeding a preset value. Even if the transmitting voltage is too high, the zener diode can conduct shunting . In this way, the fault in (3) occurs, and the power of the laser diode does not exceed a predetermined value. Therefore, this embodiment can solve the problem that the diode output caused by the three types of faults exceeds the safety value.
  • FIG. 3 a light emitting device is shown in FIG. 3:
  • the light emitting device includes a power source, a light source, a control circuit, and an energy storage circuit.
  • the power source is VCC_LD, which is the energy supply end of the light source.
  • the light source is a pulsed laser diode.
  • the control circuit includes a driving circuit and a switching circuit NMOS.
  • the energy storage circuit includes an energy storage circuit and a charging circuit.
  • the two circuits of energy storage include resistors R2 and R3. And capacitor C, where the energy storage circuit includes capacitor C.
  • the charging circuit includes resistors R2 and R3.
  • the charging circuit further includes a current limiting circuit and a voltage limiting circuit.
  • the current limiting circuit includes R1, a voltage calibration source D1, and a transistor, which protects the current on R2 and R3 from exceeding the rated power value of the resistor, and prevents excessive use from generating heat and failure.
  • the voltage limiting circuit includes D2, which protects VCC_LD from exceeding the designed limit value.
  • the voltage control signal can set the output value of the BOOST booster circuit, thereby adjusting the working voltage VCC_LD of the laser diode; when the pulse signal is at a low level, the MOS tube is turned off, and the laser diode is also turned off. Charge capacitor C through resistors R2 and R3 until the capacitor voltage approaches VCC_LD;
  • the driver When the pulse signal is at a high level, the driver outputs high voltage and large current, quickly turns on the MOS tube, and the capacitor C is discharged through the laser diode and the MOS tube, so that the laser diode is turned on and emits light;
  • the emission power of the laser diode is related to the charge of the capacitor.
  • the laser diode stops emitting light. Because the light emitting power and light emitting time of the laser diode are only related to the capacitor C, even if the above (1) failure occurs, there is a bug in the software, the pulse width of the pulse signal is too large, and the MOS tube is turned on for a long time at this time, but the laser diode
  • the luminous power is mainly related to the charge of the capacitor and has nothing to do with the pulse signal; therefore, after one light emission, the amount of the capacitor charge is not enough to excite the diode to emit light, even if the MOS tube is turned on, it will not continue to emit light; the second fault 2)
  • the MOS tube fails and is directly short-circuited.
  • this embodiment can solve the problem that the diode output caused by the first and second faults described above exceeds Problems with safety values.
  • this embodiment can also solve the following problems: the power supply is faulty, and VCC_LD is too high. At this time, the Zener or TVS tube D2 is turned on, thereby protecting VCC_LD from exceeding the design limit; the resistor R2 or R3 fails.
  • the light emitting device is shown in FIG. 4:
  • two power supply circuits VCC_LD and VCC_HV are provided, where VCC_LV is connected to the laser diode, and VDD_LD is connected to the voltage limiting circuit D2 and Voltage reference source D1.
  • the first end of the triode in the current-limiting circuit is connected to VCC_HV through a resistor R4, and other components and contents that are the same as those in the second embodiment are not described herein again.
  • the present invention can protect the light emitting power or radiation of the laser diode from exceeding the rated power and rated radiation:
  • the pulse width of the pulse signal is too large. At this time, the MOS tube is turned on for a long time. However, the light emitting power of the laser diode is mainly related to the charge of the capacitor and has nothing to do with the pulse signal. The amount of charge is not enough to excite the diode to emit light, so even if the MOS tube is turned on, it will not continue to emit light;
  • the resistor R1 fails to open, the transistor T1 is turned off, and the system does not work, so the laser does not emit light, as shown in Figure 8A; while R1 fails and shorts, the transistor T1 is normally turned on. Considering D1 protection, the entire charging circuit can work normally , Does not affect the normal light emission of the laser diode, as shown in Figure 8B.
  • T1 fails to open, D1 is cut off, the system does not work, so the laser diode does not emit light, as shown in Figure 10A; the base of the transistor T1 and the emitter are short-circuited, and R1, D1, R2, and R3 still constitute a normal charging circuit without affecting the laser
  • the diode emits light normally, as shown in FIG. 10B.
  • R1, R2, D1, R3, R4 still constitute a normal charging circuit, which does not affect the normal light emission of the laser diode, as shown in FIG. 11.
  • the reference stabilized voltage source D1 fails to open, and the voltage regulator circuit D2 can ensure that VCC_LD does not exceed the design value, so as to ensure that the stored energy of the capacitor C does not exceed the involved limit value, as shown in FIG. 12A; if the reference stabilized voltage source D1 fails and is short-circuited, then charging The circuit is equivalent to only R1, which can still meet the normal operation of the charging circuit, as shown in Figure 12B.
  • the resistor R2 or R3 fails to open.
  • the voltage regulator circuit D2 can ensure that VCC_LD does not exceed the design value, thereby ensuring that the stored energy of the capacitor C does not exceed the involved limit value, as shown in Figure 13A.
  • the resistor R2 or R3 fails and is short-circuited. If the two resistors are connected in series, even if one of them fails, the circuit still works normally, and does not affect the charge of the capacitor C, thereby ensuring that the laser emission power does not change, as shown in Figure 13B.
  • the voltage stabilization circuit D2 fails to open.
  • the charging circuit is designed to ensure that the stored energy of the capacitor C does not exceed the design limit. As shown in FIG. 15A, the voltage stabilization circuit D2 fails and shorts out, D1 is turned off, and the charging circuit does not work, as shown in FIG. 15B.
  • the resistor R1 / R2 / R3 / R4, the transistor T1, and the voltage calibration source D1 are charging circuits;
  • the capacitor C is an energy storage circuit;
  • D2 is a voltage stabilization circuit.
  • the core of the charging circuit is the resistors R2 and R3.
  • the other circuits are to limit the current of R2 and R3 and protect the charging circuit.
  • the current I1 through R1 turns on the transistor, so that the current I2 flows through the emitter and collector of transistor T1, after passing through R3 and R4, but if VCC_HV is set too large, then I2 becomes larger, and the resistances R3 and R4
  • the voltage drop increases, and when it reaches a certain threshold, D1 is turned on, and the I2 current is shunted.
  • I3 flows through the voltage reference source D1, thereby ensuring that the currents flowing through R2 and R3 do not exceed the rated value, as shown in Figure 5. .
  • the charging circuit is not limited to the foregoing implementations, and other implementations are provided below:
  • the second implementation method is based on the zener diode D1 and the transistor T1. Even when VCC_HV changes, the voltage drop of R2 and R3 can be guaranteed to be stable at the design value. Then, a corresponding limitation is imposed on the energy storage circuit to ensure the energy storage value of capacitor C ,As shown in Figure 6.
  • the voltage stabilization circuit is designed as a redundancy to ensure that the voltage drop across the energy storage circuit C does not exceed the design value.
  • the voltage stabilization circuit can also be implemented in other ways, as shown in Figure 7: If the voltage is too high, then the voltage regulator diode T1 It is turned on to ensure that the voltage drop of capacitor C does not exceed the design value and the voltage across capacitor C is guaranteed.
  • the failure or short circuit of each component will not cause the output of the light emitting device to exceed the safety value. Therefore, the above circuit can effectively ensure that the output of the light emitting device meets human eye safety regulations.
  • the light emitting device provided by the present invention can achieve a laser emitting scheme that meets human eye safety requirements.
  • the circuit in the above device can ensure that the laser radiation value does not exceed the safety value, thereby Ensure the safety of the laser device.
  • an embodiment of the present invention further provides a distance measuring device, including any one of the light emitting devices described in the first aspect; and a receiving circuit for receiving a light pulse signal emitted by the light emitting device and reflected by an object. Return at least part of the optical signal and convert the received optical signal into an electrical signal; a sampling circuit for sampling the electrical signal from the receiving circuit to obtain a sampling result; an arithmetic circuit for using the sampling result Calculate the distance between the object and the distance measuring device. Further, the number of the light emitting devices is at least two.
  • an embodiment of the present invention further provides a mobile platform.
  • the mobile platform includes any one of the ranging device and the platform body described in the second aspect, and the ranging device is installed on the platform body.
  • the mobile platform includes at least one of a manned aerial vehicle, an unmanned aerial vehicle, a car, a robot, and a remotely controlled vehicle.
  • the light emitting device provided by each embodiment of the present invention can be applied to a ranging device, and the ranging device can be an electronic device such as a laser radar, a laser ranging device, or the like.
  • the ranging device is configured to sense external environmental information, such as distance information, azimuth information, reflection intensity information, velocity information, and the like of environmental targets.
  • the distance measuring device can detect the distance between the detection object and the distance measuring device by measuring a time of light propagation between the distance measuring device and the detection object, that is, a time-of-flight (TOF).
  • TOF time-of-flight
  • the ranging device can also detect the distance from the probe to the ranging device by other techniques, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement. There are no restrictions.
  • the ranging device 100 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130, and an operation circuit 140.
  • the transmitting circuit 110 may transmit a light pulse sequence (for example, a laser pulse sequence).
  • the receiving circuit 120 may receive a light pulse sequence reflected by the detected object, and perform photoelectric conversion on the light pulse sequence to obtain an electric signal.
  • the electric signal may be processed and then output to the sampling circuit 130.
  • the sampling circuit 130 may sample the electrical signal to obtain a sampling result.
  • the arithmetic circuit 140 may determine the distance between the distance measuring device 100 and the detected object based on the sampling result of the sampling circuit 130.
  • the distance measuring device 100 may further include a control circuit 150, which may control other circuits, for example, may control the working time of each circuit and / or set parameters of each circuit.
  • a control circuit 150 may control other circuits, for example, may control the working time of each circuit and / or set parameters of each circuit.
  • the ranging device shown in FIG. 16 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit
  • the embodiments of the present application are not limited thereto.
  • the transmitting circuit, receiving circuit, sampling circuit, and arithmetic The number of any one of the circuits may be at least two.
  • the ranging device 100 may further include a scanning module 160 configured to change a laser pulse sequence emitted by the transmitting circuit and emit the laser pulse sequence.
  • the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as a measurement.
  • the distance measuring module 150 may be independent of other modules, such as the scanning module 160.
  • the distance measuring device may use a coaxial optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device.
  • the distance measuring device may also use an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are transmitted along different optical paths in the distance measuring device, respectively.
  • FIG. 17 shows a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
  • the ranging device 100 includes a light transmitting and receiving device 110, and the light transmitting and receiving device 110 includes a light source 103 (including the above-mentioned transmitting circuit), a collimating element 104, a detector 105 (may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and an optical path change Element 106.
  • the optical transceiver device 110 is configured to transmit a light beam, receive the returned light, and convert the returned light into an electrical signal.
  • the light source 103 is used to emit a light beam. In one embodiment, the light source 103 may emit a laser beam.
  • the laser beam emitted by the light source 103 is a narrow-bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 104 is disposed on the exit light path of the light source, and is used to collimate the light beam emitted from the light source 103 and collimate the light beam emitted from the light source 103 into parallel light.
  • the collimating element is also used to focus at least a portion of the reflected light reflected by the probe.
  • the collimating element 104 may be a collimating lens or other elements capable of collimating a light beam.
  • the transmitting light path and the receiving light path in the ranging device are combined before the collimating element 104 through the optical path changing element 106, so that the transmitting light path and the receiving light path can share the same collimating element, so that the optical path More compact.
  • the light source 103 and the detector 105 may also use respective collimation elements, and the optical path changing element 106 may be disposed after the collimation elements.
  • the light path changing element may use a small area mirror to Combine the transmitting and receiving optical paths.
  • the light path changing element may also be a reflector with a through hole, wherein the through hole is used to transmit the light emitted from the light source 103, and the reflector is used to reflect the returned light to the detector 105. This can reduce the situation that the bracket of the small mirror can block the return light in the case of using a small mirror.
  • the optical path changing element is offset from the optical axis of the collimating element 104.
  • the light path changing element may also be located on the optical axis of the collimating element 104.
  • the ranging device 100 further includes a scanning module 102.
  • the scanning module 102 is placed on the outgoing light path of the optical transceiver 110.
  • the scanning module 102 is used to change the transmission direction of the collimated light beam 119 emitted by the collimating element 104 and project it to the external environment, and project the return light onto the collimating element 104 .
  • the returned light is focused on the detector 105 via the collimating element 104.
  • the scanning module 102 may include one or more optical elements, such as a lens, a mirror, a prism, a grating, an optical phased array, or any combination thereof.
  • multiple optical elements of the scanning module 102 can rotate around a common axis 109, and each rotating optical element is used to continuously change the propagation direction of the incident light beam.
  • multiple optical elements of the scanning module 102 can be rotated at different rotation speeds.
  • multiple optical elements of the scan module 102 may be rotated at substantially the same rotation speed.
  • multiple optical elements of the scanning module may also rotate around different axes. In some embodiments, multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning module 102 includes a first optical element 114 and a driver 116 connected to the first optical element 114.
  • the driver 116 is configured to drive the first optical element 114 to rotate about the rotation axis 109, so that the first optical element 114 is changed.
  • the first optical element 114 projects the collimated light beam 119 to different directions.
  • the angle between the direction of the collimated light beam 119 after being changed by the first optical element and the rotation axis 109 changes with the rotation of the first optical element 114.
  • the first optical element 114 includes a pair of opposing non-parallel surfaces through which a collimated light beam 119 passes.
  • the first optical element 114 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the first optical element 114 includes a wedge-shaped prism, which is directed toward the straight beam 119 for refraction. In one embodiment, the first optical element 114 is coated with an antireflection coating, and the thickness of the antireflection coating is equal to the wavelength of the light beam emitted by the light source 103, which can increase the intensity of the transmitted light beam.
  • the scanning module 102 further includes a second optical element 115 that rotates around the rotation axis 109.
  • the rotation speed of the second optical element 115 is different from the rotation speed of the first optical element 114.
  • the second optical element 115 is used to change the direction of the light beam projected by the first optical element 114.
  • the second optical element 115 is connected to another driver 117, and the driver 117 drives the second optical element 115 to rotate.
  • the first optical element 114 and the second optical element 115 can be driven by different drivers, so that the rotation speeds of the first optical element 114 and the second optical element 115 are different, so that the collimated light beam 119 is projected into different directions of the external space and can be scanned Large spatial range.
  • the controller 118 controls the drivers 116 and 117 to drive the first optical element 114 and the second optical element 115, respectively.
  • the rotation speeds of the first optical element 114 and the second optical element 115 can be determined according to the area and pattern expected to be scanned in practical applications.
  • Drivers 116 and 117 may include motors or other driving devices.
  • the second optical element 115 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 115 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the second optical element 115 includes a wedge-shaped prism. In one embodiment, the second optical element 115 is coated with an antireflection coating, which can increase the intensity of the transmitted light beam.
  • the rotation of the scanning module 102 can project light into different directions, such as directions 111 and 113, so as to scan the space around the ranging device 100.
  • directions 111 and 113 are directions that are projected by the scanning module 102.
  • the scanning module 102 receives the return light 112 reflected by the detection object 101 and projects the return light 112 onto the collimating element 104.
  • the collimating element 104 condenses at least a part of the return light 112 reflected by the probe 101.
  • the collimating element 104 is coated with an antireflection coating, which can increase the intensity of the transmitted light beam.
  • the detector 105 and the light source 103 are placed on the same side of the collimating element 104, and the detector 105 is used to convert at least part of the returned light passing through the collimating element 104 into an electrical signal.
  • the light source 103 may include a laser diode through which laser light in the nanosecond range is emitted.
  • the laser pulse emitted by the light source 103 lasts for 10 ns.
  • the laser pulse receiving time may be determined, for example, the laser pulse receiving time is determined by detecting a rising edge time and / or a falling edge time of an electrical signal pulse. In this way, the ranging device 100 can calculate the TOF by using the pulse reception time information and the pulse transmission time information, thereby determining the distance between the detection object 101 and the distance measurement device 100.
  • the distance and orientation detected by the ranging device 100 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the ranging device according to the embodiment of the present invention can be applied to a mobile platform, and the ranging device can be installed on the platform body of the mobile platform.
  • a mobile platform with a ranging device can measure the external environment, for example, measuring the distance between the mobile platform and an obstacle for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remotely controlled vehicle, a robot, and a camera.
  • the platform body is the fuselage of the unmanned aerial vehicle.
  • the ranging device is applied to a car
  • the platform body is the body of the car.
  • the car may be a self-driving car or a semi-autonomous car, and there is no limitation here.
  • the platform body is the body of the remote control car.
  • the platform body is a robot.
  • the ranging device is applied to a camera, the platform body is the camera itself.
  • the present invention provides the above-mentioned light emitting device, ranging device, and mobile platform to provide a laser emission solution that meets human eye safety requirements.
  • the circuit in the device can ensure that the laser radiation value does not exceed Specifications to ensure the safety of the laser device.

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Abstract

A light-emitting apparatus, a distance measurement apparatus and a mobile platform. The light-emitting apparatus comprises: a power supply (VCC_LD), a laser emitter, an energy storage circuit and a control circuit, wherein the energy storage circuit is connected to the power supply and the laser emitter respectively, and the energy storage circuit comprises at least one capacitor; the control circuit is used for turning on the power supply and the energy storage circuit in a first time period, such that the power supply charges a capacitor in the energy storage circuit until the voltage of the capacitor is saturated; and the control circuit is also used for turning on the laser emitter and the energy storage circuit in a second time period, such that the energy storage circuit supplies power to the laser emitter to enable the laser emitter to emit a light pulse signal until an output current of the capacitor is lower than a threshold current of the laser emitter. The light-emitting apparatus can ensure that an output value thereof conforms to a specified eye safety value.

Description

一种光发射装置及测距装置、移动平台Light emitting device, distance measuring device, and mobile platform 技术领域Technical field
本发明涉及电路技术领域，尤其涉及一种光发射装置及测距装置、移动平台。The invention relates to the technical field of circuits, and in particular, to a light emitting device, a distance measuring device, and a mobile platform.
背景技术Background technique
在激光雷达、激光测距等领域，由于产品直接在现实生活场景中使用，那么激光存在直接射入人眼的风险，因此Accessible Emission Limit(AEL)规定了激光发射不能超过安全规定的辐射值，同时，当***发生单一故障时，激光发射功率也不能超过安全规定的值。In the fields of lidar, laser ranging, etc., because the product is used directly in real life scenarios, the laser has the risk of directly entering the human eye. Therefore, Accessible Emission Limit (AEL) stipulates that the laser emission cannot exceed the radiation value required by safety regulations. At the same time, when the system has a single failure, the laser emission power cannot exceed the value specified by the safety.
因此，本发明设计了一种符合人眼安全规定的激光发射方案，同时当***发生单一故障时，保护电路可以保证激光辐射值不超过安规值。Therefore, the present invention designs a laser emission scheme that meets human eye safety regulations. At the same time, when a single failure occurs in the system, the protection circuit can ensure that the laser radiation value does not exceed the safety value.
发明内容Summary of the Invention
本发明第一方面提供了一种光发射装置，包括：电源、激光发射器、储能电路和控制电路，所述储能电路分别与所述电源和所述激光发射器连接，所述储能电路包括至少一个电容；所述控制电路用于在第一时段导通所述电源和所述储能电路，使得所述电源对所述储能电路中的电容进行充电，直至所述电容电压饱和；所述控制电路还用于在第二时段导通所述激光发射器和所述储能电路，使得所述储能电路对所述激光发射器供电，以使所述激光发射器出射光脉冲信号，直至所述电容的输出电流低于所述激光发射器的阈值电流。A first aspect of the present invention provides a light emitting device, including: a power source, a laser transmitter, an energy storage circuit, and a control circuit, the energy storage circuit is respectively connected to the power source and the laser transmitter, and the energy storage The circuit includes at least one capacitor; the control circuit is configured to turn on the power supply and the energy storage circuit in a first period, so that the power supply charges the capacitor in the energy storage circuit until the capacitor voltage is saturated ; The control circuit is further configured to turn on the laser transmitter and the energy storage circuit in a second period, so that the energy storage circuit supplies power to the laser transmitter, so that the laser transmitter emits light pulses Signal until the output current of the capacitor is lower than the threshold current of the laser transmitter.
进一步地，所述光发射装置还包括升压电路，所述升压电路用于对输入电压进行升压以适应不同所述激光发射器的需求。Further, the light emitting device further includes a boosting circuit, and the boosting circuit is configured to boost an input voltage to meet the requirements of different laser transmitters.
进一步地，所述至少一个电容所存储的能量具有预设上限值。Further, the energy stored in the at least one capacitor has a preset upper limit value.
进一步地，所述控制电路包括与所述激光发射器连接的开关电路，以及与所述开关电路连接的驱动电路；所述驱动电路用于在所述第二时段内接收第二驱动信号，以及根据所述第二驱动信号控制所述开关电路导通所述激光发射器和所述储能电路。Further, the control circuit includes a switching circuit connected to the laser transmitter and a driving circuit connected to the switching circuit; the driving circuit is configured to receive a second driving signal within the second period, and Controlling the switching circuit to turn on the laser transmitter and the energy storage circuit according to the second driving signal.
进一步地，所述驱动电路还用于在接收所述第一时段内接收第一驱动信号，以及根据所述第一驱动信号控制所述开关电路导通所述电源和所述储能电路。Further, the driving circuit is further configured to receive a first driving signal within the first period of time, and control the switching circuit to turn on the power source and the energy storage circuit according to the first driving signal.
进一步地，所述光发射装置出射激光脉冲信号。Further, the light emitting device emits a laser pulse signal.
进一步地，所述激光发射器包括激光二极管；所述激光二极管的第一端与所述储能电路连接，所述激光二极管的第二端与所述开关电路的第一端连接；所述驱动电路与所述开关电路的第二端连接，其中所述驱动电路对所述开关电路进行控制；所述开关电路的第三端接地连接。Further, the laser emitter includes a laser diode; a first end of the laser diode is connected to the energy storage circuit, a second end of the laser diode is connected to a first end of the switching circuit; the driver The circuit is connected to the second end of the switching circuit, wherein the driving circuit controls the switching circuit; and the third end of the switching circuit is connected to ground.
进一步地，所述储能电路包括用于连接所述至少一个电容和所述电源的充电电路，所述电源在所述第一时段通过所述充电电路对所述至少一个电容进行充电。Further, the energy storage circuit includes a charging circuit for connecting the at least one capacitor and the power source, and the power source charges the at least one capacitor through the charging circuit during the first period.
进一步地，所述充电电路还包括至少一个电阻，所述至少一个电阻的一端连接于所述三极管的第三端，另一端连接于所述电容。Further, the charging circuit further includes at least one resistor, one end of the at least one resistor is connected to a third end of the transistor, and the other end is connected to the capacitor.
进一步地，所述充电电路包括至少两个电阻，所述至少两个电阻的一端连接于所述三极管的第三端，另一端连接于所述电容。Further, the charging circuit includes at least two resistors, one end of the at least two resistors is connected to a third end of the transistor, and the other end is connected to the capacitor.
进一步地，所述电容的一端连接于所述电压校准源和所述充电电路，另一端连接于所述电源。Further, one end of the capacitor is connected to the voltage calibration source and the charging circuit, and the other end is connected to the power source.
进一步地，还包括限压电路，用于对所述储能电路两端的电压进行限定，以防止储能电路两端的电压超出预定值。Further, it further includes a voltage limiting circuit for limiting the voltage across the energy storage circuit to prevent the voltage across the energy storage circuit from exceeding a predetermined value.
进一步地，所述限压电路包括二极管，所述限压电路中的二极管的一端连接于所述电源，另一端连接于所述蓄能电路的接地端。Further, the voltage limiting circuit includes a diode, one end of the diode in the voltage limiting circuit is connected to the power source, and the other end is connected to a ground terminal of the energy storage circuit.
进一步地，所述充电电路进一步包括限流电路，所述限流电路用于保护所述充电电路以防止所述充电电路上的电流超过其额定值。Further, the charging circuit further includes a current limiting circuit for protecting the charging circuit to prevent the current on the charging circuit from exceeding its rated value.
进一步地，所述限流电路包括电阻，电压校准源和三极管。Further, the current limiting circuit includes a resistor, a voltage calibration source, and a transistor.
进一步地，所述限流电路中的电阻的一端连接于升压电路的输出端，另一端连接于电压校准源。Further, one end of the resistor in the current limiting circuit is connected to the output end of the boost circuit, and the other end is connected to a voltage calibration source.
进一步地，所述三极管第一端连接于升压电路的输出端，第二端连接于所述限流电路的电阻的另一端，第三端连接于所述电容的一端。Further, a first terminal of the transistor is connected to an output terminal of the boost circuit, a second terminal is connected to the other terminal of the resistor of the current limiting circuit, and a third terminal is connected to one terminal of the capacitor.
进一步地，所述电压校准源的第一端连接于所述限流电路中的电阻和所述 三极管的第二端，第二端连接于所述激光发射器的输入端，第三端连接于所述三极管的第三端。Further, a first end of the voltage calibration source is connected to a resistor in the current limiting circuit and a second end of the triode, a second end is connected to an input end of the laser transmitter, and a third end is connected to A third end of the triode.
进一步地，所述电源包括两个电源，分别为所述激光发射器和所述储能电路提供能量。Further, the power source includes two power sources, which respectively provide energy for the laser transmitter and the energy storage circuit.
第二方面，本发明实施例还提供了一种测距装置，包括：第一方面所述的光发射装置，用于依次出射激光脉冲信号；光电转换电路，用于接收所述光发射装置出射的激光脉冲信号经物体反射回的至少部分光信号，以及将接收到的光信号转成电信号；采样电路，用于对来自所述光电转换电路的电信号进行采样，获得采样结果；运算电路，用于根据所述采样结果计算所述物体与所述测距装置之间的距离。According to a second aspect, an embodiment of the present invention further provides a distance measuring device, including: the light emitting device according to the first aspect, for sequentially emitting laser pulse signals; and a photoelectric conversion circuit for receiving the light emitted by the light emitting device. At least part of the optical signal reflected by the laser pulse signal reflected by the object, and converting the received optical signal into an electrical signal; a sampling circuit for sampling the electrical signal from the photoelectric conversion circuit to obtain a sampling result; an arithmetic circuit For calculating a distance between the object and the distance measuring device according to the sampling result.
进一步地，所述光发射装置的数量和所述光电转换电路的数量分别为至少2个；每个所述光电转换电路用于接收来自对应的光发射装置出射的激光脉冲信号经物体反射回的至少部分光信号，以及将接收到的光信号转成电信号。Further, the number of the light emitting devices and the number of the photoelectric conversion circuits are respectively at least two; each of the photoelectric conversion circuits is configured to receive a laser pulse signal emitted from a corresponding light emitting device and reflected back by an object. At least part of the optical signal, and converting the received optical signal into an electrical signal.
进一步地，所述激光测距装置还包括扫描模块；所述扫描模块用于改变所述激光脉冲信号的传输方向后出射，经物体反射回的激光脉冲信号经过所述扫描模块后入射至所述光电转换电路。Further, the laser ranging device further includes a scanning module; the scanning module is configured to change the transmission direction of the laser pulse signal and emit the laser pulse signal, and the laser pulse signal reflected by the object passes through the scanning module and enters the laser pulse signal. Photoelectric conversion circuit.
进一步地，所述扫描模块包括驱动器和厚度不均匀的棱镜，所述驱动器用于带动所述棱镜转动，以将经过所述棱镜的激光脉冲信号改变至不同方向出射。Further, the scanning module includes a driver and a prism with uneven thickness, the driver is used to drive the prism to rotate to change the laser pulse signal passing through the prism to emit in different directions.
进一步地，所述扫描模块包括两个驱动器，以及两个并列设置的、厚度不均匀的棱镜，所述两个驱动器分别用于驱动所述两个棱镜以相反的方向转动；来自所述激光发射装置的激光脉冲信号依次经过所述两个棱镜后改变传输方向出射。Further, the scanning module includes two drivers and two prisms of uneven thickness arranged side by side, the two drivers are respectively used to drive the two prisms to rotate in opposite directions; from the laser emission The laser pulse signal of the device passes through the two prisms in turn and is emitted after changing the transmission direction.
第三方面，本发明实施例还提供了一种移动平台，所述移动平台包括第一方面所述的任一光发射装置以及平台本体，所述测距装置安装在所述平台本体。According to a third aspect, an embodiment of the present invention further provides a mobile platform. The mobile platform includes any one of the light emitting device and the platform body described in the first aspect, and the ranging device is installed on the platform body.
进一步地，所述移动平台包括无人飞行器、汽车和遥控车中的至少一种。Further, the mobile platform includes at least one of an unmanned aerial vehicle, a car, and a remotely controlled vehicle.
本发明通过提供上述光发射装置、测距装置以及移动平台，以提供一种符合人眼安全规定的激光发射方案，当***发生单一故障时，上述装置中的电路可以保证激光辐射值不超过安规值，从而保证激光装置的使用安全。The present invention provides the above-mentioned light emitting device, ranging device, and mobile platform to provide a laser emission solution that meets human eye safety requirements. When a single failure occurs in the system, the circuit in the device can ensure that the laser radiation value does not exceed Specifications to ensure the safety of the laser device.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without paying creative labor.
图1是现有技术中提供的一种激光发射装置连接方式的示意图；FIG. 1 is a schematic diagram of a connection mode of a laser emitting device provided in the prior art; FIG.
图2A是本发明实施例提供的一种激光发射装置的第一结构示意图；2A is a first schematic structural diagram of a laser emitting device according to an embodiment of the present invention;
图2B是本发明实施例提供的一种激光发射装置的第一结构示意图；2B is a schematic diagram of a first structure of a laser emitting device according to an embodiment of the present invention;
图3是本发明实施例提供的一种激光发射装置的第二结构示意图；3 is a schematic diagram of a second structure of a laser emitting device according to an embodiment of the present invention;
图4是本发明实施例提供的一种激光发射装置的第三结构示意图；4 is a schematic diagram of a third structure of a laser emitting device according to an embodiment of the present invention;
图5是本发明实施例提供的一种充电电路的第一结构示意图；5 is a first schematic structural diagram of a charging circuit according to an embodiment of the present invention;
图6是本发明实施例提供的一种充电电路的第二结构示意图；6 is a schematic diagram of a second structure of a charging circuit according to an embodiment of the present invention;
图7是本发明实施例提供的一种储能电路的部分结构示意图；7 is a schematic structural diagram of a part of an energy storage circuit according to an embodiment of the present invention;
图8是本发明实施例提供的第一种元件失效或短路的接线示意图；FIG. 8 is a schematic diagram of a wiring failure or short circuit of a first component according to an embodiment of the present invention; FIG.
图9是本发明实施例提供的第二种元件失效或短路的接线示意图；FIG. 9 is a schematic diagram of a wiring failure or short circuit of a second component according to an embodiment of the present invention; FIG.
图10是本发明实施例提供的第三种元件失效或短路的接线示意图；FIG. 10 is a schematic diagram of a third component wiring failure or short circuit provided by an embodiment of the present invention; FIG.
图11是本发明实施例提供的第四种元件失效或短路的接线示意图；FIG. 11 is a schematic diagram of a fourth component wiring failure or short circuit provided by an embodiment of the present invention; FIG.
图12是本发明实施例提供的第五种元件失效或短路的接线示意图；FIG. 12 is a schematic diagram of a fifth component failure or short circuit connection provided by an embodiment of the present invention; FIG.
图13是本发明实施例提供的第六种元件失效或短路的接线示意图；FIG. 13 is a schematic wiring diagram of a sixth component failure or short circuit provided by an embodiment of the present invention; FIG.
图14是本发明实施例提供的第七种元件失效或短路的接线示意图；FIG. 14 is a schematic diagram of a seventh component wiring failure or short circuit provided by an embodiment of the present invention; FIG.
图15是本发明实施例提供的第八种元件失效或短路的接线示意图；FIG. 15 is a schematic diagram of wiring of an eighth component failure or short circuit provided by an embodiment of the present invention; FIG.
图16是本发明实施例提供的一种测距装置的示意性框架图；16 is a schematic frame diagram of a ranging device according to an embodiment of the present invention;
图17是本发明实施例提供的测距装置采用同轴光路的一种实施例的示意图。FIG. 17 is a schematic diagram of an embodiment in which a distance measuring device according to an embodiment of the present invention uses a coaxial optical path.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是 全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
请参阅图1，现有的方案采用脉冲驱动的设计的光发射装置，其中包括电源、光源和控制电路，其中电源为VCC_LD，光源为脉冲激光二极管，控制电路包括驱动电路和开关电路NMOS，当脉冲信号为高电平的时候，驱动输出高电压和大电流，迅速打开MOS管，脉冲激光二极管的阴极接地，阳极接电源VCC_LD，存在压差，此时激光二极管导通发光，当脉冲信号为低电平的时候，MOS管截止，从而激光二极管也截止。因此，通过控制脉冲信号的占空比和频率，即可以控制激光二极管的发光的时长和频率，进而控制激光二极管的辐射量。Please refer to FIG. 1. The existing scheme uses a pulse-driven design light emitting device, which includes a power source, a light source, and a control circuit. The power source is VCC_LD, the light source is a pulsed laser diode, and the control circuit includes a driving circuit and a switching circuit NMOS. When the pulse signal is at a high level, the driver outputs high voltage and high current, quickly turns on the MOS tube, the cathode of the pulsed laser diode is grounded, and the anode is connected to the power source VCC_LD. There is a voltage difference. At this time, the laser diode is turned on and emits light. When the pulsed signal is At a low level, the MOS tube is turned off, and the laser diode is also turned off. Therefore, by controlling the duty cycle and frequency of the pulse signal, the duration and frequency of light emission of the laser diode can be controlled, and then the radiation amount of the laser diode can be controlled.
但该方案存在的问题在于，如果***存在单一故障，例如：(1)软件上存在bug，脉冲信号的脉宽过大；(2)MOS管失效，直接短路；(3)电源有故障，VCC_LD过高，当出现第(1)种故障时，脉冲宽度过大将导致激光二极管发光时间过长，如此将导致总的辐射量超出预定值，将超过人眼安全的规定值，当出现第(2)种故障时，MOS管失效将导致激光二极管一直处于发光状态，如此将导致总的辐射量超出预定值，将超过人眼安全的规定值，当出现第(3)中情况时，电源电压过高，将导致激光功率过大，超出人眼安全的规定值，由此可见，只要出现前述三种情况中的某一个故障，都会导致激光二极管发光辐射量或发光功率超过人眼安全的规定值，对人眼造成伤害。However, the problem with this solution is that if there is a single fault in the system, for example: (1) there is a bug in the software, the pulse width of the pulse signal is too large; (2) the MOS tube fails, and it is directly short-circuited; (3) the power supply is faulty, VCC_LD Too high, when the (1) failure occurs, the pulse width is too long will cause the laser diode to emit light for too long, which will cause the total radiation amount to exceed the predetermined value, will exceed the human eye safety regulations, when the (2) In the case of failure, the failure of the MOS tube will cause the laser diode to be always in the light-emitting state. This will cause the total radiation to exceed the predetermined value and exceed the human eye safety requirement. When the condition in (3) occurs, the power supply voltage will be too high. High, it will cause the laser power to be too large and exceed the specified value of human eye safety. From this, it can be seen that as long as one of the three situations mentioned above occurs, the amount of laser diode light emission or power will exceed the specified value of human eye safety , Cause harm to the human eye.
本发明的第一实施例中，光发射电路如图2A所示：In the first embodiment of the present invention, a light emitting circuit is shown in FIG. 2A:
光发射装置包括电源、光源、控制电路和储能电路。电源为VCC_LD，作为光源的能量提供端，光源为脉冲激光二极管，控制电路包括驱动电路和开关电路NMOS，储能电路包括电阻R和电容C，其中蓄能电路为电容C，充电电路为电阻R。The light emitting device includes a power source, a light source, a control circuit, and an energy storage circuit. The power source is VCC_LD, which is the energy supply end of the light source. The light source is a pulsed laser diode. The control circuit includes a driving circuit and a switching circuit NMOS. The energy storage circuit includes a resistor R and a capacitor C. The energy storage circuit is a capacitor C and the charging circuit is a resistor R. .
电压控制信号可以设置BOOST升压电路的输出值，从而调整激光二极管的工作电压VCC_LD；当脉冲信号为低电平的时候，MOS管截止，从而激光二极管也截止，此时通过电阻R给电容C充电，直到电容电压为VCC_LD；The voltage control signal can set the output value of the BOOST booster circuit to adjust the working voltage of the laser diode VCC_LD. When the pulse signal is at a low level, the MOS tube is turned off and the laser diode is also turned off. At this time, the capacitor C is connected to the capacitor C through the resistor R. Charge until the capacitor voltage is VCC_LD;
当脉冲信号为高电平的时候，驱动输出高电压和大电流，迅速打开MOS 管，电容C通过激光二极管和MOS管进行放电，从而激光二极管导通发光；即控制电路用于在第一时段导通VCC_LD和所述电容C，使得所述电源对电容C进行充电，直至所述电容电压饱和；所述控制电路还用于在第二时段导通激光二极管和电容C，使得电容C对激光二极管供电，以使所述光源出射光脉冲信号，直至所述电容的输出电流低于所述激光发射器的阈值电流。储能电路所存储的能量具有上限值，该上限值由电容C的电容值和工作电压VCC_LD确定。When the pulse signal is at a high level, the driver outputs high voltage and large current, quickly turns on the MOS tube, and the capacitor C is discharged through the laser diode and the MOS tube, so that the laser diode is turned on and emits light; that is, the control circuit is used for the first period The VCC_LD and the capacitor C are turned on, so that the power source charges the capacitor C until the capacitor voltage is saturated; the control circuit is further configured to turn on the laser diode and the capacitor C in the second period, so that the capacitor C is connected to the laser The diode is powered to make the light source emit a light pulse signal until the output current of the capacitor is lower than the threshold current of the laser transmitter. The energy stored in the energy storage circuit has an upper limit value, which is determined by the capacitance value of the capacitor C and the operating voltage VCC_LD.
本实施例中，激光二极管的发射功率与电容的电荷量相关，当电容的输出电流低于激光二极管的阈值电流后，激光二极管则停止发光。由于激光二极管的发光功率以及发光时间仅与电容C有关，即使出现上述第(1)种故障，软件上存在bug，脉冲信号的脉宽过大，此时MOS管长时间导通，但是激光二极管的发光功率主要与电容的电荷量相关，与脉冲信号无关；因此一次发光后，电容电荷量不足以激发二极管发光，则即使MOS管导通，也不会继续发光；出现第(2)种故障，2)MOS管失效，直接短路，同(1)的情况，激光二极管进行一次发光后，不会继续发光。In this embodiment, the emission power of the laser diode is related to the charge of the capacitor. When the output current of the capacitor is lower than the threshold current of the laser diode, the laser diode stops emitting light. Because the light emitting power and light emitting time of the laser diode are only related to the capacitor C, even if the above (1) failure occurs, there is a bug in the software, and the pulse width of the pulse signal is too large. At this time, the MOS tube is turned on for a long time, but the laser diode The luminous power is mainly related to the charge of the capacitor and has nothing to do with the pulse signal; therefore, after one light emission, the amount of the capacitor charge is not enough to excite the diode to emit light, and even if the MOS tube is turned on, it will not continue to emit light; the second fault occurs 2) The MOS tube fails and is directly short-circuited. As in the case of (1), after the laser diode emits light once, it will not continue to emit light.
可选的，如图2B所示：光发射电路还包括与电容C并联的稳压二极管，用于保护电容C的电压不超过预设值，即使发射电压过高，稳压二极管可以导通分流。这样，出现第(3)中故障，激光二极管的功率也不会超过预定值，因此，本实施例能够解决由上述三种故障导致的二极管输出超过安规值的问题。Optionally, as shown in FIG. 2B: the light transmitting circuit further includes a zener diode in parallel with the capacitor C, which is used to protect the voltage of the capacitor C not exceeding a preset value. Even if the transmitting voltage is too high, the zener diode can conduct shunting . In this way, the fault in (3) occurs, and the power of the laser diode does not exceed a predetermined value. Therefore, this embodiment can solve the problem that the diode output caused by the three types of faults exceeds the safety value.
本发明的第二实施例中，光发射装置如图3所示：In a second embodiment of the present invention, a light emitting device is shown in FIG. 3:
光发射装置包括电源、光源、控制电路和储能电路。电源为VCC_LD，作为光源的能量提供端，光源为脉冲激光二极管，控制电路包括驱动电路和开关电路NMOS，储能电路包括蓄能电路、充电电路，所述储能两路电路包括电阻R2，R3和电容C，其中蓄能电路包括电容C。充电电路包括电阻R2，R3，其中充电电路还进一步包括限流电路、限压电路。所述限流电路包括R1、电压校准源D1和三极管，其保护R2、R3上的电流不超过电阻的额定功率值，防止超额使用发热失效。所述限压电路包括D2，其保护VCC_LD不会超过设计的限定值。The light emitting device includes a power source, a light source, a control circuit, and an energy storage circuit. The power source is VCC_LD, which is the energy supply end of the light source. The light source is a pulsed laser diode. The control circuit includes a driving circuit and a switching circuit NMOS. The energy storage circuit includes an energy storage circuit and a charging circuit. The two circuits of energy storage include resistors R2 and R3. And capacitor C, where the energy storage circuit includes capacitor C. The charging circuit includes resistors R2 and R3. The charging circuit further includes a current limiting circuit and a voltage limiting circuit. The current limiting circuit includes R1, a voltage calibration source D1, and a transistor, which protects the current on R2 and R3 from exceeding the rated power value of the resistor, and prevents excessive use from generating heat and failure. The voltage limiting circuit includes D2, which protects VCC_LD from exceeding the designed limit value.
在本实施例中，电压控制信号可以设置BOOST升压电路的输出值，从而调整激光二极管的工作电压VCC_LD；当脉冲信号为低电平的时候，MOS管截止，从而激光二极管也截止，此时通过电阻R2，R3给电容C充电，直到电容电压接近于VCC_LD；In this embodiment, the voltage control signal can set the output value of the BOOST booster circuit, thereby adjusting the working voltage VCC_LD of the laser diode; when the pulse signal is at a low level, the MOS tube is turned off, and the laser diode is also turned off. Charge capacitor C through resistors R2 and R3 until the capacitor voltage approaches VCC_LD;
当脉冲信号为高电平的时候，驱动输出高电压和大电流，迅速打开MOS管，电容C通过激光二极管和MOS管进行放电，从而激光二极管导通发光；When the pulse signal is at a high level, the driver outputs high voltage and large current, quickly turns on the MOS tube, and the capacitor C is discharged through the laser diode and the MOS tube, so that the laser diode is turned on and emits light;
本实施例中，激光二极管的发射功率与电容的电荷量相关，当电容的输出电流低于激光二极管的阈值电流后，激光二极管则停止发光。由于激光二极管的发光功率以及发光时间仅与电容C有关，即使出现上述第(1)种故障，软件上存在bug，脉冲信号的脉宽过大，此时MOS管长时间导通，但是激光二极管的发光功率主要与电容的电荷量相关，与脉冲信号无关；因此一次发光后，电容电荷量不足以激发二极管发光，则即使MOS管导通，也不会继续发光；出现第(2)种故障，2)MOS管失效，直接短路，同1)的情况，激光二极管进行一次发光后，不会继续发光；因此，本实施例能够解决由上述第一种和第二种故障导致的二极管输出超过安规值的问题。除此之外，本实施例还能解决如下问题：电源有故障，VCC_LD过高，此时齐纳管或者TVS管D2导通，从而保护VCC_LD不会超过设计的限定值；电阻R2或R3失效短路，如果只是单一故障的话，由于两个电阻串联，即使其中一个失效，电路仍然正常工作，只会加快电容C的充电时间，不影响电容C的电荷量，从而保证激光发射功率不改变。本实施例使得光发射装置更加可靠，从而避免其由于故障导致输出超过安规值。In this embodiment, the emission power of the laser diode is related to the charge of the capacitor. When the output current of the capacitor is lower than the threshold current of the laser diode, the laser diode stops emitting light. Because the light emitting power and light emitting time of the laser diode are only related to the capacitor C, even if the above (1) failure occurs, there is a bug in the software, the pulse width of the pulse signal is too large, and the MOS tube is turned on for a long time at this time, but the laser diode The luminous power is mainly related to the charge of the capacitor and has nothing to do with the pulse signal; therefore, after one light emission, the amount of the capacitor charge is not enough to excite the diode to emit light, even if the MOS tube is turned on, it will not continue to emit light; the second fault 2) The MOS tube fails and is directly short-circuited. As in the case of 1), the laser diode does not continue to emit light after emitting light once; therefore, this embodiment can solve the problem that the diode output caused by the first and second faults described above exceeds Problems with safety values. In addition, this embodiment can also solve the following problems: the power supply is faulty, and VCC_LD is too high. At this time, the Zener or TVS tube D2 is turned on, thereby protecting VCC_LD from exceeding the design limit; the resistor R2 or R3 fails. Short circuit, if it is only a single fault, because two resistors are connected in series, even if one of them fails, the circuit still works normally, it will only speed up the charging time of capacitor C, and will not affect the charge of capacitor C, so as to ensure that the laser emission power does not change. This embodiment makes the light emitting device more reliable, thereby preventing its output from exceeding the safety value due to a failure.
本发明的第三实施例中，光发射装置如图4所示：在第三实施例中，设置了两个电源电路VCC_LD和VCC_HV，其中VCC_LV连接于激光二极管，VDD_LD连接于限压电路D2和电压基准源D1。限流电路中的三极管的第一端通过电阻R4与VCC_HV连接，其他与第二实施例相同的部件及内容在此不再赘述。In the third embodiment of the present invention, the light emitting device is shown in FIG. 4: In the third embodiment, two power supply circuits VCC_LD and VCC_HV are provided, where VCC_LV is connected to the laser diode, and VDD_LD is connected to the voltage limiting circuit D2 and Voltage reference source D1. The first end of the triode in the current-limiting circuit is connected to VCC_HV through a resistor R4, and other components and contents that are the same as those in the second embodiment are not described herein again.
当***出现以下某一故障时，本发明可以保护激光二极管发光功率或辐射量不超过额定功率值及额定辐射量：When one of the following faults occurs in the system, the present invention can protect the light emitting power or radiation of the laser diode from exceeding the rated power and rated radiation:
(1)软件上存在bug，脉冲信号的脉宽过大，此时MOS管长时间导通，但是激光二极管的发光功率主要与电容的电荷量相关，与脉冲信号无关；因此一次发光后，电容电荷量不足以激发二极管发光，则即使MOS管导通，也不会继续发光；(1) There is a bug in the software. The pulse width of the pulse signal is too large. At this time, the MOS tube is turned on for a long time. However, the light emitting power of the laser diode is mainly related to the charge of the capacitor and has nothing to do with the pulse signal. The amount of charge is not enough to excite the diode to emit light, so even if the MOS tube is turned on, it will not continue to emit light;
(2)MOS管失效，直接短路，同(1)的情况，激光二极管进行一次发光后，不会继续发光；(2) The MOS tube fails and is directly short-circuited. As in the case of (1), the laser diode does not continue to emit light after emitting light once;
(3)电源有故障，VCC_LD过高，此时齐纳管或者TVS管D2导通，从而保护VCC_LD不会超过设计的限定值；(3) The power supply is faulty and VCC_LD is too high. At this time, Zener or TVS D2 is turned on to protect VCC_LD from exceeding the design limit.
(4)电路中各种部分都存在着失效或者短路的可能，而本发明能够针对各种失效或短路情况，对光发射装置的安规值进行保证，具体情况可以参见如下描述：(4) There is a possibility of failure or short circuit in various parts of the circuit, and the present invention can guarantee the safety value of the light emitting device for various failure or short circuit conditions. For details, refer to the following description:
如果电阻R1失效开路，三极管T1截止，***不工作，从而激光不发光，如图8A所示；而R1失效短路，三级管T1正常导通，考虑到D1的保护，整个充电电路可以正常工作，不影响激光二极管正常发光，如图8B所示。If the resistor R1 fails to open, the transistor T1 is turned off, and the system does not work, so the laser does not emit light, as shown in Figure 8A; while R1 fails and shorts, the transistor T1 is normally turned on. Considering D1 protection, the entire charging circuit can work normally , Does not affect the normal light emission of the laser diode, as shown in Figure 8B.
如果R4失效开路，D1截止，从而充电电路不工作，激光二极管不发光，如图9A所示；而电阻R4失效短路，整个充电电路可以正常工作，不影响激光管正常发光，如图9B所示；If R4 fails to open, D1 is cut off, so the charging circuit does not work, and the laser diode does not emit light, as shown in Figure 9A; while the resistor R4 fails to short, the entire charging circuit can work normally, without affecting the normal light emission of the laser tube, as shown in Figure 9B ;
如果T1失效开路，D1截止，***不工作，从而激光二极管不发光，如图10A所示；三极管T1基极与发射极短路，R1,D1,R2,R3仍然构成正常的充电电路，不影响激光二极管正常发光，如图10B所示。If T1 fails to open, D1 is cut off, the system does not work, so the laser diode does not emit light, as shown in Figure 10A; the base of the transistor T1 and the emitter are short-circuited, and R1, D1, R2, and R3 still constitute a normal charging circuit without affecting the laser The diode emits light normally, as shown in FIG. 10B.
如果三级管T1三个极两两短路，那么R1,R2,D1,R3,R4仍然组成正常的充电电路，不影响激光二极管正常发光，如图11所示。If the three poles of the triode T1 are shorted two by two, then R1, R2, D1, R3, R4 still constitute a normal charging circuit, which does not affect the normal light emission of the laser diode, as shown in FIG. 11.
基准稳压源D1失效开路，稳压电路D2可以保证VCC_LD不超过设计值，从而保证电容C的储蓄电能不超过涉及的限定值，如图12A所示；基准稳压源D1失效短路，那么充电电路相当于只有R1，仍能满足充电电路正常工作，如图12B所示。The reference stabilized voltage source D1 fails to open, and the voltage regulator circuit D2 can ensure that VCC_LD does not exceed the design value, so as to ensure that the stored energy of the capacitor C does not exceed the involved limit value, as shown in FIG. 12A; if the reference stabilized voltage source D1 fails and is short-circuited, then charging The circuit is equivalent to only R1, which can still meet the normal operation of the charging circuit, as shown in Figure 12B.
电阻R2或R3失效开路，稳压电路D2可以保证VCC_LD不超过设计值，从而保证电容C的储蓄电能不超过涉及的限定值，如图13A所示；电阻R2 或R3失效短路，如果只是单一故障的话，由于两个电阻串联，即使其中一个失效，电路仍然正常工作，不影响电容C的电荷量，从而保证激光发射功率不改变，如图13B所示。The resistor R2 or R3 fails to open. The voltage regulator circuit D2 can ensure that VCC_LD does not exceed the design value, thereby ensuring that the stored energy of the capacitor C does not exceed the involved limit value, as shown in Figure 13A. The resistor R2 or R3 fails and is short-circuited. If the two resistors are connected in series, even if one of them fails, the circuit still works normally, and does not affect the charge of the capacitor C, thereby ensuring that the laser emission power does not change, as shown in Figure 13B.
蓄能电路C失效开路，MOS管导通的时候，激光二极管的压差瞬间缩减接近0V，无法导通发光，如图14A所示；储能电路C失效短路，激光二极管两端均为GND，无法导通发光，如图14B所示。When the energy storage circuit C fails to open, when the MOS tube is turned on, the voltage drop of the laser diode is instantly reduced to close to 0V, and it is unable to turn on the light, as shown in Figure 14A. The energy storage circuit C fails and short-circuits, and the laser diode has GND at both ends. Unable to turn on the light, as shown in Figure 14B.
稳压电路D2失效开路，充电电路设计保证电容C的储蓄电能不超过设计的限定值，如图15A所示，稳压电路D2失效短路，D1截止，充电电路不工作，如图15B所示。The voltage stabilization circuit D2 fails to open. The charging circuit is designed to ensure that the stored energy of the capacitor C does not exceed the design limit. As shown in FIG. 15A, the voltage stabilization circuit D2 fails and shorts out, D1 is turned off, and the charging circuit does not work, as shown in FIG. 15B.
其中，电阻R1/R2/R3/R4、三极管T1、电压校准源D1是充电电路；电容C是储能电路；D2是稳压电路。Among them, the resistor R1 / R2 / R3 / R4, the transistor T1, and the voltage calibration source D1 are charging circuits; the capacitor C is an energy storage circuit; D2 is a voltage stabilization circuit.
其中充电电路的核心是电阻R2,R3，其他电路是为了限制R2,R3的电流，起保护充电电路的作用。正常情况下，通过R1的电流I1导通三极管，从而电流I2流经三极管T1的发射极和集电极，在经过R3和R4的，但如果VCC_HV设置偏大，那么I2变大，电阻R3和R4的压降升高，当升高到一定阈值后，D1导通，把I2电流进行分流I3流经电压基准源D1，从而保证流经R2和R3的电流不超过额定值，如图5所示。The core of the charging circuit is the resistors R2 and R3. The other circuits are to limit the current of R2 and R3 and protect the charging circuit. Under normal circumstances, the current I1 through R1 turns on the transistor, so that the current I2 flows through the emitter and collector of transistor T1, after passing through R3 and R4, but if VCC_HV is set too large, then I2 becomes larger, and the resistances R3 and R4 The voltage drop increases, and when it reaches a certain threshold, D1 is turned on, and the I2 current is shunted. I3 flows through the voltage reference source D1, thereby ensuring that the currents flowing through R2 and R3 do not exceed the rated value, as shown in Figure 5. .
充电电路不限于前述的实现方式，下面提供其他的实现方式：The charging circuit is not limited to the foregoing implementations, and other implementations are provided below:
第二种实现方式基于稳压二极管D1和三极管T1，即使VCC_HV变化时，可以保证R2和R3的压降稳定在设计值，那么对于蓄能电路也产生相应的限制，从而保证电容C蓄能值，如图6所示。The second implementation method is based on the zener diode D1 and the transistor T1. Even when VCC_HV changes, the voltage drop of R2 and R3 can be guaranteed to be stable at the design value. Then, a corresponding limitation is imposed on the energy storage circuit to ensure the energy storage value of capacitor C ,As shown in Figure 6.
稳压电路作为冗余的设计，保证蓄能电路C上的压降不超过设计值，稳压电路也可以采用其他的实现方式，如图7所示：如果电压偏高，那么稳压二极管T1导通，从而保证电容C的压降不超过设计值，保证电容C两端的电压。The voltage stabilization circuit is designed as a redundancy to ensure that the voltage drop across the energy storage circuit C does not exceed the design value. The voltage stabilization circuit can also be implemented in other ways, as shown in Figure 7: If the voltage is too high, then the voltage regulator diode T1 It is turned on to ensure that the voltage drop of capacitor C does not exceed the design value and the voltage across capacitor C is guaranteed.
如上所述各个元件的失效或短路均不会导致光发射装置的输出超出安规值，因此，上述电路能够有效的保证光发射装置的输出符合人眼安全规定。As mentioned above, the failure or short circuit of each component will not cause the output of the light emitting device to exceed the safety value. Therefore, the above circuit can effectively ensure that the output of the light emitting device meets human eye safety regulations.
相较于现有技术，本发明提供的光发射装置可以达到符合人眼安全规定的激光发射方案，当***发生单一故障时，上述装置中的电路可以保证激光辐射 值不超过安规值，从而保证激光装置的使用安全。Compared with the prior art, the light emitting device provided by the present invention can achieve a laser emitting scheme that meets human eye safety requirements. When a single failure occurs in the system, the circuit in the above device can ensure that the laser radiation value does not exceed the safety value, thereby Ensure the safety of the laser device.
在另一个实施例中，本发明实施例还提供了一种测距装置，包括第一方面所述的任一光发射装置；接收电路，用于接收所述光发射装置出射的光脉冲信号经物体反射回的至少部分光信号，以及将接收到的光信号转成电信号；采样电路，用于对来自所述接收电路的电信号进行采样，获得采样结果；运算电路，用于根据所述采样结果计算所述物体与所述测距装置之间的距离。进一步地，所述光发射装置的数量为至少2个。In another embodiment, an embodiment of the present invention further provides a distance measuring device, including any one of the light emitting devices described in the first aspect; and a receiving circuit for receiving a light pulse signal emitted by the light emitting device and reflected by an object. Return at least part of the optical signal and convert the received optical signal into an electrical signal; a sampling circuit for sampling the electrical signal from the receiving circuit to obtain a sampling result; an arithmetic circuit for using the sampling result Calculate the distance between the object and the distance measuring device. Further, the number of the light emitting devices is at least two.
在另一个实施例中，本发明实施例还提供了一种移动平台，所述移动平台包括第二方面所述的任一测距装置以及平台本体，所述测距装置安装在所述平台本体。进一步地，所述移动平台包括载人飞行器、无人飞行器、汽车、机器人和遥控车中的至少一种。In another embodiment, an embodiment of the present invention further provides a mobile platform. The mobile platform includes any one of the ranging device and the platform body described in the second aspect, and the ranging device is installed on the platform body. . Further, the mobile platform includes at least one of a manned aerial vehicle, an unmanned aerial vehicle, a car, a robot, and a remotely controlled vehicle.
本发明各个实施例提供的光发射装置可以应用于测距装置，该测距装置可以是激光雷达、激光测距设备等电子设备。在一种实施方式中，测距装置用于感测外部环境信息，例如，环境目标的距离信息、方位信息、反射强度信息、速度信息等。一种实现方式中，测距装置可以通过测量测距装置和探测物之间光传播的时间，即光飞行时间(Time-of-Flight，TOF)，来探测探测物到测距装置的距离。或者，测距装置也可以通过其他技术来探测探测物到测距装置的距离，例如基于相位移动(phase shift)测量的测距方法，或者基于频率移动(frequency shift)测量的测距方法，在此不做限制。The light emitting device provided by each embodiment of the present invention can be applied to a ranging device, and the ranging device can be an electronic device such as a laser radar, a laser ranging device, or the like. In one embodiment, the ranging device is configured to sense external environmental information, such as distance information, azimuth information, reflection intensity information, velocity information, and the like of environmental targets. In an implementation manner, the distance measuring device can detect the distance between the detection object and the distance measuring device by measuring a time of light propagation between the distance measuring device and the detection object, that is, a time-of-flight (TOF). Alternatively, the ranging device can also detect the distance from the probe to the ranging device by other techniques, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement. There are no restrictions.
为了便于理解，以下将结合图16所示的测距装置100对测距的工作流程进行举例描述。In order to facilitate understanding, the working process of distance measurement will be described below by way of example with reference to the distance measuring device 100 shown in FIG. 16.
如图16所示，测距装置100可以包括发射电路110、接收电路120、采样电路130和运算电路140。As shown in FIG. 16, the ranging device 100 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130, and an operation circuit 140.
发射电路110可以发射光脉冲序列(例如激光脉冲序列)。接收电路120可以接收经过被探测物反射的光脉冲序列，并对该光脉冲序列进行光电转换，以得到电信号，再对电信号进行处理之后可以输出给采样电路130。采样电路130可以对电信号进行采样，以获取采样结果。运算电路140可以基于采样电路130的采样结果，以确定测距装置100与被探测物之间的距离。The transmitting circuit 110 may transmit a light pulse sequence (for example, a laser pulse sequence). The receiving circuit 120 may receive a light pulse sequence reflected by the detected object, and perform photoelectric conversion on the light pulse sequence to obtain an electric signal. The electric signal may be processed and then output to the sampling circuit 130. The sampling circuit 130 may sample the electrical signal to obtain a sampling result. The arithmetic circuit 140 may determine the distance between the distance measuring device 100 and the detected object based on the sampling result of the sampling circuit 130.
可选地，该测距装置100还可以包括控制电路150，该控制电路150可以 实现对其他电路的控制，例如，可以控制各个电路的工作时间和/或对各个电路进行参数设置等。Optionally, the distance measuring device 100 may further include a control circuit 150, which may control other circuits, for example, may control the working time of each circuit and / or set parameters of each circuit.
应理解，虽然图16示出的测距装置中包括一个发射电路、一个接收电路、一个采样电路和一个运算电路，但是本申请实施例并不限于此，发射电路、接收电路、采样电路、运算电路中的任一种电路的数量也可以是至少两个。It should be understood that although the ranging device shown in FIG. 16 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit, the embodiments of the present application are not limited thereto. The transmitting circuit, receiving circuit, sampling circuit, and arithmetic The number of any one of the circuits may be at least two.
一些实现方式中，除了图16所示的电路，测距装置100还可以包括扫描模块160，用于将发射电路出射的激光脉冲序列改变传播方向出射。In some implementations, in addition to the circuit shown in FIG. 16, the ranging device 100 may further include a scanning module 160 configured to change a laser pulse sequence emitted by the transmitting circuit and emit the laser pulse sequence.
其中，可以将包括发射电路110、接收电路120、采样电路130和运算电路140的模块，或者，包括发射电路110、接收电路120、采样电路130、运算电路140和控制电路150的模块称为测距模块，该测距模块150可以独立于其他模块，例如，扫描模块160。Among them, the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as a measurement. The distance measuring module 150 may be independent of other modules, such as the scanning module 160.
测距装置中可以采用同轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内共用至少部分光路。或者，测距装置也可以采用异轴光路，也即测距装置出射的光束和经反射回来的光束在测距装置内分别沿不同的光路传输。图17示出了本发明的测距装置采用同轴光路的一种实施例的示意图。The distance measuring device may use a coaxial optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device. Alternatively, the distance measuring device may also use an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are transmitted along different optical paths in the distance measuring device, respectively. FIG. 17 shows a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
测距装置100包括光收发装置110，光收发装置110包括光源103(包括上述的发射电路)、准直元件104、探测器105(可以包括上述的接收电路、采样电路和运算电路)和光路改变元件106。光收发装置110用于发射光束，且接收回光，将回光转换为电信号。光源103用于发射光束。在一个实施例中，光源103可发射激光束。可选的，光源103发射出的激光束为波长在可见光范围之外的窄带宽光束。准直元件104设置于光源的出射光路上，用于准直从光源103发出的光束，将光源103发出的光束准直为平行光。准直元件还用于会聚经探测物反射的回光的至少一部分。该准直元件104可以是准直透镜或者是其他能够准直光束的元件。The ranging device 100 includes a light transmitting and receiving device 110, and the light transmitting and receiving device 110 includes a light source 103 (including the above-mentioned transmitting circuit), a collimating element 104, a detector 105 (may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and an optical path change Element 106. The optical transceiver device 110 is configured to transmit a light beam, receive the returned light, and convert the returned light into an electrical signal. The light source 103 is used to emit a light beam. In one embodiment, the light source 103 may emit a laser beam. Optionally, the laser beam emitted by the light source 103 is a narrow-bandwidth beam with a wavelength outside the visible light range. The collimating element 104 is disposed on the exit light path of the light source, and is used to collimate the light beam emitted from the light source 103 and collimate the light beam emitted from the light source 103 into parallel light. The collimating element is also used to focus at least a portion of the reflected light reflected by the probe. The collimating element 104 may be a collimating lens or other elements capable of collimating a light beam.
在图17所示实施例中，通过光路改变元件106来将测距装置内的发射光路和接收光路在准直元件104之前合并，使得发射光路和接收光路可以共用同一个准直元件，使得光路更加紧凑。在其他的一些实现方式中，也可以光源103和探测器105分别使用各自的准直元件，将光路改变元件106设置在准直 元件之后。In the embodiment shown in FIG. 17, the transmitting light path and the receiving light path in the ranging device are combined before the collimating element 104 through the optical path changing element 106, so that the transmitting light path and the receiving light path can share the same collimating element, so that the optical path More compact. In some other implementation manners, the light source 103 and the detector 105 may also use respective collimation elements, and the optical path changing element 106 may be disposed after the collimation elements.
在图17所示实施例中，由于光源103出射的光束的光束发散角较小，测距装置所接收到的回光的光束发散角较大，所以光路改变元件可以采用小面积的反射镜来将发射光路和接收光路合并。在其他的一些实现方式中，光路改变元件也可以采用带通孔的反射镜，其中该通孔用于透射光源103的出射光，反射镜用于将回光反射至探测器105。这样可以减小采用小反射镜的情况中小反射镜的支架会对回光的遮挡的情况。In the embodiment shown in FIG. 17, because the beam divergence angle of the light beam emitted from the light source 103 is small, and the beam divergence angle of the returned light received by the distance measuring device is large, the light path changing element may use a small area mirror to Combine the transmitting and receiving optical paths. In other implementations, the light path changing element may also be a reflector with a through hole, wherein the through hole is used to transmit the light emitted from the light source 103, and the reflector is used to reflect the returned light to the detector 105. This can reduce the situation that the bracket of the small mirror can block the return light in the case of using a small mirror.
在图17所示实施例中，光路改变元件偏离了准直元件104的光轴。在其他的一些实现方式中，光路改变元件也可以位于准直元件104的光轴上。In the embodiment shown in FIG. 17, the optical path changing element is offset from the optical axis of the collimating element 104. In other implementations, the light path changing element may also be located on the optical axis of the collimating element 104.
测距装置100还包括扫描模块102。扫描模块102放置于光收发装置110的出射光路上，扫描模块102用于改变经准直元件104出射的准直光束119的传输方向并投射至外界环境，并将回光投射至准直元件104。回光经准直元件104汇聚到探测器105上。The ranging device 100 further includes a scanning module 102. The scanning module 102 is placed on the outgoing light path of the optical transceiver 110. The scanning module 102 is used to change the transmission direction of the collimated light beam 119 emitted by the collimating element 104 and project it to the external environment, and project the return light onto the collimating element 104 . The returned light is focused on the detector 105 via the collimating element 104.
在一个实施例中，扫描模块102可以包括一个或多个光学元件，例如，透镜、反射镜、棱镜、光栅、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。在一些实施例中，扫描模块102的多个光学元件可以绕共同的轴109旋转，每个旋转的光学元件用于不断改变入射光束的传播方向。在一个实施例中，扫描模块102的多个光学元件可以以不同的转速旋转。在另一个实施例中，扫描模块102的多个光学元件可以以基本相同的转速旋转。In one embodiment, the scanning module 102 may include one or more optical elements, such as a lens, a mirror, a prism, a grating, an optical phased array, or any combination thereof. In some embodiments, multiple optical elements of the scanning module 102 can rotate around a common axis 109, and each rotating optical element is used to continuously change the propagation direction of the incident light beam. In one embodiment, multiple optical elements of the scanning module 102 can be rotated at different rotation speeds. In another embodiment, multiple optical elements of the scan module 102 may be rotated at substantially the same rotation speed.
在一些实施例中，扫描模块的多个光学元件也可以是绕不同的轴旋转。在一些实施例中，扫描模块的多个光学元件也可以是以相同的方向旋转，或以不同的方向旋转；或者沿相同的方向振动，或者沿不同的方向振动，在此不作限制。In some embodiments, multiple optical elements of the scanning module may also rotate around different axes. In some embodiments, multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
在一个实施例中，扫描模块102包括第一光学元件114和与第一光学元件114连接的驱动器116，驱动器116用于驱动第一光学元件114绕转动轴109转动，使第一光学元件114改变准直光束119的方向。第一光学元件114将准直光束119投射至不同的方向。在一个实施例中，准直光束119经第一光学元件改变后的方向与转动轴109的夹角随着第一光学元件114的转动而变化。在 一个实施例中，第一光学元件114包括相对的非平行的一对表面，准直光束119穿过该对表面。在一个实施例中，第一光学元件114包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第一光学元件114包括楔角棱镜，对准直光束119进行折射。在一个实施例中，第一光学元件114上镀有增透膜，增透膜的厚度与光源103发射出的光束的波长相等，能够增加透射光束的强度。In one embodiment, the scanning module 102 includes a first optical element 114 and a driver 116 connected to the first optical element 114. The driver 116 is configured to drive the first optical element 114 to rotate about the rotation axis 109, so that the first optical element 114 is changed. The direction of the collimated light beam 119. The first optical element 114 projects the collimated light beam 119 to different directions. In one embodiment, the angle between the direction of the collimated light beam 119 after being changed by the first optical element and the rotation axis 109 changes with the rotation of the first optical element 114. In one embodiment, the first optical element 114 includes a pair of opposing non-parallel surfaces through which a collimated light beam 119 passes. In one embodiment, the first optical element 114 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the first optical element 114 includes a wedge-shaped prism, which is directed toward the straight beam 119 for refraction. In one embodiment, the first optical element 114 is coated with an antireflection coating, and the thickness of the antireflection coating is equal to the wavelength of the light beam emitted by the light source 103, which can increase the intensity of the transmitted light beam.
在一个实施例中，扫描模块102还包括第二光学元件115，第二光学元件115绕转动轴109转动，第二光学元件115的转动速度与第一光学元件114的转动速度不同。第二光学元件115用于改变第一光学元件114投射的光束的方向。在一个实施例中，第二光学元件115与另一驱动器117连接，驱动器117驱动第二光学元件115转动。第一光学元件114和第二光学元件115可以由不同的驱动器驱动，使第一光学元件114和第二光学元件115的转速不同，从而将准直光束119投射至外界空间不同的方向，可以扫描较大的空间范围。在一个实施例中，控制器118控制驱动器116和117，分别驱动第一光学元件114和第二光学元件115。第一光学元件114和第二光学元件115的转速可以根据实际应用中预期扫描的区域和样式确定。驱动器116和117可以包括电机或其他驱动装置。In one embodiment, the scanning module 102 further includes a second optical element 115 that rotates around the rotation axis 109. The rotation speed of the second optical element 115 is different from the rotation speed of the first optical element 114. The second optical element 115 is used to change the direction of the light beam projected by the first optical element 114. In one embodiment, the second optical element 115 is connected to another driver 117, and the driver 117 drives the second optical element 115 to rotate. The first optical element 114 and the second optical element 115 can be driven by different drivers, so that the rotation speeds of the first optical element 114 and the second optical element 115 are different, so that the collimated light beam 119 is projected into different directions of the external space and can be scanned Large spatial range. In one embodiment, the controller 118 controls the drivers 116 and 117 to drive the first optical element 114 and the second optical element 115, respectively. The rotation speeds of the first optical element 114 and the second optical element 115 can be determined according to the area and pattern expected to be scanned in practical applications. Drivers 116 and 117 may include motors or other driving devices.
在一个实施例中，第二光学元件115包括相对的非平行的一对表面，光束穿过该对表面。在一个实施例中，第二光学元件115包括厚度沿至少一个径向变化的棱镜。在一个实施例中，第二光学元件115包括楔角棱镜。在一个实施例中，第二光学元件115上镀有增透膜，能够增加透射光束的强度。In one embodiment, the second optical element 115 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 115 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the second optical element 115 includes a wedge-shaped prism. In one embodiment, the second optical element 115 is coated with an antireflection coating, which can increase the intensity of the transmitted light beam.
扫描模块102旋转可以将光投射至不同的方向，例如方向111和113，如此对测距装置100周围的空间进行扫描。当扫描模块102投射出的光111打到探测物101时，一部分光被探测物101沿与投射的光111相反的方向反射至测距装置100。扫描模块102接收探测物101反射的回光112，将回光112投射至准直元件104。The rotation of the scanning module 102 can project light into different directions, such as directions 111 and 113, so as to scan the space around the ranging device 100. When the light 111 projected by the scanning module 102 hits the detection object 101, a part of the light is reflected by the detection object 101 in a direction opposite to the projected light 111 to the distance measuring device 100. The scanning module 102 receives the return light 112 reflected by the detection object 101 and projects the return light 112 onto the collimating element 104.
准直元件104会聚探测物101反射的回光112的至少一部分。在一个实施例中，准直元件104上镀有增透膜，能够增加透射光束的强度。探测器105与光源103放置于准直元件104的同一侧，探测器105用于将穿过准直元件 104的至少部分回光转换为电信号。The collimating element 104 condenses at least a part of the return light 112 reflected by the probe 101. In one embodiment, the collimating element 104 is coated with an antireflection coating, which can increase the intensity of the transmitted light beam. The detector 105 and the light source 103 are placed on the same side of the collimating element 104, and the detector 105 is used to convert at least part of the returned light passing through the collimating element 104 into an electrical signal.
在一些实施例中，光源103可以包括激光二极管，通过激光二极管发射纳秒级别的激光。例如，光源103发射的激光脉冲持续10ns。进一步地，可以确定激光脉冲接收时间，例如，通过探测电信号脉冲的上升沿时间和/或下降沿时间确定激光脉冲接收时间。如此，测距装置100可以利用脉冲接收时间信息和脉冲发出时间信息计算TOF，从而确定探测物101到测距装置100的距离。In some embodiments, the light source 103 may include a laser diode through which laser light in the nanosecond range is emitted. For example, the laser pulse emitted by the light source 103 lasts for 10 ns. Further, the laser pulse receiving time may be determined, for example, the laser pulse receiving time is determined by detecting a rising edge time and / or a falling edge time of an electrical signal pulse. In this way, the ranging device 100 can calculate the TOF by using the pulse reception time information and the pulse transmission time information, thereby determining the distance between the detection object 101 and the distance measurement device 100.
测距装置100探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。The distance and orientation detected by the ranging device 100 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
在一种实施方式中，本发明实施方式的测距装置可应用于移动平台，测距装置可安装在移动平台的平台本体。具有测距装置的移动平台可对外部环境进行测量，例如，测量移动平台与障碍物的距离用于避障等用途，和对外部环境进行二维或三维的测绘。在某些实施方式中，移动平台包括无人飞行器、汽车、遥控车、机器人、相机中的至少一种。当测距装置应用于无人飞行器时，平台本体为无人飞行器的机身。当测距装置应用于汽车时，平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当测距装置应用于遥控车时，平台本体为遥控车的车身。当测距装置应用于机器人时，平台本体为机器人。当测距装置应用于相机时，平台本体为相机本身。In one embodiment, the ranging device according to the embodiment of the present invention can be applied to a mobile platform, and the ranging device can be installed on the platform body of the mobile platform. A mobile platform with a ranging device can measure the external environment, for example, measuring the distance between the mobile platform and an obstacle for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment. In some embodiments, the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remotely controlled vehicle, a robot, 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 ranging device is applied to a car, the platform body is the body of the car. The car may be a self-driving car or a semi-autonomous car, and there is no limitation here. When the ranging device is applied to a 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 ranging device is applied to a camera, the platform body is the camera itself.
本发明通过提供上述光发射装置、测距装置以及移动平台，以提供一种符合人眼安全规定的激光发射方案，当***发生单一故障时，上述装置中的电路可以保证激光辐射值不超过安规值，从而保证激光装置的使用安全。The present invention provides the above-mentioned light emitting device, ranging device, and mobile platform to provide a laser emission solution that meets human eye safety requirements. When a single failure occurs in the system, the circuit in the device can ensure that the laser radiation value does not exceed Specifications to ensure the safety of the laser device.
本发明实施例中所使用的技术术语仅用于说明特定实施例而并不旨在限定本发明。在本文中，单数形式“一”、“该”及“所述”用于同时包括复数形式，除非上下文中明确另行说明。进一步地，在说明书中所使用的用于“包括”和/或“包含”是指存在所述特征、整体、步骤、操作、元件和/或构件，但是并不排除存在或增加一个或多个其它特征、整体、步骤、操作、元件和/或构件。The technical terms used in the embodiments of the present invention are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "the" and "said" are used to include the plural forms as well, unless the context clearly indicates otherwise. Further, the use of "including" and / or "comprising" in the specification refers to the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more Other features, integers, steps, operations, elements and / or components.
在所附权利要求中对应结构、材料、动作以及所有装置或者步骤以及功能 元件的等同形式(如果存在的话)旨在包括结合其他明确要求的元件用于执行该功能的任何结构、材料或动作。本发明的描述出于实施例和描述的目的被给出，但并不旨在是穷举的或者将被发明限制在所公开的形式。在不偏离本发明的范围和精神的情况下，多种修改和变形对于本领域的一般技术人员而言是显而易见的。本发明中所描述的实施例能够更好地揭示本发明的原理与实际应用，并使本领域的一般技术人员可了解本发明。Corresponding structures, materials, actions and equivalents of all devices or steps and functional elements in the appended claims (if any) are intended to include any structure, material or action in combination with other explicitly required elements for performing the function. The description of the present invention has been presented for purposes of example and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Various modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the invention. The embodiments described in the present invention can better disclose the principle and practical application of the present invention, and make those skilled in the art understand the present invention.
本发明中所描述的流程图仅仅为一个实施例，在不偏离本发明的精神的情况下对此图示或者本发明中的步骤可以有多种修改变化。比如，可以不同次序的执行这些步骤，或者可以增加、删除或者修改某些步骤。本领域的一般技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。The flowchart described in the present invention is only an embodiment, and various modifications and changes can be made to the illustration or the steps in the present invention without departing from the spirit of the present invention. For example, these steps can be performed in a different order, or certain steps can be added, deleted, or modified. Those of ordinary skill in the art may understand that all or part of the processes of the above embodiments are implemented, and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims (26)

  1. 一种光发射装置，其特征在于，包括：电源、激光发射器、储能电路和控制电路，所述储能电路分别与所述电源和所述激光发射器连接，所述储能电路包括至少一个电容；A light emitting device, comprising: a power source, a laser transmitter, an energy storage circuit, and a control circuit, the energy storage circuit is respectively connected to the power source and the laser transmitter, and the energy storage circuit includes at least A capacitor
    所述控制电路用于在第一时段导通所述电源和所述储能电路，使得所述电源对所述储能电路中的电容进行充电，直至所述电容电压饱和；The control circuit is configured to turn on the power supply and the energy storage circuit in a first period, so that the power supply charges a capacitor in the energy storage circuit until the capacitor voltage is saturated;
    所述控制电路还用于在第二时段导通所述激光发射器和所述储能电路，使得所述储能电路对所述激光发射器供电，以使所述激光发射器出射光脉冲信号，直至所述电容的输出电流低于所述激光发射器的阈值电流。The control circuit is further configured to turn on the laser transmitter and the energy storage circuit in a second period, so that the energy storage circuit supplies power to the laser transmitter, so that the laser transmitter emits a light pulse signal. Until the output current of the capacitor is lower than the threshold current of the laser transmitter.
  2. 如权利要求1所述的光发射装置，其特征在于，所述光发射装置还包括升压电路，所述升压电路用于对输入电压进行升压以适应不同所述激光发射器的需求。The light emitting device according to claim 1, wherein the light emitting device further comprises a boosting circuit, and the boosting circuit is configured to boost an input voltage to meet the requirements of different laser emitters.
  3. 根据权利要求1所述的光发射装置，其特征在于，所述至少一个电容所存储的能量具有预设上限值。The light emitting device according to claim 1, wherein the energy stored in the at least one capacitor has a preset upper limit value.
  4. 根据权利要求1所述的光发射装置，其特征在于，所述控制电路包括与所述激光发射器连接的开关电路，以及与所述开关电路连接的驱动电路；The light emitting device according to claim 1, wherein the control circuit comprises a switching circuit connected to the laser transmitter, and a driving circuit connected to the switching circuit;
    所述驱动电路用于在所述第二时段内接收第二驱动信号，以及根据所述第二驱动信号控制所述开关电路导通所述激光发射器和所述储能电路。The driving circuit is configured to receive a second driving signal during the second period, and control the switching circuit to turn on the laser transmitter and the energy storage circuit according to the second driving signal.
  5. 根据权利要求4所述的光发射装置，其特征在于，所述驱动电路还用于在接收所述第一时段内接收第一驱动信号，以及根据所述第一驱动信号控制所述开关电路导通所述电源和所述储能电路。The light emitting device according to claim 4, wherein the driving circuit is further configured to receive a first driving signal within the first period of time, and control the switch circuit to conduct according to the first driving signal. Connect the power source and the energy storage circuit.
  6. 根据权利要求1所述的光发射装置，其特征在于，所述光发射装置出射激光脉冲信号。The light emitting device according to claim 1, wherein the light emitting device emits a laser pulse signal.
  7. 根据权利要求3或4所述的光发射装置，其特征在于，所述激光发射器包括激光二极管；The light emitting device according to claim 3 or 4, wherein the laser emitter comprises a laser diode;
    所述激光二极管的第一端与所述储能电路连接，所述激光二极管的第二端 与所述开关电路的第一端连接；A first end of the laser diode is connected to the energy storage circuit, and a second end of the laser diode is connected to a first end of the switching circuit;
    所述驱动电路与所述开关电路的第二端连接，其中所述驱动电路对所述开关电路进行控制；The driving circuit is connected to a second end of the switching circuit, wherein the driving circuit controls the switching circuit;
    所述开关电路的第三端接地连接。The third terminal of the switching circuit is connected to ground.
  8. 根据权利要求1至7任一项所述的光发射装置，其特征在于，所述储能电路包括用于连接所述至少一个电容和所述电源的充电电路，所述电源在所述第一时段通过所述充电电路对所述至少一个电容进行充电。The light emitting device according to any one of claims 1 to 7, wherein the energy storage circuit comprises a charging circuit for connecting the at least one capacitor and the power source, and the power source is in the first The at least one capacitor is charged by the charging circuit during a period.
  9. 根据权利要求8所述的光发射装置，其特征在于，所述充电电路还包括至少一个电阻，所述至少一个电阻的一端连接于所述三极管的第三端，另一端连接于所述电容。The light emitting device according to claim 8, wherein the charging circuit further comprises at least one resistor, one end of the at least one resistor is connected to a third end of the transistor, and the other end is connected to the capacitor.
  10. 根据权利要求8所述的光发射装置，其特征在于，所述充电电路包括至少两个电阻，所述至少两个电阻的一端连接于所述三极管的第三端，另一端连接于所述电容。The light emitting device according to claim 8, wherein the charging circuit comprises at least two resistors, one end of the at least two resistors is connected to a third end of the transistor, and the other end is connected to the capacitor. .
  11. 根据权利要求8所述的光发射装置，其特征在于，所述电容的一端连接于所述电压校准源和所述充电电路，另一端连接于所述电源。The light emitting device according to claim 8, wherein one end of the capacitor is connected to the voltage calibration source and the charging circuit, and the other end is connected to the power source.
  12. 根据权利要求8所述的光发射装置，其特征在于，The light emitting device according to claim 8, wherein:
    还包括限压电路，用于对所述储能电路两端的电压进行限定，以防止储能电路两端的电压超出预定值。It also includes a voltage limiting circuit for limiting the voltage across the energy storage circuit to prevent the voltage across the energy storage circuit from exceeding a predetermined value.
  13. 根据权利要求12所述的光发射装置，其特征在于，所述限压电路包括二极管，所述限压电路中的二极管的一端连接于所述电源，另一端连接于所述蓄能电路的接地端。The light emitting device according to claim 12, wherein the voltage limiting circuit comprises a diode, one end of the diode in the voltage limiting circuit is connected to the power source, and the other end is connected to the ground of the energy storage circuit. end.
  14. 根据权利要求8所述的光发射装置，其特征在于，所述充电电路进一步包括限流电路，所述限流电路用于保护所述充电电路以防止所述充电电路上的电流超过其额定值。The light emitting device according to claim 8, wherein the charging circuit further comprises a current limiting circuit, the current limiting circuit is configured to protect the charging circuit to prevent the current on the charging circuit from exceeding its rated value .
  15. 根据所述权利要求14的光发射装置，其特征在于，所述限流电路包括电阻，电压校准源和三极管。The light-emitting device according to claim 14, wherein said current-limiting circuit includes a resistor, a voltage calibration source, and a transistor.
  16. 如权利要求15所述的光发射装置，其特征在于，所述限流电路中的电阻的一端连接于升压电路的输出端，另一端连接于电压校准源。The light emitting device according to claim 15, wherein one end of the resistor in the current limiting circuit is connected to the output terminal of the boost circuit, and the other end is connected to a voltage calibration source.
  17. 如权利要求15所述的光发射装置，其特征在于，所述三极管第一端连接于升压电路的输出端，第二端连接于所述限流电路的电阻的另一端，第三端连接于所述电容的一端。The light emitting device according to claim 15, wherein a first terminal of the transistor is connected to an output terminal of the boost circuit, a second terminal is connected to the other terminal of the resistor of the current limiting circuit, and a third terminal is connected At one end of the capacitor.
  18. 如权利要求15所述的光发射装置，其特征在于，所述电压校准源的第一端连接于所述限流电路中的电阻和所述三极管的第二端，第二端连接于所述激光发射器的输入端，第三端连接于所述三极管的第三端。The light emitting device according to claim 15, wherein a first terminal of the voltage calibration source is connected to a resistor in the current limiting circuit and a second terminal of the triode, and a second terminal is connected to the resistor. An input end and a third end of the laser transmitter are connected to a third end of the triode.
  19. 如权利要求1所述的光发射装置，其特征在于，所述电源包括两个电源，分别为所述激光发射器和所述储能电路提供能量。The light emitting device according to claim 1, wherein the power source comprises two power sources, which respectively provide energy for the laser transmitter and the energy storage circuit.
  20. 一种测距装置，其特征在于，包括：A ranging device, comprising:
    如权利要求1至19任一项所述的光发射装置，用于依次出射激光脉冲信号；The light emitting device according to any one of claims 1 to 19, configured to sequentially emit laser pulse signals;
    光电转换电路，用于接收所述光发射装置出射的激光脉冲信号经物体反射回的至少部分光信号，以及将接收到的光信号转成电信号；A photoelectric conversion circuit, configured to receive at least a part of the optical signal reflected by the laser pulse signal emitted by the light emitting device through an object, and convert the received optical signal into an electrical signal;
    采样电路，用于对来自所述光电转换电路的电信号进行采样，获得采样结果；A sampling circuit for sampling an electrical signal from the photoelectric conversion circuit to obtain a sampling result;
    运算电路，用于根据所述采样结果计算所述物体与所述测距装置之间的距离。An arithmetic circuit is configured to calculate a distance between the object and the distance measuring device according to the sampling result.
  21. 根据权利要求20所述的测距装置，其特征在于，所述光发射装置的数量和所述光电转换电路的数量分别为至少2个；The distance measuring device according to claim 20, wherein the number of the light emitting devices and the number of the photoelectric conversion circuits are at least two, respectively;
    每个所述光电转换电路用于接收来自对应的光发射装置出射的激光脉冲信号经物体反射回的至少部分光信号，以及将接收到的光信号转成电信号。Each of the photoelectric conversion circuits is configured to receive at least a part of the optical signal of the laser pulse signal emitted from the corresponding light emitting device reflected by the object, and convert the received optical signal into an electrical signal.
  22. 根据权利要求20或21所述的测距装置，其特征在于，所述激光测距装置还包括扫描模块；The distance measuring device according to claim 20 or 21, wherein the laser distance measuring device further comprises a scanning module;
    所述扫描模块用于改变所述激光脉冲信号的传输方向后出射，经物体反射回的激光脉冲信号经过所述扫描模块后入射至所述光电转换电路。The scanning module is used to emit after changing the transmission direction of the laser pulse signal, and the laser pulse signal reflected by the object is incident on the photoelectric conversion circuit after passing through the scanning module.
  23. 根据权利要求22所述的测距装置，其特征在于，所述扫描模块包括驱动器和厚度不均匀的棱镜，所述驱动器用于带动所述棱镜转动，以将经过所 述棱镜的激光脉冲信号改变至不同方向出射。The distance measuring device according to claim 22, wherein the scanning module comprises a driver and a prism with uneven thickness, and the driver is used for driving the prism to rotate to change a laser pulse signal passing through the prism. Shoot in different directions.
  24. 根据权利要求23所述的测距装置，其特征在于，所述扫描模块包括两个驱动器，以及两个并列设置的、厚度不均匀的棱镜，所述两个驱动器分别用于驱动所述两个棱镜以相反的方向转动；The distance measuring device according to claim 23, wherein the scanning module comprises two drivers and two prisms of uneven thickness arranged side by side, and the two drivers are respectively used to drive the two The prism turns in the opposite direction;
    来自所述激光发射装置的激光脉冲信号依次经过所述两个棱镜后改变传输方向出射。The laser pulse signal from the laser emitting device passes through the two prisms in order to be emitted after changing the transmission direction.
  25. 一种移动平台，其特征在于，包括：A mobile platform, comprising:
    权利要求20至24任一项所述的测距装置；和The ranging device according to any one of claims 20 to 24; and
    平台本体，所述光发射装置安装在所述平台本体。The platform body, and the light emitting device is mounted on the platform body.
  26. 根据权利要求25所述的移动平台，其特征在于，所述移动平台包括无人飞行器、汽车和机器人中的至少一种。The mobile platform of claim 25, wherein the mobile platform comprises at least one of an unmanned aerial vehicle, a car, and a robot.
PCT/CN2018/108150 2018-09-27 2018-09-27 Light-emitting apparatus, distance measurement apparatus and mobile platform WO2020061968A1 (en)

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WO2022141634A1 (en) * 2021-01-04 2022-07-07 深圳市大疆创新科技有限公司 Laser emitting device, laser ranging device and movable platform
CN112955785A (en) * 2021-02-07 2021-06-11 深圳阜时科技有限公司 Driving circuit, light-emitting unit, emission module, sensing device and electronic equipment
CN112912764A (en) * 2021-02-07 2021-06-04 深圳阜时科技有限公司 Driving circuit, light-emitting unit, emission module, sensing device and electronic equipment

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