WO2020142956A1 - Discharge circuit for distance measuring device, distributed radar system and mobile platform - Google Patents
Discharge circuit for distance measuring device, distributed radar system and mobile platform Download PDFInfo
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- WO2020142956A1 WO2020142956A1 PCT/CN2019/071043 CN2019071043W WO2020142956A1 WO 2020142956 A1 WO2020142956 A1 WO 2020142956A1 CN 2019071043 W CN2019071043 W CN 2019071043W WO 2020142956 A1 WO2020142956 A1 WO 2020142956A1
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- discharge
- power supply
- discharge circuit
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- circuit
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/42—Diversity systems specially adapted for radar
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/18—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for batteries; for accumulators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
Definitions
- the present invention generally relates to the technical field of radar, and more particularly to a discharge circuit, a distributed radar system and a movable platform for a distance measuring device.
- radar is often used to detect target scenes.
- lidar the principle is to actively emit laser pulse signals to the outside, detect the reflected echo signal, and judge the distance of the measured object according to the time difference between transmission and reception; combined with the information of the direction of the optical pulse emission, you can Get the 3D depth information of the target scene.
- a distributed radar system In order to obtain the three-dimensional depth information of the target scene in various directions, a distributed radar system is proposed to detect the three-dimensional depth information of the target scene in various directions by arranging radars at different positions.
- the power supply circuit In a multi-distributed radar system, because the control system is externally connected to multiple radars, the power supply circuit has a large power, and the input power VIN generally generates a stable voltage VDD through some power management circuits to power the system. In order to ensure the stability of the VDD voltage, there are many capacitive loads in these power management circuits. When the input power supply is powered off, the charge accumulated on the capacitive load is difficult to be discharged, resulting in the circuit still having residual charge for a long period of time after power off. This will bring unstable factors to the circuit system and affect the stability of the circuit system, such as abnormal secondary startup and abnormal power-on and power-off timing.
- the present invention has been proposed to solve at least one of the above problems.
- the invention provides a discharge circuit for a distance measuring device, which can discharge when the input power supply is powered off.
- the discharge circuit does not work when the input power supply is powered on, which can ensure that the power supply circuit is quickly charged and there is no additional energy loss. While working in the input power-off process, the residual charge on the power supply circuit is discharged to ensure the stability of the circuit system.
- an embodiment of the present invention provides a discharge circuit for a distance measuring device for discharging when an input power source is powered off, and the discharge circuit includes:
- a comparison module used to compare the voltage of the input power supply with the reference voltage and generate a comparison signal
- a direction detection module configured to generate a detection signal indicating whether the input power is in a power-off state or a non-power-off state according to the comparison signal
- the discharge module is used to determine whether to discharge according to the detection signal.
- An embodiment of the present invention also provides a distributed radar system, which includes:
- One or more radars are One or more radars
- a power supply circuit that generates an operating voltage for one or more of the radars based on the input power
- the current input terminal of the discharge circuit is connected to the output terminal of the power supply circuit, and the output terminal of the discharge circuit is grounded.
- An embodiment of the present invention also provides a movable platform, which includes:
- a power system installed on the fuselage, is used to provide power to the movable platform
- Embodiments of the present invention provide a discharge circuit, a distributed radar system, and a movable platform for a distance measuring device.
- the direction detection module determines whether the input power is in a power-off state or a non-power-off state, so that the input power Does not work during the power-on process to ensure that the power supply circuit is fully charged without additional energy loss, and works during the input power-off process to discharge the residual charge on the power supply circuit to ensure the stability of the circuit system.
- FIG. 1 shows a schematic block diagram of a distributed radar system according to an embodiment of the present invention
- FIG. 2 shows a schematic block diagram of a discharge circuit for a distance measuring device according to an embodiment of the invention
- FIG. 3 is a diagram showing the relationship between the comparison signal of the comparison module and the input power supply voltage in the discharge circuit shown in FIG. 2;
- FIG. 4 shows a schematic block diagram of a distance measuring device according to an embodiment of the present invention
- FIG. 5 shows a schematic structural diagram of a distance detection device according to an embodiment of the present invention.
- FIG. 1 shows a schematic block diagram of a distributed radar system according to an embodiment of the present invention.
- the distributed radar system 100 includes a control system 10 and N radars. N radars are distributed at different positions to detect object information at different positions/directions.
- the control system 10 detects objects according to N radars The information is comprehensively processed to understand the object information of the surrounding environment. For example, after distributing such a distributed radar system on a car, N radars are used to detect information about objects in different directions around the car, so as to understand the information about objects around the car.
- the control system 10 may include one or more processors for receiving data sent by the radar 1-N, processing the data, and controlling the work of the radar 1-N and other modules.
- the control system 10 is connected to the N radar interfaces.
- the radar can be connected to the radar interface through the transmission cable 11 to connect the radar to the control system 10, so that the control system 10 receives the radar data and controls the radar.
- the radar may be lidar, ultrasonic radar, millimeter wave radar, or other ranging devices or distance detection devices.
- the control system 10 is externally connected to multiple radars, and the power supply circuit has a large power.
- the input power supply VIN generally generates a stable voltage VDD through some power management circuits to supply power to the system.
- the charge accumulated on the capacitive load is difficult to be discharged, resulting in the circuit still having residual charge for a long period of time after the power is turned off. This will bring unstable factors to the circuit system and affect the stability of the circuit system, such as abnormal secondary startup and abnormal power-on and power-off timing.
- a discharge circuit is required. The discharge circuit requires that it cannot work during the input power supply is powered on, so as to ensure that VDD is fully charged, and work on the power supply during power off Discharge the remaining charge to ensure the stability of the circuit.
- the distributed radar system of this embodiment is provided with such a discharge circuit, so the circuit system has high stability.
- the discharge circuit for the distance measuring device provided by the embodiment of the present invention will be described below with reference to FIGS. 2 to 3.
- FIG. 2 shows a schematic block diagram of a discharge circuit for a distance measuring device according to an embodiment of the present invention.
- the discharge circuit 200 for a distance measuring device is used to discharge when the input power VIN is turned off.
- the discharge circuit 200 includes a comparison module 20, a direction detection module 30, a discharge module 40, and an auxiliary Power module 50.
- the comparison module 20 is used to compare the voltage of the input power supply VIN and the reference voltage VREF, and generate a comparison signal VOUT1.
- the comparison module 20 may use various suitable comparison circuits or devices.
- the comparison module 20 includes a comparator 21, a reference circuit 22, a voltage dividing circuit 23, and a voltage regulator 24.
- the comparator 21 is used to compare the voltage of the input power supply VIN with the reference voltage VREF and generate a comparison signal VOUT1.
- the input terminals of the comparator 21 are connected to the output terminals of the reference circuit 22 and the voltage divider circuit 23 respectively, for comparing the reference voltage VERF generated by the reference circuit 22 and the voltage divider circuit 23 based on the input power supply VIN The size of the generated voltage divider VIN1, and output the comparison signal VOUT1 according to the comparison result.
- the reference circuit 22 is used to generate a reference voltage VREF.
- the reference circuit 22 may adopt various suitable circuit structures or devices. Exemplarily, the reference circuit 22 may use a resistor network voltage divider circuit, a reference power chip, a battery, or the like.
- the voltage dividing circuit 23 is provided between the input power supply VIN and the input terminal of the comparator 21, and is used to input the divided voltage VIN1 generated according to the input power supply VIN to the comparator.
- the voltage dividing circuit 23 can adopt various suitable circuit results, such as a resistance voltage dividing circuit and the like.
- the voltage regulator 24 is provided between the input terminal of the comparator 21 and the input power supply VIN or the voltage dividing circuit 23 for stabilizing the voltage input to the comparator 21. Since the input range of the input power supply VIN is relatively wide, the voltage overvoltage of VIN1 or the input comparator 21 can be avoided by the voltage regulator 24 to ensure the safety and stability of the circuit.
- the comparison module 20 of the discharge circuit 200 of this embodiment is mainly used to detect the voltage value of the input power supply VIN and determine whether the current voltage value is lower than the reference voltage VERF. Its working principle is: During the discharge process of the input power supply VIN, the voltage of the input power supply VIN will continue to decrease. When the comparator 21 detects that the voltage of the input power supply VIN (in this embodiment, the voltage of the input power supply is represented by the divided voltage VIN1) is lower than the reference voltage VREF, the output voltage of the comparator 21, that is, the level of the comparison signal VOUT1 There will be a transition from low to high, so by detecting the transition of the comparison signal VOUT1 can determine whether the input power VIN is in the power-off state.
- FIG. 3 it shows a waveform relationship between the comparison signal VOU1 of the comparator 21 (that is, the output voltage of the comparator 21) and the divided voltage VIN1 of the input power supply VIN.
- the comparison signal VOUT1 when the voltage VIN1 is lower than VREF, the comparison signal VOUT1 is a high-level signal, and when the voltage VIN1 is greater than or equal to VREF, the comparison signal VOUT1 is a low-level signal.
- the comparison signal VOUT1 generated by the comparator 21 has the same level in the time period of t0 to t1 and t4 to t5, and the level of the comparison signal VOUT1 of the comparator 21 in the period of t1 to t4.
- the level of the comparison signal VOUT1 of the comparator 21 may be the same during the input power-up (t0 ⁇ t1) and power-down (t4-t5) process, if the discharge module 40 is directly determined according to the comparison signal VOUT1 Whether it is on or not, without judging the transition direction of the comparison signal VOUT1, may cause the discharge module 40 to be simultaneously discharged during the input power VIN is powered on, which not only causes additional energy loss, but also slows down the charging of the power supply circuit.
- the discharge circuit 200 of this embodiment only needs to open the bleeder circuit to discharge the residual charge during the power-off process of the input power supply VIN. Therefore, the discharge circuit 200 of this embodiment is provided with the direction detection module 30.
- the direction detection module 30 is used to generate a detection signal VQ indicating whether the input power supply VIN is in a power-down state or a non-power-down state according to the comparison signal VOUT1.
- the direction detection module 30 generates a detection signal VQ indicating that the input power supply VIN is in a power-down state when the comparison signal VOUT1 is a rising edge signal or a falling edge signal.
- the detection signal VQ includes a high-level signal or a low-level signal.
- the direction detection module 30 is set to be triggered by a rising edge, and the detection signal is a high-level signal, that is, the detection signal VQ of the direction detection module 30 transitions when the comparison signal VOUT1 is a rising edge signal
- the comparison signal VOUT1 is other signals, such as a falling edge signal, a high level signal, and a low level signal
- the detection signal VQ of the detection module 220 is a low level.
- the direction detection module 30 includes a D flip-flop or a chip with an edge detection function.
- the direction detection module 30 is configured to be triggered by a rising edge, but in other embodiments, it may also be configured to be triggered by a falling edge, as long as the detection of power-off of the input power supply can be achieved.
- the discharge module 40 is used to determine whether to discharge according to the detection signal VQ.
- the discharge module 40 is turned on to discharge when the detection signal VQ indicates that the input power supply VIN is in a power-down state, and is turned off without discharging when the detection signal VQ indicates that the input power supply VIN is in a non-power-down state.
- the detection signal VQ when the detection signal VQ is high level, it indicates that the input power supply VIN is in a power-off state, and when the detection signal VQ is low level, it indicates that the input power supply VIN is in a non-power-off state, for example, in a power-on state, In the normal working state, it is powered off but the voltage is still higher than the reference voltage.
- the discharge module 40 includes a resistor R1 and a switching device Q1 connected in series, one end of the resistor R1 is connected to the output terminal (ie, VDD terminal) of the power supply circuit, the other end is connected to the switching device Q1, and one end of the switching device Q1 is connected to the resistor R1 Connect and ground the other end.
- the switching device Q1 is turned on or off under the control of the detection signal VQ, thereby turning on or off the discharge module 40.
- the switching device Q1 includes a MOS transistor, a transistor, an analog switch, or a relay.
- the switching device Q1 is an NMOS transistor.
- the auxiliary power module 50 is used to generate the operating voltage VCC of the comparison module 20 and/or the direction detection module 30.
- the auxiliary power module 50 is used to generate the operating voltage VCC for the reference circuit 22 of the comparison module 20.
- the auxiliary power module 50 includes various circuits or modules that can provide a stable voltage, such as a capacitor, a voltage regulator circuit, a power chip, a button battery, or a lithium battery.
- the embodiment of the present invention is used in the discharge circuit of the distance measuring device.
- the direction detection module is used to determine whether the input power is in a power-off state or a non-power-off state, so that it can not work during the power-on process of the input power, ensuring that the power supply circuit is quickly charged. There is no additional energy loss, and work in the process of input power off to discharge the residual charge on the power supply circuit to ensure the stability of the circuit system.
- the radar involved in the present invention may be a laser radar, or other radars or ranging devices.
- the distance measuring device may be an electronic device such as a laser radar or a laser distance measuring device.
- the distance measuring device is used to sense external environment information, for example, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target.
- the distance measuring device can detect the distance between the detecting object and the distance measuring device by measuring the time of light propagation between the distance measuring device and the detection object, that is, Time-of-Flight (TOF).
- TOF Time-of-Flight
- the distance measuring device may also detect the distance between the detected object and the distance measuring device through other techniques, such as a distance measuring method based on phase shift measurement, or a distance measuring method based on frequency shift measurement. There are no restrictions.
- the distance measuring device 400 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130 and an arithmetic circuit 140.
- the transmission circuit 110 may transmit a sequence of light pulses (for example, a sequence of laser pulses).
- the receiving circuit 120 can receive the optical pulse sequence reflected by the detected object, and photoelectrically convert the optical pulse sequence to obtain an electrical signal, which can be output to the sampling circuit 130 after processing the electrical signal.
- the sampling circuit 130 may sample the electrical signal to obtain the sampling result.
- the arithmetic circuit 140 may determine the distance between the distance measuring device 400 and the detected object based on the sampling result of the sampling circuit 130.
- the distance measuring device 400 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 for each circuit.
- a control circuit 150 may control other circuits, for example, may control the working time of each circuit and/or set parameters for each circuit.
- the distance measuring device shown in FIG. 4 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam of light for detection
- the embodiments of the present application are not limited thereto, and the transmitting circuit
- the number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit may also be at least two, for emitting at least two light beams in the same direction or respectively in different directions; wherein, the at least two light paths may be simultaneously
- the shot may be shot at different times.
- the light-emitting chips in the at least two emission circuits are packaged in the same module.
- each emitting circuit includes a laser emitting chip, and the die in the laser emitting chips in the at least two emitting circuits are packaged together and housed in the same packaging space.
- the distance measuring device 400 may further include a scanning module 160 for changing the propagation direction of at least one laser pulse sequence emitted from the transmitting circuit.
- 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 Distance module, the distance measuring module may be independent of other modules, for example, a scanning module.
- a coaxial optical path may be used in the distance measuring device, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device.
- the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted from the distance measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance measuring device.
- FIG. 5 shows a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
- the distance measuring device 500 includes a distance measuring module 201.
- the distance measuring module 201 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, and a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and Optical path changing element 206.
- the distance measuring module 201 is used to emit a light beam and receive back light, and convert the back light into an electrical signal.
- the transmitter 203 may be used to transmit a sequence of optical pulses.
- the transmitter 203 may emit a sequence of laser pulses.
- the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam with a wavelength outside the visible light range.
- the collimating element 204 is disposed on the exit optical path of the emitter, and is used to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted by the emitter 203 into parallel light to the scanning module.
- the collimating element is also used to converge at least a part of the return light reflected by the detection object.
- the collimating element 204 may be a collimating lens or other element capable of collimating the light beam.
- the optical path changing element 206 is used to combine the transmitting optical path and the receiving optical path in the distance measuring device before the collimating element 204, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path More compact.
- the transmitter 203 and the detector 205 may respectively use respective collimating elements, and the optical path changing element 206 is disposed on the optical path behind the collimating element.
- the light path changing element can use a small-area mirror to convert The transmitting optical path and the receiving optical path are combined.
- the light path changing element may also use a reflector with a through hole, where the through hole is used to transmit the outgoing light of the emitter 203, and the reflector is used to reflect the return light to the detector 205. In this way, it is possible to reduce the blocking of the return light by the support of the small mirror in the case of using the small mirror.
- the optical path changing element is offset from the optical axis of the collimating element 204. In some other implementations, the optical path changing element may also be located on the optical axis of the collimating element 204.
- the distance measuring device 500 further includes a scanning module 202.
- the scanning module 202 is placed on the exit optical path of the distance measuring module 201.
- the scanning module 202 is used to change the transmission direction of the collimated light beam 219 emitted through the collimating element 204 and project it to the external environment, and project the return light to the collimating element 204 .
- the returned light is converged on the detector 205 via the collimating element 204.
- the scanning module 202 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, diffracting, etc. the light beam.
- the scanning module 202 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements.
- at least part of the optical element is moving, for example, the at least part of the optical element is driven to move by a driving module, and the moving optical element can reflect, refract, or diffract the light beam to different directions at different times.
- multiple optical elements of the scanning module 202 may rotate or vibrate about a common axis 209, and each rotating or vibrating optical element is used to continuously change the direction of propagation of the incident light beam.
- the multiple optical elements of the scanning module 202 may rotate at different rotation speeds, or vibrate at different speeds.
- at least part of the optical elements of the scanning module 202 can rotate at substantially the same rotational speed.
- the multiple optical elements of the scanning module may also rotate around different axes.
- the 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 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214.
- the driver 216 is used to drive the first optical element 214 to rotate about a rotation axis 209 to change the first optical element 214 The direction of the collimated light beam 219.
- the first optical element 214 projects the collimated light beam 219 to different directions.
- the angle between the direction of the collimated light beam 219 after the first optical element changes and the rotation axis 209 changes as the first optical element 214 rotates.
- the first optical element 214 includes a pair of opposed non-parallel surfaces through which the collimated light beam 219 passes.
- the first optical element 214 includes a prism whose thickness varies along at least one radial direction.
- the first optical element 114 includes a wedge-angle prism that aligns the straight beam 219 for refraction.
- the scanning module 202 further includes a second optical element 215 that rotates about a rotation axis 209.
- the rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214.
- the second optical element 215 is used to change the direction of the light beam projected by the first optical element 214.
- the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate.
- the first optical element 214 and the second optical element 215 may be driven by the same or different drivers, so that the first optical element 214 and the second optical element 215 have different rotation speeds and/or rotations, thereby projecting the collimated light beam 219 to the outside space Different directions can scan a larger spatial range.
- the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively.
- the rotation speeds of the first optical element 214 and the second optical element 215 can be determined according to the area and pattern expected to be scanned in practical applications.
- Drives 216 and 217 may include motors or other drives.
- the second optical element 215 includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 215 includes a wedge angle prism.
- the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move.
- the third optical element includes a pair of opposed non-parallel surfaces through which the light beam passes.
- the third optical element includes a prism whose thickness varies along at least one radial direction.
- the third optical element includes a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or turns.
- each optical element in the scanning module 202 can project light into different directions, for example, the directions of the light 211 and 213, so as to scan the space around the distance measuring device 500.
- the light 211 projected by the scanning module 202 hits the detection object 210, a part of the light is reflected by the detection object 210 to the distance measuring device 500 in a direction opposite to the projected light 211.
- the returned light 212 reflected by the detection object 210 passes through the scanning module 202 and enters the collimating element 204.
- the detector 205 is placed on the same side of the collimating element 204 as the emitter 203.
- the detector 205 is used to convert at least part of the returned light passing through the collimating element 204 into an electrical signal.
- each optical element is coated with an antireflection coating.
- the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
- a filter layer is plated on the surface of an element on the beam propagation path in the distance measuring device, or a filter is provided on the beam propagation path to transmit at least the wavelength band of the beam emitted by the transmitter, Reflect other bands to reduce the noise caused by ambient light to the receiver.
- the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted.
- the laser pulse receiving time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the distance measuring device 500 can use the pulse reception time information and the pulse emission time information to calculate the TOF, thereby determining the distance between the detection object 210 and the distance measuring device 500.
- the distance and orientation detected by the distance measuring device 500 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
- the distance measuring device of the embodiment of the present invention can be applied to a movable platform, and the distance measuring device can be installed on the platform body of the movable platform.
- the mobile platform with a distance measuring device can measure the external environment, for example, measuring the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
- the movable platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera.
- the platform body When the distance measuring device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle.
- the platform body When the distance measuring device is applied to an automobile, the platform body is the body of the automobile.
- the car may be a self-driving car or a semi-automatic car, and no restriction is made here.
- the platform body When the distance measuring device is applied to a remote control car, the platform body is the body of the remote control car.
- the platform body When the distance measuring device is applied to a robot, the platform body is a robot.
- the platform body When the distance measuring device is applied to a camera, the platform body is the camera itself.
- the distributed radar system of the embodiments of the present invention can be applied to a movable platform, so as to perform two-dimensional or three-dimensional mapping of the external environment of the movable platform in multiple orientations.
- the movable platform It includes a fuselage, a power system, installed on the fuselage, for powering the movable platform; and a distributed radar system as in this embodiment.
- the movable platform includes at least one of an unmanned aerial vehicle, a car, or a robot.
- the embodiment of the present invention provides a discharge circuit, a distributed radar system and a movable platform of a distance measuring device.
- the direction detection module determines whether the input power is in a power-off state or a non-power-off state, so that the input power can be powered on It does not work during the process to ensure that the power supply circuit is fully charged and there is no additional energy loss.
- the input power supply is powered off, the residual charge on the power supply circuit is discharged to ensure the stability of the circuit system.
- the disclosed device and method may be implemented in other ways.
- the device embodiments described above are only schematic.
- the division of the units is only a division of logical functions.
- there may be other divisions for example, multiple units or components may be combined or Can be integrated into another device, or some features can be ignored, or not implemented.
- the various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof.
- a microprocessor or a digital signal processor (DSP) may be used to implement some or all functions of some modules according to embodiments of the present invention.
- DSP digital signal processor
- the present invention can also be implemented as a device program (for example, a computer program and a computer program product) for performing a part or all of the method described herein.
- a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals.
- Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.
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Abstract
Provided are a discharge circuit (200) for a distance measuring device, a distributed radar system (100) and a mobile platform, wherein the discharge circuit (200) for the distance measuring device is used to discharge when an input power supply (VIN) is powered off, the discharge circuit (200) comprises: a comparison module (20), which is used to compare the magnitude of a voltage divider (VIN1) generated by the input power supply (VIN) with a reference voltage (VREF), and generate a comparison signal (VOUT1); a direction detection module (30), which is used to generate a detection signal (VQ) indicating whether the input power supply (VIN) is in a power-off state or a non-power-off state according to the comparison signal (VOUT1); and a discharge module (40), which is used to determine whether to discharge according to the detection signal (VQ). The direction detection module (30) determines whether the input power supply (VIN) is in the power-off state or the non-power-off state, so that it does not operate during power-on of the input power supply (VIN) to ensure that a power supply circuit is fully charged quickly, without additional energy loss, and operates during power-off of the input power supply (VIN) and discharges the residual charge on the power supply circuit to ensure the stability of a circuit system.
Description
说明书Instructions
本发明总地涉及雷达技术领域,更具体地涉及一种用于测距装置的放电电路、分布式雷达***及可移动平台。The present invention generally relates to the technical field of radar, and more particularly to a discharge circuit, a distributed radar system and a movable platform for a distance measuring device.
实际应用中常常使用雷达对目标场景进行探测。以激光雷达为例,其原理为主动对外发射激光脉冲信号,探测到反射的回波信号,根据发射—接收之间的时间差,判断被测物体的距离;结合光脉冲的发射方向信息,便可获知目标场景的三维深度信息。In practical applications, radar is often used to detect target scenes. Taking lidar as an example, the principle is to actively emit laser pulse signals to the outside, detect the reflected echo signal, and judge the distance of the measured object according to the time difference between transmission and reception; combined with the information of the direction of the optical pulse emission, you can Get the 3D depth information of the target scene.
目前为了获知目标场景各方向的三维深度信息,提出一种分布式雷达***,通过在不同位置分别布置雷达来探测目标场景各方向的三维深度信息。在多分布式雷达***中,由于控制***外接多个雷达,电源电路功率大,输入电源VIN一般会通过一些电源管理电路产生一个稳定的电压VDD,给***供电。为了保证VDD电压稳定,这些一些电源管理电路中容性负载较多。而当输入电源断电的时候,容性负载上积累的电荷很难被放掉,导致电路在断电很长的一段时间内仍然有残余电荷。这会给电路***带来不稳定因素,影响电路***的稳定性,比如二次启动异常、上下电时序异常等。In order to obtain the three-dimensional depth information of the target scene in various directions, a distributed radar system is proposed to detect the three-dimensional depth information of the target scene in various directions by arranging radars at different positions. In a multi-distributed radar system, because the control system is externally connected to multiple radars, the power supply circuit has a large power, and the input power VIN generally generates a stable voltage VDD through some power management circuits to power the system. In order to ensure the stability of the VDD voltage, there are many capacitive loads in these power management circuits. When the input power supply is powered off, the charge accumulated on the capacitive load is difficult to be discharged, resulting in the circuit still having residual charge for a long period of time after power off. This will bring unstable factors to the circuit system and affect the stability of the circuit system, such as abnormal secondary startup and abnormal power-on and power-off timing.
发明内容Summary of the invention
为了解决上述问题中的至少一个而提出了本发明。本发明提供一种用于测距装置的放电电路,可以输入电源断电时进行放电,该放电电路在输入电源上电过程中不工作,可以保证供电电路快速充满电荷,没有额外的能量损耗,而在输入电源下电过程中工作,对供电电路上残余的电荷进行放电,以保证电路***的稳定性。The present invention has been proposed to solve at least one of the above problems. The invention provides a discharge circuit for a distance measuring device, which can discharge when the input power supply is powered off. The discharge circuit does not work when the input power supply is powered on, which can ensure that the power supply circuit is quickly charged and there is no additional energy loss. While working in the input power-off process, the residual charge on the power supply circuit is discharged to ensure the stability of the circuit system.
具体地,本发明实施例提供一种用于测距装置的放电电路,用于在输入电源断电时进行放电,该放电电路包括:Specifically, an embodiment of the present invention provides a discharge circuit for a distance measuring device for discharging when an input power source is powered off, and the discharge circuit includes:
比较模块,用于比较所述输入电源的电压与基准电压的大小,并生成比较信号;A comparison module, used to compare the voltage of the input power supply with the reference voltage and generate a comparison signal;
方向检测模块,用于根据所述比较信号生成表示所述输入电源是处于下电状态还是非下电状态的检测信号;A direction detection module, configured to generate a detection signal indicating whether the input power is in a power-off state or a non-power-off state according to the comparison signal;
放电模块,用于根据所述检测信号确定是否进行放电。The discharge module is used to determine whether to discharge according to the detection signal.
本发明实施例还提供一种分布式雷达***,其包括:An embodiment of the present invention also provides a distributed radar system, which includes:
一个或多个雷达;One or more radars;
供电电路,所述供电电路基于输入电源产生用于一个或多个所述雷达的工作电压;A power supply circuit that generates an operating voltage for one or more of the radars based on the input power;
以及如上所述的放电电路,所述放电电路的电流输入端与所述供电电路的输出端连接,所述放电电路的输出端接地。And the discharge circuit as described above, the current input terminal of the discharge circuit is connected to the output terminal of the power supply circuit, and the output terminal of the discharge circuit is grounded.
本发明实施例还提供一种可移动平台,其包括:An embodiment of the present invention also provides a movable platform, which includes:
机身;body;
动力***,安装在所述机身,用于为所述可移动平台提供动力;A power system, installed on the fuselage, is used to provide power to the movable platform;
以及如上所述的分布式雷达***。And the distributed radar system as described above.
本发明实施例提供了一种用于测距装置的放电电路、分布式雷达***及可移动平台,通过方向检测模块来判断输入电源是处于下电状态还是非下电状态,从而可以在输入电源上电过程中不工作,保证供电电路快速充满电荷,没有额外的能量损耗,而在输入电源下电过程中工作,对供电电路上残余的电荷进行放电,以保证电路***的稳定性。Embodiments of the present invention provide a discharge circuit, a distributed radar system, and a movable platform for a distance measuring device. The direction detection module determines whether the input power is in a power-off state or a non-power-off state, so that the input power Does not work during the power-on process to ensure that the power supply circuit is fully charged without additional energy loss, and works during the input power-off process to discharge the residual charge on the power supply circuit to ensure the stability of the circuit system.
图1示出根据本发明一实施例的分布式雷达***的示意性框图;FIG. 1 shows a schematic block diagram of a distributed radar system according to an embodiment of the present invention;
图2示出根据本发明一实施例的用于测距装置的放电电路的示意性框图;2 shows a schematic block diagram of a discharge circuit for a distance measuring device according to an embodiment of the invention;
图3示出图2所示放电电路中比较模块的比较信号与输入电源电压的关系图示;3 is a diagram showing the relationship between the comparison signal of the comparison module and the input power supply voltage in the discharge circuit shown in FIG. 2;
图4示出根据本发明一实施例的测距装置的示意性框图;4 shows a schematic block diagram of a distance measuring device according to an embodiment of the present invention;
图5示出根据本发明一实施例的距离探测装置的示意性结构图。FIG. 5 shows a schematic structural diagram of a distance detection device according to an embodiment of the present invention.
为了使得本发明的目的、技术方案和优点更为明显,下面将参照附图详细描述根据本发明的示例实施例。显然,所描述的实施例仅仅是本发明的一部分实施例,而不是本发明的全部实施例,应理解,本发明不受这里描述的示例实施例的限制。基于本发明中描述的本发明实施例,本领域技术人员在没有付出创造性劳动的情况下所得到的所有其它实施例都应落入本发明的保护范围之内。In order to make the purpose, technical solutions and advantages of the present invention more obvious, an exemplary embodiment according to the present invention will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited by the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without paying any creative work should fall within the protection scope of the present invention.
在下文的描述中,给出了大量具体的细节以便提供对本发明更为彻底的理解。然而,对于本领域技术人员而言显而易见的是,本发明可以无需一个或多个这些细节而得以实施。在其他的例子中,为了避免与本发明发生混淆,对于本领域公知的一些技术特征未进行描述。In the following description, a large number of specific details are given in order to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present invention, some technical features known in the art are not described.
应当理解的是,本发明能够以不同形式实施,而不应当解释为局限于这里提出的实施例。相反地,提供这些实施例将使公开彻底和完全,并且将本发明的范围完全地传递给本领域技术人员。It should be understood that the present invention can be implemented in different forms and should not be interpreted as being limited to the embodiments presented herein. Rather, providing these embodiments will make the disclosure thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
在此使用的术语的目的仅在于描述具体实施例并且不作为本发明的限制。在此使用时,单数形式的“一”、“一个”和“所述/该”也意图包括复数形式,除非上下文清楚指出另外的方式。还应明白术语“组成”和/或“包括”,当在该说明书中使用时,确定所述特征、整数、步骤、操作、元件和/或部件的存在,但不排除一个或更多其它的特征、整数、步骤、操作、元件、部件和/或组的存在或添加。在此使用时,术语“和/或”包括相关所列项目的任何及所有组合。The terminology used herein is for describing specific embodiments only and is not intended as a limitation of the present invention. As used herein, the singular forms "a", "an", and "said/the" are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms "composition" and/or "comprising", when used in this specification, determine the existence of the described features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components, and/or groups. As used herein, the term "and/or" includes any and all combinations of the listed items.
为了彻底理解本发明,将在下列的描述中提出详细的步骤以及详细的结构,以便阐释本发明提出的技术方案,然而除了这些详细描述外,本发明还可以具有其他实施方式。In order to thoroughly understand the present invention, detailed steps and detailed structures will be proposed in the following description in order to explain the technical solutions proposed by the present invention. However, in addition to these detailed descriptions, the present invention may have other embodiments.
图1示出根据本发明一实施例的分布式雷达***的示意性框图。如图1所示,分布式雷达***100包括控制***10和N个雷达,N个雷达分布在不同的位置,用于检测不同位置/方向的物体信息,控制***10根据N个雷达所检测物体信息进行综合处理,从而了解周围环境的物体信息。例 如在汽车上布置这种分布式雷达***后,通过N个雷达来探测汽车周围不同方位的物体信息,从而了解汽车周围环境的物体信息。FIG. 1 shows a schematic block diagram of a distributed radar system according to an embodiment of the present invention. As shown in FIG. 1, the distributed radar system 100 includes a control system 10 and N radars. N radars are distributed at different positions to detect object information at different positions/directions. The control system 10 detects objects according to N radars The information is comprehensively processed to understand the object information of the surrounding environment. For example, after distributing such a distributed radar system on a car, N radars are used to detect information about objects in different directions around the car, so as to understand the information about objects around the car.
控制***10可以包括一个或多个处理器,用于接收雷达1-N发送的数据,并对数据进行处理,以及控制雷达1-N以及其他模块的工作。控制***10连接至N个雷达接口,雷达可通过传输线缆11连接至雷达接口,从而将雷达接入控制***10中,以便控制***10接收雷达的数据,并对雷达进行控制。The control system 10 may include one or more processors for receiving data sent by the radar 1-N, processing the data, and controlling the work of the radar 1-N and other modules. The control system 10 is connected to the N radar interfaces. The radar can be connected to the radar interface through the transmission cable 11 to connect the radar to the control system 10, so that the control system 10 receives the radar data and controls the radar.
雷达可以为激光雷达、超声波雷达、毫米波雷达或其它测距装置或距离探测装置。The radar may be lidar, ultrasonic radar, millimeter wave radar, or other ranging devices or distance detection devices.
在这种分布式雷达***中,控制***10外接多个雷达,电源电路功率大,输入电源VIN一般会通过一些电源管理电路产生一个稳定的电压VDD给***供电。为了保证VDD电压稳定,这些电源管理电路中容性负载较多。当输入电源断电的时候,容性负载上积累的电荷很难被放掉,导致电路在断电很长的一段时间内仍然有残余电荷。这会给电路***带来不稳定因素,影响电路***的稳定性,比如二次启动异常、上下电时序异常等。为了解决容性负载放电慢的问题,因此,需要一个放电电路,该放电电路要求在输入电源上电过程中,不能工作,以保证VDD快速充满电荷,而在电源下电过程中工作可以对VDD上残余的电荷进行放电,以保证电路的稳定性。In this distributed radar system, the control system 10 is externally connected to multiple radars, and the power supply circuit has a large power. The input power supply VIN generally generates a stable voltage VDD through some power management circuits to supply power to the system. In order to ensure the stability of the VDD voltage, there are many capacitive loads in these power management circuits. When the input power is turned off, the charge accumulated on the capacitive load is difficult to be discharged, resulting in the circuit still having residual charge for a long period of time after the power is turned off. This will bring unstable factors to the circuit system and affect the stability of the circuit system, such as abnormal secondary startup and abnormal power-on and power-off timing. In order to solve the problem of slow discharge of capacitive loads, a discharge circuit is required. The discharge circuit requires that it cannot work during the input power supply is powered on, so as to ensure that VDD is fully charged, and work on the power supply during power off Discharge the remaining charge to ensure the stability of the circuit.
本实施例的分布式雷达***设置有这种放电电路,因而电路***具备较高的稳定性。下面结合图2至图3对本发明实施例提供的用于测距装置的放电电路进行描述。The distributed radar system of this embodiment is provided with such a discharge circuit, so the circuit system has high stability. The discharge circuit for the distance measuring device provided by the embodiment of the present invention will be described below with reference to FIGS. 2 to 3.
图2示出根据本发明一实施例的用于测距装置的放电电路的示意性框图。2 shows a schematic block diagram of a discharge circuit for a distance measuring device according to an embodiment of the present invention.
本实施例提供的用于测距装置的放电电路200,用于在输入电源VIN断电时进行放电,如图2所示放电电路200包括比较模块20、方向检测模块30、放电模块40和辅助电源模块50。The discharge circuit 200 for a distance measuring device provided in this embodiment is used to discharge when the input power VIN is turned off. As shown in FIG. 2, the discharge circuit 200 includes a comparison module 20, a direction detection module 30, a discharge module 40, and an auxiliary Power module 50.
比较模块20用于比较输入电源VIN的电压与基准电压VREF的大小,并生成比较信号VOUT1。比较模块20可以采用各种合适的比较电路或器件。The comparison module 20 is used to compare the voltage of the input power supply VIN and the reference voltage VREF, and generate a comparison signal VOUT1. The comparison module 20 may use various suitable comparison circuits or devices.
示例性地,在本实施例中,比较模块20包括比较器21、基准电路22、分压电路23和稳压器24。Exemplarily, in this embodiment, the comparison module 20 includes a comparator 21, a reference circuit 22, a voltage dividing circuit 23, and a voltage regulator 24.
比较器21用于比较输入电源VIN的电压与基准电压VREF的大小,并生成比较信号VOUT1。具体地,在本实施例中,比较器21的输入端分别与基准电路22和分压电路23的输出端连接,用于比较基准电路22产生的基准电压VERF和分压电路23基于输入电源VIN产生的分压VIN1的大小,并根据比较结果输出比较信号VOUT1。The comparator 21 is used to compare the voltage of the input power supply VIN with the reference voltage VREF and generate a comparison signal VOUT1. Specifically, in this embodiment, the input terminals of the comparator 21 are connected to the output terminals of the reference circuit 22 and the voltage divider circuit 23 respectively, for comparing the reference voltage VERF generated by the reference circuit 22 and the voltage divider circuit 23 based on the input power supply VIN The size of the generated voltage divider VIN1, and output the comparison signal VOUT1 according to the comparison result.
基准电路22用于产生基准电压VREF。基准电路22可以采用各种合适的电路结构或器件。示例性地,基准电路22可以采用电阻网络分压电路、基准电源芯片或电池等。The reference circuit 22 is used to generate a reference voltage VREF. The reference circuit 22 may adopt various suitable circuit structures or devices. Exemplarily, the reference circuit 22 may use a resistor network voltage divider circuit, a reference power chip, a battery, or the like.
分压电路23设置在输入电源VIN和比较器21的输入端之间,用于将根据输入电源VIN产生的分压VIN1输入所述比较器。分压电路23可以采用各种合适的电路结果,例如电阻分压电路等。The voltage dividing circuit 23 is provided between the input power supply VIN and the input terminal of the comparator 21, and is used to input the divided voltage VIN1 generated according to the input power supply VIN to the comparator. The voltage dividing circuit 23 can adopt various suitable circuit results, such as a resistance voltage dividing circuit and the like.
稳压器24设置在比较器21的输入端与输入电源VIN或分压电路23之间,用于稳定输入所述比较器21的电压。由于输入电源VIN的输入范围比较宽,通过稳压器24可以避免VIN1或输入比较器21的电压过压,保证电路的安全性和稳定性。The voltage regulator 24 is provided between the input terminal of the comparator 21 and the input power supply VIN or the voltage dividing circuit 23 for stabilizing the voltage input to the comparator 21. Since the input range of the input power supply VIN is relatively wide, the voltage overvoltage of VIN1 or the input comparator 21 can be avoided by the voltage regulator 24 to ensure the safety and stability of the circuit.
本实施例放电电路200的比较模块20主要用于检测输入电源VIN的电压值,判断当前电压值是否低于基准电压VERF。其工作原理为:在输入电源VIN放电过程中,输入电源VIN的电压会不断降低。当比较器21检测到输入电源VIN的电压(在本实施例中以分压VIN1来表示输入电源的电压)低于基准电压VREF时,比较器21的输出电压,也即比较信号VOUT1的电平会发生跳变,从低电平变成高电平,因而通过检测比较信号VOUT1的跳变即可判断输入电源VIN是否处于下电状态。The comparison module 20 of the discharge circuit 200 of this embodiment is mainly used to detect the voltage value of the input power supply VIN and determine whether the current voltage value is lower than the reference voltage VERF. Its working principle is: During the discharge process of the input power supply VIN, the voltage of the input power supply VIN will continue to decrease. When the comparator 21 detects that the voltage of the input power supply VIN (in this embodiment, the voltage of the input power supply is represented by the divided voltage VIN1) is lower than the reference voltage VREF, the output voltage of the comparator 21, that is, the level of the comparison signal VOUT1 There will be a transition from low to high, so by detecting the transition of the comparison signal VOUT1 can determine whether the input power VIN is in the power-off state.
如图3所示,其示出比较器21的比较信号VOU1(也即比较器21的输出电压)与输入电源VIN的分压VIN1的波形关系图。如图3所述,当电压VIN1低于VREF时,比较信号VOUT1为高电平信号,当电压VIN1大于或等于VREF时,比较信号VOUT1为低电平信号。换言之,比较器21产生的比较信号VOUT1在t0~t1和t4~t5时间段电平相同,在t1~t4时间段,比较器21的比较信号VOUT1电平相同。As shown in FIG. 3, it shows a waveform relationship between the comparison signal VOU1 of the comparator 21 (that is, the output voltage of the comparator 21) and the divided voltage VIN1 of the input power supply VIN. As shown in FIG. 3, when the voltage VIN1 is lower than VREF, the comparison signal VOUT1 is a high-level signal, and when the voltage VIN1 is greater than or equal to VREF, the comparison signal VOUT1 is a low-level signal. In other words, the comparison signal VOUT1 generated by the comparator 21 has the same level in the time period of t0 to t1 and t4 to t5, and the level of the comparison signal VOUT1 of the comparator 21 in the period of t1 to t4.
由图3可以看出,在输入电源上电(t0~t1)和下电(t4~t5)过程中比较器21的比较信号VOUT1电平可能相同,如果放电模块40直接根据比较信号VOUT1来确定是否导通,而不判断比较信号VOUT1的跳变方向,则可能导致在输入电源VIN上电期间也会打开放电模块40同步放电,不仅造成额外的能量损耗,还使得供电电路的充电变慢。然而如前所述本实施例的放电电路200只需要在输入电源VIN下电过程打开泄放电路对残余的电荷进行放电,因此本实施例的放电电路200设置了方向检测模块30。As can be seen from FIG. 3, the level of the comparison signal VOUT1 of the comparator 21 may be the same during the input power-up (t0~t1) and power-down (t4-t5) process, if the discharge module 40 is directly determined according to the comparison signal VOUT1 Whether it is on or not, without judging the transition direction of the comparison signal VOUT1, may cause the discharge module 40 to be simultaneously discharged during the input power VIN is powered on, which not only causes additional energy loss, but also slows down the charging of the power supply circuit. However, as described above, the discharge circuit 200 of this embodiment only needs to open the bleeder circuit to discharge the residual charge during the power-off process of the input power supply VIN. Therefore, the discharge circuit 200 of this embodiment is provided with the direction detection module 30.
方向检测模块30用于根据比较信号VOUT1生成表示述输入电源VIN是处于下电状态还是非下电状态的检测信号VQ。The direction detection module 30 is used to generate a detection signal VQ indicating whether the input power supply VIN is in a power-down state or a non-power-down state according to the comparison signal VOUT1.
示例性地,方向检测模块30在所述比较信号VOUT1为上升沿信号或下降沿信号时生成表示所述输入电源VIN处于下电状态的检测信号VQ。所述检测信号VQ包括高电平信号或低电平信号。示例性地,在本实施例中,方向检测模块30设置为上升沿触发,所述检测信号为高电平信号,即,当比较信号VOUT1为上升沿信号时方向检测模块30的检测信号VQ转变为高电平,当比较信号VOUT1为其它信号,例如下降沿信号、高电平信号、低电平信号时,检测模块220的检测信号VQ为低电平。Exemplarily, the direction detection module 30 generates a detection signal VQ indicating that the input power supply VIN is in a power-down state when the comparison signal VOUT1 is a rising edge signal or a falling edge signal. The detection signal VQ includes a high-level signal or a low-level signal. Exemplarily, in this embodiment, the direction detection module 30 is set to be triggered by a rising edge, and the detection signal is a high-level signal, that is, the detection signal VQ of the direction detection module 30 transitions when the comparison signal VOUT1 is a rising edge signal When the comparison signal VOUT1 is other signals, such as a falling edge signal, a high level signal, and a low level signal, the detection signal VQ of the detection module 220 is a low level.
示例性地,方向检测模块30包括D触发器或具有边沿检测功能的芯片。Exemplarily, the direction detection module 30 includes a D flip-flop or a chip with an edge detection function.
应当理解,虽然在本实施例中,方向检测模块30设置为上升沿触发,但是,在其它实施例中,也可以设置为下降沿触发,只要可以实现输入电源下电的检测即可。It should be understood that although in this embodiment, the direction detection module 30 is configured to be triggered by a rising edge, but in other embodiments, it may also be configured to be triggered by a falling edge, as long as the detection of power-off of the input power supply can be achieved.
放电模块40用于根据所述检测信号VQ确定是否进行放电。The discharge module 40 is used to determine whether to discharge according to the detection signal VQ.
具体地,放电模块40在所述检测信号VQ表示输入电源VIN处于下电状态时导通以进行放电,在所述检测信号VQ表示输入电源VIN处于非下电状态时断开而不进行放电。示例性地,在本实施例中,检测信号VQ为高电平时表示输入电源VIN处于下电状态,,检测信号VQ为低电平时表示输入电源VIN处于非下电状态,例如处于上电状态、正常工作状态,下电但电压仍高于基准电压的状态。Specifically, the discharge module 40 is turned on to discharge when the detection signal VQ indicates that the input power supply VIN is in a power-down state, and is turned off without discharging when the detection signal VQ indicates that the input power supply VIN is in a non-power-down state. Exemplarily, in this embodiment, when the detection signal VQ is high level, it indicates that the input power supply VIN is in a power-off state, and when the detection signal VQ is low level, it indicates that the input power supply VIN is in a non-power-off state, for example, in a power-on state, In the normal working state, it is powered off but the voltage is still higher than the reference voltage.
示例性地,放电模块40包括串联连接电阻R1和开关器件Q1,电阻R1的一端与供电电路的输出端(即VDD端)连接,另一端与开关器件Q1 连接,开关器件Q1的一端与电阻R1连接,另一端接地。开关器件Q1在所述检测信号VQ的控制下导通或断开,从而打开或关闭放电模块40。示例性地,开关器件Q1包括MOS管、三极管、模拟开关或继电器。示例性地,在本实施例中开关器件Q1为NMOS管。Exemplarily, the discharge module 40 includes a resistor R1 and a switching device Q1 connected in series, one end of the resistor R1 is connected to the output terminal (ie, VDD terminal) of the power supply circuit, the other end is connected to the switching device Q1, and one end of the switching device Q1 is connected to the resistor R1 Connect and ground the other end. The switching device Q1 is turned on or off under the control of the detection signal VQ, thereby turning on or off the discharge module 40. Exemplarily, the switching device Q1 includes a MOS transistor, a transistor, an analog switch, or a relay. Exemplarily, in this embodiment, the switching device Q1 is an NMOS transistor.
辅助电源模块50用于产生所述比较模块20和/或所述方向检测模块30的工作电压VCC,例如辅助电源模块50用于为比较模块20的基准电路22产生工作电压VCC。示例性地,辅助电源模块50包括电容、稳压电路、电源芯片、纽扣电池或锂电池等各种可以提供稳定电压的电路或模块。The auxiliary power module 50 is used to generate the operating voltage VCC of the comparison module 20 and/or the direction detection module 30. For example, the auxiliary power module 50 is used to generate the operating voltage VCC for the reference circuit 22 of the comparison module 20. Exemplarily, the auxiliary power module 50 includes various circuits or modules that can provide a stable voltage, such as a capacitor, a voltage regulator circuit, a power chip, a button battery, or a lithium battery.
本发明实施例用于测距装置的放电电路,通过方向检测模块来判断输入电源是处于下电状态还是非下电状态,从而可以在输入电源上电过程中不工作,保证供电电路快速充满电荷,没有额外的能量损耗,而在输入电源下电过程中工作,对供电电路上残余的电荷进行放电,以保证电路***的稳定性。The embodiment of the present invention is used in the discharge circuit of the distance measuring device. The direction detection module is used to determine whether the input power is in a power-off state or a non-power-off state, so that it can not work during the power-on process of the input power, ensuring that the power supply circuit is quickly charged. There is no additional energy loss, and work in the process of input power off to discharge the residual charge on the power supply circuit to ensure the stability of the circuit system.
本发明涉及的雷达可以为激光雷达,也可以为其它雷达或者测距装置。为了更好地理解本发明,下面对测距装置的原理和结构进行示例性描述。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 radar involved in the present invention may be a laser radar, or other radars or ranging devices. In order to better understand the present invention, the principle and structure of the distance measuring device will be exemplarily described below. The distance measuring device may be an electronic device such as a laser radar or a laser distance measuring device. In one embodiment, the distance measuring device is used to sense external environment information, for example, distance information, azimuth information, reflection intensity information, speed information, etc. of the environmental target. In an implementation manner, the distance measuring device can detect the distance between the detecting object and the distance measuring device by measuring the time of light propagation between the distance measuring device and the detection object, that is, Time-of-Flight (TOF). Alternatively, the distance measuring device may also detect the distance between the detected object and the distance measuring device through other techniques, such as a distance measuring method based on phase shift measurement, or a distance measuring method based on frequency shift measurement. There are no restrictions.
为了便于理解,以下将结合图5所示的测距装置400对测距的工作流程进行举例描述。For ease of understanding, the following describes the working process of distance measurement in conjunction with the distance measurement device 400 shown in FIG. 5.
如图4示,测距装置400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. 4, the distance measuring device 400 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130 and an arithmetic 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400与被探测物之间的距离。The transmission circuit 110 may transmit a sequence of light pulses (for example, a sequence of laser pulses). The receiving circuit 120 can receive the optical pulse sequence reflected by the detected object, and photoelectrically convert the optical pulse sequence to obtain an electrical signal, which can be output to the sampling circuit 130 after processing the electrical signal. The sampling circuit 130 may sample the electrical signal to obtain the sampling result. The arithmetic circuit 140 may determine the distance between the distance measuring device 400 and the detected object based on the sampling result of the sampling circuit 130.
可选地,该测距装置400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 400 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 for each circuit.
应理解,虽然图4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,用于出射一路光束进行探测,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,用于沿相同方向或分别沿不同方向出射至少两路光束;其中,该至少两束光路可以是同时出射,也可以是分别在不同时刻出射。一个示例中,该至少两个发射电路中的发光芯片封装在同一个模块中。例如,每个发射电路包括一个激光发射芯片,该至少两个发射电路中的激光发射芯片中的die封装到一起,容置在同一个封装空间中。It should be understood that although the distance measuring device shown in FIG. 4 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit for emitting a beam of light for detection, the embodiments of the present application are not limited thereto, and the transmitting circuit , The number of any one of the receiving circuit, the sampling circuit, and the arithmetic circuit may also be at least two, for emitting at least two light beams in the same direction or respectively in different directions; wherein, the at least two light paths may be simultaneously The shot may be shot at different times. In one example, the light-emitting chips in the at least two emission circuits are packaged in the same module. For example, each emitting circuit includes a laser emitting chip, and the die in the laser emitting chips in the at least two emitting circuits are packaged together and housed in the same packaging space.
一些实现方式中,除了图4所示的电路,测距装置400还可以包括扫描模块160,用于将发射电路出射的至少一路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. 4, the distance measuring device 400 may further include a scanning module 160 for changing the propagation direction of at least one laser pulse sequence emitted from the transmitting circuit.
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,该测距模块可以独立于其他模块,例如,扫描模块。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 Distance module, the distance measuring module may be independent of other modules, for example, a scanning module.
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。例如,发射电路出射的至少一路激光脉冲序列经扫描模块改变传播方向出射后,经探测物反射回来的激光脉冲序列经过扫描模块后入射至接收电路。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5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。A coaxial optical path may be used in the distance measuring device, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device. For example, after at least one laser pulse sequence emitted by the transmitting circuit is emitted by the scanning module to change the propagation direction, the laser pulse sequence reflected by the detection object passes through the scanning module and enters the receiving circuit. Alternatively, the distance measuring device may also adopt an off-axis optical path, that is, the light beam emitted from the distance measuring device and the reflected light beam are respectively transmitted along different optical paths in the distance measuring device. FIG. 5 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500包括测距模块201,测距模块201包括发射器203(可以包括上述的发射电路)、准直元件204、探测器205(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206。测距模块201用于发射光束,且接收回光,将回光转换为电信号。其中,发射器203可以用于发射光脉冲 序列。在一个实施例中,发射器203可以发射激光脉冲序列。可选的,发射器203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204设置于发射器的出射光路上,用于准直从发射器203发出的光束,将发射器203发出的光束准直为平行光出射至扫描模块。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204可以是准直透镜或者是其他能够准直光束的元件。The distance measuring device 500 includes a distance measuring module 201. The distance measuring module 201 includes a transmitter 203 (which may include the above-mentioned transmitting circuit), a collimating element 204, and a detector 205 (which may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and Optical path changing element 206. The distance measuring module 201 is used to emit a light beam and receive back light, and convert the back light into an electrical signal. Among them, the transmitter 203 may be used to transmit a sequence of optical pulses. In one embodiment, the transmitter 203 may emit a sequence of laser pulses. Optionally, the laser beam emitted by the transmitter 203 is a narrow-bandwidth beam with a wavelength outside the visible light range. The collimating element 204 is disposed on the exit optical path of the emitter, and is used to collimate the light beam emitted from the emitter 203, and collimate the light beam emitted by the emitter 203 into parallel light to the scanning module. The collimating element is also used to converge at least a part of the return light reflected by the detection object. The collimating element 204 may be a collimating lens or other element capable of collimating the light beam.
在图5所示实施例中,通过光路改变元件206来将测距装置内的发射光路和接收光路在准直元件204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,也可以是发射器203和探测器205分别使用各自的准直元件,将光路改变元件206设置在准直元件之后的光路上。In the embodiment shown in FIG. 5, the optical path changing element 206 is used to combine the transmitting optical path and the receiving optical path in the distance measuring device before the collimating element 204, so that the transmitting optical path and the receiving optical path can share the same collimating element, so that the optical path More compact. In some other implementation manners, the transmitter 203 and the detector 205 may respectively use respective collimating elements, and the optical path changing element 206 is disposed on the optical path behind the collimating element.
在图5所示实施例中,由于发射器203出射的光束的光束孔径较小,测距装置所接收到的回光的光束孔径较大,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发射器203的出射光,反射镜用于将回光反射至探测器205。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。In the embodiment shown in FIG. 5, since the beam aperture of the light beam emitted by the transmitter 203 is small and the beam aperture of the returned light received by the distance measuring device is large, the light path changing element can use a small-area mirror to convert The transmitting optical path and the receiving optical path are combined. In some other implementations, the light path changing element may also use a reflector with a through hole, where the through hole is used to transmit the outgoing light of the emitter 203, and the reflector is used to reflect the return light to the detector 205. In this way, it is possible to reduce the blocking of the return light by the support of the small mirror in the case of using the small mirror.
在图5所示实施例中,光路改变元件偏离了准直元件204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204的光轴上。In the embodiment shown in FIG. 5, the optical path changing element is offset from the optical axis of the collimating element 204. In some other implementations, the optical path changing element may also be located on the optical axis of the collimating element 204.
测距装置500还包括扫描模块202。扫描模块202放置于测距模块201的出射光路上,扫描模块202用于改变经准直元件204出射的准直光束219的传输方向并投射至外界环境,并将回光投射至准直元件204。回光经准直元件204汇聚到探测器205上。The distance measuring device 500 further includes a scanning module 202. The scanning module 202 is placed on the exit optical path of the distance measuring module 201. The scanning module 202 is used to change the transmission direction of the collimated light beam 219 emitted through the collimating element 204 and project it to the external environment, and project the return light to the collimating element 204 . The returned light is converged on the detector 205 via the collimating element 204.
在一个实施例中,扫描模块202可以包括至少一个光学元件,用于改变光束的传播路径,其中,该光学元件可以通过对光束进行反射、折射、衍射等等方式来改变光束传播路径。例如,扫描模块202包括透镜、反射镜、棱镜、振镜、光栅、液晶、光学相控阵(Optical Phased Array)或上述光学元件的任意组合。一个示例中,至少部分光学元件是运动的,例如通过驱动模块来驱动该至少部分光学元件进行运动,该运动的光学元件可以在不同时刻将 光束反射、折射或衍射至不同的方向。在一些实施例中,扫描模块202的多个光学元件可以绕共同的轴209旋转或振动,每个旋转或振动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202的多个光学元件可以以不同的转速旋转,或以不同的速度振动。在另一个实施例中,扫描模块202的至少部分光学元件可以以基本相同的转速旋转。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 one embodiment, the scanning module 202 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, diffracting, etc. the light beam. For example, the scanning module 202 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements. In one example, at least part of the optical element is moving, for example, the at least part of the optical element is driven to move by a driving module, and the moving optical element can reflect, refract, or diffract the light beam to different directions at different times. In some embodiments, multiple optical elements of the scanning module 202 may rotate or vibrate about a common axis 209, and each rotating or vibrating optical element is used to continuously change the direction of propagation of the incident light beam. In one embodiment, the multiple optical elements of the scanning module 202 may rotate at different rotation speeds, or vibrate at different speeds. In another embodiment, at least part of the optical elements of the scanning module 202 can rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also rotate around different axes. In some embodiments, the 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202包括第一光学元件214和与第一光学元件214连接的驱动器216,驱动器216用于驱动第一光学元件214绕转动轴209转动,使第一光学元件214改变准直光束219的方向。第一光学元件214将准直光束219投射至不同的方向。在一个实施例中,准直光束219经第一光学元件改变后的方向与转动轴209的夹角随着第一光学元件214的转动而变化。在一个实施例中,第一光学元件214包括相对的非平行的一对表面,准直光束219穿过该对表面。在一个实施例中,第一光学元件214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219进行折射。In one embodiment, the scanning module 202 includes a first optical element 214 and a driver 216 connected to the first optical element 214. The driver 216 is used to drive the first optical element 214 to rotate about a rotation axis 209 to change the first optical element 214 The direction of the collimated light beam 219. The first optical element 214 projects the collimated light beam 219 to different directions. In one embodiment, the angle between the direction of the collimated light beam 219 after the first optical element changes and the rotation axis 209 changes as the first optical element 214 rotates. In one embodiment, the first optical element 214 includes a pair of opposed non-parallel surfaces through which the collimated light beam 219 passes. In one embodiment, the first optical element 214 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the first optical element 114 includes a wedge-angle prism that aligns the straight beam 219 for refraction.
在一个实施例中,扫描模块202还包括第二光学元件215,第二光学元件215绕转动轴209转动,第二光学元件215的转动速度与第一光学元件214的转动速度不同。第二光学元件215用于改变第一光学元件214投射的光束的方向。在一个实施例中,第二光学元件215与另一驱动器217连接,驱动器217驱动第二光学元件215转动。第一光学元件214和第二光学元件215可以由相同或不同的驱动器驱动,使第一光学元件214和第二光学元件215的转速和/或转向不同,从而将准直光束219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218控制驱动器216和217,分别驱动第一光学元件214和第二光学元件215。第一光学元件214和第二光学元件215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216和217可以包括电机或其他驱动器。In one embodiment, the scanning module 202 further includes a second optical element 215 that rotates about a rotation axis 209. The rotation speed of the second optical element 215 is different from the rotation speed of the first optical element 214. The second optical element 215 is used to change the direction of the light beam projected by the first optical element 214. In one embodiment, the second optical element 215 is connected to another driver 217, and the driver 217 drives the second optical element 215 to rotate. The first optical element 214 and the second optical element 215 may be driven by the same or different drivers, so that the first optical element 214 and the second optical element 215 have different rotation speeds and/or rotations, thereby projecting the collimated light beam 219 to the outside space Different directions can scan a larger spatial range. In one embodiment, the controller 218 controls the drivers 216 and 217 to drive the first optical element 214 and the second optical element 215, respectively. The rotation speeds of the first optical element 214 and the second optical element 215 can be determined according to the area and pattern expected to be scanned in practical applications. Drives 216 and 217 may include motors or other drives.
在一个实施例中,第二光学元件215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215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215包括楔角棱镜。In one embodiment, the second optical element 215 includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 215 includes a prism whose thickness varies along at least one radial direction. In one embodiment, the second optical element 215 includes a wedge angle prism.
一个实施例中,扫描模块202还包括第三光学元件(图未示)和用于驱动第三光学元件运动的驱动器。可选地,该第三光学元件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,第三光学元件包括厚度沿至少一个径向变化的棱镜。在一个实施例中,第三光学元件包括楔角棱镜。第一、第二和第三光学元件中的至少两个光学元件以不同的转速和/或转向转动。In one embodiment, the scanning module 202 further includes a third optical element (not shown) and a driver for driving the third optical element to move. Optionally, the third optical element includes a pair of opposed non-parallel surfaces through which the light beam passes. In one embodiment, the third optical element includes a prism whose thickness varies along at least one radial direction. In one embodiment, the third optical element includes a wedge angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or turns.
扫描模块202中的各光学元件旋转可以将光投射至不同的方向,例如光211和213的方向,如此对测距装置500周围的空间进行扫描。当扫描模块202投射出的光211打到探测物210时,一部分光被探测物210沿与投射的光211相反的方向反射至测距装置500。探测物210反射的回光212经过扫描模块202后入射至准直元件204。The rotation of each optical element in the scanning module 202 can project light into different directions, for example, the directions of the light 211 and 213, so as to scan the space around the distance measuring device 500. When the light 211 projected by the scanning module 202 hits the detection object 210, a part of the light is reflected by the detection object 210 to the distance measuring device 500 in a direction opposite to the projected light 211. The returned light 212 reflected by the detection object 210 passes through the scanning module 202 and enters the collimating element 204.
探测器205与发射器203放置于准直元件204的同一侧,探测器205用于将穿过准直元件204的至少部分回光转换为电信号。The detector 205 is placed on the same side of the collimating element 204 as the emitter 203. The detector 205 is used to convert at least part of the returned light passing through the collimating element 204 into an electrical signal.
一个实施例中,各光学元件上镀有增透膜。可选的,增透膜的厚度与发射器203发射出的光束的波长相等或接近,能够增加透射光束的强度。In one embodiment, each optical element is coated with an antireflection coating. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 203, which can increase the intensity of the transmitted light beam.
一个实施例中,测距装置中位于光束传播路径上的一个元件表面上镀有滤光层,或者在光束传播路径上设置有滤光器,用于至少透射发射器所出射的光束所在波段,反射其他波段,以减少环境光给接收器带来的噪音。In one embodiment, a filter layer is plated on the surface of an element on the beam propagation path in the distance measuring device, or a filter is provided on the beam propagation path to transmit at least the wavelength band of the beam emitted by the transmitter, Reflect other bands to reduce the noise caused by ambient light to the receiver.
在一些实施例中,发射器203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脉冲。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500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210到测距装置500的距离。In some embodiments, the transmitter 203 may include a laser diode through which laser pulses in the order of nanoseconds are emitted. Further, the laser pulse receiving time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this way, the distance measuring device 500 can use the pulse reception time information and the pulse emission time information to calculate the TOF, thereby determining the distance between the detection object 210 and the distance measuring device 500.
测距装置500探测到的距离和方位可以用于遥感、避障、测绘、建模、导航等。在一种实施方式中,本发明实施方式的测距装置可应用于可移动平台,测距装置可安装在可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,可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。The distance and orientation detected by the distance measuring device 500 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In one embodiment, the distance measuring device of the embodiment of the present invention can be applied to a movable platform, and the distance measuring device can be installed on the platform body of the movable platform. The mobile platform with a distance measuring device can measure the external environment, for example, measuring the distance between the mobile platform and obstacles for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment. In some embodiments, the movable platform includes at least one of an unmanned aerial vehicle, a car, a remote control car, a robot, and a camera. When the distance measuring device is applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle. When the distance measuring device is applied to an automobile, the platform body is the body of the automobile. The car may be a self-driving car or a semi-automatic car, and no restriction is made here. When the distance measuring device is applied to a remote control car, the platform body is the body of the remote control car. When the distance measuring device is applied to a robot, the platform body is a robot. When the distance measuring device is applied to a camera, the platform body is the camera itself.
在一种实施方式中,本发明实施方式的分布式雷达***可以应用于可移动平台,从而对可移动平台多个方位的外部环境进行二维或三维的测绘在某些实施方式中可移动平台包括机身,动力***,安装在所述机身,用于为所述可移动平台提供动力;以及如根据本实施例的分布式雷达***。可移动平台包括无人飞行器、汽车、或机器人中的至少一种。In one embodiment, the distributed radar system of the embodiments of the present invention can be applied to a movable platform, so as to perform two-dimensional or three-dimensional mapping of the external environment of the movable platform in multiple orientations. In some embodiments, the movable platform It includes a fuselage, a power system, installed on the fuselage, for powering the movable platform; and a distributed radar system as in this embodiment. The movable platform includes at least one of an unmanned aerial vehicle, a car, or a robot.
本发明实施例提供了一种测距装置的放电电路、分布式雷达***及可移动平台,通过方向检测模块来判断输入电源是处于下电状态还是非下电状态,从而可以在输入电源上电过程中不工作,保证供电电路快速充满电荷,没有额外的能量损耗,而在输入电源下电过程中工作,对供电电路上残余的电荷进行放电,以保证电路***的稳定性。The embodiment of the present invention provides a discharge circuit, a distributed radar system and a movable platform of a distance measuring device. The direction detection module determines whether the input power is in a power-off state or a non-power-off state, so that the input power can be powered on It does not work during the process to ensure that the power supply circuit is fully charged and there is no additional energy loss. When the input power supply is powered off, the residual charge on the power supply circuit is discharged to ensure the stability of the circuit system.
尽管这里已经参考附图描述了示例实施例,应理解上述示例实施例仅仅是示例性的,并且不意图将本发明的范围限制于此。本领域普通技术人员可以在其中进行各种改变和修改,而不偏离本发明的范围和精神。所有这些改变和修改意在被包括在所附权利要求所要求的本发明的范围之内。Although example embodiments have been described herein with reference to the drawings, it should be understood that the above example embodiments are merely exemplary, and are not intended to limit the scope of the present invention thereto. Those of ordinary skill in the art can make various changes and modifications therein without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.
本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本发明的范围。Those of ordinary skill in the art may realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.
在本申请所提供的几个实施例中,应该理解到,所揭露的设备和方法,可以通过其它的方式实现。例如,以上所描述的设备实施例仅仅是示意性的,例如,所述单元的划分,仅仅为一种逻辑功能划分,实际实现时可以 有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个设备,或一些特征可以忽略,或不执行。In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a division of logical functions. In actual implementation, there may be other divisions, for example, multiple units or components may be combined or Can be integrated into another device, or some features can be ignored, or not implemented.
在此处所提供的说明书中,说明了大量具体细节。然而,能够理解,本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中,并未详细示出公知的方法、结构和技术,以便不模糊对本说明书的理解。The specification provided here explains a lot of specific details. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this description.
类似地,应当理解,为了精简本发明并帮助理解各个发明方面中的一个或多个,在对本发明的示例性实施例的描述中,本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而,并不应将该本发明的方法解释成反映如下意图:即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说,如相应的权利要求书所反映的那样,其发明点在于可以用少于某个公开的单个实施例的所有特征的特征来解决相应的技术问题。因此,遵循具体实施方式的权利要求书由此明确地并入该具体实施方式,其中每个权利要求本身都作为本发明的单独实施例。Similarly, it should be understood that in order to streamline the invention and help understand one or more of the various inventive aspects, in describing the exemplary embodiments of the invention, the various features of the invention are sometimes grouped together into a single embodiment, figure , Or in its description. However, the method of the present invention should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. Rather, as reflected in the corresponding claims, its invention lies in that the corresponding technical problems can be solved with less than all the features of a single disclosed embodiment. Therefore, the claims following a specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.
本领域的技术人员可以理解,除了特征之间相互排斥之外,可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述,本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的替代特征来代替。Those skilled in the art will understand that apart from mutually exclusive features, any combination of all the features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all of the methods or devices disclosed in this specification can be used in any combination. Processes or units are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose.
此外,本领域的技术人员能够理解,尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征,但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如,在权利要求书中,所要求保护的实施例的任意之一都可以以任意的组合方式来使用。In addition, those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of features of different embodiments is meant to be within the scope of the present invention And form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.
本发明的各个部件实施例可以以硬件实现,或者以在一个或者多个处理器上运行的软件模块实现,或者以它们的组合实现。本领域的技术人员应当理解,可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的一些模块的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的装置程序(例如,计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可 读介质上,或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到,或者在载体信号上提供,或者以任何其他形式提供。The various component embodiments of the present invention may be implemented in hardware, or implemented in software modules running on one or more processors, or implemented in a combination thereof. Those skilled in the art should understand that, in practice, a microprocessor or a digital signal processor (DSP) may be used to implement some or all functions of some modules according to embodiments of the present invention. The present invention can also be implemented as a device program (for example, a computer program and a computer program product) for performing a part or all of the method described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制,并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中,不应将位于括号之间的任何参考符号构造成对权利要求的限制。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中,这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。It should be noted that the above-mentioned embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs between parentheses should not be constructed as limitations on the claims. The invention can be realized by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims enumerating several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third does not indicate any order. These words can be interpreted as names.
以上所述,仅为本发明的具体实施方式或对具体实施方式的说明,本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本发明的保护范围之内。本发明的保护范围应以权利要求的保护范围为准。The above is only the specific embodiments of the present invention or the description of the specific embodiments, the scope of protection of the present invention is not limited to this, any person skilled in the art in the technical scope of the present invention, can easily Changes or replacements should be included in the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (15)
- 一种用于测距装置的放电电路,用于在输入电源断电时进行放电,其特征在于,该放电电路包括:A discharge circuit for a distance-measuring device, which is used to discharge when the input power supply is powered off, is characterized in that the discharge circuit includes:比较模块,用于比较所述输入电源的电压与基准电压的大小,并生成比较信号;A comparison module, used to compare the voltage of the input power supply with the reference voltage and generate a comparison signal;方向检测模块,用于根据所述比较信号生成表示所述输入电源是处于下电状态还是非下电状态的检测信号;A direction detection module, configured to generate a detection signal indicating whether the input power is in a power-off state or a non-power-off state according to the comparison signal;放电模块,用于根据所述检测信号确定是否进行放电。The discharge module is used to determine whether to discharge according to the detection signal.
- 根据权利要求1所述的放电电路,其特征在于,所述方向检测模块在所述比较信号为上升沿信号或下降沿信号时生成表示所述输入电源处于下电状态的检测信号。The discharge circuit according to claim 1, wherein the direction detection module generates a detection signal indicating that the input power is in a power-down state when the comparison signal is a rising edge signal or a falling edge signal.
- 根据权利要求1所述的放电电路,其特征在于,所述检测信号包括高电平信号或低电平信号。The discharge circuit according to claim 1, wherein the detection signal comprises a high-level signal or a low-level signal.
- 根据权利要求1所述的放电电路,其特征在于,所述放电模块在所述检测信号表示所述输入电源处于下电状态时导通以进行放电,在所述检测信号表示所述输入电源处于非下电状态时断开而不进行放电。The discharge circuit according to claim 1, wherein the discharge module is turned on to discharge when the detection signal indicates that the input power is in a power-off state, and the detection signal indicates that the input power is in It is disconnected without discharging in the non-power-off state.
- 根据权利要求1-4中的任一项所述的放电电路,其特征在于,所述比较模块包括:The discharge circuit according to any one of claims 1 to 4, wherein the comparison module includes:基准电路,用于产生所述基准电压;A reference circuit for generating the reference voltage;比较器,所述比较器的输入端分别与所述输入电源以及所述基准电路的输出端连接,所述比较器的输出端输出所述比较信号。A comparator, the input end of the comparator is connected to the input power supply and the output end of the reference circuit, respectively, and the output end of the comparator outputs the comparison signal.
- 根据权利要求5所述的放电电路,其特征在于,所述比较模块还包括:The discharge circuit according to claim 5, wherein the comparison module further comprises:分压电路,所述分压电路设置在所述输入电源和所述比较器的输入端之间,用于将根据所述输入电源产生的分压输入所述比较器。A voltage dividing circuit, which is provided between the input power supply and the input terminal of the comparator, and is used to input the divided voltage generated according to the input power supply to the comparator.
- 根据权利要求6所述的放电电路,其特征在于,所述比较模块还包括:The discharge circuit according to claim 6, wherein the comparison module further comprises:稳压器,所述稳压器设置在所述比较器的输入端与所述输入电源或所述分压电路之间,用于稳定输入所述比较器的电压。A voltage regulator, which is provided between the input end of the comparator and the input power supply or the voltage dividing circuit, and is used to stabilize the voltage input to the comparator.
- 根据权利要求1所述的放电电路,其特征在于,还包括:The discharge circuit according to claim 1, further comprising:辅助电源模块,用于产生所述比较模块和/或所述方向检测模块的工作电压。The auxiliary power module is used to generate the operating voltage of the comparison module and/or the direction detection module.
- 根据权利要求8所述的放电电路,其特征在于,所述辅助电源模块包括电容、稳压电路、电源芯片、纽扣电池或锂电池。The discharge circuit according to claim 8, wherein the auxiliary power module includes a capacitor, a voltage regulator circuit, a power chip, a button battery, or a lithium battery.
- 根据权利要求1所述的放电电路,其特征在于,所述方向检测模块包括D触发器或具有边沿检测功能的芯片。The discharge circuit according to claim 1, wherein the direction detection module comprises a D flip-flop or a chip with an edge detection function.
- 根据权利要求1所述的放电电路,其特征在于,所述放电模块包括开关器件,所述开关器件在所述检测信号的控制下导通或断开。The discharge circuit according to claim 1, wherein the discharge module includes a switching device that is turned on or off under the control of the detection signal.
- 根据权利要求11所述的放电电路,其特征在于,所述开关器件包括MOS管、三极管、模拟开关或继电器。The discharge circuit according to claim 11, wherein the switching device comprises a MOS transistor, a transistor, an analog switch or a relay.
- 一种分布式雷达***,其特征在于,包括:A distributed radar system is characterized by including:一个或多个雷达;One or more radars;供电电路,所述供电电路基于输入电源产生用于一个或多个所述雷达的工作电压;A power supply circuit that generates an operating voltage for one or more of the radars based on the input power;权利要求1-12中的任一项所述的放电电路,所述放电电路的电流输入端与所述供电电路的输出端连接,所述放电电路的输出端接地。The discharge circuit according to any one of claims 1 to 12, wherein the current input terminal of the discharge circuit is connected to the output terminal of the power supply circuit, and the output terminal of the discharge circuit is grounded.
- 一种可移动平台,其特征在于,包括:A movable platform is characterized by including:机身;body;动力***,安装在所述机身,用于为所述可移动平台提供动力;A power system, installed on the fuselage, is used to provide power to the movable platform;以及如权利要求13所述的分布式雷达***。And the distributed radar system of claim 13.
- 根据权利要求14所述的可移动平台,其特征在于,所述可移动平台包括无人机、汽车或机器人。The movable platform according to claim 14, wherein the movable platform includes a drone, a car, or a robot.
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PCT/CN2019/071043 WO2020142956A1 (en) | 2019-01-09 | 2019-01-09 | Discharge circuit for distance measuring device, distributed radar system and mobile platform |
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