WO2024109524A1 - Controller cover opening protection circuit and device, lidar controller and driving device - Google Patents

Controller cover opening protection circuit and device, lidar controller and driving device Download PDF

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Publication number
WO2024109524A1
WO2024109524A1 PCT/CN2023/129726 CN2023129726W WO2024109524A1 WO 2024109524 A1 WO2024109524 A1 WO 2024109524A1 CN 2023129726 W CN2023129726 W CN 2023129726W WO 2024109524 A1 WO2024109524 A1 WO 2024109524A1
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WO
WIPO (PCT)
Prior art keywords
controller
level signal
cover opening
cover
protection circuit
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PCT/CN2023/129726
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French (fr)
Chinese (zh)
Inventor
赖梓扬
高祥龙
Original Assignee
蔚来汽车科技(安徽)有限公司
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Publication of WO2024109524A1 publication Critical patent/WO2024109524A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00

Definitions

  • the present invention relates to the field of controller technology, and specifically provides a controller cover opening protection circuit, equipment, a laser radar controller and a driving device.
  • Data acquisition equipment such as vehicle-mounted laser radar is used by more and more automobile manufacturers. For the sake of safety, these data acquisition equipment needs to keep the cover of its controller in a closed state during operation.
  • the laser calculates the distance of the target by emitting pulses and the flight time of the pulses.
  • the instantaneous power of the laser transmitter is as high as hundreds of watts.
  • the high and continuous peak power laser will cause irreversible damage to the human body. If the operator directly opens the cover of the controller without shutting down the laser radar, the laser of the laser radar is still working at this time, and the close-range laser emission will cause personal injury to the operator.
  • the present invention is proposed to provide an electric controller cover opening protection circuit, device, laser radar controller and driving device that solve or at least partially solve the technical problem of low safety when the controller cover is opened.
  • the present invention provides a controller cover-opening protection circuit, the controller cover-opening protection circuit comprising:
  • a logic operator wherein a first input end of the logic operator is electrically connected to the cover opening detection device and a power supply, and an output end of the logic operator is electrically connected to an object to be controlled;
  • a controller electrically connected to the second input terminal of the logic operator
  • the cover opening detection device is used to output a first level signal when detecting that the cover of the controller is opened;
  • the logic operator is used for outputting a third level signal for controlling the object to be controlled not to work according to the first level signal and the second level signal of the controller.
  • a magnet is disposed on a cover of the controller
  • a magnetic sensor is arranged inside the housing of the controller and is electrically connected to the first input terminal of the logic operator and the power supply; wherein the housing of the controller is adapted to the cover of the controller;
  • the magnetic sensor is used to output the first level signal when the magnetic field strength of the detected magnet is less than a preset magnetic field strength.
  • the magnetic body includes a magnet.
  • the magnetic sensor includes a unipolar Hall sensor.
  • controller cover opening protection circuit also includes a control circuit board
  • the magnetic sensor, the logic operator and the controller are integrated on the control circuit board.
  • the magnetic sensor is soldered on the control circuit board in the form of a surface mount electronic component.
  • the logic operator includes an XOR gate operator
  • the first level signal and the second level signal are both high level signals, and the third level signal is a low level signal.
  • the present invention provides a controller cover-opening protection device, wherein the controller cover-opening protection device is provided with a controller cover-opening protection circuit as described in any one of the above items.
  • the present invention provides a laser radar controller, wherein the laser radar controller
  • the device includes the controller cover opening protection device as described above.
  • the present invention provides a driving device, the driving device comprising a laser radar and a laser radar controller as described above;
  • the laser radar is electrically connected to the laser radar controller.
  • a cover-opening detection device is set up to output a first level signal when it detects that the cover of the controller is opened, and a logic operator is used to perform a logic operation on the first level signal output by the cover-opening detection device and the second level signal output by the controller to obtain a level signal for controlling the operation of the object to be controlled or a third level signal for controlling the non-operation of the object to be controlled, so that the controller automatically controls the object to be controlled to stop working when the cover is opened, thereby ensuring the personal safety of the operator and improving the safety of the controller when the cover is opened.
  • FIG1 is a schematic diagram of the main structure of a controller cover-opening protection circuit according to an embodiment of the present invention.
  • FIG2 is a schematic diagram of the level signal output corresponding to FIG1 when the cover of the controller is opened;
  • FIG. 3 is a schematic diagram of the level signal output corresponding to FIG. 1 when the cover of the controller is closed.
  • a and/or B means all possible combinations of A and B, such as only A, only B, or A and B.
  • the term “at least one A or B” or “at least one of A and B” has a similar meaning to “A and/or B” and may include only A, only B, or both. B or A and B.
  • the singular forms “a”, “an” and “the” may also include plural forms.
  • horizontal does not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted.
  • “horizontal” only means that its direction is more horizontal than “vertical”, and does not mean that the structure must be completely horizontal, but can be slightly tilted.
  • the terms “set”, “install”, “connect”, and “connect” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements.
  • the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
  • the cover of its controller For the safety of vehicle-mounted laser radar and other data acquisition equipment during operation, the cover of its controller needs to be kept closed.
  • the laser calculates the distance of the target by emitting pulses and the flight time of the pulses.
  • the instantaneous power of the laser transmitter is as high as hundreds of watts.
  • the high and continuous peak power laser will cause irreversible damage to the human body. If the operator opens the cover of the controller directly without shutting down the laser radar, the laser of the laser radar is still working at this time, and the close-range laser emission will cause personal injury to the operator.
  • the present invention provides the following technical methods: case:
  • FIG. 1 is a schematic diagram of the main structure of a controller cover-opening protection circuit according to an embodiment of the present invention.
  • the controller cover-opening protection circuit 1 in the embodiment of the present invention may include a cover-opening detection device 11 , a logic operator 12 and a controller 13 .
  • the first input end of the logic operator 12 is electrically connected to the cover opening detection device 11 and the power supply 2, and the output end of the logic operator 12 is electrically connected to the object to be controlled 3; the controller 13 is electrically connected to the second input end of the logic operator 12.
  • the voltage of the power supply 2 can be 3.3V, which can provide a high-level signal.
  • the cover opening detection device 11 is used to output a first level signal when detecting that the cover of the controller 13 is opened, and output a fourth level signal when detecting that the cover of the controller 13 is not opened.
  • the cover opening detection device 11 may include a magnet 111 and a magnetic sensor 112 .
  • a magnet 111 is arranged on the cover of the controller 13;
  • the magnetic sensor 112 is arranged inside the housing of the controller 13 and is electrically connected to the first input terminal of the logic operator 12 and the power supply 2; wherein the housing of the controller 13 is adapted to the cover of the controller 13.
  • the magnetic sensor 112 can be arranged inside the housing and in a direction perpendicular to the magnet 111, and is located within the range covered by the magnetic field generated by the magnet 111, so as to detect the magnetic field strength of the magnet 111.
  • the magnetic sensor 112 is used to output the first level signal when the detected magnetic field strength of the magnet 111 is less than a preset magnetic field strength, or to output the fourth level signal when the detected magnetic field strength of the magnet 111 is greater than or equal to a preset magnetic field strength.
  • the magnet 111 may include a magnet
  • the magnetic sensor 112 may include a unipolar Hall sensor.
  • the model of the unipolar Hall sensor may be HAL3144E.
  • this unipolar Hall sensor only one magnetic pole (S or N pole) of the magnet is used to approach and move away from the unipolar Hall sensor, and the unipolar Hall sensor can give a set of level signals (high level signal or low level signal) to complete the detection purpose, and its logic processing circuit is relatively simple, which reduces the difficulty.
  • the distance between the magnet and the magnetic sensor 112 is large, and the magnetic sensor 112 detects that the magnetic field strength of the magnet 111 is less than the preset magnetic field strength, so it can be determined that the cover of the controller 13 is not closed on the housing of the controller 13.
  • the distance between the magnet and the magnetic sensor 112 is the smallest, and the magnetic sensor 112 detects that the magnetic field strength of the magnet 111 is greater than or equal to the preset magnetic field strength, and it can be determined that the cover of the controller 13 is closed on the housing of the controller 13, and a level conversion occurs, and the fourth level signal can be output.
  • the logic operator 12 is used to output a third level signal for controlling the object to be controlled 3 to not work according to the first level signal and the second level signal of the controller 13; or, according to the fourth level signal and the second level signal of the controller 13, output a fifth level signal for controlling the object to be controlled 3 to work.
  • the controller 13 can always output the second level signal.
  • the first level signal and the second level signal are input into the logic operator 12, and the logic operator 12 will perform a logic operation and output a third level signal for controlling the object to be controlled 3 not to work. That is to say, when the cover of the controller 13 is opened, the laser radar can be automatically controlled to wait for the controlled object 3 not to work, so as to prevent the laser emitted by the laser radar from causing physical harm to the operator.
  • the fourth level signal and the second level signal are input into the logic operator 12, and the logic operator 12 will perform a logic operation and output a fifth level signal for controlling the operation of the object 3 to be controlled. That is to say, when the cover of the controller 13 is not opened, the laser radar can be allowed to wait for the controlled object 3 to work.
  • the logic operator 12 may include but is not limited to an XOR gate operator.
  • FIG2 is a schematic diagram of the level signal output corresponding to FIG1 when the cover of the controller is opened. As shown in FIG2, when the cover of the controller 13 is not covered on the housing of the controller 13, the first level signal and the second level signal are both high level signals, and after the XOR operation, a third level signal of a low level signal can be output, and the object to be controlled 3 cannot be started and can stop working.
  • Fig. 3 is a schematic diagram of the level signal output corresponding to Fig. 1 when the cover of the controller is closed. As shown in Fig. 3, when the cover of the controller 13 is closed on the housing of the controller 13, the fourth level signal is a low level signal, and the second level signal is still a high level signal. After an XOR operation, a fifth level signal of a high level signal can be output, and the object 3 to be controlled can be started and start working.
  • the controller cover-opening protection circuit 1 of the present embodiment outputs a first level signal when detecting that the cover of the controller 13 is opened through the set cover-opening detection device 11, and uses the set logic operator 12 to perform a logic operation on the first level signal output by the cover-opening detection device 11 and the second level signal output by the controller 13, so as to obtain a level signal for controlling the operation of the object to be controlled 3 or a third level signal for controlling the non-operation of the object to be controlled 3, so that the controller 13 automatically controls the object to be controlled 3 to stop working when the cover is opened, thereby ensuring the personal safety of the operator and improving the safety of the controller 13 when the cover is opened.
  • the controller cover opening protection circuit 1 may also include a control circuit board (not shown in the figure).
  • the magnetic sensor 112, the logic operator 12 and the controller 13 may be fully integrated on the control circuit board, or partially integrated on the control circuit board, which is not specifically limited in this embodiment.
  • the magnetic sensor 112 can be soldered on the control circuit board in the form of a patch electronic component, which can facilitate soldering and disassembly of the magnetic sensor 112, and the magnetic sensor 112 does not require vias, which reduces stray magnetic fields, thereby improving the accuracy and reliability of the combined detection results.
  • controller cover opening protection circuit 1 can be adaptively split or combined. Such splitting or combining of specific components will not cause the technical solution to deviate from the principle of the present invention, and therefore, the technical solutions after splitting or combining will fall within the protection scope of the present invention.
  • the present invention also provides a controller cover opening protection device.
  • the controller cover opening protection device in this embodiment may be provided with the controller cover opening protection circuit of the above embodiment.
  • the present invention also provides a controller cover opening protection device.
  • the controller cover opening protection device in this embodiment may be provided with the controller cover opening protection circuit of the above embodiment.
  • the present invention also provides a laser radar controller 13, which may include the controller cover opening protection device of the above-mentioned embodiment.
  • the lid of the laser radar controller 13 needs to be closed during the operation of the laser radar to prevent the close-range laser emission from causing personal injury to the operator.
  • the controller cover opening protection circuit corresponding to the controller cover opening protection device will work, and the laser radar will be controlled not to work, thereby avoiding close-range laser emission and effectively protecting the personal safety of the operator.
  • the present invention also provides a driving device, which includes a laser radar and the laser radar controller 13 of the above embodiment.
  • the laser radar is electrically connected to the laser radar controller 13 .
  • the laser radar controller 13 when the lid of the laser radar controller 13 is not opened, the laser radar controller 13 can control the laser radar to work, and the laser radar can emit laser to achieve data collection.
  • the laser radar controller 13 can automatically control the laser radar not to work, and the laser radar no longer emits laser, thereby avoiding close-range laser emission and effectively protecting the personal safety of the operator.
  • the driving device may include a car, an unmanned aircraft, etc.

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Abstract

Provided in the present invention are a controller cover opening protection circuit and device, a LiDAR controller and a driving device. The controller cover opening protection circuit comprises a cover opening detection apparatus, a logic operation unit and a controller. A first input end of the logic operation unit is electrically connected to the cover opening detection apparatus and a power supply. An output end of the logic operation unit is electrically connected to an object to be controlled. The controller is electrically connected to a second input end of the logic operation unit. The cover opening detection apparatus is used for, when detecting a cover of the controller is opened, outputting a first level signal, and the logic operation unit is used for outputting, according to the first level signal and a second level signal of the controller, a third level signal used for controlling said object not to work. Therefore, upon opening of the cover of the controller, the present invention automatically controls said object to stop working, thereby ensuring the personal safety of operators, and improving the safety when covers of controllers are being opened.

Description

控制器开盖保护电路、设备、激光雷达控制器和驾驶设备Controller cover protection circuit, equipment, LiDAR controller and driving equipment
本申请要求2022年11月25日提交的、发明名称为“控制器开盖保护电路、设备、激光雷达控制器和驾驶设备”的中国专利申请202223152988.2的优先权，上述中国专利申请的全部内容通过引用并入本申请中。This application claims priority to Chinese patent application 202223152988.2 filed on November 25, 2022, with the invention name “Controller cover opening protection circuit, device, lidar controller and driving device”. The entire contents of the above Chinese patent application are incorporated into this application by reference.
技术领域Technical Field
本发明涉及控制器技术领域，具体提供一种控制器开盖保护电路、设备、激光雷达控制器和驾驶设备。The present invention relates to the field of controller technology, and specifically provides a controller cover opening protection circuit, equipment, a laser radar controller and a driving device.
背景技术Background technique
车载激光雷达等数据采集设备在越来越多的汽车厂家中应用，这些数据采集设备在运行过程中为了安全起见，需要保证其控制器的机盖在闭合状态。例如，激光通过发出脉冲和脉冲的飞行时间来计算目标的距离，激光发射器的瞬时功率高达上百瓦，较高的且连续的峰值功率激光将会对人身产生不可逆的损伤，如果操作员在没有把激光雷达停机时，直接打开控制器的机盖，此时激光雷达的激光器仍在工作，近距离的激光发射对操作员会造成人身伤害。Data acquisition equipment such as vehicle-mounted laser radar is used by more and more automobile manufacturers. For the sake of safety, these data acquisition equipment needs to keep the cover of its controller in a closed state during operation. For example, the laser calculates the distance of the target by emitting pulses and the flight time of the pulses. The instantaneous power of the laser transmitter is as high as hundreds of watts. The high and continuous peak power laser will cause irreversible damage to the human body. If the operator directly opens the cover of the controller without shutting down the laser radar, the laser of the laser radar is still working at this time, and the close-range laser emission will cause personal injury to the operator.
因此，如何提高控制器开盖时的安全性，是本领域技术人员亟待解决的技术问题。Therefore, how to improve the safety of the controller when the cover is opened is a technical problem that needs to be solved urgently by those skilled in the art.
发明内容Summary of the invention
为了克服上述缺陷，提出了本发明，以提供解决或至少部分地解决控制器开盖时的安全性较低的技术问题的电控制器开盖保护电路、设备、激光雷达控制器和驾驶设备。In order to overcome the above-mentioned defects, the present invention is proposed to provide an electric controller cover opening protection circuit, device, laser radar controller and driving device that solve or at least partially solve the technical problem of low safety when the controller cover is opened.
在第一方面，本发明提供了一种控制器开盖保护电路，所述控制器开盖保护电路包括：In a first aspect, the present invention provides a controller cover-opening protection circuit, the controller cover-opening protection circuit comprising:
开盖检测装置； Cover opening detection device;
逻辑运算器，所述逻辑运算器的第一输入端与所述开盖检测装置以及供电电源电连接，所述逻辑运算器的输出端与待控制对象电连接；A logic operator, wherein a first input end of the logic operator is electrically connected to the cover opening detection device and a power supply, and an output end of the logic operator is electrically connected to an object to be controlled;
控制器，与所述逻辑运算器的第二输入端电连接；A controller, electrically connected to the second input terminal of the logic operator;
其中，所述开盖检测装置用于在检测到控制器的机盖开启时，输出第一电平信号；Wherein, the cover opening detection device is used to output a first level signal when detecting that the cover of the controller is opened;
所述逻辑运算器用于根据所述第一电平信号和所述控制器的第二电平信号，输出用于控制所述待控制对象不工作的第三电平信号。The logic operator is used for outputting a third level signal for controlling the object to be controlled not to work according to the first level signal and the second level signal of the controller.
进一步地，上述所述的控制器开盖保护电路中，所述开盖检测装置包括：Furthermore, in the above-mentioned controller cover-opening protection circuit, the cover-opening detection device comprises:
磁体，设置在所述控制器的机盖上；A magnet is disposed on a cover of the controller;
磁性传感器，设置在控制器的机壳内部，并与所述逻辑运算器的第一输入端以及供电电源电连接；其中，所述控制器的机壳与所述控制器的机盖相适配；A magnetic sensor is arranged inside the housing of the controller and is electrically connected to the first input terminal of the logic operator and the power supply; wherein the housing of the controller is adapted to the cover of the controller;
所述磁性传感器用于在检测到的所述磁体的磁场强度小于预设磁场强度时，输出所述第一电平信号。The magnetic sensor is used to output the first level signal when the magnetic field strength of the detected magnet is less than a preset magnetic field strength.
进一步地，上述所述的控制器开盖保护电路中，所述磁体包括磁铁。Furthermore, in the above-mentioned controller cover opening protection circuit, the magnetic body includes a magnet.
进一步地，上述所述的控制器开盖保护电路中，所述磁性传感器包括单极性霍尔传感器。Furthermore, in the above-mentioned controller cover opening protection circuit, the magnetic sensor includes a unipolar Hall sensor.
进一步地，上述所述的控制器开盖保护电路，还包括控制电路板；Furthermore, the controller cover opening protection circuit described above also includes a control circuit board;
所述磁性传感器、所述逻辑运算器和所述控制器集成在所述控制电路板上。The magnetic sensor, the logic operator and the controller are integrated on the control circuit board.
进一步地，上述所述的控制器开盖保护电路中，所述磁性传感器以贴片电子元件的形式焊接在所述控制电路板上。Furthermore, in the above-mentioned controller cover opening protection circuit, the magnetic sensor is soldered on the control circuit board in the form of a surface mount electronic component.
进一步地，上述所述的控制器开盖保护电路中，所述逻辑运算器包括异或门运算器；Furthermore, in the above-mentioned controller cover opening protection circuit, the logic operator includes an XOR gate operator;
所述第一电平信号和所述第二电平信号均为高电平信号，所述第三电平信号为低电平信号。The first level signal and the second level signal are both high level signals, and the third level signal is a low level signal.
在第二方面，本发明提供一种控制器开盖保护设备，所述控制器开盖保护设备设置有如上任一项所述的控制器开盖保护电路。In a second aspect, the present invention provides a controller cover-opening protection device, wherein the controller cover-opening protection device is provided with a controller cover-opening protection circuit as described in any one of the above items.
在第三方面，本发明提供一种激光雷达控制器，所述激光雷达控制 器包括如上所述的控制器开盖保护设备。In a third aspect, the present invention provides a laser radar controller, wherein the laser radar controller The device includes the controller cover opening protection device as described above.
在第四方面，本发明提供一种驾驶设备，所述驾驶设备包括激光雷达和如上所述的激光雷达控制器；In a fourth aspect, the present invention provides a driving device, the driving device comprising a laser radar and a laser radar controller as described above;
所述激光雷达与所述激光雷达控制器电连接。The laser radar is electrically connected to the laser radar controller.
本发明上述一个或多个技术方案，至少具有如下一种或多种有益效果：The above one or more technical solutions of the present invention have at least one or more of the following beneficial effects:
在实施本发明的技术方案中，通过设置的开盖检测装置在检测到控制器的机盖开启时，输出第一电平信号，并利用设置的逻辑运算器将开盖检测装置输出的第一电平信号和控制器输出的第二电平信号进行逻辑运算，得到用于控制待控制对象工作的电平信号或用于控制待控制对象不工作的第三电平信号，实现了控制器在开盖时，自动控制待控制对象停止工作，从而保证了操作员的人身安全，提高了控制器开盖时的安全性。In the technical solution for implementing the present invention, a cover-opening detection device is set up to output a first level signal when it detects that the cover of the controller is opened, and a logic operator is used to perform a logic operation on the first level signal output by the cover-opening detection device and the second level signal output by the controller to obtain a level signal for controlling the operation of the object to be controlled or a third level signal for controlling the non-operation of the object to be controlled, so that the controller automatically controls the object to be controlled to stop working when the cover is opened, thereby ensuring the personal safety of the operator and improving the safety of the controller when the cover is opened.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
参照附图，本发明的公开内容将变得更易理解。本领域技术人员容易理解的是：这些附图仅仅用于说明的目的，而并非意在对本发明的保护范围组成限制。此外，图中类似的数字用以表示类似的部件，其中：The disclosure of the present invention will become more easily understood with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present invention. In addition, similar numbers in the figures are used to represent similar components, among which:
图1是根据本发明的一个实施例的控制器开盖保护电路的主要结构示意图；FIG1 is a schematic diagram of the main structure of a controller cover-opening protection circuit according to an embodiment of the present invention;
图2是控制器的机盖打开时图1对应的电平信号输出示意图；FIG2 is a schematic diagram of the level signal output corresponding to FIG1 when the cover of the controller is opened;
图3是控制器的机盖盖合时图1对应的电平信号输出示意图。FIG. 3 is a schematic diagram of the level signal output corresponding to FIG. 1 when the cover of the controller is closed.
具体实施方式Detailed ways
下面参照附图来描述本发明的一些实施方式。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。Some embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.
在本发明的描述中，术语“A和/或B”表示所有可能的A与B的组合，比如只是A、只是B或者A和B。术语“至少一个A或B”或者“A和B中的至少一个”含义与“A和/或B”类似，可以包括只是A、只是 B或者A和B。单数形式的术语“一个”、“这个”也可以包含复数形式。In the description of the present invention, the term "A and/or B" means all possible combinations of A and B, such as only A, only B, or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and/or B" and may include only A, only B, or both. B or A and B. The singular forms "a", "an" and "the" may also include plural forms.
此外，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，或者是该发明产品使用时惯常摆放的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。In addition, the directions or positional relationships indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", and "outside" are based on the directions or positional relationships shown in the accompanying drawings, or are the directions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.
此外，术语“第一”、“第二”、“第三”等仅用于区分描述，而不能理解为指示或暗示相对重要性。Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.
此外，术语“水平”、“竖直”、“悬垂”等术语并不表示要求部件绝对水平或悬垂，而是可以稍微倾斜。如“水平”仅仅是指其方向相对“竖直”而言更加水平，并不是表示该结构一定要完全水平，而是可以稍微倾斜。In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.
在本发明的描述中，还需要说明的是，除非另有明确的规定和限定，术语“设置”、“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
本发明的其他特征和优点将在随后的说明书阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明实施例而了解。本发明的目的和其他优点可通过在所写的说明书、权利要求书、以及附图中所特别指出的结构来实现和获得。Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or be understood by implementing the embodiments of the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.
对于车载激光雷达等数据采集设备在运行过程中为了安全起见，需要保证其控制器的机盖在闭合状态。例如，激光通过发出脉冲和脉冲的飞行时间来计算目标的距离，激光发射器的瞬时功率高达上百瓦，较高的且连续的峰值功率激光将会对人身产生不可逆的损伤，如果操作员在没有把激光雷达停机时，直接打开控制器的机盖，此时激光雷达的激光器仍在工作，近距离的激光发射对操作员会造成人身伤害。For the safety of vehicle-mounted laser radar and other data acquisition equipment during operation, the cover of its controller needs to be kept closed. For example, the laser calculates the distance of the target by emitting pulses and the flight time of the pulses. The instantaneous power of the laser transmitter is as high as hundreds of watts. The high and continuous peak power laser will cause irreversible damage to the human body. If the operator opens the cover of the controller directly without shutting down the laser radar, the laser of the laser radar is still working at this time, and the close-range laser emission will cause personal injury to the operator.
因此，为了提高控制器开盖时的安全性，本发明提供了以下技术方 案：Therefore, in order to improve the safety of the controller when the cover is opened, the present invention provides the following technical methods: case:
参阅附图1，图1是根据本发明的一个实施例的控制器开盖保护电路的主要结构示意图。如图1所示，本发明实施例中的控制器开盖保护电路1可以包括开盖检测装置11、逻辑运算器12和控制器13。Referring to FIG. 1 , FIG. 1 is a schematic diagram of the main structure of a controller cover-opening protection circuit according to an embodiment of the present invention. As shown in FIG. 1 , the controller cover-opening protection circuit 1 in the embodiment of the present invention may include a cover-opening detection device 11 , a logic operator 12 and a controller 13 .
在一个具体实现过程中，所述逻辑运算器12的第一输入端与所述开盖检测装置11以及供电电源2电连接，所述逻辑运算器12的输出端与待控制对象3电连接；所述控制器13与所述逻辑运算器12的第二输入端电连接。其中，供电电源2的电压可以为3.3V，可以提供高电平信号。In a specific implementation process, the first input end of the logic operator 12 is electrically connected to the cover opening detection device 11 and the power supply 2, and the output end of the logic operator 12 is electrically connected to the object to be controlled 3; the controller 13 is electrically connected to the second input end of the logic operator 12. The voltage of the power supply 2 can be 3.3V, which can provide a high-level signal.
在一个具体实现过程中，所述开盖检测装置11用于在检测到控制器13的机盖开启时，输出第一电平信号，在检测到所述控制器13的机盖未开启时，输出第四电平信号。In a specific implementation process, the cover opening detection device 11 is used to output a first level signal when detecting that the cover of the controller 13 is opened, and output a fourth level signal when detecting that the cover of the controller 13 is not opened.
具体地，所述开盖检测装置11可以包括磁体111和磁性传感器112。Specifically, the cover opening detection device 11 may include a magnet 111 and a magnetic sensor 112 .
磁体111，设置在所述控制器13的机盖上；A magnet 111 is arranged on the cover of the controller 13;
磁性传感器112，设置在控制器13的机壳内部，并与所述逻辑运算器12的第一输入端以及供电电源2电连接；其中，所述控制器13的机壳与所述控制器13的机盖相适配。磁性传感器112可以设置在所述机壳内部且垂直于磁体111的方向上，且位于磁体111所产生磁场所覆盖的范围内，以便能够检测到磁体111的磁场强度。The magnetic sensor 112 is arranged inside the housing of the controller 13 and is electrically connected to the first input terminal of the logic operator 12 and the power supply 2; wherein the housing of the controller 13 is adapted to the cover of the controller 13. The magnetic sensor 112 can be arranged inside the housing and in a direction perpendicular to the magnet 111, and is located within the range covered by the magnetic field generated by the magnet 111, so as to detect the magnetic field strength of the magnet 111.
所述磁性传感器112用于在检测到的所述磁体111的磁场强度小于预设磁场强度时，输出所述第一电平信号，或者，在检测到的所述磁体111的磁场强度大于或等于预设磁场强度时，输出所述第四电平信号。The magnetic sensor 112 is used to output the first level signal when the detected magnetic field strength of the magnet 111 is less than a preset magnetic field strength, or to output the fourth level signal when the detected magnetic field strength of the magnet 111 is greater than or equal to a preset magnetic field strength.
在一个具体实现过程中，所述磁体111可以包括磁铁，所述磁性传感器112可以包括单极性霍尔传感器。In a specific implementation process, the magnet 111 may include a magnet, and the magnetic sensor 112 may include a unipolar Hall sensor.
具体地所述单极性霍尔传感器的型号可以为HAL3144E。使用这种单极性霍尔传感器，只用磁铁的一个磁极(S或N极)靠近和远离单极性霍尔传感器，单极性霍尔传感器即可以给出一组电平信号(高电平信号或低电平信号)就能完成检测目的，其逻辑处理电路相对简单，减小了难度。Specifically, the model of the unipolar Hall sensor may be HAL3144E. Using this unipolar Hall sensor, only one magnetic pole (S or N pole) of the magnet is used to approach and move away from the unipolar Hall sensor, and the unipolar Hall sensor can give a set of level signals (high level signal or low level signal) to complete the detection purpose, and its logic processing circuit is relatively simple, which reduces the difficulty.
具体地，当控制器13的机盖未盖合在控制器13的机壳上时，磁铁与磁性传感器112之间的距离较大，磁性传感器112检测到所述磁体111的磁场强度小于预设磁场强度，可以确定出控制器13的机盖未盖合在控 制器13的机壳上，其可以输出所述第一电平信号。当控制器13的机盖盖合在控制器13的机壳时，磁铁与磁性传感器112之间的距离最小，磁性传感器112检测到所述磁体111的磁场强度大于或等于预设磁场强度，可以确定出控制器13的机盖盖合在控制器13的机壳，其发生电平转换，并可以输出所述第四电平信号。Specifically, when the cover of the controller 13 is not closed on the housing of the controller 13, the distance between the magnet and the magnetic sensor 112 is large, and the magnetic sensor 112 detects that the magnetic field strength of the magnet 111 is less than the preset magnetic field strength, so it can be determined that the cover of the controller 13 is not closed on the housing of the controller 13. When the cover of the controller 13 is closed on the housing of the controller 13, the distance between the magnet and the magnetic sensor 112 is the smallest, and the magnetic sensor 112 detects that the magnetic field strength of the magnet 111 is greater than or equal to the preset magnetic field strength, and it can be determined that the cover of the controller 13 is closed on the housing of the controller 13, and a level conversion occurs, and the fourth level signal can be output.
在一个具体实现过程中，所述逻辑运算器12用于根据所述第一电平信号和所述控制器13的第二电平信号，输出用于控制所述待控制对象3不工作的第三电平信号；或者，根据所述第四电平信号和所述控制器13的第二电平信号，输出用于控制所述待控制对象3工作的第五电平信号。In a specific implementation process, the logic operator 12 is used to output a third level signal for controlling the object to be controlled 3 to not work according to the first level signal and the second level signal of the controller 13; or, according to the fourth level signal and the second level signal of the controller 13, output a fifth level signal for controlling the object to be controlled 3 to work.
具体地，控制器13可以一直输出第二电平信号，这样，当控制器13的机盖未盖合在控制器13的机壳上时，第一电平信号和第二电平信号输入逻辑运算器12，逻辑运算器12则会经过逻辑运算，输出用于控制所述待控制对象3不工作的第三电平信号，也就是说，控制器13的机盖打开时，可以自动控制激光雷达等待控制对象3不工作，防止激光雷达发出的激光对操作员产生人体伤害。Specifically, the controller 13 can always output the second level signal. In this way, when the cover of the controller 13 is not closed on the housing of the controller 13, the first level signal and the second level signal are input into the logic operator 12, and the logic operator 12 will perform a logic operation and output a third level signal for controlling the object to be controlled 3 not to work. That is to say, when the cover of the controller 13 is opened, the laser radar can be automatically controlled to wait for the controlled object 3 not to work, so as to prevent the laser emitted by the laser radar from causing physical harm to the operator.
当控制器13的机盖盖合在控制器13的机壳上时，第四电平信号和第二电平信号输入逻辑运算器12，逻辑运算器12则会经过逻辑运算，输出用于控制所述待控制对象3工作的第五电平信号，也就是说，控制器13的机盖未打开时，可以允许激光雷达等待控制对象3工作。When the cover of the controller 13 is closed on the casing of the controller 13, the fourth level signal and the second level signal are input into the logic operator 12, and the logic operator 12 will perform a logic operation and output a fifth level signal for controlling the operation of the object 3 to be controlled. That is to say, when the cover of the controller 13 is not opened, the laser radar can be allowed to wait for the controlled object 3 to work.
在一个具体实现过程中，所述逻辑运算器12可以包括但不限制于异或门运算器。图2是控制器的机盖打开时图1对应的电平信号输出示意图。如图2所示，当控制器13的机盖未盖合在控制器13的机壳上时，所述第一电平信号和所述第二电平信号均为高电平信号，经过异或的运算，可以输出低电平信号的第三电平信号，待控制对象3无法启动，可以停止工作。In a specific implementation process, the logic operator 12 may include but is not limited to an XOR gate operator. FIG2 is a schematic diagram of the level signal output corresponding to FIG1 when the cover of the controller is opened. As shown in FIG2, when the cover of the controller 13 is not covered on the housing of the controller 13, the first level signal and the second level signal are both high level signals, and after the XOR operation, a third level signal of a low level signal can be output, and the object to be controlled 3 cannot be started and can stop working.
图3是控制器的机盖盖合时图1对应的电平信号输出示意图。如图3所示，当控制器13的机盖盖合在控制器13的机壳上时，所述第四电平信号为低电平信号，所述第二电平信号仍为高电平信号，经过异或的运算，可以输出高电平信号的第五电平信号，待控制对象3可以启动，开始工作。 Fig. 3 is a schematic diagram of the level signal output corresponding to Fig. 1 when the cover of the controller is closed. As shown in Fig. 3, when the cover of the controller 13 is closed on the housing of the controller 13, the fourth level signal is a low level signal, and the second level signal is still a high level signal. After an XOR operation, a fifth level signal of a high level signal can be output, and the object 3 to be controlled can be started and start working.
本实施例的控制器开盖保护电路1，通过设置的开盖检测装置11在检测到控制器13的机盖开启时，输出第一电平信号，并利用设置的逻辑运算器12将开盖检测装置11输出的第一电平信号和控制器13输出的第二电平信号进行逻辑运算，得到用于控制待控制对象3工作的电平信号或用于控制待控制对象3不工作的第三电平信号，实现了控制器13在开盖时，自动控制待控制对象3停止工作，从而保证了操作员的人身安全，提高了控制器13开盖时的安全性。The controller cover-opening protection circuit 1 of the present embodiment outputs a first level signal when detecting that the cover of the controller 13 is opened through the set cover-opening detection device 11, and uses the set logic operator 12 to perform a logic operation on the first level signal output by the cover-opening detection device 11 and the second level signal output by the controller 13, so as to obtain a level signal for controlling the operation of the object to be controlled 3 or a third level signal for controlling the non-operation of the object to be controlled 3, so that the controller 13 automatically controls the object to be controlled 3 to stop working when the cover is opened, thereby ensuring the personal safety of the operator and improving the safety of the controller 13 when the cover is opened.
在一个具体实现过程中，控制器开盖保护电路1还可以包括控制电路板(图中未示出)。所述磁性传感器112、所述逻辑运算器12和所述控制器13可以全部集成在所述控制电路板上，也可以部分集成在所述控制电路板上，本实施例不做具体限制。In a specific implementation process, the controller cover opening protection circuit 1 may also include a control circuit board (not shown in the figure). The magnetic sensor 112, the logic operator 12 and the controller 13 may be fully integrated on the control circuit board, or partially integrated on the control circuit board, which is not specifically limited in this embodiment.
其中，所述磁性传感器112可以以贴片电子元件的形式焊接在所述控制电路板上。这样可以便于磁性传感器112的焊接和拆卸，且磁性传感器112不需要过孔，减少了散杂磁场，从而可以提高合检测结果的精度和可靠性。The magnetic sensor 112 can be soldered on the control circuit board in the form of a patch electronic component, which can facilitate soldering and disassembly of the magnetic sensor 112, and the magnetic sensor 112 does not require vias, which reduces stray magnetic fields, thereby improving the accuracy and reliability of the combined detection results.
本领域技术人员能够理解的是，可以对控制器开盖保护电路1中的各个器件进行适应性地拆分或合并。对具体器件的这种拆分或合并并不会导致技术方案偏离本发明的原理，因此，拆分或合并之后的技术方案都将落入本发明的保护范围内。It is understood by those skilled in the art that the various components in the controller cover opening protection circuit 1 can be adaptively split or combined. Such splitting or combining of specific components will not cause the technical solution to deviate from the principle of the present invention, and therefore, the technical solutions after splitting or combining will fall within the protection scope of the present invention.
进一步地，本发明还提供了一种控制器开盖保护设备。Furthermore, the present invention also provides a controller cover opening protection device.
本实施例中的控制器开盖保护设备可以设置有上述实施例的控制器开盖保护电路。The controller cover opening protection device in this embodiment may be provided with the controller cover opening protection circuit of the above embodiment.
进一步地，本发明还提供了一种控制器开盖保护设备。Furthermore, the present invention also provides a controller cover opening protection device.
本实施例中的控制器开盖保护设备可以设置有上述实施例的控制器开盖保护电路。The controller cover opening protection device in this embodiment may be provided with the controller cover opening protection circuit of the above embodiment.
进一步地，本发明还提供了一种激光雷达控制器13，该激光雷达控制器13可以包括上述实施例的控制器开盖保护设备。Furthermore, the present invention also provides a laser radar controller 13, which may include the controller cover opening protection device of the above-mentioned embodiment.
在一个具体实现过程中，激光雷达控制器13在激光雷达运行过程中，激光雷达控制器13的机盖需要闭合，以便防止近距离的激光发射对操作员造成人身伤害。如果操作员需要对激光雷达控制器13进行调试、检测 等操作，操作人员在打开激光雷达控制器13的机盖时，该控制器开盖保护设备对应的控制器开盖保护电路则会工作，控制激光雷达不工作，从而避免了近距离的激光发射，有效的保护了操作员的人身安全。In a specific implementation process, the lid of the laser radar controller 13 needs to be closed during the operation of the laser radar to prevent the close-range laser emission from causing personal injury to the operator. When the operator opens the cover of the laser radar controller 13, the controller cover opening protection circuit corresponding to the controller cover opening protection device will work, and the laser radar will be controlled not to work, thereby avoiding close-range laser emission and effectively protecting the personal safety of the operator.
进一步地，本发明还提供了一种驾驶设备，该驾驶设备包括激光雷达和上述实施例的激光雷达控制器13。Furthermore, the present invention also provides a driving device, which includes a laser radar and the laser radar controller 13 of the above embodiment.
所述激光雷达与所述激光雷达控制器13电连接。The laser radar is electrically connected to the laser radar controller 13 .
在一个具体实现过程中，当激光雷达控制器13的机盖未打开时，激光雷达控制器13可以控制激光雷达工作，激光雷达可以发出激光，实现数据采集。当激光雷达控制器13的机盖被打开时，激光雷达控制器13可以自动控制激光雷达不工作，激光雷达不再发出激光，从而避免了近距离的激光发射，有效的保护了操作员的人身安全。In a specific implementation process, when the lid of the laser radar controller 13 is not opened, the laser radar controller 13 can control the laser radar to work, and the laser radar can emit laser to achieve data collection. When the lid of the laser radar controller 13 is opened, the laser radar controller 13 can automatically control the laser radar not to work, and the laser radar no longer emits laser, thereby avoiding close-range laser emission and effectively protecting the personal safety of the operator.
在一个具体实现过程中，该驾驶设备可以包括汽车、无人飞机等。In a specific implementation process, the driving device may include a car, an unmanned aircraft, etc.
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。 So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims (10)

  1. 一种控制器开盖保护电路，其特征在于，包括：A controller cover opening protection circuit, characterized by comprising:
    开盖检测装置；Cover opening detection device;
    逻辑运算器，所述逻辑运算器的第一输入端与所述开盖检测装置以及供电电源电连接，所述逻辑运算器的输出端与待控制对象电连接；A logic operator, wherein a first input end of the logic operator is electrically connected to the cover opening detection device and a power supply, and an output end of the logic operator is electrically connected to an object to be controlled;
    控制器，与所述逻辑运算器的第二输入端电连接；A controller, electrically connected to the second input terminal of the logic operator;
    其中，所述开盖检测装置用于在检测到控制器的机盖开启时，输出第一电平信号；Wherein, the cover opening detection device is used to output a first level signal when detecting that the cover of the controller is opened;
    所述逻辑运算器用于根据所述第一电平信号和所述控制器的第二电平信号，输出用于控制所述待控制对象不工作的第三电平信号。The logic operator is used for outputting a third level signal for controlling the object to be controlled not to work according to the first level signal and the second level signal of the controller.
  2. 根据权利要求1所述的控制器开盖保护电路，其特征在于，所述开盖检测装置包括：The controller cover opening protection circuit according to claim 1, characterized in that the cover opening detection device comprises:
    磁体，设置在所述控制器的机盖上；A magnet is disposed on a cover of the controller;
    磁性传感器，设置在控制器的机壳内部，并与所述逻辑运算器的第一输入端以及供电电源电连接；其中，所述控制器的机壳与所述控制器的机盖相适配；A magnetic sensor is arranged inside the housing of the controller and is electrically connected to the first input terminal of the logic operator and the power supply; wherein the housing of the controller is adapted to the cover of the controller;
    所述磁性传感器用于在检测到的所述磁体的磁场强度小于预设磁场强度时，输出所述第一电平信号。The magnetic sensor is used to output the first level signal when the magnetic field strength of the detected magnet is less than a preset magnetic field strength.
  3. 根据权利要求2所述的控制器开盖保护电路，其特征在于，所述磁体包括磁铁。The controller cover opening protection circuit according to claim 2 is characterized in that the magnetic body comprises a magnet.
  4. 根据权利要求2所述的控制器开盖保护电路，其特征在于，所述磁性传感器包括单极性霍尔传感器。The controller cover opening protection circuit according to claim 2 is characterized in that the magnetic sensor includes a unipolar Hall sensor.
  5. 根据权利要求2所述的控制器开盖保护电路，其特征在于，还包括控制电路板；The controller cover opening protection circuit according to claim 2 is characterized by further comprising a control circuit board;
    所述磁性传感器、所述逻辑运算器和所述控制器集成在所述控制电 路板上。The magnetic sensor, the logic operator and the controller are integrated in the control circuit On the road board.
  6. 根据权利要求5所述的控制器开盖保护电路，其特征在于，所述磁性传感器以贴片电子元件的形式焊接在所述控制电路板上。The controller cover opening protection circuit according to claim 5 is characterized in that the magnetic sensor is soldered on the control circuit board in the form of a surface mount electronic component.
  7. 根据权利要求1所述的控制器开盖保护电路，其特征在于，所述逻辑运算器包括异或门运算器；The controller cover opening protection circuit according to claim 1, characterized in that the logic operator comprises an XOR gate operator;
    所述第一电平信号和所述第二电平信号均为高电平信号，所述第三电平信号为低电平信号。The first level signal and the second level signal are both high level signals, and the third level signal is a low level signal.
  8. 一种控制器开盖保护设备，其特征在于，设置有如权利要求1-7中任一项所述的控制器开盖保护电路。A controller cover opening protection device, characterized in that it is provided with a controller cover opening protection circuit as described in any one of claims 1 to 7.
  9. 一种激光雷达控制器，其特征在于，包括如权利要求8所述的控制器开盖保护设备。A laser radar controller, characterized by comprising the controller cover opening protection device as described in claim 8.
  10. 一种驾驶设备，其特征在于，包括激光雷达和权利要求9所述的激光雷达控制器；A driving device, characterized by comprising a laser radar and the laser radar controller according to claim 9;
    所述激光雷达与所述激光雷达控制器电连接。 The laser radar is electrically connected to the laser radar controller.
PCT/CN2023/129726 2022-11-25 2023-11-03 Controller cover opening protection circuit and device, lidar controller and driving device WO2024109524A1 (en)

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Publication number Priority date Publication date Assignee Title
CN218995667U (en) * 2022-11-25 2023-05-09 蔚来汽车科技(安徽)有限公司 Cover opening protection circuit and device for controller, laser radar controller and driving device

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CN1570570A (en) * 2003-07-16 2005-01-26 中国科学院光电技术研究所 Synchronous sequential control method for rotating disk type mechanical shutter and application thereof
CN107065603A (en) * 2016-12-26 2017-08-18 同方威视技术股份有限公司 Laser semi-guiding interlock and method
CN207813248U (en) * 2017-11-08 2018-09-04 深圳市杰普特光电股份有限公司 Electromagnetic door lock control device
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