Optical pulse emission system and lidar

Abstract

The application provides an optical pulse emission system and a laser radar, which comprises a laser driving circuit and a laser emission unit; a first output end of the laser driving circuit is connected to a first input end of the laser emission unit, a second output end of the laser driving circuit is connected to a second control end of the laser emission unit, and an input end of the laser driving circuit is used for connecting an output end of a master control unit; under the control of the master control unit, the laser driving circuit sends a high-voltage pulse signal to the laser emission unit through the first output end and sends a pulse control signal to the laser emission unit through the second output end; the high-voltage pulse signal charges the laser emission unit, and the pulse control signal drives the laser emission unit to emit a laser pulse. Under the control of the master control unit, the laser driving circuit can adjust the high-voltage pulse signal and the pulse control signal, so that the laser emission power is dynamically adjustable, and the laser pulse emission system has a very high dynamic range and meets the requirement of high-precision measurement.

Description

Technical Field

[0001] This application relates to the field of radar, and more specifically, to an optical pulse emission system and a lidar. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a sensor that uses lasers to achieve precise distance measurement. LiDAR emits laser pulses, which are reflected back from surrounding objects. By measuring the time it takes for the laser to reach and return to each object, the precise distance to the object can be calculated. LiDAR emits tens of thousands of pulses per second, and by collecting the corresponding distance measurements, a three-dimensional environment model, or point cloud, can be constructed.

[0003] In lidar ranging applications, the laser pulse signal emitted by the optical pulse emission system directly affects the lidar's detection capability. Therefore, how to optimize the optical pulse emission system has become a challenging problem that continues to attract the attention of those skilled in the art. Summary of the Invention

[0004] The purpose of this application is to provide an optical pulse emission system and a lidar to at least partially improve the above-mentioned problems.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide an optical pulse emission system, comprising: a laser driving circuit and a laser emitting unit; a first output terminal of the laser driving circuit is connected to a first input terminal of the laser emitting unit, a second output terminal of the laser driving circuit is connected to a second control terminal of the laser emitting unit, and the input terminal of the laser driving circuit is used to connect to the output terminal of a main control unit; the laser driving circuit, under the control of the main control unit, sends a high-voltage pulse signal to the laser emitting unit through the first output terminal and a pulse control signal to the laser emitting unit through the second output terminal; the high-voltage pulse signal is used to charge the laser emitting unit, and the pulse control signal is used to drive the laser emitting unit to emit laser pulses. Under the control of the main control unit, the laser driving circuit can adjust the high-voltage pulse signal and the pulse control signal to achieve dynamic adjustment of the laser emission power, so that the laser pulse emission system of the lidar has a very high dynamic range, meeting its high-precision measurement requirements.

[0007] Optionally, the laser driving circuit includes a first driving unit and a second driving unit. The output terminal of the first driving unit serves as the first output terminal of the laser driving circuit, and the output terminal of the second driving unit serves as the second output terminal of the laser driving circuit. The input terminals of both the first and second driving units are connected to the main control unit. The main control unit sends a first control signal to the first driving unit and a second control signal to the second driving unit. Upon receiving the first control signal, the first driving unit sends the high-voltage pulse signal to the laser emitting unit. Upon receiving the second control signal, the second driving unit sends the pulse control signal to the laser emitting unit. It should be understood that the main control unit 30 outputs a first control signal 401 and a second control signal 405 to control the first driving unit 111 to output a high-voltage pulse signal 403 and the second driving unit 112 to output a pulse control signal 406. The voltage of the high-voltage pulse signal 403 is dynamically adjustable, and the pulse amplitude is greater than a preset amplitude threshold, ensuring a sufficiently high pulse amplitude. The high-voltage pulse signal 403 and the pulse control signal 406 meet preset timing requirements. This ultimately produces a high-amplitude laser pulse signal with dynamically adjustable power.

[0008] Optionally, the first control signal is a digital control signal, and the first driving unit includes a digital-to-analog converter module and a first amplifier circuit; the input terminal of the digital-to-analog converter module is connected to the main control unit as the input terminal of the first driving unit, and the output terminal of the digital-to-analog converter module is connected to the input terminal of the first amplifier circuit, the output terminal of the first amplifier circuit being used to connect to the first input terminal of the laser emitting unit; the digital-to-analog converter module is used to convert the first control signal into a first analog voltage signal and transmit the first analog voltage signal to the first amplifier circuit; the first amplifier circuit is used to amplify the first analog voltage signal and send the amplified high-voltage pulse signal to the laser emitting unit.

[0009] Optionally, the first amplifier circuit includes a first operational amplifier, a first resistor, and a second resistor; the non-inverting input terminal of the first operational amplifier serves as the input terminal of the first amplifier circuit; the output terminal of the first operational amplifier serves as the output terminal of the first amplifier circuit; one end of the first resistor is grounded, and the other end of the first resistor is connected to the inverting input terminal of the first operational amplifier; one end of the second resistor is connected to the output terminal of the first operational amplifier, and the other end of the second resistor is connected to the inverting input terminal of the first operational amplifier.

[0010] Optionally, the first driving unit further includes a first diode, the anode of the first diode being connected to the output terminal of the first amplifier circuit, and the cathode of the first diode serving as the output terminal of the first driving unit.

[0011] Optionally, the second driving unit includes a second amplifier circuit; the input terminal of the second amplifier circuit is connected to the main control unit, and the output terminal of the second amplifier circuit serves as the output terminal of the second driving unit.

[0012] Optionally, the laser emitting unit includes an energy storage capacitor, a laser, and a drive switch; the first terminal of the energy storage capacitor is grounded, the second terminal of the energy storage capacitor is connected to the anode of the laser, the cathode of the laser is connected to the first terminal of the drive switch, and the second terminal of the drive switch is grounded; a wiring terminal is led out between the energy storage capacitor and the laser as the first input terminal of the laser emitting unit, and the third terminal of the drive switch as the second control terminal of the laser emitting unit.

[0013] Optionally, the optical pulse emission system further includes an emission optical system, which is used to collimate the laser pulse emitted by the laser emission unit and emit the collimated laser pulse.

[0014] Optionally, the high-voltage pulse signal and the pulse control signal meet preset timing requirements.

[0015] Secondly, embodiments of this application provide a lidar, including: a main control unit, an optical pulse receiving system, and the aforementioned optical pulse emitting system, wherein the main control unit is connected to the optical pulse emitting system and the optical pulse receiving system respectively.

[0016] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the lidar structure provided in an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the optical pulse emission system provided in the embodiments of this application;

[0020] Figure 3 This is a schematic diagram of the structure of the laser driving circuit provided in the embodiments of this application;

[0021] Figure 4 This is a schematic diagram of the structure of the laser emitting unit provided in an embodiment of this application.

[0022] In the diagram: 10-Optical pulse emission system; 11-Laser driving circuit; 111-First driving unit; 1111-First amplifier circuit; 112-Second driving unit; 12-Laser emission unit; 13-Emission optical system; 20-Optical pulse receiving system; 30-Main control unit; 401-First control signal; 403-High voltage pulse signal; 405-Second control signal; 406-Pulse control signal. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0027] In the description of this application, it should be noted that the terms "upper", "lower", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of this application is usually placed in. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0028] In the description of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0030] Please refer to Figure 1 , Figure 1 This is a schematic diagram of a lidar structure provided in an embodiment of this application. Figure 1 As shown, the lidar includes a main control unit 30, an optical pulse receiving system 20, and an optical pulse emitting system 10. The main control unit 30 is connected to the optical pulse emitting system 10 and the optical pulse receiving system 20, respectively.

[0031] The basic working principle of lidar is as follows: the main control unit 30 controls the optical pulse emitting system 10 to send optical signals. The optical signals are reflected off the object being measured and return to the optical pulse receiving system 20. The optical pulse receiving system 20 converts the received optical signals and then transmits the converted signals to the main control unit 30, which performs data analysis and processing.

[0032] To further enhance the detection capability of the lidar, the optical pulse emission system 10 has been optimized in this embodiment. Please refer to [link / reference needed]. Figure 2 , Figure 2 This is a schematic diagram of the optical pulse emission system provided in an embodiment of this application. Figure 2 As shown, the optical pulse emission system 10 includes a laser driving circuit 11 and a laser emission unit 12.

[0033] The first output terminal (a1) of the laser driving circuit 11 is connected to the first input terminal (b1) of the laser emitting unit 12, the second output terminal (a2) of the laser driving circuit 11 is connected to the second control terminal (b2) of the laser emitting unit 12, and the input terminal of the laser driving circuit 11 is used to connect to the output terminal of the main control unit 30.

[0034] The laser driving circuit 11 is used to send a high-voltage pulse signal 403 to the laser emitting unit 12 through the first output terminal and a pulse control signal 406 to the laser emitting unit 12 through the second output terminal under the control of the main control unit 30.

[0035] The high-voltage pulse signal 403 is used to charge the laser emitting unit 12, and the pulse control signal 406 is used to drive the laser emitting unit 12 to emit laser pulses.

[0036] It should be understood that the amount of electricity charged determines the magnitude of the luminous power, and the pulse control signal 406 determines the luminous time. The high-voltage pulse signal 403 and the pulse control signal 406 meet preset timing requirements. These timing requirements can be that the laser power supply of the laser emitting unit 12 completes charging before enabling the laser to discharge and emit light. For example, after the high-voltage pulse signal 403 changes from a high-level signal to a low-level signal, a preset time interval is waited before adjusting the pulse control signal 406 from a low-level signal to a high-level signal, thereby controlling the laser power supply of the laser emitting unit 12 to complete charging before enabling the laser to discharge and emit light.

[0037] It should also be noted that, under the control of the main control unit 30, the laser drive circuit 11 can adjust the high voltage pulse signal 403 and the pulse control signal 406 to achieve dynamic adjustment of the laser emission power, so that the laser pulse emission system of the lidar has a very high dynamic range and meets its high-precision measurement requirements.

[0038] In summary, this application provides a light pulse emission system, including a laser driving circuit and a laser emitting unit. The first output terminal of the laser driving circuit is connected to the first input terminal of the laser emitting unit, and the second output terminal of the laser driving circuit is connected to the second control terminal of the laser emitting unit. The input terminal of the laser driving circuit is used to connect to the output terminal of a main control unit. Under the control of the main control unit, the laser driving circuit sends a high-voltage pulse signal to the laser emitting unit through its first output terminal and a pulse control signal to the laser emitting unit through its second output terminal. The high-voltage pulse signal is used to charge the laser emitting unit, and the pulse control signal is used to drive the laser emitting unit to emit laser pulses. Under the control of the main control unit, the laser driving circuit can adjust the high-voltage pulse signal and the pulse control signal to achieve dynamic adjustment of the laser emission power, so that the laser pulse emission system of the lidar has a very high dynamic range, meeting its high-precision measurement requirements.

[0039] exist Figure 2 Based on this, this application also provides a possible implementation of the specific structure of the laser driving circuit 11. Please refer to... Figure 3 , Figure 3 This is a schematic diagram of the laser driving circuit provided in an embodiment of this application. Figure 3 As shown, the laser driving circuit 11 includes a first driving unit 111 and a second driving unit 112. The output terminal of the first driving unit 111 serves as the first output terminal (a1) of the laser driving circuit 11, and the output terminal of the second driving unit 112 serves as the second output terminal (a2) of the laser driving circuit 11.

[0040] The input terminals of the first drive unit 111 and the second drive unit 112 are both connected to the main control unit 30.

[0041] The main control unit 30 is used to send a first control signal 401 to the first drive unit 111 and a second control signal 405 to the second drive unit 112.

[0042] The first driving unit 111 is used to send a high-voltage pulse signal 403 to the laser emitting unit 12 when it receives the first control signal 401;

[0043] The second driving unit 112 is used to send a pulse control signal 406 to the laser emitting unit 12 when it receives the second control signal 405.

[0044] It should be understood that the main control unit 30 outputs a first control signal 401 and a second control signal 405 to control the first drive unit 111 to output a high-voltage pulse signal 403 and the second drive unit 112 to output a pulse control signal 406. The voltage of the high-voltage pulse signal 403 is dynamically adjustable, and its pulse amplitude is greater than a preset amplitude threshold (the preset amplitude threshold is the amplitude that enables laser D2 to emit light). The pulse amplitude is sufficiently high, and the high-voltage pulse signal 403 and the pulse control signal 406 meet preset timing requirements. This ultimately generates a high-amplitude, dynamically adjustable laser pulse signal. It should be understood that the laser pulse signal is the laser signal emitted by the laser emitting unit 12 under the control of the high-voltage pulse signal 403 and the pulse control signal 406.

[0045] In this embodiment, the dynamic adjustability of the laser pulse signal can reduce the blind zone. Specifically, it can reduce the blind zone of the second echo.

[0046] Consider this scenario: A few meters in front of the lidar, there is a glass surface that is both transmissive to laser light and highly reflective. When the laser pulse signal hits this glass target, the returned pulse power is high, causing the echo signal to become oversaturated. The echo signal is then amplified and broadened. Simultaneously, the laser pulse that passes through the glass hits a nearby target and returns. The laser pulse signal returning from the target behind the glass is received by the lidar and superimposed on the aforementioned laser pulse signal returned from the glass. This causes the subsequent control and processing unit to be unable to identify the target behind the glass. In other words, the processing unit can only identify the echo of the glass target, but cannot identify the echo of the target behind the glass, thus creating a blind spot for the second echo.

[0047] By reducing the power of the pulsed laser, the pulse width of the echo returned from the glass can be reduced, thereby enabling the identification of near-range target echoes behind the glass and reducing the second echo blind zone.

[0048] Please continue to refer to this. Figure 3 In one possible scenario, the first control signal 401 is a digital control signal, and the first drive unit 111 includes a digital-to-analog converter module DAC and a first amplifier circuit 1111.

[0049] Among them, the digital-to-analog conversion module DAC can be a digital-to-analog converter, also known as a D / A converter, or simply DAC. It is a device that converts digital quantities into analog quantities.

[0050] The input terminal of the digital-to-analog converter (DAC) is connected to the main control unit 30 as the input terminal of the first driving unit 111. The output terminal of the DAC is connected to the input terminal of the first amplifier circuit 1111. The output terminal of the first amplifier circuit 1111 is used to connect to the first input terminal of the laser emitting unit 12.

[0051] The digital-to-analog converter (DAC) is used to convert the first control signal 401 into a first analog voltage signal and transmit the first analog voltage signal to the first amplifier circuit 1111.

[0052] The first amplifier circuit 1111 is used to amplify the first analog voltage signal and send the amplified high-voltage pulse signal 403 to the laser emitting unit 12.

[0053] Optionally, the main control unit 30 outputs a digital control signal, namely a first control signal 401. The digital-to-analog converter (DAC) converts the first control signal 401 into a first analog voltage signal and transmits the first analog voltage signal Vclt to the first amplifier circuit 1111. The first amplifier circuit 1111 is a high-voltage amplifier circuit. The first amplifier circuit 1111 amplifies the first analog voltage signal Vclt according to a preset ratio and sends the amplified high-voltage pulse signal 403 to the laser emitting unit 12. This can charge the energy storage capacitor C1 of the laser emitting unit 12.

[0054] The main control unit 30 can be a field-programmable gate array (FPGA), or it can be an MCU or CPU, etc. The main control unit 30 outputs different first control signals 401 to control the first drive unit 111 to dynamically adjust the laser pulse amplitude.

[0055] Please continue to refer to this. Figure 3 In one optional embodiment, the first amplifier circuit 1111 includes a first operational amplifier U1, a first resistor R1, and a second resistor R2;

[0056] The non-inverting input of the first operational amplifier U1 serves as the input of the first amplifier circuit 1111 and is connected to the output of the digital-to-analog converter module DAC.

[0057] The output terminal of the first operational amplifier U1 serves as the output terminal of the first amplifier circuit 1111 and is used to connect to the first input terminal of the laser emitting unit 12.

[0058] One end of the first resistor R1 is grounded, and the other end of the first resistor R1 is connected to the inverting input terminal of the first operational amplifier U1. One end of the second resistor R2 is connected to the output terminal of the first operational amplifier U1, and the other end of the second resistor R2 is connected to the inverting input terminal of the first operational amplifier U1.

[0059] Optionally, the first driving unit 111 further includes a first diode D1, the anode of the first diode D1 is connected to the output terminal of the first amplifier circuit 1111, and the cathode of the first diode D1 serves as the output terminal of the first driving unit 111, connected to the first input terminal (b1) of the laser emitting unit 12.

[0060] The reverse cutoff characteristic of the first diode D1 prevents leakage after the energy storage capacitor C1 has finished charging.

[0061] In one possible implementation, the second driving unit 112 includes a second amplifier circuit;

[0062] The input terminal of the second amplifier circuit is connected to the main control unit 30, and the output terminal of the second amplifier circuit serves as the output terminal of the second drive unit 112, which is connected to the second control terminal (b2) of the laser emitting unit 12.

[0063] Optionally, the second amplifier circuit is a driver for the drive switch Q1 of the laser D2, which can enhance the current driving capability of the input pulse signal of the main control unit 30, thereby enabling the drive switch Q1 of the laser D2 to be turned on and off. If the pulse signal of the main control unit 30 is used directly, it is impossible to drive the drive switch Q1 of the laser D2 to be turned on and off.

[0064] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of a laser emitting unit provided in an embodiment of this application. Figure 4 As shown, the laser emitting unit 12 includes an energy storage capacitor C1, a laser D2, and a drive switch Q1.

[0065] The first terminal of the energy storage capacitor C1 is grounded, the second terminal of the energy storage capacitor C1 is connected to the anode of the laser D2, the cathode of the laser D2 is connected to the first terminal of the drive switch Q1, and the second terminal of the drive switch Q1 is grounded.

[0066] A terminal is led out between the energy storage capacitor C1 and the laser D2 as the first input terminal (b1) of the laser emitting unit 12, and the third terminal of the drive switch Q1 is used as the second control terminal (b2) of the laser emitting unit 12.

[0067] In one possible implementation, the laser emitting unit 12 further includes a protection diode Dp and a protection resistor Rd. The anode of the protection diode Dp is connected to the cathode of the laser D2, the cathode of the protection diode Dp is connected to one end of the protection resistor Rd, and the other end of the protection resistor Rd is connected to the anode of the laser D2. By providing the protection diode Dp and the protection resistor Rd, the laser D2 can be further protected, reducing its probability of damage.

[0068] The relationship between the forward bias voltage Vdiode of the first diode D1, the first analog voltage signal Vclt, and the high voltage Vhv across the energy storage capacitor C1 is as follows:

[0069]

[0070] Please continue to refer to this. Figure 4 The charge on the energy storage capacitor C1 determines the luminous power of the laser D2. The pulse width of the discharge pulse is determined by the resonant frequency of the energy storage capacitor C1 and the parasitic inductance L1 of the discharge circuit. Typically, the voltage across the energy storage capacitor C1 is a high voltage of tens of volts (compared to the operating voltage of typical electronic devices, which is below 5V), and the capacitance is relatively small, generally below a few nanofarads (nF). This circuit requires two control signals: one is the charging power supply for the energy storage capacitor C1, i.e., the high-voltage pulse signal 403; the other is the pulse control signal 406 that controls the operation of the drive switch Q1 for discharging the laser D2.

[0071] Alternatively, please continue to refer to Figure 2 In one possible implementation, the optical pulse emitting system 10 further includes an emitting optical system 13, which is used to collimate the laser pulse emitted by the laser emitting unit 12 and emit the collimated laser pulse.

[0072] In this embodiment, the main control unit 30 drives the laser emitting unit 12 by controlling the laser driving circuit 11, thereby realizing a narrow pulse light source with high amplitude, high peak power and dynamically adjustable output power.

[0073] This application also provides a lidar, such as... Figure 1 The lidar shown includes: a main control unit 30, an optical pulse receiving system 20, and... Figures 2-4 The main control unit 30 is connected to the optical pulse emitting system 10 and the optical pulse receiving system 20, respectively, as shown in any one of the above.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0075] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A light pulse emission system, characterized in that, The optical pulse emission system includes: a laser driving circuit and a laser emission unit; The first output terminal of the laser driving circuit is connected to the first input terminal of the laser emitting unit, the second output terminal of the laser driving circuit is connected to the second control terminal of the laser emitting unit, and the input terminal of the laser driving circuit is used to connect to the output terminal of the main control unit. The laser driving circuit is used to send a high-voltage pulse signal to the laser emitting unit through the first output terminal and a pulse control signal to the laser emitting unit through the second output terminal under the control of the main control unit. The high-voltage pulse signal is used to charge the laser emitting unit, and the pulse control signal is used to drive the laser emitting unit to emit laser pulses; The laser driving circuit includes a first driving unit and a second driving unit, wherein the output terminal of the first driving unit serves as the first output terminal of the laser driving circuit, and the output terminal of the second driving unit serves as the second output terminal of the laser driving circuit. The input terminals of the first driving unit and the second driving unit are both connected to the main control unit; The main control unit is used to send a first control signal to the first drive unit and a second control signal to the second drive unit; The first driving unit is used to send the high-voltage pulse signal to the laser emitting unit upon receiving the first control signal; The second driving unit is used to send the pulse control signal to the laser emitting unit upon receiving the second control signal; The first control signal is a digital control signal, and the first driving unit includes a digital-to-analog conversion module and a first amplifier circuit; The input terminal of the digital-to-analog converter module is connected to the main control unit as the input terminal of the first driving unit, and the output terminal of the digital-to-analog converter module is connected to the input terminal of the first amplification circuit. The output terminal of the first amplification circuit is used to connect to the first input terminal of the laser emitting unit. The digital-to-analog conversion module is used to convert the first control signal into a first analog voltage signal and transmit the first analog voltage signal to the first amplifier circuit. The first amplifier circuit is used to amplify the first analog voltage signal and send the amplified high-voltage pulse signal to the laser emitting unit.

2. The optical pulse emission system as described in claim 1, characterized in that, The first amplifier circuit includes a first operational amplifier, a first resistor, and a second resistor; The non-inverting input terminal of the first operational amplifier serves as the input terminal of the first amplifier circuit; The output terminal of the first operational amplifier serves as the output terminal of the first amplifier circuit. One end of the first resistor is grounded, and the other end of the first resistor is connected to the inverting input terminal of the first operational amplifier. One end of the second resistor is connected to the output terminal of the first operational amplifier, and the other end of the second resistor is connected to the inverting input terminal of the first operational amplifier.

3. The optical pulse emission system as described in claim 1, characterized in that, The first driving unit further includes a first diode, the anode of the first diode being connected to the output terminal of the first amplifier circuit, and the cathode of the first diode serving as the output terminal of the first driving unit.

4. The optical pulse emission system as described in claim 1, characterized in that, The second driving unit includes a second amplifier circuit; The input terminal of the second amplifier circuit is connected to the main control unit, and the output terminal of the second amplifier circuit serves as the output terminal of the second drive unit.

5. The optical pulse emission system as described in claim 1, characterized in that, The laser emitting unit includes an energy storage capacitor, a laser, and a drive switch; The first terminal of the energy storage capacitor is grounded, the second terminal of the energy storage capacitor is connected to the anode of the laser, the cathode of the laser is connected to the first terminal of the drive switch, and the second terminal of the drive switch is grounded; A terminal is led out between the energy storage capacitor and the laser as the first input terminal of the laser emitting unit, and the third terminal of the drive switch is used as the second control terminal of the laser emitting unit.

6. The optical pulse emission system as described in claim 1, characterized in that, The optical pulse emission system further includes an emission optical system, which is used to collimate the laser pulse emitted by the laser emission unit and emit the collimated laser pulse.

7. The optical pulse emission system as described in claim 1, characterized in that, The high-voltage pulse signal and the pulse control signal meet the preset timing requirements.

8. A lidar, characterized in that, include: The system comprises a main control unit, an optical pulse receiving system, and an optical pulse transmitting system as described in any one of claims 1 to 7, wherein the main control unit is connected to the optical pulse transmitting system and the optical pulse receiving system, respectively.

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