Constant-voltage transmitting circuit and laser radar

Abstract

The embodiment of the invention discloses a constant-voltage transmitting circuit and a laser radar. The constant-voltage transmitting circuit comprises a constant-voltage power adjustable module and a constant-voltage transmitting module, the constant-voltage power adjustable module comprises an energy storage element, the input end of the constant-voltage power adjustable module is used for being connected with a constant-voltage emission power supply outputting constant voltage so as to charge the energy storage element through the constant voltage, and the constant-voltage power adjustable module can adjust the energy stored by the energy storage element; the constant-voltage transmitting module comprises a laser, the laser is connected with the energy storage element, the laser is used for transmitting laser when the energy storage element releases energy, and different energies stored in the energy storage element correspond to different laser transmitting powers. The constant-voltage transmitting circuit can drive the laser to emit light through the constant-voltage power supply outputting the constant high voltage, energy loss is low, laser of different powers can be emitted based on the constant high voltage, and the overall use reliability of the constant-voltage transmitting circuit is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a constant voltage transmitting circuit and a laser radar. Background Art

[0002] In the related art, a switch control module is provided between the low-voltage transmitting power supply and the laser to adjust the driving voltage provided to the laser by the low-voltage transmitting power supply. In the related art, it is impossible to drive the laser to emit light by a constant voltage power supply that outputs a constant high voltage. Summary of the invention

[0003] The embodiments of the present application provide a constant voltage transmitting circuit and a laser radar. The constant voltage transmitting circuit can drive the laser to emit light by outputting a constant voltage power supply with a constant high voltage, with low energy loss. Moreover, it can also emit lasers of different powers based on the constant high voltage, thereby ensuring the overall reliability of the constant voltage transmitting circuit.

[0004] In the first aspect, an embodiment of the present application provides a constant voltage transmitting circuit, including: a constant voltage adjustable power module and a constant voltage transmitting module; the constant voltage adjustable power module includes an energy storage element, and the input end of the constant voltage adjustable power module is used to connect to a constant voltage transmitting power supply that outputs a constant voltage to charge the energy storage element through a constant voltage, and the constant voltage adjustable power module can adjust the amount of energy stored in the energy storage element; the constant voltage transmitting module includes a laser, the laser is connected to the energy storage element, and the laser is used to emit a laser when the energy storage element releases energy, and different energies stored in the energy storage element correspond to different laser emission powers.

[0005] Based on the constant voltage transmitting circuit provided in the embodiment of the present application, the energy stored in the energy storage element can be adjusted through the constant voltage power adjustable module, so that the laser can emit lasers of different powers based on different energies. In this way, the constant voltage transmitting circuit can emit lasers of different powers based on constant high voltage, ensuring the overall reliability of the constant voltage transmitting circuit. Moreover, since the constant high voltage is connected, there is no need to set up an additional boost circuit to charge the energy storage element. The structure is simple, and there is no boost process. The energy loss is low, and the heat generation is reduced, thereby saving the heat dissipation cost.

[0006] In one possible design, the constant voltage power adjustable module includes: a high-side control circuit and a low-side control circuit; one end of the high-side control circuit is used to connect to the constant voltage transmitting power supply, and the other end is connected to the first end of the energy storage element; one end of the low-side control circuit is connected to the second end of the energy storage element, and the other end is grounded; wherein, when the energy storage element is charged, the high-side control circuit and the low-side control circuit are both turned on and the on-time is controllable, so as to charge the energy storage element through the constant voltage transmitting power supply and control the amount of energy stored in the energy storage element; when the energy storage element releases energy, at least the low-side control circuit is turned off.

[0007] Based on the above optional methods, the constant voltage power adjustable module provided in the present application can control the conduction state and conduction time of the high-side control circuit and the low-side control circuit to adjust the charging state of the energy storage element and the amount of energy stored in the energy storage element when connected to a constant high voltage. Moreover, since the other end of the low-side control circuit is grounded, that is, the reference level will always be 0V, the low-side control circuit always has a stable voltage difference, there is no voltage charging process, and the response speed is fast. The charging state of the energy storage element and the amount of energy stored in the energy storage element can be accurately controlled, thereby ensuring the reliability of the emitted laser.

[0008] In one possible design, the high-side control circuit includes: a first high-side switch and a first low-side switch; the drain of the first high-side switch is used to connect to the constant voltage transmitting power supply, the source is connected to the first end of the energy storage element, and the controlled end is used to access the power control signal; the source of the first low-side switch is grounded, the drain is connected to the source of the first high-side switch, and the controlled end is used to access the power control signal.

[0009] In one possible design, the high-side control circuit further includes: a second high-side switch, the source of the second high-side switch is connected to the source of the first high-side switch, the drain is connected to the first end of the energy storage element, and the controlled end is used to access the power control signal.

[0010] Based on the above optional method, the second high-side switch can form a pair of switches with the first high-side switch. When the first low-side switch is in the on state, the second high-side switch and the first high-side switch realize capacitor bootstrap, thereby isolating the energy backflow problem of the energy storage element and avoiding the problem of energy loss, thereby ensuring the adjustment reliability of the constant-voltage power adjustable module, that is, ensuring the reliability of the constant-voltage transmitting circuit to emit laser.

[0011] In a possible design, the high-side control circuit further includes: a current limiting resistor, one end of the current limiting resistor is connected to the drain of the second high-side switch, and the other end is connected to the first end of the energy storage element.

[0012] Based on the above optional method, by changing the resistance value of the current limiting resistor, the current limiting resistor can limit the charging current flowing from the constant voltage transmitting power supply to the energy storage element to different degrees, so that the charging current of the energy storage element is less than the current threshold required for the laser to emit light, thereby avoiding the problem of laser mis-emission, ensuring the accuracy and reliability of the laser emitted by the constant voltage transmitting module, and further ensuring the detection accuracy and reliability of the laser radar using the constant voltage transmitting circuit.

[0013] In one possible design, the low-side control circuit includes: a second low-side switch and a third low-side switch; the drain of the second low-side switch is connected to the second end of the energy storage element, and the controlled end is used to access the energy storage control signal; the drain of the third low-side switch is grounded, the source is connected to the source of the second low-side switch, and the controlled end is used to access the energy storage control signal.

[0014] Based on the above optional method, the second low-side switch and the third low-side switch can be used to quickly control the on and off of the ground conduction loop of the energy storage element when the energy storage element is converting energy, thereby accurately controlling the energy conversion energy of the energy storage element to ensure the energy release accuracy of the energy storage element, and further ensure the accuracy of the laser emitted by the constant voltage emission module.

[0015] In a possible design, the low-side control circuit includes: a first diode, wherein an anode of the first diode is connected to the second end of the energy storage element, and a cathode of the first diode is grounded.

[0016] Based on the above optional manner, the first diode plays a role of voltage stabilization and protection, thereby ensuring the use stability of the constant voltage power adjustable module.

[0017] In a possible design, the low-side control circuit includes: a fourth low-side switch, the source of the fourth low-side switch is grounded, the drain is connected to the second end of the energy storage element, and the controlled end is used to access the energy storage control signal.

[0018] In a possible design, the low-side control circuit further includes: a fifth low-side switch, the source of the fifth low-side switch is connected to the source of the fourth low-side switch, the drain is grounded, and the controlled end is used to access the energy storage control signal.

[0019] In a possible design, the high-side control circuit includes: an energy conversion element, one end of the energy conversion element is used to connect to the constant voltage transmitting power supply, and the other end is connected to the first end of the energy storage element.

[0020] In one possible design, the constant voltage emission module also includes: an emission control switch, the emission control switch source is connected to the anode of the laser, the drain is connected to the first end of the energy storage element, the controlled end is used to receive the emission control signal, and the cathode of the laser is connected to the second end of the energy storage element; wherein, when the energy storage element is charged, the emission control switch is turned off, and when the energy storage element is released, the emission control switch is turned on.

[0021] In the second aspect, an embodiment of the present application provides a laser radar, comprising: a constant voltage transmitting circuit, a controller and a laser detection circuit as described in any optional manner in the first aspect; the controller is connected to the constant voltage power adjustable module and the constant voltage transmitting module; the laser detection circuit is connected to the controller, and is used to receive the echo light formed by the laser emitted by the constant voltage transmitting circuit being reflected by the target object.

[0022] Based on the constant voltage transmitting circuit and laser radar provided in this application, the constant voltage transmitting circuit can emit lasers of different powers based on constant high voltage, thereby ensuring the overall reliability of the constant voltage transmitting circuit, and further ensuring the detection reliability of the laser radar using the constant voltage transmitting circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 It is a circuit diagram of a constant voltage transmitting circuit in the related art;

[0025] Figure 2 It is a schematic diagram of the framework structure of a laser radar provided in an embodiment of the present application;

[0026] Figure 3 This is a schematic diagram of the framework structure of another laser radar provided in an embodiment of the present application;

[0027] Figure 4 It is a schematic diagram of the framework structure of a constant voltage transmitting circuit provided in an embodiment of the present application;

[0028] Figure 5 It is a schematic diagram of the framework structure of another constant voltage transmitting circuit provided in an embodiment of the present application;

[0029] Figure 6 Schematic diagram of a circuit structure of a constant voltage transmitting circuit provided in an embodiment of the present application;

[0030] Figure 7 It is a circuit structure diagram of another constant voltage transmitting circuit provided in an embodiment of the present application;

[0031] Figure 8 is a circuit structure diagram of another constant voltage transmitting circuit provided in an embodiment of the present application;

[0032] Fig. 9 is a circuit structure diagram of another constant voltage transmitting circuit provided in an embodiment of the present application;

[0033] Fig.10 is a circuit structure diagram of another constant voltage transmitting circuit provided in an embodiment of the present application;

[0034] Fig.11 is a circuit structure diagram of another constant voltage transmitting circuit provided in an embodiment of the present application;

[0035] Fig.12 is a circuit structure diagram of another constant voltage transmitting circuit provided in an embodiment of the present application;

[0036] Fig.13 is a circuit structure diagram of another constant voltage transmitting circuit provided in an embodiment of the present application;

[0037] Fig.14 It is a circuit structure diagram of another constant voltage transmitting circuit provided in an embodiment of the present application.

[0038] Reference numerals:

[0039] 1-LiDAR; 11-Constant voltage transmitting circuit; 111-Constant voltage power adjustable module; 1111-Energy storage element; 1112-High side control circuit; 11121-Energy conversion element; 1113-Low side control circuit; 112-Constant voltage transmitting module; 1121-Laser; 12-Controller; 13-Laser detection circuit;

[0040] V1- low voltage transmitting power supply; V2- constant voltage transmitting power supply; L- inductor; K- energy conversion switch element; Q1- switch; Q2- first high side switch; Q3- first low side switch; Q4- second high side switch; Q5- second low side switch; Q6- third low side switch; Q7- fourth low side switch; Q8- fifth low side switch; Q9- transmitting control switch; D1- rectifier diode; D2- first diode; D3- second diode; D4- laser diode; C1- capacitor; C2- energy storage capacitor; R- current limiting resistor. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0042] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached embodiments.

[0043] In the description of the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances. In addition, in the description of the present application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0045] At present, LiDAR technology is becoming more and more mature, and is widely used in various fields such as distance measurement, mapping, traffic management, and atmospheric monitoring. LiDAR includes a laser transmitter and a laser detector. The laser transmitter is used to emit laser light to detect the target object in the detection area, and the laser detector is used to receive the echo light generated by the reflection of the laser from the target object in the detection area. The LiDAR completes the detection of the LiDAR based on the distance and speed of the target object in the echo light. In order for the laser transmitter to be stimulated to emit laser light, it is usually necessary to provide the laser transmitter with a driving current of the required intensity to ensure that it can be stimulated to emit laser light based on the driving current. For example, please refer to Figure 1 In the related art, the driving regulation circuit for providing driving current for the laser emitter and controlling the energy of the laser can usually include an inductor (such as Figure 1 As shown in L), switch (as Figure 1 As shown in Q1), rectifier diode (such as Figure 1 D1) and capacitors (as shown Figure 1 As shown in C1), one end of the inductor L is connected to a low-voltage transmitting power supply (such as Figure 1As shown in V1), the other end of the inductor L is connected to the drain of the switch Q1, the drain of the switch Q1 is connected to one end of the rectifier diode D1, the source of the switch Q1 is grounded, the other end of the rectifier diode D1 is connected to the first plate of the capacitor C1 and the input end of the laser transmitter, and the second plate of the capacitor C1 is grounded. When the switch Q1 is turned on, the current provided by the low-voltage transmitting power supply V1 charges the inductor L. When the switch Q1 is turned off, the energy on the inductor L charges the capacitor C1 through the unidirectional conducting diode D1. When the energy on the capacitor C1 is full, it starts to discharge to the input end of the laser transmitter. Here, it is worth explaining that the discharge of the capacitor C1 provides the driving current for the laser transmitter, so that the laser transmitter can be stimulated to emit laser based on the driving current.

[0046] At this time, a bootstrap capacitor is usually added inside the switch Q1 to realize the voltage bootstrap process. The initial voltage across the bootstrap capacitor is 0V (volts). When the switch Q1 is turned on, the voltage of the bootstrap capacitor will be charged. If the switch Q1 needs to remain turned on, the bootstrap capacitor needs to be charged. In this way, there is a charging time for the bootstrap capacitor, which slows down the opening speed of the switch Q1, and its opening speed is also limited by temperature and high-side voltage. In this way, the overall reliability of the switch Q1 is low, and the use accuracy is low, which leads to the overall low reliability of the drive adjustment circuit using the switch Q1. Here, it can be understood that the drive adjustment circuit is a boost circuit. In the process of converting low voltage to high voltage, due to the provision of inductance L, there is a certain loss in the inductance L during the actual boosting process, resulting in a certain energy loss in the laser transmitter. At the same time, the laser radar may be connected to other peripheral circuits. Since it is provided with inductance L, a large cable is required to transmit a large current. In this way, there is a problem of cable loss. Moreover, the inductor L and the switch Q1 occupy a large area and generate a large amount of heat during use, which increases the area and heat dissipation cost, and is not conducive to the integrated design of the drive circuit.

[0047] It is worth mentioning here that in the laser radar using constant voltage circuit in related technology, it is usually necessary to release high voltage and charge low voltage, while there are many parasitic capacitors and inductors in the laser transmitter, which leads to the slow process of releasing high voltage and charging low voltage, thus affecting the frequency of laser emitted by the laser radar.

[0048] To this end, the present application provides a constant voltage transmitting circuit and a laser radar. The constant voltage transmitting circuit can drive the laser to emit light by outputting a constant voltage power supply with a constant high voltage. There is no voltage boosting process, and the energy loss is low. Moreover, lasers with different output powers can be realized based on the constant high voltage, thereby ensuring the overall reliability of the constant voltage transmitting circuit.

[0049] The constant voltage transmitting circuit and laser radar provided in the present application are exemplarily introduced below in conjunction with the accompanying drawings.

[0050] See also Figure 2 The embodiment of the present application is a laser radar 1, which may include a constant voltage transmitting circuit 11, a controller 12 and a laser detection circuit 13. The controller 12 is connected to the constant voltage transmitting circuit 11 and the laser detection circuit 13. The controller 12 is used to control the constant voltage transmitting circuit 11 to emit light upon stimulation, and to control the laser detection circuit 13 to receive the echo light formed by the laser emitted by the constant voltage transmitting circuit 11 being reflected by the target object, so as to determine the distance and speed of the target object and complete the detection of the target object.

[0051] In one example, see Figure 3 The constant voltage transmitting circuit 11 may include a constant voltage power adjustable module 111 and a constant voltage transmitting module 112. The input end of the constant voltage power adjustable module 111 is connected to a constant voltage transmitting power source (such as Figure 3 V2) is connected to receive the constant high voltage provided by the constant voltage transmitting power supply V2, and the constant voltage power adjustable module 111 can also adjust the power of the laser emitted by the constant voltage transmitting module 112 based on the constant high voltage. In this way, the constant voltage transmitting circuit 11 provided in the embodiment of the present application can emit lasers of different powers based on the constant high voltage, so that the laser radar 1 can detect target objects in a wider range of different distances, thereby widening the detection range of the constant voltage transmitting circuit 11.

[0052] For example, see Figure 4 , the constant voltage power adjustable module 111 may include an energy storage element 1111, the constant voltage transmitting module 112 may include a laser 1121, and the constant voltage power adjustable module 111 includes at least two stages, namely, the charging stage of the energy storage element 1111 and the energy release stage of the energy storage element 1111. The charging stage of the energy storage element 1111 includes charging the energy storage element 1111 through a constant high voltage, and the energy release stage of the energy storage element 1111 includes releasing the electric energy stored in the energy storage element 1111 to drive the laser 1121 to emit a laser to complete the stimulated luminescence step. And the constant voltage power adjustable module 111 can adjust the amount of energy stored in the energy storage element 1111. Here, it can be understood that by adjusting the amount of energy stored in the energy storage element 1111, the laser 1121 can emit lasers of different powers. In this way, the constant voltage transmitting circuit 11 provided in the embodiment of the present application can emit lasers of different powers based on constant high voltage, thereby achieving the effect of detecting target objects of different distances in a wider range.

[0053] Optionally, the laser 1121 may be a laser diode (LD). The specific type of the laser diode is not limited. Optionally, the energy storage element 1111 may be an energy storage capacitor or other components, and this application does not make specific limitations on this.

[0054] In order to accurately regulate and control the energy stored in the energy storage element 1111, the reliability of laser emission can be ensured. In one example, see Figure 5 The constant voltage power adjustable module 111 may also include a high-side control circuit 1112 and a low-side control circuit 1113. One end of the high-side control circuit 1112 is connected to the constant voltage transmitting power source V2, the other end of the high-side control circuit 1112 is connected to the first end of the energy storage element 1111, one end of the low-side control circuit 1113 is connected to the second end of the energy storage element 1111, and the other end of the low-side control circuit 1113 is grounded. The charging state of the constant voltage transmitting power source V2 to the energy storage element 1111 and the amount of energy stored in the energy storage element 1111 can be controlled by controlling the conduction state and conduction time of the high-side control circuit 1112 and the low-side control circuit 1113.

[0055] Exemplarily, in the charging stage of the energy storage element 1111, the high-side control circuit 1112 and the low-side control circuit 1113 are both turned on. At this time, the current corresponding to the constant high voltage provided by the constant voltage transmitting power supply V2 passes through the high-side control circuit 1112, the energy storage element 1111 and the low-side control circuit 1113 to the ground in turn, forming an energy charging loop. The constant high voltage provided by the constant voltage transmitting power supply V2 is charged into the energy storage element 1111. By adjusting the conduction time of the high-side control circuit 1112 and the low-side control circuit 1113, the amount of energy stored in the energy storage element 1111 is controlled. In this way, since a constant high voltage is connected, there is no need to set up an additional boost circuit (such as a boost inductor) to charge the energy storage element 1111. The structure is simple, and there is no boost process. The energy loss is low, the heat generation is reduced, and the heat dissipation cost is saved. At the same time, the frequency of emitting lasers by the constant voltage power adjustable module 111 can be made higher, so that the laser radar 1 can emit lasers at a high frequency.

[0056] In addition, the constant voltage power adjustable module 111 provided in the embodiment of the present application can adjust the charging state of the energy storage element 1111 and the amount of energy stored in the energy storage element 1111 when connected to a constant high voltage by controlling the on-state and on-time of the high-side control circuit 1112 and the low-side control circuit 1113. Moreover, since the other end of the low-side control circuit 1113 is grounded, that is, the reference level is always 0V, the low-side control circuit 1113 always has a stable voltage difference, there is no voltage charging process of the bootstrap capacitor, and the response speed is fast. Moreover, when the low-side control circuit 1113 is turned off, the charging loop formed by the high-side control circuit 1112, the energy storage element 1111 and the low-side control circuit 1113 will be immediately turned off. Therefore, the charging state of the energy storage element 1111 and the amount of energy stored in the energy storage element 1111 can be accurately controlled, thereby ensuring the reliability of the laser emission.

[0057] Exemplarily, the laser radar 1 has primary energy and secondary energy. The primary energy requires the energy storage element 1111 to release more energy to measure distant target objects, and the secondary energy requires the energy storage element 1111 to release less energy to measure close target objects. In this way, the energy required for the primary energy and the secondary energy is quite different. The present application controls the charging state of the energy storage element 1111 by the constant voltage transmitting power supply V2 and the amount of energy stored in the energy storage element 1111 by controlling the conduction state and conduction time of the high-side control circuit 1112 and the low-side control circuit 1113, that is, the effect of adjustable output laser power, so that the laser radar 1 can accurately control the energy required for the primary energy and the secondary energy, thereby ensuring the accuracy of the laser emitted by the laser radar 1.

[0058] Here, it is worth noting that the conduction state and conduction time of the high-side control circuit 1112 and the low-side control circuit 1113 are controlled and set by the controller 12. Moreover, when the energy storage element 1111 releases energy, the low-side control circuit 1113 is turned off, and the ground conduction loop of the energy storage element 1111 is quickly cut off, thereby ensuring the energy release accuracy of the energy storage element 1111, and further ensuring the accuracy of the constant voltage transmitting module 112 in emitting lasers.

[0059] Optional, see Figure 6 , the high-side control circuit 1112 may include a first high-side switch (such as Figure 6 Q2) and the first low-side switch (as shown Figure 6 Q3), the drain of the first high side switch Q2 is used to be connected to the constant voltage transmitting power source V2, and the source of the first high side switch Q2 is connected to the first end of the energy storage element 1111. In the following, the energy storage element 1111 is used as the energy storage capacitor (as shown in FIG. Figure 6As shown in FIG. 2 ), an exemplary introduction is given, in which the controlled end of the first high-side switch Q2 is connected to the power control signal, the source of the first low-side switch Q3 is grounded, the drain of the first low-side switch Q3 is connected to the source of the first high-side switch Q2, and the controlled end of the first low-side switch Q3 is used to connect to the power control signal. Here, it can be understood that the power control signal is provided by the controller 12, and the adjustment frequency of the power control signal can be adjusted according to different requirements, so as to adjust the conduction state and conduction time of the first high-side switch Q2 and the first low-side switch Q3.

[0060] Here, it is worth explaining that after the energy release phase of the energy storage element 1111 ends, some energy usually remains in the energy storage capacitor C2. At this time, when the first low-side switch Q3 is in the on state, some of the remaining energy in the energy storage capacitor C2 may be released through the first low-side switch Q3 in the on state, that is, there is energy reflux. In this way, there is a certain amount of energy loss, resulting in more energy being required when charging the energy storage capacitor C2 next time, thereby extending the time required for the energy storage element 1111's charging phase, which is inconsistent with the preset charging time. In this way, the energy release phase of the energy storage element 1111 may be unstable, thereby reducing the reliability of the laser emission.

[0061] In order to avoid the problem that energy backflow exists in the energy storage capacitor C2 after the energy storage element 1111 releases energy, which may lead to a decrease in the reliability of laser emission, in one example, see Figure 7 The high-side control circuit 1112 may further include a second high-side switch (eg Figure 7 As shown in FIG. 1 , the source of the second high-side switch Q4 is connected to the source of the first high-side switch Q2, the drain of the second high-side switch Q4 is connected to the first end of the energy storage capacitor C2, and the controlled end of the second high-side switch Q4 is connected to the power control signal. In this way, the added second high-side switch Q4 can form a pair of switches with the first high-side switch Q2. When the first low-side switch Q3 is in the on state, the second high-side switch Q4 and the first high-side switch Q2 realize capacitor bootstrap, thereby isolating the energy backflow problem of the energy storage capacitor C2, avoiding the problem of energy loss, and thus ensuring the adjustment reliability of the constant voltage power adjustable module 111, that is, ensuring the reliability of the constant voltage transmitting circuit 11 in emitting lasers.

[0062] During the charging process of the energy storage capacitor C2, strong reverse current fluctuations will be generated at both ends of the energy storage capacitor C2. Since it is connected in parallel with the laser 1121 in the constant voltage transmitting module 112, there may be a reverse current flowing to the laser 1121, causing the laser 1121 to be damaged by a large current shock. Moreover, when charging the energy storage capacitor C2, the charging current can be understood as infinite. In this way, there may be a charging current greater than the current threshold required for the laser 1121 to emit light, and then the laser 1121 will emit light by mistake, resulting in the laser radar detection accuracy being affected and the detection being unreliable.

[0063] To do this, in an example, see Figure 8 The high-side control circuit 1112 may also include a current limiting resistor (such as Figure 8 As shown in R), one end of the current limiting resistor R is connected to the drain of the second high-side switch Q4, and the other end of the current limiting resistor R is connected to the first end of the energy storage capacitor C2. In this way, by changing the resistance value of the current limiting resistor R, the current limiting resistor R can limit the charging current flowing from the constant-voltage transmitting power supply V2 to the energy storage capacitor C2 to varying degrees, so that the charging current of the energy storage capacitor C2 is less than the current threshold required for the laser 1121 to emit light, thereby avoiding the problem of false light emission of the laser 1121, ensuring the accuracy and reliability of the laser emission of the constant-voltage transmitting module 112, and further ensuring the detection accuracy and reliability of the laser radar 1.

[0064] Optional, see Fig. 9 The high-side control circuit 1112 may further include an energy conversion element 11121 and an energy conversion switch element (such as Fig. 9As shown in K), the energy conversion element 11121 is connected in series between the constant voltage transmitting power supply V2 and the high side control circuit 1112, one end of the energy conversion switch element K is connected between the energy conversion element 11121 and the high side control circuit 1112, and the other end is grounded. Exemplarily, the energy conversion element 11121 can be an inductor, etc., to which the present application does not make specific restrictions. At this time, the constant voltage power adjustable module 111 also includes an inductor charging stage. During the inductor charging stage, the energy conversion switch element K is turned on, the high side control circuit 1112 and the low side control circuit 1113 are both disconnected, and the current provided by the constant voltage transmitting power supply V2 passes through the inductor and the energy conversion switch element K to the ground. By controlling the conduction time of the energy conversion switch element K, the amount of energy stored in the inductor can be controlled, thereby accurately controlling the charging of the inductor. Then, the energy storage element 1111 is charged. By turning off the high-side control circuit 1112 and turning on the low-side control circuit 1113, the energy stored in the inductor is transferred to the energy storage element 1111 through the high-side control circuit 1112 and the low-side control circuit 1113. In this way, the energy charged in the energy transfer element 11121 during the charging phase can be accurately controlled by the energy transfer switch element K, thereby ensuring that the energy charged in the energy storage element 1111 can be accurately controlled later.

[0065] The specific structure of the high-side control circuit 1112 provided in the embodiment of the present application can be set based on different laser radars 1. For example, if the laser radar 1 does not need to achieve ultra-low power consumption but develops towards miniaturization, the high-side control circuit 1112 can only be set with a single switch to make the structure simple to meet the miniaturization development. This application does not make any specific restrictions on this.

[0066] It needs to be emphasized again that the low-side control circuit 1113 provided in the embodiment of the present application can realize the control of rapid conduction and disconnection of the ground conduction loop of the energy storage capacitor C2 when the energy storage capacitor C2 is charged, so as to accurately control the charging energy of the energy storage capacitor C2 to ensure the accuracy of the energy release of the energy storage capacitor C2, and then ensure the accuracy of the laser emission of the constant voltage emission module 112. Exemplarily, in the charging stage, when the low-side control circuit 1113 is turned off, the charging loop is disconnected to achieve accurate control of the charging energy of the energy storage capacitor C2; in the energy release stage, the low-side control circuit 1113 is turned on, so that the energy released by the energy storage capacitor C2 flows to the laser 1121 to achieve narrow pulse laser emission. Here, it is worth noting that the specific circuit form of the low-side control circuit 1113 can be diverse.

[0067] In an example, see Fig.10 , the low-side control circuit 1113 may include a second low-side switch (such as Fig.10 Q5) and a third low-side switch (as shown Fig.10Q6), the drain of the second low-side switch Q5 is connected to the second end of the energy storage capacitor C2, the controlled end of the second low-side switch Q5 is connected to the energy storage control signal, the drain of the third low-side switch Q6 is grounded, the source of the third low-side switch Q6 is connected to the source of the second low-side switch Q5, and the controlled end of the third low-side switch Q6 is connected to the energy storage control signal. Here, it can be understood that the energy storage control signal is provided by the controller 12, and the adjustment frequency of the energy storage control signal can be adjusted according to different requirements, so as to adjust the conduction state and conduction time of the second low-side switch Q5 and the third low-side switch Q6. Through the second low-side switch Q5 and the third low-side switch Q6, when the energy storage capacitor C2 is transferred, the ground conduction loop of the energy storage capacitor C2 can be quickly turned on and off, thereby accurately controlling the charging energy of the energy storage capacitor C2.

[0068] In an example, see Fig.11 The low-side control circuit 1113 may also include a diode (such as Fig.11 As shown in D2), the anode of the first diode D2 is connected to the second end of the energy storage capacitor C2, and the cathode of the first diode D2 is grounded to play a role in voltage stabilization and protection, thereby ensuring the stability of the constant voltage power adjustable module 111. In this example, one end of the laser 1121 is grounded, and the other end of the laser 1121 is connected between the second end of the energy storage capacitor C2 and the anode of the first diode D2. Taking the laser 1121 as a laser diode as an example, the anode of the laser diode is grounded, and the cathode of the laser diode is connected between the second end of the energy storage capacitor C2 and the anode of the first diode D2. At this time, in the charging stage, the first diode D2 is turned on to charge the energy storage capacitor C2. When the first diode D2 is turned off, the charging loop is disconnected to achieve precise control of the charging energy of the energy storage capacitor C2; in the energy release stage, the energy released by the energy storage capacitor C2 flows into the anode of the laser diode and flows out from the cathode of the laser diode. At this time, since the characteristic of the first diode D2 is unidirectional conductivity, the current flowing out of the cathode of the laser diode will flow into the second end (i.e., the second electrode plate) of the energy storage capacitor C2 to form an energy release loop, thereby ensuring the energy release reliability in the energy release stage.

[0069] Here, it is worth noting that the low-side control circuit 1113 may also include other switching elements, and this application does not make any specific limitation on this.

[0070] In another example, see Fig.12 , the low-side control circuit 1113 may include a fourth low-side switch (such as Fig.12As shown in Q7, the drain of the fourth low-side switch Q7 is grounded, the source of the fourth low-side switch Q7 is connected to the second end of the energy storage capacitor C2, and the controlled end of the fourth low-side switch Q7 is used to access the energy storage control signal. Through a fourth low-side switch Q7, the ground conduction loop of the energy storage capacitor C2 can be quickly turned on and off, thereby accurately controlling the energy conversion of the energy storage capacitor C2 to ensure the energy release accuracy of the energy storage capacitor C2, and further ensure the accuracy of the constant voltage transmitting module 112 in emitting lasers.

[0071] For this example, see Fig.12 The low-side control circuit 1113 may further include a second diode (such as Fig.12 As shown in D3), the anode of the second diode D3 is connected between the input end and the input end of the fourth low-side switch Q7, and the cathode of the second diode D3 is connected between the second end of the energy storage capacitor C2 and the output end of the fourth low-side switch Q7. When the fourth low-side switch Q7 is turned on, the energy storage capacitor C2 starts to charge, and the second diode D3 is reversely cut off to ensure the accuracy of charging; when the fourth low-side switch Q7 is turned off, the energy storage capacitor C2 forms an open circuit, the energy of the energy storage capacitor C2 no longer increases, and the energy storage capacitor C2 starts to release energy. At this time, the energy storage capacitor C2, the laser 1121, the ground end and the second diode D3 form an energy release loop, which ensures the reliability of energy release in the energy release stage.

[0072] For further information, see Fig.13 The low-side control circuit 1113 may further include a fifth low-side switch (eg Fig.13 Q8 as shown), the source of the fifth low-side switch Q8 is connected to the source of the fourth low-side switch Q7, the drain of the fifth low-side switch Q8 is grounded, and the controlled end of the fifth low-side switch Q8 is used to access the energy storage control signal. In this way, by combining the fourth low-side switch Q7 and the fifth low-side switch Q8 to form a low-side control circuit 1113, the fourth low-side switch Q7 and the fifth low-side switch Q8 can realize the control of rapid conduction and disconnection through the ground conduction loop of the energy storage capacitor C2, thereby accurately controlling the energy conversion of the energy storage capacitor C2 to ensure the accuracy of the energy release of the energy storage capacitor C2, and then ensure the accuracy of the laser emitted by the constant voltage emission module 112. Moreover, based on the combination mode of the fourth low-side switch Q7 and the fifth low-side switch Q8, the form of the high-side control circuit 1112 is not limited, which improves the applicability of the constant voltage power adjustable module 111.

[0073] In this way, the constant voltage power adjustable module 111 provided in the embodiment of the present application is provided with an energy storage element 1111, a high-side control circuit 1112 and a low-side control circuit 1113. By controlling the conduction state and conduction time of the high-side control circuit 1112 and the low-side control circuit 1113, the constant voltage transmitting circuit 11 can enable the laser to emit lasers of different powers based on the constant high voltage, and the switching response speed of the low-side control circuit 1113 is fast, which ensures the overall reliability of the constant voltage transmitting circuit 11, so as to be suitable for different laser radars 1 and detection scenarios. Moreover, since the constant voltage transmitting power supply V2 provides a constant high voltage, there is no voltage boost process in the constant voltage transmitting circuit 11, and the energy loss is low.

[0074] In an example, see Fig.14 The constant voltage transmitting module 112 may further include a transmitting control switch Q9, the source of which is connected to the laser 1121, and the laser 1121 is a laser diode (such as Fig.14 Taking the example of the emission control switch Q9 as shown in FIG. 1 , the source of the emission control switch Q9 is connected to the anode of the laser diode D4, the drain of the emission control switch Q9 is connected to the first end of the energy storage element 1111, the controlled end of the emission control switch Q9 is used to receive the emission control signal, and the cathode of the laser diode D4 is connected to the second end of the energy storage element 1111. Here, it can be understood that the emission control signal is provided by the controller 12, and the frequency of the emission control signal can be adjusted according to different requirements, so as to adjust the conduction state and conduction time of the emission control switch Q9.

[0075] During the charging stage of the energy storage element 1111, the emission control switch Q9 is turned off. During the energy release stage of the energy storage element 1111, the emission control switch Q9 is turned on, and the driving current released by the energy storage element 1111 passes through the emission control switch Q9 and the laser 1121 to the ground, forming an energy release loop to drive the laser 1121 to emit light. In this way, by controlling the on and off of the emission control switch Q9, the reliability of the use of the laser 1121 in different modes can be guaranteed, thereby ensuring the accuracy and reliability of the laser emitted by the constant voltage emission module 112, thereby ensuring the detection accuracy and reliability of the laser radar 1 using the constant voltage emission module 112.

[0076] Optionally, the laser 1121 may also be disposed between the energy storage element 1111 and the ground terminal. For example, the cathode of the laser 1121 is connected to the second end of the energy storage element 1111, and the anode of the laser 1121 is grounded. The specific location of the laser 1121 may be selected according to actual needs, and the present application does not impose any specific restrictions on this.

[0077] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A constant voltage transmitting circuit, characterized in that: The constant voltage transmitting circuit comprises: A constant voltage power adjustable module, comprising an energy storage element, wherein the input end of the constant voltage power adjustable module is used to be connected to a constant voltage transmitting power source that outputs a constant voltage, so as to charge the energy storage element through the constant voltage, and the constant voltage power adjustable module can adjust the amount of energy stored in the energy storage element; The constant voltage emission module comprises a laser, which is connected to the energy storage element. The laser is used to emit laser when the energy storage element releases energy. Different energies stored in the energy storage element correspond to different laser emission powers.

2. The constant voltage transmitting circuit according to claim 1, characterized in that: The constant voltage power adjustable module comprises: A high-side control circuit, one end of which is used to be connected to the constant-voltage transmitting power supply, and the other end of which is connected to the first end of the energy storage element; A low-side control circuit, one end of which is connected to the second end of the energy storage element and the other end of which is grounded; Among them, when the energy storage element is charged, the high-side control circuit and the low-side control circuit are both turned on and the on-time is controllable, so as to charge the energy storage element through the constant voltage transmitting power supply and control the amount of energy stored in the energy storage element; when the energy storage element releases energy, at least the low-side control circuit is turned off.

3. The constant voltage transmitting circuit according to claim 2, characterized in that: The high-side control circuit comprises: A first high-side switch, wherein the drain is used to be connected to the constant voltage transmitting power supply, the source is connected to the first end of the energy storage element, and the controlled end is used to access the power control signal; The first low-side switch has a source connected to the ground, a drain connected to the source of the first high-side switch, and a controlled end for receiving the power control signal.

4. The constant voltage transmitting circuit according to claim 3, characterized in that: The high-side control circuit also includes: The second high side switch has a source connected to the source of the first high side switch, a drain connected to the first end of the energy storage element, and a controlled end for receiving the power control signal.

5. The constant voltage transmitting circuit according to claim 4, characterized in that: The high-side control circuit also includes: A current limiting resistor has one end connected to the drain of the second high-side switch and the other end connected to the first end of the energy storage element.

6. The constant voltage transmitting circuit according to any one of claims 3 to 5, characterized in that: The low-side control circuit comprises: A second low-side switch, a drain electrode of which is connected to the second end of the energy storage element, and a controlled end of which is used to access an energy storage control signal; The third low-side switch has a drain connected to the ground, a source connected to the source of the second low-side switch, and a controlled end for receiving the energy storage control signal.

7. The constant voltage transmitting circuit according to any one of claims 3 to 5, characterized in that: The low-side control circuit comprises: The first diode has an anode connected to the second end of the energy storage element and a cathode grounded.

8. The constant voltage transmitting circuit according to claim 2, characterized in that: The low-side control circuit comprises: The fourth low-side switch has a source connected to the ground, a drain connected to the second end of the energy storage element, and a controlled end for receiving an energy storage control signal.

9. The constant voltage transmitting circuit according to claim 8, characterized in that: The low-side control circuit also includes: A fifth low-side switch has a source connected to the source of the fourth low-side switch, a drain connected to the ground, and a controlled end used to access the energy storage control signal.

10. The constant voltage transmitting circuit according to claim 8 or 9, characterized in that: The high-side control circuit comprises: The energy conversion element has one end for connecting to the constant voltage transmitting power source and the other end connected to the first end of the energy storage element.

11. The constant voltage transmitting circuit according to any one of claims 1 to 5 or 8 to 9, characterized in that: The constant voltage transmitting module also includes: An emission control switch, wherein the source is connected to the anode of the laser, the drain is connected to the first end of the energy storage element, the controlled end is used to receive an emission control signal, and the cathode of the laser is connected to the second end of the energy storage element; Wherein, when the energy storage element is charged, the emission control switch is turned off, and when the energy storage element is released, the emission control switch is turned on.

12. A laser radar, characterized in that: include: The constant voltage transmitting circuit according to any one of claims 1 to 11; A controller connected to the constant voltage power adjustable module and the constant voltage transmitting module; The laser detection circuit is connected to the controller and is used to receive the echo light formed by the laser emitted by the constant voltage emission circuit being reflected by the target object.

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