Laser transmitter, laser radar and light field uniformizing method

Abstract

The invention is suitable for the technical field of laser control, and particularly relates to a laser transmitter, a laser radar and a light field uniformizing method, the laser transmitter comprises transmitting units, a plurality of transmitting units are electrically connected to form a transmitting array, and the transmitting array is provided with at least two electric access nodes; the control unit is used for controlling the electric energy input parameter of the specified electric access node so as to operate the specified transmitting unit under the light energy output parameter; wherein the ratio or the difference value of the electric energy input parameter and the light energy output parameter is positively correlated with a first path length, and the first path length is the length of an electric connection path from the specified transmitting unit to the specified electric access node. By introducing the control unit, the electric energy input parameters of the transmitting units with different electric connection paths can be independently controlled, so that a good basis is provided for correcting the output power difference of the transmitting units.

Description

Technical Field

[0001] The present application belongs to the field of laser control technology, and in particular to a laser transmitter, a laser radar and a light field uniformity method. Background Art

[0002] Laser emission array is an integrated optical device composed of multiple lasers. It is usually used in laser radar, optical communication, medical and other fields. In the laser emission array, each laser is integrated together to form a set of arrangement structures similar to a dot matrix. Each laser is like a pixel in the dot matrix, capable of emitting high-power and high-efficiency laser beams.

[0003] Ideally, lasers with the same parameters can generate the same laser light, so that the output light of the laser emission array can uniformly meet the usage requirements.

[0004] However, in practical applications, factors such as laser preparation errors, parasitic capacitance / inductance caused by circuit connections, and optical path preparation errors may have an adverse effect on the uniformity of the output light field of the laser emission array. Even if this effect is not significant in some cases, it will still cause non-negligible errors for precision instruments (for example, lidar).

[0005] Therefore, how to provide a laser transmitter, laser radar and light field uniformity method with a uniform light field has become a technical problem that urgently needs to be solved in the industry. Summary of the invention

[0006] The embodiments of the present application provide a laser transmitter, a laser radar and a light field uniformity method, which can solve the problem of uneven emission light field.

[0007] In a first aspect, an embodiment of the present application provides a laser transmitter, comprising:

[0008] A transmitting unit, wherein a plurality of the transmitting units are electrically connected to form a transmitting array, and the transmitting array has at least two electrical access nodes;

[0009] A control unit for controlling the power input parameters of the designated electrical access node to operate the designated transmitting unit under the light output parameters;

[0010] The ratio or difference between the electric energy input parameter and the light energy output parameter is positively correlated to a first path length, and the first path length is the length of the electrical connection path from the designated transmitting unit to the designated electrical access node.

[0011] The above-mentioned laser transmitter introduces a control unit so that the power input parameters of the transmitting units with different electrical connection paths can be independently controlled, thereby providing a good basis for correcting the output power differences of each transmitting unit; further, considering that error factors such as parasitic capacitance and parasitic inductance generated in the circuit connection are related to the electrical connection path, the ratio or difference between the power input parameter and the light energy output parameter can be set by the first path length to correct the error generated by the circuit part, so that the output light of the laser transmitter has better uniformity.

[0012] In a possible implementation manner of the first aspect, the electrical access node includes a first type node and a second type node, any of the transmitting units is electrically connected to at least one of the first type nodes and one of the second type nodes, and the designated electrical access nodes corresponding to each of the designated transmitting units are all first type nodes.

[0013] In the above-mentioned laser emitter, each light-emitting unit should be at least a two-terminal device to introduce a potential difference to provide energy input for photoelectric conversion. When forming a laser emission array, the same electrical access terminal of the light-emitting unit can be used as a control node for the electrical energy input parameter, so that other electrical access terminals can emit the light field uniformly without additional control.

[0014] In a possible implementation manner of the first aspect, the laser transmitter further includes an energy storage unit, the energy storage unit is electrically connected to the first type of node, and the electric energy input parameter is positively correlated with the charging time of the energy storage unit.

[0015] An energy storage unit is introduced into the above-mentioned laser transmitter. For some narrow pulse width and high power transmitting units, such as VCSEL, common electric drive devices cannot output appropriate energy (such as a constant current source with a larger current), and power control is also difficult. By introducing an energy storage unit, such as an energy storage capacitor, the power control of appropriate energy can be achieved by controlling the charging time of the energy storage unit, thereby solving the above-mentioned problem.

[0016] In a possible implementation of the first aspect, the ratio or difference between the electrical energy input parameter and the light energy output parameter is positively correlated to the sum of the first path length and the second path length, and the second path length is the electrical connection path length from the designated emission unit to the second type node corresponding to the designated emission unit.

[0017] The above-mentioned laser emitter further takes into account the second path length, so that when the ratio or difference between the electrical energy input parameter and the light energy output parameter is set, the circuit architecture factors can be more comprehensively considered and the errors generated by the circuit part can be better corrected, thereby making the output light of the laser emitter have better uniformity.

[0018] In a second aspect, an embodiment of the present application provides a laser radar, comprising a laser transmitter as described in any one of the first aspects above.

[0019] In a third aspect, an embodiment of the present application provides a method for uniform emission light field, characterized by comprising:

[0020] Acquire a compensation function according to the electrical connection path structure of the emission unit array; the compensation function is a function of the relationship between the light energy output parameter, the electrical energy input parameter and the electrical connection path length of any emission unit in the emission unit array;

[0021] Acquire at least one designated emitting unit of the intended emitting light field, the light energy output parameter of the designated emitting unit, and the length of the electrical connection path from the designated emitting unit to the designated electrical access node, and calculate the electrical energy input parameter of the designated emitting unit according to the compensation function;

[0022] The power is connected to the designated power access node according to the power input parameter, and the designated transmitting unit is operated.

[0023] The above method independently controls the power input parameters of the transmitting units with different electrical connection paths through the compensation function, thereby providing a good basis for correcting the output power differences of each transmitting unit; further, considering that error factors such as parasitic capacitance and parasitic inductance generated in the circuit connection are related to the electrical connection path, the power input parameters can be set by the length of the electrical connection path to correct the errors generated by the circuit part, so that the output light of the laser transmitter has better uniformity.

[0024] In a possible implementation manner of the third aspect, the step of acquiring a compensation function according to an electrical connection path structure of the transmitting unit array includes:

[0025] Selecting a test unit according to the electrical connection path structure of the transmitting unit array;

[0026] Acquire the photoelectric characteristic function of the test unit; the variables of the photoelectric characteristic function at least include the electric energy input parameter of the test unit and the light energy output parameter of the test unit;

[0027] The compensation function is obtained by fitting the photoelectric characteristic function and the electrical connection path of the test unit.

[0028] The above method aims to solve the problem of poor consistency of laser optoelectronic characteristics caused by factors such as laser preparation errors, parasitic capacitance / inductance caused by circuit connection, and optical path preparation errors. The method performs fitting based on the optoelectronic characteristic function of the test unit, thereby obtaining a compensation function that is closer to the actual characteristics of each light-emitting unit in the laser, thereby providing a more accurate data basis for the correction of light field uniformity.

[0029] Furthermore, by adjusting the number and positions of the test units, a more targeted uniform light field can be obtained for laser emitters of different structures. For example, in a laser emitter used as a lidar, the uniformity requirement of the central light field may be higher. In this case, the test units can be set at a higher density in the area corresponding to the central light field, or even all the light-emitting units in the designated area of ​​the central light field can be set as test units.

[0030] Furthermore, for laser emitters with the same or similar structures composed of light-emitting units manufactured in the same batch, the compensation function obtained by fitting can be universally used, thereby reducing the amount of testing and fitting calculations.

[0031] In a possible implementation manner of the third aspect, the step of obtaining the photoelectric characteristic function of the test unit includes:

[0032] Connecting electric energy to the electric access node of the test unit according to the electric energy input test value to obtain the light energy output test value of the test unit under the electric energy input test value;

[0033] The power input test value is updated by a preset method, and the step of connecting power to the electrical access node of the test unit according to the power input test value is returned until a preset test stop condition is met, thereby obtaining a plurality of test value pairs; wherein the test value pairs are one-to-one corresponding power input test values ​​and light output test values;

[0034] The photoelectric characteristic function of the test unit is obtained by fitting according to each of the test value pairs.

[0035] The above method obtains the light energy output value of the test unit under the electrical connection path from the test unit to the specified electrical access node under different electrical energy inputs, and obtains the luminescence characteristics of the test unit under different peak powers, thereby providing a good control basis for the laser to meet different requirements (for example, working at a specified power or at a specified luminescence intensity).

[0036] In a possible implementation manner of the third aspect, the photoelectric characteristic function is obtained by linearly fitting each of the test value pairs, and a determination coefficient of the photoelectric characteristic function is not less than 0.95.

[0037] The above method reduces the fitting complexity and improves the fitting speed through linear fitting, and further limits the fitting accuracy through the determination coefficient, so as to quickly and accurately obtain the photoelectric characteristic function of the test unit.

[0038] In a possible implementation manner of the third aspect, the step of accessing electric energy to the designated electric access node according to the electric energy input parameter and operating the designated transmitting unit includes:

[0039] Acquire the input power of the designated transmitting unit according to the electric energy input parameter;

[0040] Calculating the charging time of the energy storage unit electrically connected to the designated electrical access node according to the input power and charging the energy storage unit;

[0041] When it is determined that the energy storage unit is fully charged, the designated transmitting unit is operated by supplying energy through the energy storage unit.

[0042] The above method provides an energy input logic based on the energy storage unit for specific light-emitting units, such as high-power narrow-pulse-width light-emitting units, and on this basis, uses the charging time of the energy storage unit as the correction basis of the compensation function, thereby providing a more adaptable compensation scheme for the light-emitting unit (laser transmitter) based on the energy storage unit.

[0043] In a fourth aspect, an embodiment of the present application provides a device for uniformly transmitting a light field, comprising:

[0044] A compensation function module, used to obtain a compensation function according to the electrical connection path structure of the emitting unit array; the compensation function is a relationship function between the light energy output parameter, the electrical energy input parameter and the electrical connection path length of any emitting unit in the emitting unit array;

[0045] An input parameter module, used to obtain at least one designated emitting unit of the intended emitting light field, the light energy output parameter of the designated emitting unit, and the length of the electrical connection path from the designated emitting unit to the designated electrical access node, and calculate the electrical energy input parameter of the designated emitting unit according to the compensation function;

[0046] An operation module is used to connect electric energy to the designated electric access node according to the electric energy input parameter, and operate the designated transmitting unit.

[0047] In a fifth aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method for uniform emission light field described in any one of the third aspects above is implemented.

[0048] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for uniform emission light field described in any one of the third aspects above is implemented.

[0049] In a seventh aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the method for uniform emission light field described in any one of the third aspects above.

[0050] It can be understood that the beneficial effects of the second aspect and the fourth to seventh aspects mentioned above can be found in the relevant descriptions of the first aspect and the third aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below 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.

[0052] Figure 1 is a first structural schematic diagram of a laser transmitter provided in an embodiment of the present application;

[0053] Figure 2 is a second structural schematic diagram of the laser transmitter provided in an embodiment of the present application;

[0054] Figure 3 It is a schematic diagram of the process of the method for uniform emission light field provided in an embodiment of the present application;

[0055] Figure 4 It is a schematic diagram of the structure of a transmitting module of a two-bit addressable transmitting array in a laser radar provided in an embodiment of the present application;

[0056] Figure 5 It is a schematic diagram of the process of the laser radar light field uniformity method provided in the embodiment of the present application;

[0057] Figure 6 is a schematic diagram of the structure of a device for uniform emission light field provided in an embodiment of the present application;

[0058] Figure 7 It is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application.

[0059] Reference numerals:

[0060] Control unit 10; transmitting unit 20; transmitting array 200; first type node 31; second type node 32; compensation function module 601; input parameter module 602; operation module 603; terminal device 70; processor 701; memory 702; computer program 703. DETAILED DESCRIPTION

[0061] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0062] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0063] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0064] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0065] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0066] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0067] A laser emission array (in some cases, referred to as a laser emitter or emission array 200 in this application) is a system composed of multiple lasers (in some cases, referred to as an emission unit 20 or a light-emitting unit in this application) that can emit laser beams simultaneously or sequentially. The laser can be a vertical cavity surface emitting laser or an edge emitting laser, which is not limited in this application. This technology is widely used in many applications, including communications, sensing, and medical fields.

[0068] Common architectures of laser emission arrays include, but are not limited to:

[0069] 1. Linear laser emission array:

[0070] A linear laser array is a structure that arranges multiple lasers in a row. These lasers can work simultaneously or be activated selectively as needed.

[0071] 2. Two-dimensional laser emission array:

[0072] Two-dimensional laser arrays are lasers that are arranged in two dimensions to form a two-dimensional structure. This array allows for a higher level of control, allowing the direction and shape of the beam to be controlled.

[0073] 3. Surface-encapsulated laser emission array:

[0074] In a surface-mount laser array, multiple lasers are packaged on a small chip. This compact structure is suitable for space-constrained applications such as fiber-optic communications.

[0075] Furthermore, in order to realize the function of the laser emission array, it is usually necessary to design and manufacture its circuit structure. Taking a two-dimensional addressable emission array as an example, its electrical connection forms include but are not limited to:

[0076] 1. Wire Bonding:

[0077] Gold wire bonding is a common method for connecting lasers to chips. The laser's electrodes are connected to the corresponding circuits on the chip through tiny metal wires (usually gold). This method is simple and low-cost, but is limited by the size of the wire and the number of connections.

[0078] 2.CSP packaging (Chip Scale Packaging):

[0079] CSP packaging is a compact packaging technology that packages the entire chip into a package that is almost the same size as the chip. This packaging method usually reduces the size of the component and improves the integration. In CSP packaging, solder ball connection or other micro-connection technology is usually used to connect the laser to the external circuit.

[0080] In some other types of laser emission arrays, integration with other types of devices (eg, optical modulators, drivers, energy storage units, detection units, etc.) can also be achieved through on-board circuits (eg, PCB boards).

[0081] Generally speaking, since the emission units 20 constituting the laser emitter are usually laser emission units 20 having the same or similar architecture, the light emission consistency of each emission unit 20 in the array is predictable, that is, the prior art generally believes that each emission unit 20 in the laser emission array 200 can generate the same light under the same energy excitation.

[0082] This consistency expectation is reasonable and usable in some scenarios, but in other precision applications, due to tiny errors in the preparation of each laser emitter, errors in the electrical connection of the laser emission array 200 (such as parasitic capacitance / inductance), and optical path errors, it is still possible that each emission unit 20 in the laser emission array 200 generates light with parameter errors under the same energy excitation, and such errors are often not taken seriously.

[0083] In order to reduce the impact of these errors, the present application embodiment provides a laser transmitter, such as Figure 1 As shown, including:

[0084] A transmitting unit 20, wherein a plurality of the transmitting units 20 are electrically connected to form a transmitting array 200, and the transmitting array 200 has at least two electrical access nodes;

[0085] A control unit 10, for controlling the power input parameters of the designated electrical access node to operate the designated transmitting unit 20 under the light energy output parameters;

[0086] The ratio or difference between the electric energy input parameter and the light energy output parameter is positively correlated to a first path length, and the first path length is the length of the electrical connection path from the designated transmitting unit 20 to the designated electrical access node.

[0087] In this embodiment, the emission unit 20 is the smallest unit that converts electrical energy excitation into light energy output, and the emission array 200 composed of multiple emission units 20 can be controlled to operate the emission units 20 at specified positions under a specified excitation mode.

[0088] The transmitting unit 20 can be a two-terminal device or a three-terminal device, or a transmitting unit 20 of other architectures or a combination of several architectures. For a two-terminal device, at least two electrical access nodes can be understood as corresponding to the two ends of the two-terminal device respectively; for a three-terminal device, taking the source, drain and gate as the three terminals of the three-terminal device as an example, at least two electrical access nodes can be understood as corresponding to the source and drain respectively, and there can also be an additional electrical access node corresponding to the gate.

[0089] An electrical access node can be understood as the endpoint of an electrical connection path, which is usually used to access electrical energy, ground or connect control signals. The electrical connection path starting from the electrical access node can be connected to the designated ends of multiple transmitting units 20 in sequence. Since the electrical signals on the electrical connection path are consistent, the designated ends of the transmitting units 20 on a specific electrical connection path are connected to the same electrical signal.

[0090] As mentioned above, in some cases it is believed that the emitting units 20 connected to the same electrical signal (a two-terminal device can be understood as the two-terminal signals are the same, a three-terminal device can be understood as the three-terminal signals are the same, and others are similar) can emit the same light beam. This is a consideration under more ideal circumstances (or an approximation). In fact, since the path lengths of the electrical connection paths connecting each emitting unit 20 are not the same, and no matter what material or method the electrical connection path is constructed through, its resistance, parasitic capacitance and other factors are objectively present. As the length of the electrical connection path increases, this error will be accumulated, resulting in an increasingly non-negligible difference in the emitted light.

[0091] Therefore, this embodiment provides a control unit 10 for controlling and reducing this part of the error, so as to overcome the technical bias in the prior art that the transmitting units 20 with the same architecture can emit the same light beam with the same electrical energy excitation. In some simpler examples, the control unit 10 can be understood as a control logic for providing higher electrical energy to the transmitting units 20 with a longer electrical connection path under the premise of having the same output light parameters, that is, the ratio or difference between the electrical energy input parameter and the light energy output parameter is positively correlated to the first path length, and the first path length is the length of the electrical connection path from the designated transmitting unit 20 to the designated electrical access node.

[0092] In some optional embodiments, in addition to the electrical connection path, other factors that may cause errors may also be considered and weakened or eliminated via the control unit 10 .

[0093] The beneficial effects of this embodiment are:

[0094] By introducing the control unit 10, the power input parameters of the transmitting units 20 with different electrical connection paths can be independently controlled, thereby providing a good basis for correcting the output power differences of each transmitting unit 20; further, considering that error factors such as parasitic capacitance and parasitic inductance generated in the circuit connection are related to the electrical connection path, the ratio or difference between the power input parameter and the light energy output parameter can be set by the first path length to correct the error generated by the circuit part, so that the output light of the laser transmitter has better uniformity.

[0095] According to the above embodiment, in yet another embodiment:

[0096] refer to Figure 2 The electrical access node includes a first type node 31 and a second type node 32. Any of the transmitting units 20 is electrically connected to at least one of the first type nodes 31 and one of the second type nodes 32. The designated electrical access node corresponding to each of the designated transmitting units 20 is the same as the first type node 31.

[0097] In the previous embodiment, the control unit 10 controls the electrical signals at each end of the transmitting unit 20 . This control depends on the architecture of the transmitting unit 20 and is highly complex.

[0098] In this embodiment, the complexity is reduced by classifying the electrical access nodes.

[0099] Specifically, a two-terminal device (or the source and drain of a three-terminal device) is distinguished, and the same end of each light-emitting unit is electrically connected to the same type of node. For example, the first end of each emitting unit 20 is electrically connected to the first type of node 31 through a first electrical connection path group (of course, in some optional embodiments, the first type of node 31 may be one node or multiple nodes, and correspondingly, the first electrical connection path group may be one or more, and the subsequent description of the second electrical connection path group and the second type of node 32 is similar), and the second end of each emitting unit 20 is electrically connected to the second type of node 32 through a second electrical connection path group.

[0100] Furthermore, the first type of node 31 is configured as a node for accessing excitation power, and the second type of node 32 is configured as a grounded node. Then, the second end of each transmitting unit 20 is grounded, and only the power input at the first type of node 31 is considered to achieve access energy control for the first end of each transmitting unit 20, thereby simplifying the control complexity of the control unit 10.

[0101] The beneficial effects of this embodiment are:

[0102] Each light-emitting unit should be at least a two-terminal device to introduce a potential difference to provide energy input for photoelectric conversion. When forming the laser emission array 200, the same electrical access terminal of the light-emitting unit can be used as a control node for the electrical energy input parameter, so that other electrical access terminals can emit the light field uniformly without additional control.

[0103] According to any of the above embodiments, in yet another embodiment:

[0104] The laser transmitter further includes an energy storage unit, which is electrically connected to the first type of node 31 , and the electric energy input parameter is positively correlated with the charging time of the energy storage unit.

[0105] This embodiment provides a preferred method for inputting excitation electrical energy.

[0106] Specifically, for a laser emission array 200 composed of some specific types of emission units 20, a conventional current source (or other types of power sources such as a voltage source) may not be able to meet its instantaneous power requirements, or the cost of meeting such requirements is unacceptable (such as introducing a large-volume power supply, or introducing a more expensive power supply, etc.). In this case, the solution provided in this embodiment can be adopted to achieve a better balance between functionality and cost.

[0107] The above situation will be exemplified below by taking a two-dimensional addressable laser array based on VCSEL as an example.

[0108] The two-dimensional addressable laser converts electrical energy and optical energy through matching high-side drivers and low-side drivers to achieve nanosecond-level high-power pulses. Generally, the pulse width is 3-10ns, and the peak optical power is determined by the system and product architecture, generally 20W-50W, and the corresponding current is 4A-15A. Due to the characteristics of narrow pulse width, few drive devices can meet such a demand for constant current output sources.

[0109] Therefore, the solution of this embodiment can be adopted to introduce an energy storage unit, that is, an energy storage capacitor to store and convert energy.

[0110] Of course, the problem that different output impedances will produce different loop currents cannot be solved simply by energy storage units. At the same time, another similar problem cannot be solved simply by energy storage units, namely:

[0111] The emitting device adopts a matrix addressable method to prepare electrodes. The parasitics of different emitting units 20 relative to the driver are naturally different, so that the high-energy pulses given by the driving circuit naturally face different output impedances, thereby generating different currents, and thus different emitting units 20 output different optical powers;

[0112] The energy storage unit is a narrow pulse width, high power emission unit 20, such as VCSEL, which provides a good power input method, but the problem of uneven optical power can still be solved by the control unit 10.

[0113] In some cases, the introduction of the energy storage unit may cause some additional errors in light emission uniformity, which can also be resolved by the control unit 10 .

[0114] Furthermore, for the energy storage unit, one of its purposes is to meet the energy input demand of the transmitting unit 20 by charging the energy storage unit. It follows that the control of the energy input to the transmitting unit 20 still needs to be implemented through the energy storage unit. Therefore, in this case, the control object of the control unit 10 can be the electrical parameters such as the total energy amount / density / voltage / current when the energy storage unit supplies energy to the transmitting unit 20.

[0115] The beneficial effects of this embodiment are:

[0116] With the introduction of energy storage units, for some narrow pulse width and high power transmitting units 20, such as VCSEL, common electric drive devices cannot output appropriate energy (such as a constant current source with a larger current), and power control is also difficult. By introducing energy storage units, such as energy storage capacitors, the power control of appropriate energy can be achieved by controlling the charging time of the energy storage unit, thereby solving the above problems.

[0117] According to any of the above embodiments, in yet another embodiment:

[0118] The ratio or difference between the electrical energy input parameter and the light energy output parameter is positively correlated to the sum of the first path length and the second path length, and the second path length is the electrical connection path length from the designated emission unit 20 to the second type node 32 corresponding to the designated emission unit 20.

[0119] For the transmitting unit 20 of the DC two-terminal device, the error caused by the length of the electrical connection path from the grounded electrical access node to the transmitting unit 20 is lower than the error caused by the length of the electrical connection path from the electrical access node for power access to the transmitting unit 20. However, in a scenario where excellence is sought (i.e., a scenario where better light field uniformity is required), the error caused by the length of the electrical connection path from this part of the grounded electrical access node to the transmitting unit 20 still needs to be considered. Therefore, this embodiment provides a solution that simultaneously considers the first path length and the second path length.

[0120] In a possible implementation, the path length from each electrical access node to the transmitting unit 20 should be considered, that is, the ratio or difference between the electrical energy input parameter and the optical energy output parameter is positively correlated to the path length from each electrical access node to the transmitting unit 20 .

[0121] The beneficial effects of this embodiment are:

[0122] The second path length is further considered, so that when the ratio or difference between the electrical energy input parameter and the light energy output parameter is set, the circuit architecture factors can be more comprehensively considered, and the errors generated by the circuit part can be better corrected, so that the output light of the laser emitter has better uniformity.

[0123] The above-mentioned embodiment of the laser transmitter provides a hardware architecture that can improve the uniformity of the emission light field. This uniformity improvement depends on the control of the power input parameters by the control unit 10. In order to better illustrate the control scheme of the control unit 10, the embodiment of the present application also provides a method for uniform emission light field, such as Figure 3 As shown, including:

[0124] Step 302, obtaining a compensation function according to the electrical connection path structure of the array of the emitting units 20; the compensation function is a function of the relationship between the light energy output parameter, the electrical energy input parameter and the electrical connection path length of any emitting unit 20 in the array of the emitting units 20;

[0125] Step 304, obtaining at least one designated transmitting unit 20 for emitting a light field, light energy output parameters of the designated transmitting unit 20, and the length of an electrical connection path from the designated transmitting unit 20 to a designated electrical access node, and calculating the electrical energy input parameters of the designated transmitting unit 20 according to the compensation function;

[0126] Step 306 , connecting electric energy to the designated electric access node according to the electric energy input parameter, and operating the designated transmitting unit 20 .

[0127] The execution subject of this embodiment may be the control unit 10 of the above-mentioned laser emitter, or a control / processing unit of any laser emission array 200 .

[0128] As mentioned above, the ratio or difference between the electrical energy input parameter and the optical energy output parameter is positively correlated to the first path length, and the first path length is the length of the electrical connection path from the designated emitting unit 20 to the designated electrical access node. That is to say, from the perspective of control logic, it is necessary to obtain the error value of each emitting unit 20 based on the electrical connection path structure in order to compensate for it, thereby weakening or eliminating the error to obtain better light field uniformity.

[0129] For other laser emitting arrays 200 with different structures from the above laser emitters, the principles are similar, so the concept of compensation function is introduced in this embodiment. In some optional implementations, the dependent variable (or the solution) of the compensation function can be understood as the electric energy input parameter of each emitting unit 20, and the independent variable can be understood as the light energy output parameter of each emitting unit 20, that is, the parameters of the required emitted light (such as luminous intensity, wavelength, etc.), and the length of the electrical connection path of each emitting unit 20. In other optional implementations, the compensation function can also include other independent variables, such as the structural parameters of each emitting unit 20, the manufacturing error parameters of each emitting unit 20, etc.

[0130] Then, through the pre-constructed and acquired compensation function, the compensation function can be calculated at any time according to the working parameters of the laser transmitter (for example, the three transmitting units 20 ABC are required to output laser light with a wavelength of β at an intensity of α), so as to obtain the power input parameters of each designated transmitting unit 20 (for example, the two electrical access nodes corresponding to A are respectively input with energies of a1 and a2, the two electrical access nodes corresponding to B are respectively input with energies of b1 and b2, and the two electrical access nodes corresponding to C are respectively input with energies of c1 and c2, among which a2, b2, and c2 can be ground nodes and thus do not need to be controlled).

[0131] The beneficial effects of this embodiment are:

[0132] The power input parameters of the transmitting units 20 with different electrical connection paths are independently controlled through the compensation function, thereby providing a good basis for correcting the output power differences of each transmitting unit 20; further, considering that error factors such as parasitic capacitance and parasitic inductance generated in the circuit connection are related to the electrical connection path, the power input parameters can be set according to the length of the electrical connection path to correct the errors generated by the circuit part, so that the output light of the laser transmitter has better uniformity.

[0133] According to the above method embodiment, in yet another embodiment:

[0134] The step of obtaining the compensation function according to the electrical connection path structure of the array of the transmitting unit 20 comprises:

[0135] Selecting a test unit according to the electrical connection path structure of the array of the transmitting unit 20;

[0136] Acquire the photoelectric characteristic function of the test unit; the variables of the photoelectric characteristic function at least include the electric energy input parameter of the test unit and the light energy output parameter of the test unit;

[0137] The compensation function is obtained by fitting the photoelectric characteristic function and the electrical connection path of the test unit.

[0138] It is worth noting that the compensation function acquisition step provided in this embodiment can be performed before the step of "obtaining at least one designated emission unit 20 of the intended emitted light field, the light energy output parameters of the designated emission unit 20, and the length of the electrical connection path from the designated emission unit 20 to the designated electrical access node" is executed, that is, during the use stage of the laser transmitter, or it can be performed during the configuration stage of the laser transmitter.

[0139] The latter can be understood as the factory configuration of the laser transmitter before use to adapt it to subsequent specific applications, such as fiber optic communication or lidar. The former can be understood as the update or re-establishment of the compensation function to prevent possible device aging over time / degradation in harsh environments.

[0140] In this embodiment, the selection of the test unit is related to factors such as the number and arrangement structure of the emission units 20 in the laser emission array 200 and the performance differences of the emission units 20 .

[0141] In terms of the number of transmitting units 20, for a large number of transmitting units 20, the workload of testing each transmitting unit 20 is large and the necessity is not high, so a sampling test can be performed on each transmitting unit 20 to fit the overall compensation function. For a small number of transmitting units 20, each transmitting unit 20 can be tested. In this case, the uniformity compensation effect of the emitted light field can be maximized.

[0142] In terms of the arrangement structure of the emitting units 20, for some regular geometric arrangements, iconic sampling can be performed according to their geometric configurations. For example, for a linear laser emitting array 200 with uniform intervals, it can be expected that the influence of the electrical connection path on each emitting unit 20 is linear. Then, under the premise of considering the test capability and time, the emitting units 20 at the head and tail of the linear laser emitting array 200 can be selected to complete the test to the minimum extent. Of course, selecting more emitting units 20 in the linear array for testing will help improve the accuracy of the fitting results.

[0143] As for the performance difference of the transmitting units 20, as mentioned above, the manufacturing errors and optical path errors between the transmitting units 20 may also be the reasons for the uneven emission light field, but such errors can be corrected to a certain extent through sampling testing. At the same time, for multiple laser emission arrays 200, the cost of testing each laser emission array 200 separately is higher and may be unacceptable. Therefore, factors such as the manufacturing batch and manufacturer of the transmitting unit 20 can be considered. For example, the transmitting units 20 of the same batch from the same manufacturer can be regarded as units with similar performance, thereby improving the correction reliability of the sampling test. In addition, the compensation functions of multiple laser emitters with the same or similar structures manufactured using the transmitting units 20 of the same batch from the same manufacturer can be shared.

[0144] It is worth noting that the above factors can be considered in combination. For example, in the application scenario of laser radar, the target facing the central light field is a relatively key identification area, so the uniformity requirement of the central light field may be better. In this case, the corresponding transmitting units 20 near the central light field can be selected as test units for testing to make the error compensation near the central light field more accurate.

[0145] The beneficial effects of this embodiment are:

[0146] In order to solve the problem of poor consistency of laser optoelectronic characteristics caused by factors such as laser preparation errors, parasitic capacitance / inductance caused by circuit connection, and optical path preparation errors, a fitting based on the optoelectronic characteristic function of the test unit is performed to obtain a compensation function that is closer to the actual characteristics of each light-emitting unit in the laser, thereby providing a more accurate data basis for the correction of light field uniformity.

[0147] Furthermore, by adjusting the number and positions of the test units, a more targeted uniform light field can be obtained for laser emitters of different structures. For example, in a laser emitter used as a lidar, the uniformity requirement of the central light field may be higher. In this case, the test units can be set at a higher density in the area corresponding to the central light field, or even all the light-emitting units in the designated area of ​​the central light field can be set as test units.

[0148] Furthermore, for laser emitters with the same or similar structures composed of light-emitting units manufactured in the same batch, the compensation function obtained by fitting can be universally used, thereby reducing the amount of testing and fitting calculations.

[0149] According to any of the above method embodiments, in yet another embodiment:

[0150] The step of obtaining the photoelectric characteristic function of the test unit comprises:

[0151] Connecting electric energy to the electric access node of the test unit according to the electric energy input test value to obtain the light energy output test value of the test unit under the electric energy input test value;

[0152] The power input test value is updated by a preset method, and the step of connecting power to the electrical access node of the test unit according to the power input test value is returned until a preset test stop condition is met, thereby obtaining a plurality of test value pairs; wherein the test value pairs are one-to-one corresponding power input test values ​​and light output test values;

[0153] The photoelectric characteristic function of the test unit is obtained by fitting according to each of the test value pairs.

[0154] The above embodiment has described in detail the selection of the test unit, that is, for the laser emission array 200, a balance between the test cost and the compensation effect can be achieved through sampling testing combined with the solution of the above embodiment.

[0155] Similar cost-effectiveness balancing issues also exist in the testing of individual test units.

[0156] For each test unit, the impact of factors that produce errors at different powers may be unpredictable. For example, the impact of parasitic capacitance on high-frequency signals is obviously greater. Therefore, within the working range of the test unit, testing of different electrical energy input parameters and optical energy output parameters (transmitting power or input power, or, in some other implementations, it may also be input current / voltage / signal conversion frequency, etc.) is necessary but not exhaustive.

[0157] At this point, typical intervals or points can be selected to obtain the power input test value and the light energy output test value, and fitting can be performed on this basis.

[0158] Among them, the typical intervals or points can be understood as the intervals and points corresponding to the common working states (emission light field intensity, wavelength, etc.) of the laser transmitter.

[0159] On this basis, the photoelectric characteristic function obtained by testing and fitting based on typical intervals or points will have better compatibility with these common working conditions to achieve a more ideal compensation effect.

[0160] The beneficial effects of this embodiment are:

[0161] By obtaining the light energy output value of the test unit under the electrical connection path from the test unit to the specified electrical access node under different electrical energy inputs, the luminescence characteristics of the test unit under different peak powers are obtained, providing a good control basis for the laser to meet different requirements (for example, working at a specified power or at a specified luminescence intensity).

[0162] According to any of the above method embodiments, in yet another embodiment:

[0163] The photoelectric characteristic function is obtained by linearly fitting each of the test value pairs, and the determination coefficient of the photoelectric characteristic function is not less than 0.95.

[0164] As for the fitting of the photoelectric characteristic function, its complexity will have a multiple impact on the overall testing work (because the fitting needs to be repeated for each test unit). Therefore, unlike the process of fitting each photoelectric characteristic function into a compensation function, the process of fitting the test value pair into the photoelectric characteristic function requires a simpler and more efficient solution. This embodiment reduces the fitting complexity and improves the fitting speed through linear fitting, and further limits the accuracy of the fitting through the determination coefficient, so as to quickly and accurately obtain the photoelectric characteristic function of the test unit.

[0165] According to any of the above method embodiments, in yet another embodiment:

[0166] The step of connecting the electric energy to the designated electric access node according to the electric energy input parameter and operating the designated transmitting unit 20 comprises:

[0167] Acquire the input power of the designated transmitting unit 20 according to the electric energy input parameter;

[0168] Calculating the charging time of the energy storage unit electrically connected to the designated electrical access node according to the input power and charging the energy storage unit;

[0169] When it is determined that the energy storage unit is fully charged, the designated transmitting unit 20 is operated by supplying energy through the energy storage unit.

[0170] Similar to the description of the preferred method of inputting excitation power in the above-mentioned laser transmitter embodiment, for a laser emission array 200 composed of some specific types of emission units 20, a conventional current source (or other types of power sources such as a voltage source) may not be able to meet its instantaneous power requirements, or the cost of meeting such requirements is unacceptable (such as introducing a large-volume power supply, or introducing a higher-priced power supply, etc.), and therefore, it is necessary to introduce an energy storage unit.

[0171] One of the purposes of the energy storage unit is to meet the energy input demand of the transmitting unit 20 by charging the energy storage unit. Then, the control of the energy input to the transmitting unit 20 still needs to be implemented through the energy storage unit.

[0172] For different types of energy storage units, the control logic may be different. For example, the electrical parameters such as the total amount of energy / density / voltage / current when the energy storage unit supplies energy to the transmitting unit 20 can be adapted to different types of energy storage units.

[0173] In a preferred embodiment, the energy storage unit may be in the form of a capacitor. The advantage of this form is that it can provide higher instantaneous current and has a smaller size. For a capacitor-type energy storage unit, the control of the energy storage time is easier to achieve and has a better effect.

[0174] The beneficial effects of this embodiment are:

[0175] For specific light-emitting units, such as high-power narrow-pulse-width light-emitting units, an energy input logic based on an energy storage unit is provided. On this basis, the charging time of the energy storage unit is used as the correction basis for the compensation function, providing a more adaptable compensation scheme for the light-emitting units (laser transmitters) based on the energy storage unit.

[0176] Furthermore, in addition to the above-mentioned laser transmitter embodiment and light field uniformity method embodiment, the embodiment of the present application also provides a laser radar, including the above-mentioned laser transmitter and / or a processor capable of running the above-mentioned light field uniformity method.

[0177] The following will provide a more detailed exemplary description of the present application scheme based on the laser radar provided in this embodiment. These descriptions do not constitute a limitation on the scope of protection of the present application. The laser transmitter and light field uniformity method provided in the present application can still be applied to other scenarios.

[0178] The laser radar system mainly includes a laser emitter, a laser detector, an optical system, and an adapted electrical and mechanical system. In the current laser radar system, whether it is a semi-solid laser radar based on a MEMS galvanometer or a rotating mirror, or a fully solid-state laser radar based on a one-dimensional or two-dimensional addressable emission array 200, more and more vertical cavity surface emitting lasers (VCSELs) are used as laser emitters. Among them, the two-dimensional addressable laser array has attracted more and more attention due to its flexible configuration and lighting mode, saving device routing area, being able to light up a specific area or field of view to save energy for the entire system, and being easy to integrate to make a fully solid-state laser radar.

[0179] At the implementation level, the two-dimensional addressable laser converts electrical energy and optical energy through matching high-side drivers and low-side drivers to achieve nanosecond-level high-power pulses. In general, the pulse width is 3-10ns, and the peak optical power is determined by the system and product architecture, generally 20W-50W, and the corresponding current ranges from 4A to 15A. Due to the characteristics of narrow pulse width, few drive devices can meet such demanding constant current output sources, and most of them use energy storage capacitors for energy storage and conversion. Therefore, different output impedances will produce different loop currents. On the other hand, the emitting device uses a matrix-addressable method to prepare electrodes, resulting in different parasitics of different emitting units 20 relative to the driver, so that the high-energy pulses given by the driving circuit naturally face different output impedances, thereby generating different currents, and thus causing different emitting units 20 to output different optical powers;

[0180] This embodiment provides a solution for correcting the output power of different light-emitting units, so that the output power of each light-emitting unit of the matrix-addressable emission array 200 is consistent. Furthermore, the intensity of different light-emitting units can be adjusted according to the field of view requirements to meet the specific needs of the system.

[0181] Figure 4 A block diagram of an optional transmission module of a two-dimensional addressable transmission array 200 is shown, in which electrical connections are made by gold wire bonding. Of course, this is not a limitation, but the block diagram is just for ease of description. It is also feasible to use a more compact CSP package or other forms.

[0182] The driver controller controls the high-side driver (HSDriver) and the low-side driver (LSDriver) to block and address the two-dimensional addressable emission array 200. For ease of description, we name the blocks of the two-dimensional addressable chip. When PCBA is performed as above, each row of VCSEL increases from 1 from top to bottom in numerical order, and each column increases from A from left to right in alphabetical order. When writing, the letters are in front and the numbers are in the back, that is, A1 represents the emission unit 20 in the first row and the first column, D1 represents the first row and the fourth column, D4 represents the fourth row and the fourth column, and so on. It should be noted that the 4*4 array in this embodiment is only a schematic, and it is actually an M*N VCSEL array designed according to system and solution requirements;

[0183] It can be seen that when the space left by the lead pad of the device alternates between the left and right, the actual situation faced by the odd and even rows is symmetrical. The emission units 20 in each row are driven by the high-side and energy conversion circuits and the matching capacitors to store and transfer energy, so that each emission unit 20 emits light. On the other hand, the light-emitting units in the odd rows show the characteristics of increasing parasitic parameters from left to right, while the light-emitting units in the even rows show the characteristics of increasing parasitic parameters from right to left. The increase in parasitic parameters leads to an increase in the voltage drop in the loop and a decrease in energy utilization, which causes the luminous intensity to change with the position relationship under the same driving conditions, that is, the closer to the capacitor end, the greater the output power, and the farther away from the capacitor end, the smaller the output power. It should be noted that when the number of luminous points of each emission unit 20, the preparation process, etc. are consistent, their own equivalent parasitic parameters are consistent. The main difference comes from the connection between the transmitting unit 20 and the link of the external driving circuit in the row position. Therefore, it can be predicted that in the same row, the output characteristics of each unit have a nearly linear relationship, which is also confirmed by actual test results and circuit simulation analysis.

[0184] Based on the above, Figure 5As shown, after performing the following steps and processes, the output power of each transmitting unit 20 can be adjusted to a pre-designed value, and the output power of each transmitting unit 20 is nearly consistent. It is assumed that the scale of the two-dimensional addressable transmitting array 200 performed below is M*N (i.e., M rows and N columns);

[0185] 1) Select rows and columns based on the size and symmetry of the array; when M is an even number, select the 1st row, the M / 2-1th row, the M / 2th row, and the Mth row; when M is an odd number, select the 1st row, the (M+1) / 2th row, and the Mth row; select the 1st column, the 3n+1th column, and the Nth column; for example, when M is equal to 16 rows, the selected rows are generally the 1st row, the 7th row, the 8th row, and the 16th row; select the 1st column, the 4th column, the 7th column, the 3n+1th column, and the Nth column;

[0186] That is, select the light-emitting units with crossed rows and columns to measure the PI curve. At the same time, obtain the output power corresponding to different charging times, and extract the slope of the emission power of each emission block changing with the charging time, which is recorded as SEij (timetopower). Note that according to the laws of physics, the linearity of the fitting should satisfy the correlation coefficient of at least R2 ≥ 0.95; when the R2 value of the SEij (timetopower) linear fitting is less than 0.95, it should be checked;

[0187] 2) According to the SEij obtained above, the data of SE and the column number are fitted based on the row, and then the slope of a row changing with the position of the column and the linear fitting correlation coefficient R2 are obtained. When R2 is less than 0.9, the cause should be investigated;

[0188] When M is an even number, the coefficients obtained in the first row are used as the basis for rows 1 to M / 3 (rounding up is used when M is not divisible by 3), the average of the coefficients obtained in rows M / 2-1 and M / 2 is used as the basis for rows M / 3+1 to 2M / 3 (rounding up is used when M is not divisible by 3), and the coefficients obtained in row M are used as the basis for the remaining rows;

[0189] The same applies when M is an odd number;

[0190] 3) Select a charging time near the required power, traverse the pulse width and average power of each light-emitting unit of the M*N two-dimensional addressable VCSEL array at this charging time, and obtain the peak power Pij of each light-emitting unit based on the transmitting circuit drive and device. The naming method of each light-emitting unit corresponding to ij refers to the above description;

[0191] 4) Combine the system model and functional requirements to select the final required peak power P-system;

[0192] 5) Combine the power of P-system and each transmitting block to calculate the power difference;

[0193] 6) Combining the slope of each column obtained in 2) and the above power difference, calculate the charging time that needs to be adjusted for each block;

[0194] 7) Feedback the adjusted charging time to the control circuit module;

[0195] 8) Obtain nearly consistent optical output power for each emission block;

[0196] Obviously, we can also adjust the output power of the light-emitting block unit of interest (ROI) according to the above method, and then adjust the detection distance.

[0197] Furthermore, the output power of each light-emitting block and the corresponding detection distance can be adjusted according to demand.

[0198] The beneficial effects of this embodiment are:

[0199] Through this embodiment, the power correction of different emitting units 20 of a two-dimensional addressable laser can be achieved, so that the light output power of each light-emitting unit of the matrix-addressable emitting array 200 is consistent. Furthermore, the intensity of different light-emitting units can be adjusted according to the field of view requirements to meet the specific needs of the system.

[0200] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0201] Corresponding to the method for uniform emission light field described in the above embodiment, Figure 6 A structural block diagram of a device for uniform emission light field provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0202] Reference Figure 6 , the device comprises:

[0203] The compensation function module 601 is used to obtain a compensation function according to the electrical connection path structure of the emission unit array; the compensation function is a relationship function between the light energy output parameter, the electrical energy input parameter and the electrical connection path length of any emission unit in the emission unit array;

[0204] An input parameter module 602 is used to obtain at least one designated emitting unit of the intended emitting light field, the light energy output parameter of the designated emitting unit, and the length of the electrical connection path from the designated emitting unit to the designated electrical access node, and calculate the electrical energy input parameter of the designated emitting unit according to the compensation function;

[0205] The operation module 603 is used to connect the electric energy to the designated electric access node according to the electric energy input parameter, and operate the designated transmitting unit.

[0206] In an optional implementation, the compensation function module 601 includes:

[0207] A test selection submodule, used for selecting a test unit according to the electrical connection path structure of the transmitting unit array;

[0208] The photoelectric characteristic submodule is used to obtain the photoelectric characteristic function of the test unit; the variables of the photoelectric characteristic function at least include the electric energy input parameter of the test unit and the light energy output parameter of the test unit;

[0209] The compensation function submodule is used to obtain the compensation function by fitting the photoelectric characteristic function and the electrical connection path of the test unit.

[0210] In an optional embodiment, the optoelectronic characteristic submodule includes:

[0211] A test value unit, used for connecting electric energy to an electric access node of the test unit according to an electric energy input test value, and obtaining a light energy output test value of the test unit under the electric energy input test value;

[0212] A circulation unit, used for updating the power input test value in a preset method, and returning to the step of connecting power to the electrical access node of the test unit according to the power input test value, until a preset test stop condition is met, to obtain a plurality of test value pairs; wherein the test value pairs are one-to-one corresponding power input test values ​​and light output test values;

[0213] A fitting unit is used to fit the photoelectric characteristic function of the test unit according to each test value pair.

[0214] In an optional embodiment, the photoelectric characteristic function is obtained by linearly fitting each of the test value pairs, and the determination coefficient of the photoelectric characteristic function is not less than 0.95.

[0215] In an optional implementation, the operation module 603 includes:

[0216] A power submodule, used for obtaining the input power of the designated transmitting unit according to the electric energy input parameter;

[0217] A charging time submodule, used to calculate the charging time of the energy storage unit electrically connected to the designated electrical access node according to the input power and to charge the energy storage unit;

[0218] The functional submodule is used to determine that the energy storage unit has been fully charged, and then operate the designated transmitting unit through the energy storage unit.

[0219] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0220] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0221] The present application also provides a terminal device, such as Figure 7 As shown, the terminal device 70 includes: at least one processor 701, a memory 702, and a computer program 703 stored in the memory and executable on the at least one processor, and the processor implements the steps in any of the above-mentioned method embodiments when executing the computer program.

[0222] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0223] An embodiment of the present application provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0224] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0225] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0226] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0227] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0228] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0229] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A laser transmitter, characterized in that: include: A transmitting unit, wherein a plurality of the transmitting units are electrically connected to form a transmitting array, and the transmitting array has at least two electrical access nodes; A control unit for controlling the power input parameters of the designated electrical access node to operate the designated transmitting unit under the light output parameters; The ratio or difference between the electric energy input parameter and the light energy output parameter is positively correlated to a first path length, and the first path length is the length of the electrical connection path from the designated transmitting unit to the designated electrical access node.

2. The laser transmitter according to claim 1, characterized in that The electrical access nodes include first-type nodes and second-type nodes, any of the transmitting units is electrically connected to at least one of the first-type nodes and one of the second-type nodes, and the designated electrical access nodes corresponding to each of the designated transmitting units are all the first-type nodes.

3. The laser transmitter according to claim 2, characterized in that The laser transmitter also includes an energy storage unit, which is electrically connected to the first type of node, and the electric energy input parameter is positively correlated with the charging time of the energy storage unit.

4. The laser transmitter according to claim 2 or 3, characterized in that: The ratio or difference between the electrical energy input parameter and the light energy output parameter is positively correlated to the sum of the first path length and the second path length, and the second path length is the electrical connection path length from the designated emission unit to the second type node corresponding to the designated emission unit.

5. A laser radar, characterized in that: A laser transmitter comprising any one of claims 1 to 4.

6. A method for uniform emission light field, characterized in that: include: Acquire a compensation function according to the electrical connection path structure of the emission unit array; the compensation function is a function of the relationship between the light energy output parameter, the electrical energy input parameter and the electrical connection path length of any emission unit in the emission unit array; Acquire at least one designated emitting unit of the intended emitting light field, the light energy output parameter of the designated emitting unit, and the length of the electrical connection path from the designated emitting unit to the designated electrical access node, and calculate the electrical energy input parameter of the designated emitting unit according to the compensation function; The power is connected to the designated power access node according to the power input parameter, and the designated transmitting unit is operated.

7. The method for uniform emission light field according to claim 6, characterized in that: The step of obtaining the compensation function according to the electrical connection path structure of the transmitting unit array comprises: Selecting a test unit according to the electrical connection path structure of the transmitting unit array; Acquire the photoelectric characteristic function of the test unit; the variables of the photoelectric characteristic function at least include the electric energy input parameter of the test unit and the light energy output parameter of the test unit; The compensation function is obtained by fitting the photoelectric characteristic function and the electrical connection path of the test unit.

8. The method for uniform emission light field according to claim 7, characterized in that: The step of obtaining the photoelectric characteristic function of the test unit comprises: Connecting electric energy to the electric access node of the test unit according to the electric energy input test value to obtain the light energy output test value of the test unit under the electric energy input test value; The power input test value is updated by a preset method, and the step of connecting power to the electrical access node of the test unit according to the power input test value is returned until a preset test stop condition is met, thereby obtaining a plurality of test value pairs; wherein the test value pairs are one-to-one corresponding power input test values ​​and light output test values; The photoelectric characteristic function of the test unit is obtained by fitting according to each of the test value pairs.

9. The method for uniform emission light field according to claim 8, characterized in that: The photoelectric characteristic function is obtained by linearly fitting each of the test value pairs, and the determination coefficient of the photoelectric characteristic function is not less than 0.

95.

10. The method for uniform emission light field according to any one of claims 6 to 9, characterized in that: The step of connecting the electric energy to the designated electric access node according to the electric energy input parameter and operating the designated transmitting unit comprises: Acquire the input power of the designated transmitting unit according to the electric energy input parameter; Calculating the charging time of the energy storage unit electrically connected to the designated electrical access node according to the input power and charging the energy storage unit; When it is determined that the energy storage unit is fully charged, the designated transmitting unit is operated by supplying energy through the energy storage unit.

11. A device for uniform emission light field, characterized in that: include: A compensation function module, used to obtain a compensation function according to the electrical connection path structure of the emitting unit array; the compensation function is a relationship function between the light energy output parameter, the electrical energy input parameter and the electrical connection path length of any emitting unit in the emitting unit array; An input parameter module, used to obtain at least one designated emitting unit of the intended emitting light field, the light energy output parameter of the designated emitting unit, and the length of the electrical connection path from the designated emitting unit to the designated electrical access node, and calculate the electrical energy input parameter of the designated emitting unit according to the compensation function; An operation module is used to connect electric energy to the designated electric access node according to the electric energy input parameter, and operate the designated transmitting unit.

12. A laser transmitter control unit, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 6 to 10 is implemented.

13. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 6 to 10 is implemented.

Images