Light emitting device, control method thereof, laser radar and equipment

Abstract

The invention provides a light emitting device, a control method of the light emitting device, a laser radar and equipment. The light emitting device comprises a laser, a driving voltage source and a switch; the laser device comprises a plurality of laser devices which are arranged into a laser device array; one end of the laser is coupled to the driving voltage source, and the other end of the laser is coupled to the switch; the driving voltage source is configured to provide driving voltage to the laser; the switch is configured to control the laser to emit laser; wherein at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch is adjustable. According to the light emitting device disclosed by the invention, by adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source and the on resistance of the switch, the light emitting intensity of the laser can be adjusted, the light emitting uniformity of the laser array is improved, the safety of the laser is ensured, and the flexible adjustment of the emitting performance of the light emitting device is realized.

Description

Technical Field

[0001] The present disclosure generally relates to the field of laser radar, and in particular to a light emitting device and a control method thereof, a laser radar and equipment. Background Art

[0002] LiDAR (LiDAR) is a radar system that uses laser beams to detect target characteristics such as position and velocity. It is an advanced detection method that combines laser technology with photoelectric detection technology. Due to its advantages such as high resolution, good concealment, strong resistance to active interference, excellent low-altitude detection performance, small size, and light weight, LiDAR is widely used in autonomous driving, transportation communications, drones, intelligent robots, resource exploration, and other fields.

[0003] The light emitting device of lidar includes a laser. How to improve the uniformity of light emission from different lasers and ensure the safety of lasers are ongoing challenges in the field of lidar technology.

[0004] The contents of the background technology section are merely the technologies known to the inventors and do not necessarily represent the existing technologies in this field. Summary of the Invention

[0005] In response to one or more problems existing in the prior art, the first aspect of the present disclosure provides a light emitting device that can adjust the light intensity of a laser, improve the uniformity of light emission from different lasers, and ensure the safety of the laser.

[0006] The light emitting device includes a laser, a driving voltage source, and a switch. The laser includes a plurality of lasers arranged in a laser array. One end of each laser is coupled to the driving voltage source, and the other end of each laser is coupled to the switch. The driving voltage source is configured to provide a driving voltage to the laser. The switch is configured to control the laser to emit laser light. At least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch is adjustable.

[0007] Optionally, the multiple lasers are arranged as a one-dimensional laser array.

[0008] Optionally, one end of the multiple lasers of the one-dimensional laser array is coupled to the same driving voltage source, and the other end of the multiple lasers is coupled to different switches.

[0009] Optionally, one end of the multiple lasers of the one-dimensional laser array is coupled to the same switch, and the other end of the multiple lasers is coupled to different driving voltage sources.

[0010] Optionally, the multiple lasers are arranged as a two-dimensional laser array.

[0011] Optionally, one end of the multiple lasers located in the same row is coupled to the same driving voltage source, and the other end of the multiple lasers located in the same row is coupled to different switches.

[0012] Optionally, one end of the multiple lasers in the same column is coupled to the same switch, and the other end of the multiple lasers in the same column is coupled to different driving voltage sources.

[0013] Optionally, the amplitude of the driving voltage provided by the driving voltage source is determined based on the position of the laser in the laser array.

[0014] Optionally, the on-resistance of the switch is determined based on the position of the laser in the laser array.

[0015] Optionally, the switch includes a plurality of sub-switches connected in parallel; the switch is configured to adjust the on-resistance of the switch by adjusting the on and off of the sub-switches.

[0016] Optionally, the driving voltage source includes an energy storage device, and the energy storage device is configured to provide a driving voltage to the laser.

[0017] Optionally, the driving voltage source further includes an adjustable high voltage source, the adjustable high voltage source is coupled to the energy storage device, and the adjustable high voltage source is configured to adjust the driving voltage output by the energy storage device.

[0018] The second aspect of the present disclosure provides a control method for a light emitting device. The light emitting device includes a laser, a driving voltage source, and a switch. The laser includes a plurality of lasers, and the plurality of lasers are arranged as a laser array. One end of the laser is coupled to the driving voltage source, and the other end of the laser is coupled to the switch. The driving voltage source is configured to provide a driving voltage to the laser. The switch is configured to control the laser to emit laser light. The control method includes: determining a laser to be emitted; determining an adjustment strategy for at least one of the driving voltage source and the switch unit coupled to the laser to be emitted; and according to the adjustment strategy, adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch, so as to control the laser to be emitted to emit light.

[0019] Optionally, the step of determining a regulation strategy for at least one of a driving voltage source and a switching unit coupled to the laser to be emitted includes: determining at least one of a target amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and a target on-resistance of the switch.

[0020] Optionally, the target amplitude is determined based on a position of the laser to be emitted in the laser array.

[0021] Optionally, the target on-resistance is determined based on a position of the laser to be emitted in the laser array.

[0022] Optionally, adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch includes: adjusting the amplitude of the driving voltage to the target amplitude and adjusting the on-resistance of the switch to at least one of the target on-resistance.

[0023] Optionally, the switch includes a plurality of sub-switches connected in parallel; and the control method includes: adjusting the on-resistance of the switch by adjusting the on and off of the sub-switches.

[0024] Optionally, the driving voltage source further includes an adjustable high voltage source, and the control method includes: adjusting the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted through the adjustable high voltage source.

[0025] Optionally, the control method includes: adjusting at least one of the amplitude of the driving voltage provided by a driving voltage source coupled to the laser and the on-resistance of the switch so that the currents flowing through different lasers are substantially equal.

[0026] Optionally, the control method includes: adjusting at least one of the amplitude of the driving voltage provided by a driving voltage source coupled to the laser and the on-resistance of the switch so that the current flowing through the laser is not higher than a current threshold.

[0027] A third aspect of the present disclosure provides a laser radar. The laser radar includes the aforementioned light emitting device, a detector, and a processor. The light emitting device is configured to emit probe light. The detector is configured to receive echo light reflected from an object by the probe light and generate an electrical signal. The processor is coupled to the detector and configured to determine object information based on the electrical signal.

[0028] A fourth aspect of the present disclosure provides a device, comprising a processor and a memory, wherein the memory comprises computer-executable instructions stored therein, and when the processor executes the computer-executable instructions, the computer-executable instructions implement the control method described above.

[0029] A fifth aspect of the present disclosure provides a computer-readable storage medium, comprising computer-executable instructions stored thereon, wherein the executable instructions implement the control method described above when executed by a processor.

[0030] The light emitting device disclosed herein can adjust the luminous intensity of the laser, improve the uniformity of the light emission of the laser array, ensure the safety of the laser, and realize flexible adjustment of the emission performance of the light emitting device by adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch.

[0031] The light emitting device disclosed herein can determine at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and the on-resistance of the switch based on the position of the laser in the laser array. By adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch, the overall or local adjustment of the luminous intensity of the laser in the light emitting device can be achieved to meet the luminous requirements of different areas of the laser array while avoiding laser burnout. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following is an illustrative introduction to the drawings required for describing the embodiments. The drawings described below are merely examples of the present disclosure. A person skilled in the art can, without inventive effort, derive other drawings from the provided drawings. The drawings are intended to provide a further understanding of the present disclosure and constitute part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not limit the present disclosure.

[0033] Figure 1 A schematic diagram of a light emitting device according to some embodiments of the present disclosure is shown.

[0034] Figure 2 A connection diagram of a laser according to some embodiments of the present disclosure is shown.

[0035] Figure 3 Schematic diagrams of laser connections according to other embodiments of the present disclosure are shown.

[0036] Figure 4 Schematic diagrams of laser connections according to other embodiments of the present disclosure are shown.

[0037] Figure 5 Schematic diagrams of laser connections according to other embodiments of the present disclosure are shown.

[0038] Figure 6 Schematic diagrams of laser connections according to other embodiments of the present disclosure are shown.

[0039] Figure 7 Schematic diagrams of laser connections according to other embodiments of the present disclosure are shown.

[0040] Figure 8Schematic diagrams of laser connections according to other embodiments of the present disclosure are shown.

[0041] Figure 9 A schematic diagram of a driving voltage source according to some embodiments of the present disclosure is shown.

[0042] Figure 10 Schematic diagrams of driving voltage sources according to other embodiments of the present disclosure are shown.

[0043] Figure 11 A schematic diagram of a switch according to some embodiments of the present disclosure is shown.

[0044] Figure 12 A flow chart of a control method according to some embodiments of the present disclosure is shown.

[0045] Figure 13 A schematic diagram of a lidar according to some embodiments of the present disclosure is shown.

[0046] Figure 14 A schematic diagram of an apparatus according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0047] Hereinafter, only certain exemplary embodiments are described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0048] In the description of the present disclosure, it should be understood that the terms "length", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present disclosure. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0049] In the description of this disclosure, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, removable, or integral connections; mechanical, electrical, or intercommunication connections; direct or indirect connections through an intermediary; and internal connectivity between two components or interaction between two components. Those skilled in the art will understand the specific meanings of these terms in this disclosure based on specific circumstances.

[0050] In this disclosure, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact via another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or diagonally above the second feature, or may simply mean that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or diagonally below the second feature, or may simply mean that the first feature is at a lower level than the second feature.

[0051] The disclosure below provides many different embodiments or examples for realizing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present disclosure. In addition, the present disclosure may repeat reference numbers and / or reference letters in different examples, and such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides examples of various specific processes and materials, but those of ordinary skill in the art will appreciate the application of other processes and / or the use of other materials.

[0052] Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings. It should be understood that the exemplary embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0053] The present disclosure provides a light emitting device. The light emitting device may include: a laser, a driving voltage source, and a switch. The laser may include multiple lasers. The laser may emit a light beam having a certain wavelength. The wavelength may include, for example, 905 nm, 1550 nm, or other values. Multiple lasers may be arranged into a laser array. Multiple lasers may be arranged according to certain rules, for example, they may be arranged into a one-dimensional array, or they may be arranged into a two-dimensional array. In some embodiments, the spacing between the multiple lasers may be the same. In some embodiments, the spacing between the multiple lasers may be different. In some embodiments, the spacing between some lasers may be the same, and the spacing between some lasers may be different. One end of the laser may be coupled to a driving voltage source, and the other end of the laser may be coupled to a switch. The driving voltage source may provide a driving voltage to the laser. The switch may control the laser to emit laser light.

[0054] Figure 1 FIG. 1 shows a schematic diagram of a light emitting device 100 according to some embodiments of the present disclosure. Figure 1 As shown, the light emitting device 100 includes a laser 10, a driving voltage source 20, and a switch 30. One end of the laser 10 is coupled to the driving voltage source 20, and the other end of the laser 10 is coupled to the switch 30.

[0055] In some embodiments, the laser may include a semiconductor laser such as a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), a distributed feedback laser (DFB), a fiber laser, or a similar device.

[0056] In some embodiments, multiple lasers can be arranged as a one-dimensional laser array. For example, multiple lasers can be arranged in a row or column. For another example, multiple lasers can be arranged in two interlaced rows or columns, with the laser array as a whole constituting a one-dimensional array. In some embodiments, one end of the multiple lasers in the one-dimensional laser array can be coupled to the same driving voltage source, and the other ends of the multiple lasers can be coupled to different switches. The number of switches and lasers can be the same or different.

[0057] Figure 2 FIG. 1 shows a schematic diagram of the connection of a laser according to some embodiments of the present disclosure. Figure 2As shown, lasers 10-1, 10-2, ..., 10-n are arranged in a one-dimensional laser array. One end of each laser 10-1, 10-2, ..., 10-n is coupled to the same drive voltage source 20. The other ends of each laser 10-1, 10-2, ..., 10-n are coupled to switches 30-1, 30-2, ..., 30-n, respectively. n is a positive integer.

[0058] In a one-dimensional laser array, the lasers coupled to the same driving voltage source may be all the lasers in the one-dimensional laser array, or may be part of the lasers in the one-dimensional laser array. For example, the driving voltage source may include a first driving voltage source and a second driving voltage source, a part of the lasers may be coupled to the first driving voltage source, and a part of the lasers may be coupled to the second driving voltage source. The lasers coupled to the same driving voltage source may be coupled to different switches respectively. For example, Figure 2 As shown, lasers 10-1 and 10-2 are coupled to the same driving voltage source 20, and lasers 10-1 and 10-2 are coupled to different switches. Alternatively, lasers coupled to the same driving voltage source may also be partially coupled to one switch. For example, the first laser (e.g., Figure 2 1) and a second laser (e.g., Figure 2 The laser 10-2 in FIG. 1 may be coupled to the same driving voltage source (eg, Figure 2 The first laser and the second laser can be coupled to the same switch (eg, Figure 2 By controlling the switches and driving the voltage source, the first and second lasers can be synchronously controlled to emit laser light. The number of lasers coupled to different switches can be the same or different. For example, three lasers can be coupled to the first switch, three lasers to the second switch, and four lasers to the third switch.

[0059] In some embodiments, in a one-dimensional laser array, anodes of multiple lasers may be coupled to the same driving voltage source, and cathodes of multiple lasers may be coupled to different switches. Figure 3 FIG. 1 shows a schematic diagram of the connection of lasers according to other embodiments of the present disclosure. Figure 3 As shown, for example, the anodes of lasers 10-1, 10-2, and 10-3 are coupled to a drive voltage source VCC20. The cathodes of lasers 10-1, 10-2, and 10-3 are coupled to switches 30-1, 30-2, and 30-3, respectively. When the drive voltage source is coupled to the anode of the laser, the drive voltage source can provide a positive drive voltage to the laser.

[0060] In other embodiments, in a one-dimensional laser array, the cathodes of multiple lasers can be coupled to the same drive voltage source, and the anodes of multiple lasers can be coupled to different switches. When the drive voltage source is coupled to the cathodes of the lasers, the drive voltage source can provide a negative drive voltage to the lasers.

[0061] In some embodiments, one end of the multiple lasers in the one-dimensional laser array may be coupled to the same switch, and the other end of the multiple lasers may be coupled to different driving voltage sources.

[0062] Figure 4 FIG. 1 shows a schematic diagram of the connection of lasers according to other embodiments of the present disclosure. Figure 4 As shown, lasers 10-1, 10-2, ..., 10-n are arranged in a one-dimensional laser array, where n is a positive integer. One end of each laser 10-1, 10-2, ..., 10-n is coupled to the same switch 30. The other ends of each laser 10-1, 10-2, ..., 10-n are coupled to driving voltage sources 20-1, 20-2, ..., 20-n, respectively.

[0063] Optionally, in a one-dimensional laser array, the lasers coupled to the same switch may be all the lasers in the one-dimensional laser array, or may be part of the lasers in the one-dimensional laser array. For example, the switch may include a first switch and a second switch, a part of the lasers may be coupled to the first switch, and a part of the lasers may be coupled to the second switch. The lasers coupled to the same switch may be coupled to different driving voltage sources respectively. For example, Figure 4 As shown, lasers 10-1 and 10-2 are coupled to the same switch 30, and lasers 10-1 and 10-2 are coupled to different drive voltage sources. Alternatively, lasers coupled to the same switch may also be partially coupled to one drive voltage source. For example, the first laser (e.g., Figure 4 1) and a second laser (e.g., Figure 4 The laser 10-2 in FIG. 1 may be coupled to the same switch (eg, Figure 4 ), the first laser and the second laser can be coupled to the same drive voltage source (e.g., Figure 4 The number of lasers coupled to different driving voltage sources may be the same or different. For example, three lasers may be coupled to the first driving voltage source, three lasers may be coupled to the second driving voltage source, and four lasers may be coupled to the third driving voltage source.

[0064] In some embodiments, in a one-dimensional laser array, cathodes of multiple lasers can be coupled to the same switch, and anodes of multiple lasers can be coupled to different driving voltage sources. Figure 5FIG. 1 shows a schematic diagram of the connection of lasers according to other embodiments of the present disclosure. Figure 5 As shown, for example, the cathodes of lasers 10-1, 10-2, and 10-3 are coupled to a switch 30. The anodes of lasers 10-1, 10-2, and 10-3 are coupled to drive voltage sources VCC 20-1, 20-2, and 20-3, respectively. When the drive voltage source is coupled to the anode of the laser, the drive voltage source can provide a positive drive voltage to the laser.

[0065] In other embodiments, in a one-dimensional laser array, the anodes of multiple lasers can be coupled to the same switch, and the cathodes of the multiple lasers can be coupled to different drive voltage sources. When the drive voltage source is coupled to the cathode of the laser, the drive voltage source can provide a negative drive voltage to the laser.

[0066] In some embodiments, a plurality of lasers can be arranged as a two-dimensional laser array. For example, a plurality of lasers can be arranged as a two-dimensional array of multiple rows and columns. Optionally, the row direction and the column direction in the two-dimensional laser array can be perpendicular, or they can intersect at other tilt angles. In the two-dimensional laser array, one end of the plurality of lasers located in the same row (or the same column) can be coupled to the same driving voltage source, and the other end of the plurality of lasers located in the same row (or the same column) can be coupled to different switches. Below, take the light emitting device in which one end of the plurality of lasers located in the same row is coupled to the same driving voltage source, and the other end of the plurality of lasers located in the same row is coupled to different switches as an example, and expand and explain. The light emitting device in which one end of the plurality of lasers located in the same column is coupled to the same switch, and the other end of the plurality of lasers located in the same column is coupled to different driving voltage sources can be arranged in the same or similar manner.

[0067] Figure 6 FIG. 1 shows a schematic diagram of the connection of lasers according to other embodiments of the present disclosure. Figure 6 As shown, lasers 10-11, 10-12, ..., 10-mn are arranged in m rows and n columns, forming an m*n two-dimensional laser array, where m and n are positive integers. The multiple lasers 10-11, 10-12, ..., 10-1n in the first row have one end coupled to a driving voltage source 20-1 and the other end coupled to switches 30-1, 30-2, ..., 30-n, respectively. The multiple lasers 10-21, 10-22, ..., 10-2n in the second row have one end coupled to a driving voltage source 20-2 and the other end coupled to switches 30-1, 30-2, ..., 30-n, respectively. The multiple lasers 10-m1, 10-m2, ..., 10-mn in the mth row have one end coupled to a driving voltage source 20-m and the other end coupled to switches 30-1, 30-2, ..., 30-n, respectively.

[0068] In a two-dimensional laser array, the lasers coupled to the same driving voltage source may be all lasers in the same row, or may be part of the lasers in the same row. For example, the driving voltage source may include a first driving voltage source and a second driving voltage source, and part of the lasers in the same row may be coupled to the first driving voltage source, and part of the lasers in the same row may be coupled to the second driving voltage source. Multiple lasers coupled to the same driving voltage source may be coupled to different switches, respectively. For example, Figure 6 As shown, lasers 10-11 and 10-12 are coupled to the same driving voltage source 20-1, and lasers 10-11 and 10-12 are coupled to different switches. Alternatively, multiple lasers coupled to the same driving voltage source may also be partially coupled to one switch. For example, the first laser (e.g., Figure 6 10-11) and a second laser (e.g., Figure 6 The lasers 10-12 in FIG. 1 may be coupled to the same drive voltage source (eg, Figure 6 The first laser and the second laser can be coupled to the same switch (eg, Figure 6 By controlling the switches and driving the voltage source, the first and second lasers can be synchronously controlled to emit laser light. The number of lasers coupled to different switches can be the same or different. For example, three lasers can be coupled to the first switch, three lasers to the second switch, and four lasers to the third switch.

[0069] In some embodiments, in a two-dimensional laser array, anodes of multiple lasers in the same row may be coupled to the same driving voltage source, and cathodes of multiple lasers in the same row may be coupled to different switches. Figure 7 FIG. 1 shows a schematic diagram of the connection of lasers according to other embodiments of the present disclosure. Figure 7 As shown, for example, the anodes of lasers 10-11, 10-12, and 10-13 in the first row are coupled to a driving voltage source VCC20-1, and their cathodes are coupled to switches 30-1, 30-2, and 30-3, respectively. The anodes of lasers 10-21, 10-22, and 10-23 in the second row are coupled to a driving voltage source VCC20-2, and their cathodes are coupled to switches 30-1, 30-2, and 30-3, respectively. The anodes of lasers 10-31, 10-32, and 10-33 in the third row are coupled to a driving voltage source VCC20-3, and their cathodes are coupled to switches 30-1, 30-2, and 30-3, respectively. When the driving voltage source is coupled to the anode of the laser, the driving voltage source can provide a positive driving voltage to the laser.

[0070] In other embodiments, in a two-dimensional laser array, the cathodes of multiple lasers in the same row can be coupled to the same drive voltage source, and the anodes of multiple lasers in the same row can be coupled to different switches. When the drive voltage source is coupled to the cathodes of the lasers, the drive voltage source can provide a negative drive voltage to the lasers.

[0071] In some embodiments, lasers in the same row can be coupled to different drive voltage sources, and multiple lasers coupled to the same drive voltage source can be coupled to different switches. In some embodiments, lasers in the same row can be coupled to different switches, and multiple lasers coupled to the same switch can be coupled to different drive voltage sources. By increasing the number of drive voltage sources and at least one of the switches, the light intensity of the laser array can be more flexibly adjusted.

[0072] Figure 8 FIG. 1 shows a schematic diagram of the connection of lasers according to other embodiments of the present disclosure. Figure 8 As shown, taking the lasers in row 1 as an example, the anodes of some lasers, such as lasers 10-11, 10-12, ..., 10-1j, are coupled to a driving voltage source VCC 20-1, and the cathodes are coupled to switches 30-1, 30-2, ..., 30-j, respectively. The anodes of some lasers, such as lasers 10-1(j+1), 10-1(j+2), ..., 10-1n, are coupled to a driving voltage source VCC 20-1', and the cathodes are coupled to switches 30-(j+1), 30-(j+2), ..., 30-n, respectively. j and n are positive integers.

[0073] It should be noted that in a one-dimensional laser array or a two-dimensional laser array, the number of lasers, the number of driving voltage sources, the number of switches, the number of lasers coupled to the same driving voltage source, the number of lasers coupled to the same switch, the connection position of the driving voltage source and the laser, and the connection position of the switch and the laser can all be flexibly adjusted according to demand. The laser can be coupled to the driving voltage source and the switch directly or indirectly. For example, the light emitting device can also include other circuit elements coupled between the laser and the driving voltage source, and between the laser and the switch, such as other switches, capacitors, resistors, etc. The laser can be set on a different circuit board or chip from the driving voltage source and the switch, or it can be integrated with the driving voltage source and the switch on the same circuit board or chip.

[0074] In some embodiments, the light emitting device can use a row and column gating addressing method to gating the laser to make the laser emit light. This method can achieve independent addressing of the laser. Taking a two-dimensional array as an example, Figure 6As shown, lasers in the same row share a common anode, and lasers in the same column share a common cathode. Row and column gating allows for independent addressing of the lasers. For example, when the drive voltage source in row m and the switch in column n are simultaneously enabled, lasers 10-mn in row m and column n are enabled and can emit laser light.

[0075] Compared to single-particle lasers, the number of lasers in a laser array increases significantly, especially in two-dimensional laser arrays. As the number of lasers increases, the layout area of ​​the laser array increases, and the length of the traces between the lasers and the drive voltage source and switches increases accordingly. Trace parasitic effects (such as parasitic resistance and parasitic inductance) become more pronounced. Current flows through the parasitic resistance of the trace, generating an additional voltage drop. The trace resistance of a laser can include the parasitic resistance generated by the trace between the laser's drive voltage source and ground. The length of the line affects the value of the parasitic resistance. The trace resistance of lasers at different positions in the laser array varies. Under the premise that the voltage amplitude provided by the drive voltage source is the same, the difference in trace resistance will result in different voltage values ​​applied to lasers at different positions. When the voltage values ​​applied to the lasers are different, the luminous intensity of the lasers varies. The luminous intensity of multiple lasers in a laser array is uneven.

[0076] For convenience, the parasitic resistance in the trace can be equivalent to resistance R. The total trace resistance of lasers at different locations varies. For example, Figure 3 As shown, the wiring resistance of the laser 10-1 can be equivalent to R1=R1+R2, and the wiring resistance of the laser 10-2 can be equivalent to R2=R1+R3+R4. Figure 7 As shown, the trace resistance of the laser 10-22 can be equivalent to R 22 =R11+R9+R10+R16, the trace resistance R of the laser 10-23 23 =R11+R9+R7+R8+R18. When the laser drive circuit parameters (for example, the voltage amplitude provided by the drive voltage source) are the same, differences in trace resistance can cause differences in the laser current. This can lead to two problems: uneven illumination across the entire laser array, which may not meet the required illumination requirements; and low trace resistance in some areas can cause the current to exceed the specified value, potentially causing the laser to burn out.

[0077] In some embodiments, at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch is adjustable. For example, the amplitude of the driving voltage provided by the driving voltage source can be adjusted. For another example, the on-resistance of the switch can be adjusted. For another example, the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch can be adjusted simultaneously. The light emitting device of the present disclosure can adjust the luminous intensity of the laser by adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch, thereby achieving flexible adjustment of the emission performance of the light emitting device.

[0078] In some embodiments, at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch can be adjusted by the controller.

[0079] In some embodiments, the controller can be provided on the laser radar, or the controller can also be provided on a vehicle, server, computer, or other device. The controller can include a control circuit, a central processing unit (CPU), and can also include other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and similar devices. The general-purpose processor can be a microprocessor or any conventional processor.

[0080] In some embodiments, the driving voltage source may be coupled to a controller, and the controller may send a control signal to the driving voltage source. The driving voltage source may provide a driving voltage to the laser based on the control signal. The driving voltage source may adjust the amplitude of the driving voltage provided to the laser based on the control signal. The coupling between the driving voltage source and the controller may be direct or indirect. The driving voltage source and the controller may be provided on different circuit boards or chips, or may be integrated on the same circuit board or chip. Communication between the driving voltage source and the controller may be achieved via wired or wireless means.

[0081] In some embodiments, the driving voltage source may include an energy storage device that can provide the driving voltage to the laser. Figure 9 FIG. 2 shows a schematic diagram of a driving voltage source 20 according to some embodiments of the present disclosure. Figure 9As shown, the driving voltage source 20 includes an energy storage device C, which is coupled to the laser 10. The coupling of the energy storage device to the laser can be direct coupling or indirect coupling. The controller can send a control signal to the driving voltage source, and the driving voltage source can control the charging of the energy storage device based on the control signal. By controlling the charging time of the energy storage device, the amplitude of the driving voltage that the energy storage device can provide to the laser can be controlled. The driving voltage source can control the discharge of the energy storage device based on the control signal. By controlling the discharge time of the energy storage device, the amplitude of the driving voltage provided by the energy storage device to the laser can be adjusted. In some embodiments, the energy storage device can be coupled to the controller, and the coupling of the energy storage device to the controller can be direct coupling or indirect coupling. The controller can send a control signal to the energy storage device to control the charging or discharging of the energy storage device.

[0082] Optionally, the energy storage device and laser can be coupled one-to-one, multiple lasers can share a single energy storage device, or multiple energy storage devices can be coupled to a single laser. The energy storage device and laser can be provided on different circuit boards or chips, or integrated on the same circuit board or chip. The energy storage device can include a capacitor, a battery, etc. The capacitor can include a fixed capacitor or a variable capacitor. The battery can include a rechargeable battery.

[0083] In some embodiments, the driving voltage source may include an adjustable high voltage source. The adjustable high voltage source may be coupled to the energy storage device. The coupling between the adjustable high voltage source and the energy storage device may be direct or indirect. Figure 10 Schematic diagram of the driving voltage source 20 according to some other embodiments of the present disclosure is shown. Figure 10 As shown, the driving voltage source 20 includes an adjustable high voltage source V, which is coupled to the energy storage device C. The adjustable high voltage source can adjust the driving voltage output by the energy storage device.

[0084] In some embodiments, the adjustable high-voltage source can be coupled to a controller. The coupling between the adjustable high-voltage source and the controller can be direct or indirect. The controller can send a control signal to the adjustable high-voltage source, and the adjustable high-voltage source can adjust the driving voltage output by the energy storage device based on the control signal, thereby adjusting the energy storage device to provide the driving voltage to the laser.

[0085] In some embodiments, a switch can be coupled to a controller. The controller can send a control signal to the switch. Based on the control signal, the switch can adjust the on-resistance of the switch, thereby controlling the connection or disconnection of the conduction path of the laser. The controller can control whether the laser emits light and adjust the laser's light intensity through the switch. The coupling between the switch and the controller can be direct or indirect. The switch and the controller can be provided on different circuit boards or chips, or integrated on the same circuit board or chip. Communication between the switch and the controller can be achieved via wired or wireless means.

[0086] In some embodiments, the switch may include a plurality of sub-switches connected in parallel, and the controller may adjust the on-resistance of the switch by adjusting the on and off of the sub-switches. Figure 11 FIG. 1 shows a schematic diagram of a switch 30 according to some embodiments of the present disclosure. Figure 11 As shown, switch 30 includes multiple parallel sub-switches S1, S2, ..., Sn, where n is a positive integer. A controller can send control signals to the sub-switches to adjust their on and off states. By adjusting the number of sub-switches that are on or off, the on-resistance of the switch can be adjusted.

[0087] In some embodiments, the switch or sub-switch may include a metal-oxide-semiconductor field-effect transistor (MOSFET). For example, the switch or sub-switch may be an N-type metal-oxide-semiconductor (NMOS) transistor or a P-type metal-oxide-semiconductor (PMOS) transistor.

[0088] In some embodiments, the switch or sub-switch may include a gallium nitride transistor. Gallium nitride transistors have a high current density and can increase the light output power of the laser.

[0089] In some embodiments, the switch or sub-switch may include a variable resistor (rheostat). The variable resistor may include a light-dependent resistor (LDR). The photoresistor may include a positive coefficient photoresistor and a negative coefficient photoresistor. The greater the light intensity of the positive coefficient photoresistor, the greater the resistance. The greater the light intensity of the negative coefficient photoresistor, the smaller the resistance. The variable resistor may include a thermistor. The thermistor may include a positive temperature coefficient thermistor (PTC thermistor) and a negative temperature coefficient thermistor (NTC thermistor). The resistance value of a positive temperature coefficient thermistor increases with increasing temperature. The resistance value of a negative temperature coefficient thermistor decreases with increasing temperature. The variable resistor may include a sliding rheostat.

[0090] In some embodiments, at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and the on-resistance of the switch can be adjusted according to different requirements. In some embodiments, when adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and the on-resistance of the switch, the amplitude of the driving voltage and the on-resistance of the switch can be controlled so that the current flowing through the laser is within the laser's allowable range, for example, not exceeding the laser's threshold current. This can prevent laser burnout and ensure the safe use of the laser. In some embodiments, the adjustment of at least one of the amplitude of the driving voltage and the on-resistance of the switch can be intermittent adjustment with different discrete values ​​or continuous adjustment.

[0091] When it is necessary to increase the luminous intensity of the laser, the amplitude of the driving voltage provided by the driving voltage source to the laser can be increased, or the on-resistance of the switch can be reduced, or the amplitude of the driving voltage provided by the driving voltage source to the laser can be increased while the on-resistance of the switch is reduced. When it is necessary to reduce the luminous intensity of the laser, the amplitude of the driving voltage provided by the driving voltage source to the laser can be reduced, or the on-resistance of the switch can be increased, or the amplitude of the driving voltage provided by the driving voltage source to the laser can be reduced while the on-resistance of the switch is increased.

[0092] When a portion of the lasers in the laser array need to emit light, the amplitude of the driving voltage provided by the driving voltage source to this portion of the lasers can be increased, or the on-resistance of the switch can be reduced, or the amplitude of the driving voltage provided by the driving voltage source to this portion of the lasers can be increased and the on-resistance of the switch can be reduced, so that the driving voltage and on-resistance of this portion of the lasers meet the lighting condition. When a portion of the lasers in the laser array need not emit light, the amplitude of the driving voltage provided by the driving voltage source to this portion of the lasers can be reduced, or the on-resistance of the switch can be increased, or the amplitude of the driving voltage provided by the driving voltage source to this portion of the lasers can be reduced and the on-resistance of the switch can be increased, so that the driving voltage and on-resistance of this portion of the lasers meet the non-lighting condition.

[0093] The luminous intensity of a laser array can be adjusted globally or locally. To adjust the luminous intensity of the entire laser array, at least one of the amplitudes of the driving voltages provided by multiple driving voltage sources to the lasers and the on-resistances of multiple switches can be adjusted. To adjust the luminous intensity of a subset of lasers in the laser array, at least one of the amplitudes of the driving voltages provided by the driving voltage sources connected to these lasers and the on-resistances of the switches connected to these lasers can be adjusted. Local adjustment can include, for example, row adjustment, column adjustment, row-column adjustment, center adjustment, edge adjustment, single-laser adjustment, and multiple-laser adjustment.

[0094] In some embodiments, the laser array can emit non-uniform light. For example, the lasers in some areas of the laser array may emit lasers with high intensity, while the lasers in other areas may emit lasers with low intensity. When non-uniform light emission is desired in the laser array, for example, when the lasers in the central portion of the laser array need to emit lasers with higher intensity and those in the edge portions need to emit lasers with lower intensity, at least one of the amplitude of the driving voltage provided by the driving voltage source connected to the lasers in the central portion can be increased, or the on-resistance of the switches connected to the lasers in the central portion can be reduced. Alternatively, at least one of the amplitude of the driving voltage provided by the driving voltage source connected to the lasers in the edge portions can be reduced, or the on-resistance of the switches connected to the lasers in the edge portions can be increased. Alternatively, at least one of the amplitude of the driving voltage provided by the driving voltage source connected to the lasers in the central portion can be increased, or the on-resistance of the switches connected to the lasers in the central portion can be reduced, and at least one of the amplitude of the driving voltage provided by the driving voltage source connected to the lasers in the edge portions can be reduced, or the on-resistance of the switches connected to the lasers in the edge portions can be increased. In this way, lasers in different areas of the laser array can emit lasers with different intensities, achieving non-uniform light emission across the entire laser array. In some embodiments, lasers in the same region may emit light uniformly. For example, lasers in the central region may emit light uniformly, while lasers in the edge regions may emit light uniformly, with the light intensity of the lasers in the central region being stronger than that of the lasers at the edge regions. In some embodiments, lasers in the same region may emit light non-uniformly.

[0095] In some embodiments, the laser array can emit light uniformly. When uniform illumination of the lasers within a desired light-emitting area of ​​the laser array is desired, at least one of the amplitude of the driving voltage provided by the driving voltage source connected to the lasers with lower luminous intensity can be increased, or the on-resistance of the switch connected to the lasers with lower luminous intensity can be reduced. Alternatively, at least one of the amplitude of the driving voltage provided by the driving voltage source connected to the lasers with higher luminous intensity can be reduced, or the on-resistance of the switch connected to the lasers with higher luminous intensity can be increased. Alternatively, at least one of the amplitude of the driving voltage provided by the driving voltage source connected to the lasers with lower luminous intensity can be increased, or the on-resistance of the switch connected to the lasers with lower luminous intensity can be reduced, or the on-resistance of the switch connected to the lasers with higher luminous intensity can be increased. The desired light-emitting area can be the entire light-emitting area of ​​the laser array, or a localized light-emitting area of ​​the laser array.

[0096] In some embodiments, the magnitude of the driving voltage provided by the driving voltage source to the laser may be determined based on the position of the laser in the laser array.

[0097] In a laser array, for convenience, we assume that the trace resistance of the laser is R. The trace resistance of the laser can include the line resistance between the laser's drive voltage source and ground. The amplitude V of the drive voltage provided by the drive voltage source to the laser is:

[0098] V=V0+(V0 / Rv)*R;

[0099] Where V0 is the expected voltage across the laser, Rv is the on-resistance of the laser, and R is the trace resistance of the laser.

[0100] In some embodiments, the trace resistance R of the laser can be determined by measurement. After the lasers are positioned in the laser array and the traces of the laser array are laid out, the trace resistance of the laser can be measured. The on-resistance Rv of the laser can be determined based on the laser model. The expected voltage value V0 across the laser can be determined based on the expected laser luminous intensity and the on-resistance Rv of the laser.

[0101] The amplitude V of the driving voltage provided by the driving voltage source to the laser can be determined by the laser trace resistance R, the expected voltage value V0 across the laser, and the laser's on-resistance Rv. This allows the amplitude of the driving voltage provided by the driving voltage source connected to lasers at different positions in the laser array to be determined, thus meeting the lighting requirements of different areas of the laser array.

[0102] Below is Figure 7 The lasers 10-22 and 10-23 in the exemplary laser array are used as examples for description.

[0103] For example, the trace resistance R of the laser 10-22 22 It can be equivalent to R11+R9+R10+R16, and the expected voltage across the laser 10-22 is V0 22 , the on-resistance of laser 10-22 is Rv 22 , then the amplitude of the driving voltage provided by the driving voltage source 20-2 to the laser 10-22 is V 22 It can be:

[0104] V 22 =V0 22 +(V0 22 / Rv 22 )*R 22

[0105] =V0 22 +(V0 22 / Rv 22 )*(R11+R9+R10+R16).

[0106] For example, the trace resistance R of laser 10-23 23 It can be equivalent to R11+R9+R7+R8+R18. The expected voltage across the laser 10-23 is V0. 23 , the on-resistance of laser 10-23 is Rv 23 , then the amplitude V of the driving voltage provided by the driving voltage source 20-2 to the laser 10-23 is 23 for:

[0107] V 23 =V0 23 +(V0 23 / Rv 23 )*R 23

[0108] =V0 23 +(V0 23 / Rv 23 )*(R11+R9+R7+R8+R18).

[0109] In some embodiments, the on-resistance of the switch may be determined based on the position of the laser in the laser array.

[0110] In a laser array, for convenience, the trace resistance of the laser is assumed to be R. The trace resistance of the laser may include the parasitic resistance generated between the laser's drive voltage source and ground. The amplitude V of the drive voltage provided by the drive voltage source to the laser is:

[0111] V = V0 + (V0 / Rv) * (R + Rs);

[0112] Where V is the amplitude V of the driving voltage provided by the driving voltage source to the laser, V0 is the expected value of the voltage across the laser, Rv is the on-resistance of the laser, R is the trace resistance of the laser, and Rs is the on-resistance of the switch.

[0113] The on-resistance Rs of the switch is:

[0114] Rs=[Rv*(V-V0) / V0]-R.

[0115] In some embodiments, the trace resistance R of the laser can be determined by measurement. After the lasers are positioned in the laser array and the traces of the laser array are laid out, the trace resistance of the laser can be measured. The on-resistance Rv of the laser can be determined based on the laser model. The expected voltage value V0 across the laser can be determined based on the expected laser luminous intensity and the on-resistance Rv of the laser. The amplitude V of the driving voltage provided to the laser by the driving voltage source can be determined using the aforementioned method, or based on the driving voltage value that the driving voltage source can provide. The on-resistance Rs of the switch can be determined based on the trace resistance R of the laser, the expected voltage value V0 across the laser, the on-resistance Rv of the laser, and the amplitude V of the driving voltage provided to the laser by the driving voltage source. In this way, the on-resistance of the switches connected to lasers at different positions in the laser array can be determined. This can meet the luminous requirements of different areas of the laser array.

[0116] Below is Figure 7 The lasers 10-22 and 10-23 in the exemplary laser array are used as examples for description.

[0117] For example, the trace resistance R of the laser 10-22 22 =R11+R9+R10+R16, the on-resistance of laser 10-22 is Rv 22 The amplitude of the driving voltage provided by the driving voltage source 20-2 to the laser 10-22 is V 22 , the expected voltage across the laser 10-22 is V0 22 , then the on-resistance Rs2 of the switch 30-2 connected to the laser 10-22 is:

[0118] Rs2=[Rv 22 *(V 22 -V0 22 ) / V0 22 ]-R 22

[0119] =[Rv 22 *(V 22 -V0 22 ) / V0 22 ]-(R11+R9+R10+R16).

[0120] For example, the trace resistance R of laser 10-23 23 =R11+R9+R7+R8+R18, the on-resistance of laser 10-23 is Rv 23 The amplitude of the driving voltage provided by the driving voltage source 20-2 to the laser 10-23 is V 23 , the expected voltage across the laser 10-23 is V0 23, then the on-resistance Rs3 of the switch 30-3 connected to the laser 10-23 is:

[0121] Rs3=[Rv 23 *(V 23 -V0 23 ) / V0 23 ]-R 23

[0122] =[Rv 23 *(V 23 -V0 23 ) / V0 23 ]-(R11+R9+R7+R8+R18).

[0123] In some embodiments, in a laser array, the conduction currents of different lasers can be controlled to be consistent (or substantially consistent). This can achieve uniform light emission from different lasers in the laser array. The amplitude of the driving voltage provided to the laser by the driving voltage source can be determined based on the position of the laser in the laser array. The on-resistance of the switch can be determined based on the position of the laser in the laser array. By adjusting at least one of the amplitude of the driving voltage provided to the laser by the driving voltage source and the on-resistance of the switch, the conduction currents of different lasers can be made consistent (substantially consistent), thereby achieving uniform light emission from the laser array.

[0124] In some embodiments, the light emission timing of the laser can be adjusted by adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and the on-resistance of the switch.

[0125] The light emitting device disclosed in the present invention can achieve overall or local adjustment of whether the laser emits light, the light-emitting area, the amount of light emitted, the light-emitting intensity, and the light-emitting power by adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and the on-resistance of the switch, thereby greatly improving the emission performance and adjustment performance of the light emitting device.

[0126] The present disclosure also provides a method for controlling a light emitting device. Figure 12 A flow chart of a control method 200 according to some embodiments of the present disclosure is shown. A light emitting device may include a laser, a driving voltage source, and a switch. The laser may include multiple lasers. The multiple lasers may be arranged in a laser array. One end of the laser may be coupled to the driving voltage source, and the other end of the laser may be coupled to the switch. The driving voltage source may provide a driving voltage to the laser. The switch may control the laser to emit laser light. The light emitting device may include the light emitting device 100 of any of the above-described embodiments or any combination of embodiments.

[0127] like Figure 12 As shown, the control method 200 includes steps S210 to S230.

[0128] In step S210, the laser to be emitted is determined. The laser array may include multiple lasers, and the multiple lasers can emit laser light in different time windows. Within a certain time window, the laser to be emitted (the laser to be emitted) at the current moment or the next moment can be determined based on the laser emission timing. Within the same time window, one laser can emit laser light, or multiple lasers can emit laser light in parallel.

[0129] In step S220, a regulation strategy for at least one of a driving voltage source and a switch unit coupled to the laser to be emitted is determined. The regulation strategy may include adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch. For example, the regulation strategy may include adjusting the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted. For another example, the regulation strategy may include adjusting the on-resistance of the switch. For another example, the regulation strategy may include simultaneously adjusting the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch.

[0130] In step S230, at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch is adjusted according to the adjustment strategy to control the laser to be emitted. For example, the laser to be emitted can be controlled to emit laser light according to a desired light intensity and light duration.

[0131] In some embodiments, the control method 200, steps S210 to S230 of the control method 200, and other optional steps may be performed by a controller or processor. The controller (or processor) may include a control circuit (or processing circuit), a CPU, and may also include other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and similar devices. A general-purpose processor may be a microprocessor or any conventional processor. The controller (or processor) may be provided on a lidar, or on a vehicle, server, computer, or other device.

[0132] In some embodiments, the step of determining a regulation strategy for at least one of a driving voltage source and a switching unit coupled to the laser to be emitted (step S220) includes determining at least one of a target amplitude of a driving voltage provided by the driving voltage source to the laser to be emitted and a target on-resistance of the switch.

[0133] In some embodiments, the target amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted can be determined based on the position of the laser to be emitted in the laser array. The target amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted can be determined in the same or similar manner as in any embodiment of the light emitting array, and will not be further described here.

[0134] In some embodiments, the target on-resistance of the switch can be determined based on the position of the laser to be emitted in the laser array. The target on-resistance of the switch can be determined in the same or similar manner as in any embodiment of the light emitting array, and will not be repeated here.

[0135] In some embodiments, adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch includes: adjusting the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted to a target amplitude, and adjusting the on-resistance of the switch of the laser to be emitted to at least one of the target on-resistance. The controller (or processor) may adjust the amplitude of the driving voltage to the target amplitude, or may adjust the on-resistance of the switch to the target on-resistance, or may adjust the amplitude of the driving voltage to the target amplitude and adjust the on-resistance of the switch to the target on-resistance. It is understood that when the amplitude of the driving voltage provided by the driving voltage source is adjusted separately or the on-resistance of the switch is adjusted separately, the target amplitude of the driving voltage or the target on-resistance of the switch may be different from that when the amplitude of the driving voltage and the on-resistance of the switch are adjusted in parallel.

[0136] In some embodiments, the target amplitude of the driving voltage or the target on-resistance of the switch can be stored in a memory in the form of a list, an adjustment curve, etc. When adjusting at least one of the amplitude of the driving voltage and the on-resistance of the switch, the controller (or processor) can call the data of the pre-stored list or adjustment curve and adjust it as the target amplitude or target on-resistance or as a reference value. The memory can be a memory inside the light emitting device, a memory inside the laser radar, or a network-accessible memory, etc. When adjusting at least one of the amplitude of the driving voltage and the on-resistance of the switch, it can be intermittent adjustment of different discrete values ​​or continuous adjustment.

[0137] In some embodiments, the switch includes multiple sub-switches connected in parallel. Control method 200 includes adjusting the on-resistance of the switch by regulating the on-off states of the sub-switches. The on-resistance of the switch can be adjusted using the same or similar methods as in any embodiment of the light emitting array and will not be further described here.

[0138] In some embodiments, the driving voltage source further includes an adjustable high-voltage source. Control method 200 includes adjusting the amplitude of the driving voltage provided by the driving voltage source to the laser to emit light, using the adjustable high-voltage source. The amplitude of the driving voltage can be adjusted in the same or similar manner as in any embodiment of the light emitting array, and will not be further described here.

[0139] In some embodiments, the control method 200 includes adjusting at least one of the amplitude of a driving voltage provided by a driving voltage source coupled to the lasers and the on-resistance of a switch so that the current flowing through different lasers is substantially equal. This can achieve uniform light emission within a desired light-emitting area of ​​the laser array, including the entire light-emitting area or a localized light-emitting area of ​​the laser array.

[0140] In some embodiments, the control method 200 includes adjusting at least one of the amplitude of the driving voltage provided by a driving voltage source coupled to the laser and the on-resistance of a switch so that the current flowing through the laser does not exceed a current threshold. This can prevent the laser from burning out. In some embodiments, the current threshold may include a current amplitude threshold. The current threshold may include a current density threshold. By adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source coupled to the laser and the on-resistance of the switch, the current flowing through the laser does not exceed at least one of the current amplitude threshold and the current density threshold.

[0141] The present disclosure also provides a laser radar. Figure 13 FIG. 3 shows a schematic diagram of a laser radar 300 according to some embodiments of the present disclosure. Figure 13 As shown, the laser radar 300 includes a light emitting device 100, a detector 330, and a processor 360. The light emitting device 100 can emit detection light L. The light emitting device 100 can adopt the same or similar design as the light emitting device in any of the aforementioned embodiments. The detector 330 can receive the echo light L' reflected by the detection light L from the object OB and generate an electrical signal. The processor 360 is coupled to the detector 330 and can determine object information based on the electrical signal.

[0142] In some embodiments, the processor 360 may execute the control method 200, and may execute steps S210 to S230 and other optional steps in the control method 200. The processor 360 may adjust at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch.

[0143] In some embodiments, the processor 360 can adjust at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch based on the detection field of view of the laser radar. For example, for the central field of view (main field of view) of the laser radar, the processor 360 can increase at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and reduce the on-resistance of the switch. This can improve the range-finding performance of the laser radar and increase the signal-to-noise ratio of the laser radar. For the edge field of view (blind field of view) of the laser radar, the processor 360 can reduce at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and increase the on-resistance of the switch. This can save power consumption.

[0144] In some embodiments, processor 360 can provide feedback and adjust at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch based on the detection results of the laser radar (e.g., whether an object is detected, the distance, speed, and reflectivity of the object). This can balance the performance of the laser radar, such as range, signal-to-noise ratio, and power consumption.

[0145] The detection results of a LiDAR can be determined based on the LiDAR's point cloud data. The LiDAR can be a solid-state LiDAR. For a solid-state LiDAR, the LiDAR completes a single detection of the entire detection field of view, generating a single frame of a point cloud. The LiDAR can also be a mechanically rotating LiDAR. For a mechanically rotating LiDAR, its optical rotor rotates 360° in the horizontal plane around its vertical axis, generating a single frame of a point cloud. The LiDAR can also be a semi-solid-state LiDAR, such as one that uses a scanner such as a rotating mirror or a galvanometer. For a semi-solid-state LiDAR, its scanner completes one scanning cycle, generating a single frame of a point cloud.

[0146] Based on one or more frames of point cloud data, it is possible to determine whether the laser radar has detected an object, as well as information such as the object's distance, reflectivity, and speed. Based on this information, feedback adjustment can be implemented for at least one of the amplitude of the drive voltage provided by the drive voltage source to the laser to be emitted and the on-resistance of the switch.

[0147] For example, when a certain percentage of point cloud frames containing detected objects in a continuous multi-frame point cloud data set reaches a certain ratio, processor 360 can increase at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser or reduce the on-resistance of the switch. This can increase the laser's luminous intensity, enabling the LiDAR to achieve targeted and accurate detection. When no object is detected in a continuous multi-frame point cloud data set, processor 360 can decrease at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser or increase the on-resistance of the switch. This can reduce the laser's luminous intensity, saving power consumption of the LiDAR.

[0148] For example, for distant objects, processor 360 can increase at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser or reduce the on-resistance of the switch. This can increase the laser's luminous intensity, improve the laser radar's range-finding performance, enhance the laser radar's signal-to-noise ratio, and improve the accuracy of detection results. For close-range objects, processor 360 can decrease at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser or increase the on-resistance of the switch. This can reduce the laser's luminous intensity and save the laser radar's power consumption.

[0149] For another example, for fast-moving objects, processor 360 can increase at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser or reduce the on-resistance of the switch. This can increase the laser's luminous intensity and enhance the lidar's ability to sense environmental changes. For slow-moving or stationary objects, processor 360 can decrease at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser or increase the on-resistance of the switch. This can reduce the laser's luminous intensity and save the lidar's power consumption.

[0150] For another example, for objects with high reflectivity, processor 360 can reduce the amplitude of the driving voltage provided by the driving voltage source to the laser or increase the on-resistance of the switch. This can reduce the laser's luminous intensity, suppress high-reflection broadening and high-reflection ghosting, reduce crosstalk, and save LiDAR power consumption. For objects with low reflectivity, processor 360 can increase the amplitude of the driving voltage provided by the driving voltage source to the laser or reduce the on-resistance of the switch. This can increase the laser's luminous intensity, improve the LiDAR's signal strength, enhance the LiDAR's signal-to-noise ratio, and enhance the accuracy of detection results.

[0151] The processor 360 can also comprehensively determine the adjustment strategy of at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch based on different weights of information such as whether the laser radar detects an object, the distance, reflectivity, and speed of the object, thereby realizing feedback adjustment of at least one of the amplitude of the driving voltage and the on-resistance of the switch.

[0152] In some embodiments, the processor 360 can feedback-adjust at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch based on the operating data of the laser radar (such as temperature, etc.).

[0153] For example, when the temperature of the laser radar is below a temperature threshold, the processor 360 may increase at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser or reduce the on-resistance of the switch. This can increase the laser's luminous intensity and improve the laser radar's detection performance. When the temperature of the laser radar is above a temperature threshold, the processor 360 may decrease at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser or increase the on-resistance of the switch. This can reduce the laser's luminous intensity, save power, prevent the laser radar from shutting down at high temperatures, and extend the laser radar's service life. When the temperature of the laser radar is equal to the temperature threshold, the processor 360 may maintain at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser or maintain the on-resistance of the switch, ensuring stable operation and maintaining robustness of the laser radar. The laser radar's temperature can be the internal temperature of the laser radar or the ambient temperature of the laser radar. The laser radar's temperature can be measured by a built-in or external temperature sensor or obtained by the controller (or processor). Communication between the controller (or processor) and the temperature sensor can be achieved via wired or wireless means. The communication between the controller (or processor) and the temperature sensor may include unidirectional or bidirectional transmission of electrical signals and / or control signals.

[0154] In some embodiments, the detector may include a single photon avalanche diode (SPAD), an avalanche photodiode (APD), a silicon photomultiplier (SiPM), or a similar device.

[0155] The processor may include a processing circuit, a CPU, other general-purpose processors, a DSP, an ASIC, an FPGA or other programmable logic device, discrete gate or transistor logic devices, discrete hardware components, and the like. A general-purpose processor may be a microprocessor or any conventional processor.

[0156] The present disclosure also provides a device. Figure 14 Schematic diagram of a device 400 according to some embodiments of the present disclosure is shown. Figure 14 As shown, the device 400 includes a processor 360 and a memory 440. The memory 440 includes computer executable instructions stored thereon, and when the executable instructions are executed by the processor 360, the control method 200 in any of the aforementioned embodiments of the present disclosure can be implemented.

[0157] In some embodiments, the device may include but is not limited to a vehicle controller, a mobile phone, a tablet, a laptop, a wearable device, a cloud, a manufacturer's server, a computer, etc.

[0158] In some embodiments, the memory may include random access memory (RAM) or non-volatile memory. Further, the memory may include at least one of phase-change random access memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), read-only memory (ROM), and electrically erasable programmable read-only memory (EEPROM).

[0159] The present disclosure further provides a computer-readable storage medium including computer-executable instructions stored thereon, wherein the executable instructions, when executed by a processor, implement the control method 200 of the light emitting device 100 in any of the aforementioned embodiments of the present disclosure.

[0160] The present disclosure may take the form of a computer program product implemented on one or more storage media containing program code. Computer-usable storage media include permanent and non-permanent, volatile and non-volatile, removable and non-removable media, and may be implemented by any method or technology to store information. The information may be computer-readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to: PRAM, SRAM, DRAM, other types of RAM, ROM, EEPROM, flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0161] The light emitting device disclosed herein can adjust the luminous intensity of the laser, improve the uniformity of the light emission of the laser array, ensure the safety of the laser, and realize flexible adjustment of the emission performance of the light emitting device by adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and the on-resistance of the switch.

[0162] The light emitting device disclosed herein can determine at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and the on-resistance of the switch based on the position of the laser in the laser array. By adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch, the overall or local adjustment of the luminous intensity of the laser in the light emitting device can be achieved to meet the luminous requirements of different areas of the laser array while avoiding laser burnout.

[0163] The control method disclosed herein can adjust at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and the on-resistance of the switch according to the adjustment strategy, thereby achieving flexible adjustment of the emission performance of the light emitting device.

[0164] The laser radar disclosed herein can adjust the light emission intensity of the laser by adopting the above-mentioned light emitting device, can meet different detection requirements, and can achieve a more flexible detection method.

[0165] The device disclosed herein, by adopting the above-mentioned laser radar, can realize flexible adjustment of the laser radar detection performance by adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser and the on-resistance of the switch, thereby improving the laser radar's auxiliary capabilities (such as assisted driving capabilities) for equipment (such as vehicles), improving the driving safety of equipment (such as vehicles, etc.), and improving user experience.

[0166] It should be noted that although the above detailed description mentions several modules of the light emitting device and the lidar, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules described above can be implemented in a single module. Conversely, the features and functions of a single module described above can be further divided and embodied by multiple modules.

[0167] It should be noted that this specification provides method operation steps such as embodiments or schematic diagrams, but based on routine or non-creative work, more or fewer operation steps may be included. The order of steps listed in the embodiments is only one way of executing the steps among many, and does not represent the only execution order. When implemented in actual systems or device products, the methods shown in the embodiments or flowcharts can be executed sequentially or in parallel.

[0168] Finally, it should be noted that the above descriptions are merely some embodiments of the present disclosure and are not intended to limit the present disclosure. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included within the scope of protection of the present disclosure.

Claims

1. A light emitting device, characterized in that: The light emitting device includes: a laser, a driving voltage source, and a switch; The laser includes a plurality of lasers, and the plurality of lasers are arranged as a laser array; One end of the laser is coupled to the driving voltage source, and the other end of the laser is coupled to the switch; The driving voltage source is configured to provide a driving voltage to the laser; The switch is configured to control the laser to emit laser light; At least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch is adjustable.

2. The light emitting device according to claim 1, wherein The multiple lasers are arranged as a one-dimensional laser array; One end of the plurality of lasers of the one-dimensional laser array is coupled to the same driving voltage source, and the other end of the plurality of lasers is coupled to different switches; or One end of the multiple lasers of the one-dimensional laser array is coupled to the same switch, and the other end of the multiple lasers is coupled to different driving voltage sources.

3. The light emitting device according to claim 1, wherein The multiple lasers are arranged as a two-dimensional laser array; One end of the plurality of lasers in the same row is coupled to the same driving voltage source, and the other end of the plurality of lasers in the same row is coupled to different switches; or One end of the multiple lasers in the same column is coupled to the same switch, and the other end of the multiple lasers in the same column is coupled to different driving voltage sources.

4. The light emitting device according to any one of claims 1 to 3, characterized in that: The magnitude of the driving voltage provided by the driving voltage source is determined based on the position of the laser in the laser array.

5. The light emitting device according to any one of claims 1 to 3, characterized in that: The on-resistance of the switch is determined based on the position of the laser in the laser array.

6. The light emitting device according to claim 5, characterized in that The switch includes a plurality of sub-switches connected in parallel; the switch is configured to adjust the on-resistance of the switch by adjusting the on and off of the sub-switches.

7. The light emitting device according to any one of claims 1 to 3, characterized in that: The driving voltage source includes an energy storage device configured to provide a driving voltage to the laser.

8. The light emitting device according to claim 7, characterized in that The driving voltage source further includes an adjustable high voltage source, which is coupled to the energy storage device and configured to adjust the driving voltage output by the energy storage device.

9. A method for controlling a light emitting device, characterized in that: The light emitting device includes a laser, a driving voltage source, and a switch; the laser includes a plurality of lasers, and the plurality of lasers are arranged as a laser array; one end of the laser is coupled to the driving voltage source, and the other end of the laser is coupled to the switch; The driving voltage source is configured to provide a driving voltage to the laser; The switch is configured to control the laser to emit laser light; The control method includes: determining the laser to be emitted; determining a regulation strategy for at least one of a driving voltage source and a switching unit coupled to the laser to be emitted; and According to the adjustment strategy, at least one of the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and the on-resistance of the switch is adjusted to control the laser to be emitted to emit light.

10. The control method according to claim 9, characterized in that: The step of determining a regulation strategy for at least one of a driving voltage source and a switching unit coupled to the laser to be emitted includes determining at least one of a target amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted and a target on-resistance of the switch.

11. The control method according to claim 10, characterized in that: The target amplitude is determined based on a position of the laser to be emitted in the laser array.

12. The control method according to claim 10, characterized in that: The target on-resistance is determined based on a position of the laser to be emitted in the laser array.

13. The control method according to claim 10, characterized in that: Adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source and the on-resistance of the switch includes: adjusting the amplitude of the driving voltage to the target amplitude and adjusting the on-resistance of the switch to at least one of the target on-resistance.

14. The control method according to claim 9, characterized in that: The switch includes a plurality of sub-switches connected in parallel; the control method includes: adjusting the on-resistance of the switch by adjusting the on and off of the sub-switches.

15. The control method according to claim 9, characterized in that: The driving voltage source further includes an adjustable high voltage source, and the control method includes: adjusting the amplitude of the driving voltage provided by the driving voltage source to the laser to be emitted through the adjustable high voltage source.

16. The control method according to any one of claims 9 to 15, characterized in that: The control method includes: adjusting at least one of the amplitude of the driving voltage provided by the driving voltage source coupled to the laser and the on-resistance of the switch so that the currents flowing through different lasers are substantially equal.

17. The control method according to any one of claims 9 to 15, characterized in that: The control method includes adjusting at least one of the amplitude of the driving voltage provided by a driving voltage source coupled to the laser and the on-resistance of the switch so that the current flowing through the laser does not exceed a current threshold.

18. A laser radar, characterized in that: The laser radar comprises a light emitting device, a detector and a processor as described in any one of claims 1 to 8; The light emitting device is configured to emit detection light; The detector is configured to receive the echo light reflected by the detection light on the object and generate an electrical signal; The processor is coupled to the detector and configured to determine information of the object based on the electrical signal.

19. A device, characterized in that The device comprises a processor and a memory, wherein the memory comprises computer executable instructions stored thereon, and when the executable instructions are executed by the processor, the control method according to any one of claims 9 to 17 is implemented.

20. A computer-readable storage medium comprising computer-executable instructions stored thereon, wherein the computer-executable instructions implement the control method according to any one of claims 9 to 17 when executed by a processor.

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