Transmitting system, related chip, radar, terminal equipment and vehicle end

Abstract

A transmitting system and a related device are applied to the technical field of laser radars. The transmitting system comprises a first booster circuit, a first control unit, a first driving unit and at least one multi-channel multiplexer (MUX), the first MUX in the at least one MUX comprises a plurality of first switches, and each first switch is correspondingly connected with at least one first laser circuit; the first laser circuit comprises a first laser and a first energy storage unit; the first booster circuit is connected with the first laser and the first energy storage unit through the first switch, the first driving unit is connected with the first laser, and the first control unit is connected with the first booster circuit and the first switch. The first control unit is used for controlling the first booster circuit to output the first voltage at the first moment and controlling the first switch to be switched on or switched off, and the switching-on moment of the first switch is not later than the first moment. According to the transmitting system, the consistency difference between the output light pulse width and the transmitting power of each laser channel can be reduced, and the detection performance is improved.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a transmitting system and related devices, which can be applied to the transportation industry. Background Art

[0002] With the development of information technology and computer vision, detection technology has made rapid progress, and various detection devices have brought great convenience to people's lives and travel. Detection devices can be regarded as the "eyes" that perceive the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radars, lidars, and ultrasonic radars. Among them, lidar (light detection and ranging, Lidar, or light detection and ranging device) has obvious advantages in detection range, ranging accuracy and reliability, and has the characteristics of nearly all-weather operation. It is a key sensor in the field of perception and plays an important role in intelligent driving, intelligent transportation, surveying and mapping, intelligent manufacturing and other fields.

[0003] At present, in 1D or 2D solid-state lidar, since the discharge loop inductance between each laser channel is not completely consistent, the consistency of the optical pulse width and emission power output between each laser channel varies greatly, which affects the detection performance of the lidar.

[0004] Therefore, a solution is urgently needed to reduce the consistency differences in the optical pulse width and emission power output between each laser channel and improve the detection performance of the lidar. Utility Model Content

[0005] The embodiments of the present application provide a transmission system and related devices, which can reduce the consistency differences in the optical pulse width and transmission power output between various laser channels and improve the detection performance of the laser radar.

[0006] In a first aspect, an embodiment of the present application provides a transmitting system, which includes a first boosting circuit, a first control unit, a first driving unit, and at least one multi-channel multiplexer MUX; a first MUX in at least one MUX includes a plurality of first switches, each first switch correspondingly connected to at least one first laser circuit; the first laser circuit includes:

[0007] A first laser, a first energy storage unit;

[0008] The first boost circuit is connected to the first laser and the first energy storage unit through the first switch, the first laser and the first energy storage unit are connected in parallel, the first driving unit is connected to the first laser, one end of the first control unit is connected to the first boost circuit, and the other end of the first control unit is connected to the first switch;

[0009] The first control unit is used to control the first boost circuit to output the first voltage at a first moment, and to control the on or off of the first switch, and the on time of the first switch is no later than the first moment.

[0010] In an embodiment of the present application, a transmitting system is provided, which includes a first boosting circuit, a first control unit, a first driving unit, and at least one multi-channel multiplexer (multiplexers, MUX). The first MUX in at least one MUX includes multiple first switches, and each first switch is connected to at least one first laser circuit. Due to the position difference, model difference, heating and / or heat dissipation difference, production process difference and other factors of each laser circuit in the transmitting system, the consistency of the transmission power of each laser circuit is relatively different. In order to reduce the consistency difference of the transmission power of each laser circuit, the voltage value of the power supply to each laser circuit also needs to be designed accordingly, so that the transmission power of each laser circuit tends to be consistent. The transmitting system in the embodiment of the present application is equipped with a first control unit and a first boosting circuit for the first laser circuit, and the first control unit is used to control the first boosting circuit to output a first voltage at a first moment, and control the conduction or disconnection of the first switch. The conduction time of the first switch is no later than the first moment, and the first voltage can be provided to charge the first energy storage unit in the first laser circuit, and the first energy storage unit supplies energy to the first laser in the first laser circuit. Through the embodiments of the present application, by performing timing control on the moment when the first boost circuit outputs the first voltage and the on and off of the first switch, it is possible to provide the first laser circuit with the first voltage it needs, thereby minimizing or even eliminating the difference in emission power consistency between the first laser circuit and other laser circuits, thereby improving the consistency of the optical pulse width and emission power output between each laser channel and improving the detection performance of the laser radar.

[0011] Optionally, the first voltage is related to the relative position of the first laser circuit and the first driving unit. Generally, the closer the first driving unit is to the laser circuit, the greater the transmission power of the laser circuit. Therefore, in order to be consistent with the transmission power of other laser circuits that are relatively farther from the first driving unit, if the distance between the first laser circuit and the first driving unit is closer, the voltage output by the first booster circuit is smaller. Similarly, the farther the first driving unit is from the laser circuit, the smaller the transmission power of the laser circuit. Therefore, in order to be consistent with the transmission power of other laser circuits that are relatively closer to the first driving unit, if the distance between the first laser circuit and the first driving unit is farther, the voltage output by the first booster circuit is larger. The first booster circuit outputs the first voltage to charge the first energy storage unit in the first laser circuit, and the first energy storage unit supplies energy to the first laser in the first laser circuit, so as to minimize or even eliminate the difference in the consistency of the transmission power of each laser circuit caused by the position difference between the first driving unit and each laser circuit. Through the embodiments of the present application, based on the relative position relationship between the laser circuit and the first driving unit, the first boost circuit outputs a corresponding voltage to the laser circuit, thereby reducing the consistency difference in the light pulse width and emission power output between each laser channel and improving the detection performance of the laser radar.

[0012] In a possible implementation manner, the first boost circuit includes:

[0013] A first power source, a first inductor, a first diode, and a first boost switch;

[0014] The first power supply is connected to the first inductor, the first inductor is respectively connected to the first end of the first diode and the first end of the first boost switch, the second end of the first diode is connected to the first laser and the first energy storage unit through the first switch, the second end of the first boost switch is connected to the first control unit, and the third end of the first boost switch is grounded;

[0015] The first control unit is used to control the first boost switch to be turned on in a first time period before the first moment, and to control the first boost switch to be turned off at the first moment.

[0016] In this embodiment, a possible specific circuit structure design of a first boost circuit is provided, and the first control unit is used to control the first boost switch to be turned on in a first time period before the first moment, and to control the first boost switch to be turned off at the first moment, so that the first power supply can continuously charge the first inductor in the first time period. Accordingly, the first inductor continuously stores energy in the first time period, and outputs the first voltage at the first moment, and cooperates with controlling the first switch to be turned on no later than the first moment, so that the first voltage can be provided to charge the first energy storage unit in the first laser circuit, and the first energy storage unit supplies energy to the first laser in the first laser circuit. Through the embodiment of the present application, the turn-on and turn-off of the first boost switch and the first switch are controlled in time sequence, so as to provide the first laser circuit with the first voltage required by it, so as to minimize or even eliminate the difference in the consistency of the emission power of the first laser circuit and other laser circuits, thereby improving the consistency of the optical pulse width and emission power output between each laser channel, and improving the detection performance of the laser radar.

[0017] Optionally, the duration of the first time period is related to the relative position of the first laser circuit and the first drive unit. Generally, the closer the first drive unit is to the laser circuit, the greater the transmission power of the laser circuit. Therefore, in order to be consistent with the transmission power of other laser circuits that are relatively farther from the first drive unit, if the distance between the first laser circuit and the first drive unit is closer, the voltage output by the first boost circuit should be smaller, and the duration of controlling the first boost switch to be turned on in the first time period before the first moment should be shorter. Similarly, the farther the first drive unit is from the laser circuit, the smaller the transmission power of the laser circuit. Therefore, in order to be consistent with the transmission power of other laser circuits that are relatively closer to the first drive unit, if the distance between the first laser circuit and the first drive unit is farther, the voltage output by the first boost circuit should be larger, and the duration of controlling the first boost switch to be turned on in the first time period before the first moment should be longer. Optionally, there is a corresponding relationship between the duration of the first boost switch being turned on and the voltage value of the first inductor energy storage. The longer the first time period is, the more energy the first inductor in the first boost circuit stores. The duration of the first boost switch being turned on for the first time period can make the first inductor store energy of the first voltage. By controlling the first boost switch to be turned on in the first time period before the first moment, and controlling the first boost switch to be turned off at the first moment, the first inductor can provide the first voltage at the first moment to charge the first energy storage unit in the first laser circuit, and the first energy storage unit can supply energy to the first laser in the first laser circuit, so as to minimize or even eliminate the difference in the consistency of the emission power of each laser circuit caused by the position difference between the first driving unit and each laser circuit.

[0018] In a possible implementation, at least one MUX includes a second MUX other than the first MUX, the second MUX includes a plurality of second switches, each second switch is correspondingly connected to at least one second laser circuit; the second laser circuit includes:

[0019] A second laser, a second energy storage unit;

[0020] The first boost circuit is connected to the second laser and the second energy storage unit through the second switch, the second laser and the second energy storage unit are connected in parallel, the first driving unit is connected to the second laser, one end of the first control unit is connected to the first boost circuit, and the other end of the first control unit is connected to the second switch;

[0021] The first control unit is used to control the first boost circuit to output a second voltage at a second moment, and to control the on or off of the second switch. The second voltage is different from the first voltage, and the on time of the second switch is no later than the second moment.

[0022] In this embodiment, the second MUX in the at least one MUX includes a plurality of second switches, and each second switch is connected to at least one second laser circuit. Due to the position difference, model difference, heating and / or heat dissipation difference, production process difference and other factors of each laser circuit in the transmitting system, the consistency of the transmission power of each laser circuit is relatively different. In order to reduce the consistency difference of the transmission power of each laser circuit, the voltage value for powering each laser circuit also needs a corresponding differentiated design so that the transmission power of each laser circuit tends to be consistent. The transmitting system in the embodiment of the present application is equipped with a first control unit and a first boost circuit for the second laser circuit, and the first control unit is used to control the first boost circuit to output a second voltage at a second moment, and control the conduction or disconnection of the second switch, and the conduction time of the second switch is no later than the second moment, so that the second voltage can be provided to charge the second energy storage unit in the second laser circuit, and the second energy storage unit is the second laser in the second laser circuit. Power supply. Through the embodiment of the present application, the timing of the first boost circuit outputting the second voltage and the on and off of the second switch can be controlled, so as to provide the second laser circuit with the second voltage required, so as to reduce or even eliminate the difference in the consistency of the emission power between the second laser circuit and other laser circuits as much as possible, thereby improving the consistency of the optical pulse width and emission power output between each laser channel, and improving the detection performance of the laser radar. In addition, the second voltage is different from the first voltage, so that different voltages can be used to supply power to different laser channels, thereby adjusting the emission power of different laser channels, so that the optical pulse width and emission power output between each laser channel tend to be consistent, and the detection performance of the laser radar is improved.

[0023] Optionally, the second voltage may be the same as the first voltage, which is not limited in the embodiments of the present application. Optionally, due to other factors such as the position difference, model difference, heating and / or heat dissipation difference, and production process difference between the first laser circuit and the second laser circuit, the emission power of the first laser circuit and the second laser circuit is consistent, so the voltage value for powering the first laser circuit and the second laser circuit does not need to be designed differently, and therefore, the first voltage for powering the first laser circuit and the second voltage for powering the second laser circuit may be the same.

[0024] In a possible implementation, the first boost circuit includes:

[0025] A first power source, a first inductor, a first diode, and a first boost switch;

[0026] Wherein, the first power supply is connected to the first inductor, the first inductor is respectively connected to the first end of the first diode and the first end of the first boost switch, the second end of the first diode is connected to the second laser and the second energy storage unit through the second switch, and the second end of the first diode is connected to the first laser and the first energy storage unit through the first switch, the second end of the first boost switch is connected to the first control unit, and the third end of the first boost switch is grounded;

[0027] The first control unit is used to control the first boost switch to be turned on in a second time period before the second moment, and to control the first boost switch to be turned off at the second moment. The length of the second time period is different from the length of the first time period. The first time period is the time period in which the first boost switch is turned on before the first moment.

[0028] In this embodiment, a possible specific circuit structure design of a first boost circuit is provided, and the first control unit is used to control the first boost switch to be turned on in the second time period before the second moment, and to control the first boost switch to be turned off at the second moment, so that the first power supply can continuously charge the first inductor in the second time period. Accordingly, the first inductor continuously stores energy in the second time period, and outputs the second voltage at the second moment, and cooperates with controlling the second switch to be turned on no later than the second moment, so that the second voltage can be provided to charge the second energy storage unit in the second laser circuit, and the second energy storage unit supplies energy for the second laser in the second laser circuit. Through the embodiment of the present application, the turn-on and turn-off of the first boost switch and the second switch are controlled in time sequence, so as to provide the second laser circuit with the second voltage required by the second laser circuit, so as to reduce or even eliminate the difference in the consistency of the emission power of the second laser circuit and other laser circuits as much as possible, so as to improve the consistency of the optical pulse width and emission power output between each laser channel, and improve the detection performance of the laser radar. Moreover, the duration of the second time period is different from that of the first time period, and the corresponding output second voltage is different from the first voltage, so that different voltages can be used to supply power to different laser channels, thereby adjusting the emission power of different laser channels, so that the light pulse width and emission power outputted by each laser channel tend to be consistent, thereby improving the detection performance of the lidar.

[0029] Optionally, the duration of the second time period may be the same as the duration of the first time period, and the embodiment of the present application does not limit this. Optionally, due to other factors such as the position difference, model difference, heating and / or heat dissipation difference, and production process difference between the first laser circuit and the second laser circuit, the transmission power of the first laser circuit and the second laser circuit is consistent, so the voltage value for powering the first laser circuit and the second laser circuit does not need to be designed differently, and therefore, the duration of the second time period may be the same as the duration of the first time period, so that the first voltage output for powering the first laser circuit and the second voltage output for powering the second laser circuit are the same.

[0030] In a possible implementation manner, a difference between the emission power of the first laser and the emission power of the second laser is smaller than a first threshold.

[0031] In this embodiment, a possible specific implementation method for consistency of the emission power of a first laser and a second laser is provided, specifically, the difference between the emission power of the first laser and the emission power of the second laser is less than a first threshold value, and the first threshold value is not a fixed value and can be adjusted accordingly according to different application scenarios. The embodiment of the present application does not limit this.

[0032] Optionally, the difference between the emission power of the first laser and the emission power of the second laser may be 0. It can be understood that, ideally, the emission power of the first laser and the emission power of the second laser tend to be completely consistent, at which time the detection performance of the laser radar can be maximized.

[0033] In a possible implementation, the driving unit in the transmitting system includes a driver, and the driver is arranged at the head end or the end end of the laser array in the transmitting system along the first direction;

[0034] The laser array includes a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage magnitudes of the energy storage units in the laser array are arranged in increasing or decreasing order along the first direction.

[0035] In this embodiment, a possible specific implementation of the driver arrangement is provided, specifically, when the driving unit includes a driver, the driver can be arranged at the head end or the end of the laser array in the transmitting system along the first direction, which is beneficial to the heat dissipation of the driver. Generally, the closer the driver is to the laser circuit, the greater the transmission power of the laser circuit. It can be understood that in this case, the transmission power of multiple lasers in the laser array increases or decreases along the first direction. At this time, in order to make the transmission power of multiple lasers in the laser array tend to be consistent, the voltage of multiple energy storage units in the laser array that power multiple lasers will decrease or increase accordingly along the first direction, so as to reduce the consistency difference of the light pulse width and transmission power output by each laser, and realize the transmission power of multiple lasers tend to be consistent.

[0036] Optionally, the driver may also be disposed at other positions of the laser array in the transmitting system along the first direction, and the embodiments of the present application do not limit this. Accordingly, the voltage of each energy storage unit in the laser array may be determined in combination with the position of the driver to achieve consistency in the transmission power of multiple lasers in the laser array.

[0037] In a possible implementation, the driving unit in the transmitting system includes a driver, and the driver is arranged in the middle of the laser array in the transmitting system along the first direction;

[0038] The laser array includes a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage magnitudes of the energy storage units in the laser array are symmetrically arranged along the first direction.

[0039] In this embodiment, a possible specific implementation of the driver arrangement is provided, specifically, when the driving unit includes a driver, the driver can be arranged in the middle of the laser array in the emission system along the first direction, and the overall difference in the emission power of multiple lasers in the laser array is small. Therefore, the arrangement method can improve the consistency of the emission power of multiple lasers in the laser array from the position layout. Generally, the closer the driver is to the laser circuit, the greater the emission power of the laser circuit. It can be understood that in this case, the emission power of multiple lasers in the laser array is arranged symmetrically along the first direction in a regular pattern of large in the middle and small at both ends. At this time, in order to make the emission power of multiple lasers in the laser array tend to be consistent, the voltage magnitudes of multiple energy storage units in the laser array that power multiple lasers will be correspondingly arranged symmetrically along the first direction in a regular pattern of small in the middle and large at both ends, so as to reduce the consistency difference of the light pulse width and emission power output by each laser, and realize the emission power of multiple lasers tend to be consistent.

[0040] Optionally, the driver may also be disposed at other positions of the laser array in the transmitting system along the first direction, and the embodiments of the present application do not limit this. Accordingly, the voltage of each energy storage unit in the laser array may be determined in combination with the position of the driver to achieve consistency in the transmission power of multiple lasers in the laser array.

[0041] In a possible implementation, the driving unit in the transmitting system includes at least two drivers, and the at least two drivers are respectively arranged at two ends of the laser array in the transmitting system along the first direction;

[0042] The laser array includes a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage magnitudes of the energy storage units in the laser array are symmetrically arranged along the first direction.

[0043] In this embodiment, a possible specific implementation of the driver arrangement is provided, specifically, when the driving unit includes at least two drivers, the at least two drivers can be respectively arranged at the two ends of the laser array in the transmitting system along the first direction, which is conducive to the heat dissipation of the driver. At this time, the overall difference in the emission power of multiple lasers in the laser array is small. Therefore, the consistency of the emission power of multiple lasers in the laser array can be improved from the position layout through this arrangement. Generally, the closer the driver is to the laser circuit, the greater the emission power of the laser circuit. It can be understood that in this case, the emission power of multiple lasers in the laser array is arranged symmetrically along the first direction in a regular pattern of small in the middle and large at both ends. At this time, in order to make the emission power of multiple lasers in the laser array tend to be consistent, the voltage magnitude of multiple energy storage units in the laser array that power multiple lasers will be correspondingly arranged symmetrically along the first direction in a regular pattern of large in the middle and small at both ends, so as to reduce the consistency difference of the optical pulse width and emission power output by each laser, and realize the emission power of multiple lasers tend to be consistent.

[0044] Optionally, the driver may also be disposed at other positions of the laser array in the transmitting system along the first direction, and the embodiments of the present application do not limit this. Accordingly, the voltage of each energy storage unit in the laser array may be determined in combination with the position of the driver to achieve consistency in the transmission power of multiple lasers in the laser array.

[0045] In a possible implementation, at least two drives are arranged in a mirrored manner.

[0046] In this embodiment, a possible specific implementation of driver arrangement is provided, specifically, at least two drivers in the transmitting system are arranged in a mirror image, which is conducive to optimizing the routing design between various modules in the transmitting system and improving space utilization.

[0047] In a possible implementation, the laser circuit in the transmitting system is disposed on a printed circuit board PCB.

[0048] In this embodiment, the laser circuit in the transmitting system is disposed on a printed circuit board (PCB). Furthermore, the laser circuit in the transmitting system can be disposed on the front side of the PCB or on the back side of the PCB, and this application does not limit this.

[0049] In a possible implementation, the driving unit in the transmitting system is disposed on the reverse side of the PCB.

[0050] In this embodiment, the driving unit in the above-mentioned transmitting system is arranged on the reverse side of the PCB, which is beneficial to optimize the wiring design between various modules in the transmitting system and improve the space utilization.

[0051] In a second aspect, an embodiment of the present application provides a transmitting system, the transmitting system comprising at least one third laser circuit, at least one fourth laser circuit, a second driving unit, a second control unit, a second boosting circuit, a third boosting circuit, and a second power supply;

[0052] The third laser circuit includes a third laser and a third energy storage unit, and the fourth laser circuit includes a fourth laser and a fourth energy storage unit;

[0053] Wherein, the second power supply is connected to the second boost circuit and the third boost circuit respectively; the second boost circuit is connected to the third laser and the third energy storage unit respectively, and the third laser and the third energy storage unit are connected in parallel; the third boost circuit is connected to the fourth laser and the fourth energy storage unit respectively, and the fourth laser and the fourth energy storage unit are connected in parallel; the second drive unit is connected to the third laser and the fourth laser respectively, and the second control unit is connected to the second boost circuit and the third boost circuit respectively;

[0054] The second control unit is used to control the second boost circuit to output a third voltage, and to control the third boost circuit to output a fourth voltage, wherein the third voltage is different from the fourth voltage.

[0055] In an embodiment of the present application, a transmitting system is provided, which includes a second boosting circuit, a third boosting circuit, a second control unit, a second driving unit, a second power supply, at least one third laser circuit, and at least one fourth laser circuit. Due to the position difference, model difference, heating and / or heat dissipation difference, production process difference and other factors of each laser circuit in the transmitting system, the transmission power consistency of each laser circuit is relatively different. In order to reduce the consistency difference of the transmission power of each laser circuit, the voltage value of the power supply to each laser circuit also needs a corresponding differentiated design so that the transmission power of each laser circuit tends to be consistent. The transmitting system in the embodiment of the present application is equipped with a second control unit and a second boosting circuit for the third laser circuit, and the second control unit is used to control the second boosting circuit to output a third voltage, and control the third boosting circuit to output a fourth voltage, so that the third energy storage unit in the third laser circuit can be provided to charge the third energy storage unit, and the third energy storage unit can be provided to power the third laser in the third laser circuit, and the fourth energy storage unit can be provided to charge the fourth energy storage unit in the fourth laser circuit, and the fourth energy storage unit can be provided to power the fourth laser in the fourth laser circuit. Moreover, the third voltage is different from the fourth voltage, so different voltages can be used to supply power to different laser channels, thereby adjusting the emission power of different laser channels, making the light pulse width and emission power output by each laser channel tend to be consistent, thereby improving the detection performance of the laser radar.

[0056] Optionally, the third voltage is related to the relative position of the third laser circuit and the second drive unit, and the fourth voltage is related to the relative position of the fourth laser circuit and the second drive unit. Generally, the closer the second drive unit is to the laser circuit, the greater the transmission power of the laser circuit. Therefore, in order to be consistent with the transmission power of other laser circuits that are relatively farther from the second drive unit, if the distance between the third laser circuit and the second drive unit is closer, the voltage output by the second boost circuit is smaller. Similarly, the farther the second drive unit is from the laser circuit, the smaller the transmission power of the laser circuit. Therefore, in order to be consistent with the transmission power of other laser circuits that are relatively closer to the second drive unit, if the distance between the fourth laser circuit and the second drive unit is farther, the voltage output by the third boost circuit is larger. The second boost circuit outputs a third voltage to charge the third energy storage unit in the third laser circuit, and the third energy storage unit supplies energy to the third laser in the third laser circuit; the third boost circuit outputs a fourth voltage to charge the fourth energy storage unit in the fourth laser circuit, and the fourth energy storage unit supplies energy to the fourth laser in the fourth laser circuit, so as to minimize or even eliminate the difference in consistency of the emission power of each laser circuit caused by the position difference between the second drive unit and each laser circuit. Through the embodiment of the present application, according to the relative position relationship between the laser circuit and the second drive unit, the corresponding voltage is output for the third laser circuit through the second boost circuit, and the corresponding voltage is output for the fourth laser circuit through the third boost circuit, which can reduce the consistency difference of the optical pulse width and emission power output between each laser channel, and improve the detection performance of the laser radar.

[0057] Optionally, the third voltage and the fourth voltage may also be the same, and the embodiment of the present application does not limit this. Optionally, due to other factors such as the position difference, model difference, heating and / or heat dissipation difference, and production process difference between the third laser circuit and the fourth laser circuit, the emission power of the third laser circuit and the fourth laser circuit is consistent, so the voltage value for powering the third laser circuit and the fourth laser circuit does not need to be designed differently, and therefore, the third voltage for powering the third laser circuit and the fourth voltage for powering the fourth laser circuit may be the same.

[0058] In a possible implementation, the second boost circuit includes a second inductor, a second diode, and a second boost switch, and the third boost circuit includes a third inductor, a third diode, and a third boost switch;

[0059] Wherein, the second power supply is connected to the second inductor and the third inductor respectively; the second inductor is connected to the first end of the second diode and the first end of the second boost switch respectively, and the second end of the second diode is connected to the third laser and the third energy storage unit respectively; the third inductor is connected to the first end of the third diode and the first end of the third boost switch respectively, and the second end of the third diode is connected to the fourth laser and the fourth energy storage unit respectively; the second control unit is connected to the second end of the second boost switch and the second end of the third boost switch respectively; the third end of the second boost switch and the third end of the third boost switch are grounded;

[0060] The second control unit is used to control the second boost switch to be turned on in a third time period before a third moment, and to control the second boost switch to be turned off at the third moment; the second control unit is used to control the third boost switch to be turned on in a fourth time period before a fourth moment, and to control the third boost switch to be turned off at the fourth moment; the length of the third time period is different from the length of the fourth time period.

[0061] In this embodiment, a possible specific circuit structure design of a second boost circuit and a third boost circuit is provided, and the second control unit is used to control the second boost switch to be turned on in the third time period before the third moment, and to control the second boost switch to be turned off at the third moment, so that the second power supply can continuously charge the second inductor in the third time period. Accordingly, the second inductor continuously stores energy in the third time period, and outputs the third voltage at the third moment, and can provide the third voltage to charge the third energy storage unit in the third laser circuit, and the third energy storage unit supplies energy to the third laser in the third laser circuit. The second control unit is also used to control the third boost switch to be turned on in the fourth time period before the fourth moment, and to control the third boost switch to be turned off at the fourth moment, so that the second power supply can continuously charge the third inductor in the fourth time period. Accordingly, the third inductor continuously stores energy in the fourth time period, and outputs the fourth voltage at the fourth moment, and can provide the fourth voltage to charge the fourth energy storage unit in the fourth laser circuit, and the fourth energy storage unit supplies energy to the fourth laser in the fourth laser circuit. Moreover, the length of the third time period is different from that of the fourth time period, so that the provided third voltage is also different from the fourth voltage, so that different voltages are used to supply power to different laser channels, thereby adjusting the emission power of different laser channels, making the light pulse width and emission power output by each laser channel tend to be consistent, thereby improving the detection performance of the lidar.

[0062] Optionally, the duration of the third time period is related to the relative position of the third laser circuit and the second drive unit, and the duration of the fourth time period is related to the relative position of the fourth laser circuit and the second drive unit. Generally, the closer the second drive unit is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to be consistent with the emission power of other laser circuits that are relatively farther from the second drive unit, if the distance between the third laser circuit and the second drive unit is closer, the voltage output by the second boost circuit should be smaller, and the duration of controlling the second boost switch to be turned on in the third time period before the third moment should be shorter. Similarly, the farther the second drive unit is from the laser circuit, the smaller the emission power of the laser circuit. Therefore, in order to be consistent with the emission power of other laser circuits that are relatively closer to the second drive unit, if the distance between the fourth laser circuit and the second drive unit is farther, the voltage output by the third boost circuit should be larger, and the duration of controlling the third boost switch to be turned on in the fourth time period before the fourth moment should be longer. Optionally, there is a corresponding relationship between the duration of the conduction of the second boost switch and the voltage value of the energy stored by the second inductor. The longer the third time period is, the more energy the second inductor in the second boost circuit stores. The duration of the conduction of the second boost switch in the third time period can make the second inductor store a third voltage. By controlling the second boost switch to be turned on in the third time period before the third moment, and controlling the second boost switch to be turned off at the third moment, the second inductor can provide a third voltage at the third moment, charge the third energy storage unit in the third laser circuit, and the third energy storage unit supplies energy to the third laser in the third laser circuit, so as to minimize or even eliminate the difference in the consistency of the emission power of each laser circuit caused by the position difference between the second drive unit and each laser circuit.

[0063] Optionally, the duration of the third time period may be the same as the duration of the fourth time period, which is not limited in the embodiments of the present application. Optionally, due to other factors such as the position difference, model difference, heating and / or heat dissipation difference, and production process difference between the third laser circuit and the fourth laser circuit, the emission power of the third laser circuit and the fourth laser circuit is consistent, so the voltage value for powering the third laser circuit and the fourth laser circuit does not need to be designed differently, and therefore, the duration of the third time period may be the same as the duration of the fourth time period, so that the third voltage output for powering the third laser circuit and the fourth voltage output for powering the fourth laser circuit are the same.

[0064] In a possible implementation manner, a difference between the emission power of the third laser and the emission power of the fourth laser is smaller than a second threshold.

[0065] In this embodiment, a possible specific implementation method of the consistency of the emission power of the third laser and the fourth laser is provided, specifically, the difference between the emission power of the third laser and the emission power of the fourth laser is less than a second threshold value, and the second threshold value is not a fixed value and can be adjusted accordingly according to different application scenarios. The embodiment of the present application does not limit this.

[0066] Optionally, the difference between the emission power of the third laser and the emission power of the fourth laser may be 0. It can be understood that, ideally, the emission power of the third laser and the emission power of the fourth laser tend to be completely consistent, at which time the detection performance of the laser radar can be maximized.

[0067] In a possible implementation, the transmitting system further includes at least one fifth laser circuit, and the position of the fifth laser circuit is symmetrical to the position of the third laser circuit with respect to the second driving unit; the fifth laser circuit includes a fifth laser and a fifth energy storage unit;

[0068] The fifth laser and the fifth energy storage unit are connected in parallel, one side of the fifth laser and the fifth energy storage unit is connected to the second boost circuit, and the other side of the fifth laser and the fifth energy storage unit is connected to the second driving unit.

[0069] In this embodiment, the transmitting system also includes at least one fifth laser circuit, the position of the fifth laser circuit and the position of the third laser circuit are symmetrical about the second driving unit, and due to the symmetry of the position of the fifth laser circuit and the position of the third laser circuit, the difference in the consistency of the emission power of the fifth laser circuit and the third laser circuit is small, or even completely consistent, so the voltage value for powering the fifth laser circuit and the third laser circuit does not need to be differentiated, and the same second boost circuit can be shared, so that the emission power of the fifth laser circuit and the third laser circuit tends to be consistent. Through the embodiment of the present application, hardware costs can be saved, the routing design between the modules in the transmitting system can be optimized, and the space utilization rate can be improved.

[0070] In a possible implementation, the driving unit in the transmitting system includes a driver, and the driver is arranged at the head end or the end end of the laser array in the transmitting system along the first direction;

[0071] The laser array includes a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage magnitudes of the energy storage units in the laser array are arranged in increasing or decreasing order along the first direction.

[0072] In a possible implementation, the driving unit in the transmitting system includes a driver, and the driver is arranged in the middle of the laser array in the transmitting system along the first direction;

[0073] The laser array includes a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage magnitudes of the energy storage units in the laser array are symmetrically arranged along the first direction.

[0074] In a possible implementation, the driving unit in the transmitting system includes at least two drivers, and the at least two drivers are respectively arranged at two ends of the laser array in the transmitting system along the first direction;

[0075] The laser array includes a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage magnitudes of the energy storage units in the laser array are symmetrically arranged along the first direction.

[0076] In a possible implementation, at least two drives are arranged in a mirrored manner.

[0077] In a possible implementation, the laser circuit in the transmitting system is disposed on a printed circuit board PCB.

[0078] In a possible implementation, the driving unit in the transmitting system is disposed on the reverse side of the PCB.

[0079] Regarding the transmission system described in the second aspect and any possible implementation, reference may be made to the introduction of the transmission system corresponding to the above-mentioned first aspect and the corresponding implementation.

[0080] Regarding the technical effects brought about by the second aspect and any possible implementation, reference may be made to the introduction of the technical effects of the above-mentioned first aspect and the corresponding implementation.

[0081] In a third aspect, an embodiment of the present application provides a chip, which includes the transmission system described in the first aspect or any possible implementation of the first aspect, or includes the transmission system described in the second aspect or any possible implementation of the second aspect.

[0082] In a fourth aspect, an embodiment of the present application provides a radar, which includes the transmission system described in the first aspect or any possible implementation of the first aspect, or includes the transmission system described in the second aspect or any possible implementation of the second aspect, or includes the chip described in the third aspect.

[0083] In a possible implementation, the radar includes but is not limited to a laser radar and the like.

[0084] In a possible implementation, there may be a smart sensor that integrates multiple sensors. When the smart sensor includes but is not limited to a laser detection function, the smart sensor may also be called a radar.

[0085] In a fifth aspect, an embodiment of the present application provides a terminal device, which includes the transmission system described in the first aspect or any possible implementation of the first aspect, or includes the transmission system described in the second aspect or any possible implementation of the second aspect, or includes the chip described in the third aspect, or includes the radar described in the fourth aspect.

[0086] In the sixth aspect, an embodiment of the present application provides a vehicle side, which includes the transmission system described in the first aspect or any possible implementation of the first aspect, or includes the transmission system described in the second aspect or any possible implementation of the second aspect, or includes the chip described in the third aspect, or includes the radar described in the fourth aspect, or includes the terminal device described in the fifth aspect.

[0087] Optionally, the vehicle end may be a means of transportation, such as a car, a truck, an aircraft, a drone, a slow transport vehicle, a spacecraft, or a ship, etc., which may be used in any possible scenario, and the embodiments of the present application are not limited to this. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application 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 creative work.

[0089] Figure 1A A schematic diagram of an application scenario of a radar provided in an embodiment of the present application;

[0090] Figure 1B A schematic diagram of an application scenario of a radar provided in an embodiment of the present application;

[0091] Figure 2A A schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0092] Figure 2B A schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0093] Figure 3 A schematic diagram of a radar driving circuit provided in an embodiment of the present application;

[0094] Figure 4 A schematic diagram of the transmission power of a radar provided in an embodiment of the present application;

[0095] Figure 5 A schematic diagram of the structure of a transmission system provided in an embodiment of the present application;

[0096] Figure 6 A schematic diagram of the structure of another transmitting system provided in an embodiment of the present application;

[0097] Fig. 7A A schematic diagram of a driver layout provided in an embodiment of the present application;

[0098] Figure 7B A schematic diagram of another driver layout provided in an embodiment of the present application;

[0099] Figure 7C A schematic diagram of another driver layout provided in an embodiment of the present application;

[0100] Fig.7D A schematic diagram of another driver layout provided in an embodiment of the present application;

[0101] Figure 8 A schematic diagram of the structure of another transmitting system provided in an embodiment of the present application;

[0102] Fig. 9 A schematic diagram of the structure of another transmitting system provided in an embodiment of the present application;

[0103] Fig.10 A schematic diagram of the structure of another transmission system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0104] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0105] The terms "first" and "second" in the specification, claims and drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0106] The "embodiment" mentioned in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be explicitly and implicitly understood by those skilled in the art that in the various embodiments of the present application, if there is no special explanation and logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0107] It should be understood that in this application, "at least one (item)" means one or more, "multiple" means two or more, "at least two (items)" means two or three and more, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0108] As described in the background technology section, in the currently designed 1D or 2D solid-state laser radar, the discharge loop inductance between each laser channel is not completely consistent, resulting in large differences in the consistency of the optical pulse width and transmission power output between each laser channel, thereby affecting the detection performance of the laser radar. The present application provides a transmission system and related devices, which relate to the field of laser radar technology, and can reduce the consistency differences in the optical pulse width and transmission power output between each laser channel, thereby improving the detection performance of the laser radar.

[0109] In order to more clearly describe the solution of the present application, some possible application scenarios of lidar are introduced below.

[0110] See also Figure 1A and Figure 1B , Figure 1A and Figure 1B A schematic diagram of an application scenario of the radar provided in an embodiment of the present application.

[0111] like Figure 1A and Figure 1B As shown, in this exemplary application scenario, the laser radar is installed on a vehicle as an example.

[0112] The vehicle can be, for example, an unmanned vehicle, a smart vehicle, an electric vehicle, or a digital vehicle. LiDAR can be deployed at various locations on the vehicle (see Figure 1B ). For example, the laser radar can be deployed in any one or more of the four directions of the front, rear, left, and right of the vehicle to capture the vehicle's surrounding environment information. Figure 1A For example, the laser radar is deployed in front of the vehicle. The laser radar can sense Figure 1A The fan-shaped area shown by the dotted box can be called the detection area of ​​the laser radar (or the field of view of the laser radar).

[0113] In a possible implementation, the laser radar can obtain the latitude and longitude, speed, direction, or related information of targets within a certain range (such as other vehicles around) of the vehicle in real time or periodically (such as the distance of the target, the moving speed of the target, the posture of the target, or the grayscale image of the target, etc.). The laser radar or the vehicle can determine the position of the vehicle and / or path planning based on this related information. For example, the longitude and latitude are used to determine the position of the vehicle, or the speed and direction are used to determine the driving direction and destination of the vehicle in the future, or the distance of the surrounding objects is used to determine the number and density of obstacles around the vehicle. Further, optionally, the function of the advanced driving assistant system (ADAS) can also be combined to realize assisted driving or automatic driving of the vehicle. It should be understood that the principle of laser radar detecting the related information of the target is: the laser radar emits detection light in a certain direction. If there is a target in the detection area of ​​the laser radar, the target can reflect the received detection light back to the laser radar (the reflected detection light can be called an echo signal), and the laser radar determines the related information of the target based on the echo signal.

[0114] It should be noted that the above application scenarios are only examples. The laser radar provided in this application (the laser radar includes the optical waveguide component provided in this application) can also be applied to a variety of other possible scenarios, not limited to the above-mentioned examples. For example, the laser radar can also be installed on a drone as an airborne radar. For another example, the laser radar can also be installed on a road side unit (RSU) as a roadside traffic laser radar, which can realize intelligent vehicle-road cooperative communication. For another example, the laser radar can be installed on an automated guided vehicle (AGV), where AGV refers to a transport vehicle equipped with an electromagnetic or optical automatic navigation device that can travel along a specified navigation path and has safety protection and various transfer functions. They are not listed here one by one. It should be understood that the application scenarios described in this application are to more clearly illustrate the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. It is known to ordinary technicians in this field that with the emergence of new application scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0115] Based on the above content, the above application scenarios can be applied to unmanned driving, automatic driving, assisted driving, intelligent driving, connected vehicles, security monitoring, remote interaction, surveying and mapping or artificial intelligence and other fields.

[0116] Combine the following Figure 2A and Figure 2B , introduce some related concepts of lidar.

[0117] Laser radar, also known as optical radar, is the abbreviation of light detection and ranging system, and can also be called Laser Radar or LADAR (laser detection and ranging).

[0118] LiDAR uses light as a detection medium. It uses the emission and reception of lasers to detect targets, for example, distance measurement, speed measurement, or azimuth measurement. LiDAR can measure the distance to a target based on the flight time of the laser, which is the time difference between the laser transmission and reception. Alternatively, LiDAR can measure the distance to a target based on the phase difference between the emitted laser signal and the received echo signal of the laser signal. The biggest advantage of LiDAR is that it can use Doppler imaging technology to create a clear three-dimensional (3D) image of the target. LiDAR uses the emission and reception of lasers to collect information such as the three-dimensional coordinates, reflectivity, and texture of a large number of dense points on the target surface, and obtains a three-dimensional model of the target based on the collected information, establishes a three-dimensional point cloud map, and draws an environmental map to achieve the purpose of environmental perception. Compared with traditional passive imaging technologies such as visible light and infrared, lidar imaging technology has subverted the traditional two-dimensional projection imaging mode. It can collect depth information of the target surface and obtain relatively complete spatial information of the target. After data processing, it reconstructs the three-dimensional surface of the target to obtain a three-dimensional graphic that better reflects the geometric shape of the target. At the same time, it can also obtain rich feature information such as the reflection characteristics of the target surface and the movement speed, providing sufficient information support for data processing such as target detection, identification, and tracking, and reducing the difficulty of the algorithm.

[0119] See also Figure 2A , Figure 2A A schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0120] like Figure 2A As shown, the laser radar mainly includes a laser emitting part (or system) 100, a laser receiving part (or system) 200 and a signal processing part (or system) 300.

[0121] Among them, the laser emitting part 100 includes an excitation source (or laser driver), a laser, and an emitting optical system. The excitation source drives the laser to emit a laser beam (or laser pulse), and the laser beam (or laser pulse) is emitted outward through the emitting optical system. The laser receiving part 200 includes a receiving optical system and a detector; after the laser beam emitted from the laser radar encounters the target object, it interacts with the target object to form a reflected / scattered echo beam, which is collected by the receiving optical system and received by the detector, and the optical signal is converted into an electrical signal, and the electrical signal is passed to the signal processing part 300 after being processed by the analog front end. The signal processing part 300 processes the received signal to obtain information such as the distance, speed, azimuth, etc. of the target object. In addition, information such as the surface morphology and physical properties of the target can be obtained to establish an object model. The detector is usually a photodetector, which converts the received light signal into an electrical signal, which is usually an analog signal, and the signal processing part 300 is usually used to process digital signals, such as a digital signal processor (DSP). Therefore, the analog electrical signal is converted into a digital signal through an analog-to-digital converter (ADC) and provided to the signal processing part 300. In addition, the electrical signal can be amplified, and the amplified electrical signal is converted into a digital signal through an analog-to-digital converter and provided to the signal processing part 300. The signal processing part 300 includes a signal processing circuit, which is used to process the digital signal to obtain information such as the distance, speed, azimuth, etc. of the target object, and further establish an object model. The laser radar also includes a control circuit, such as a control part for controlling the excitation source and a control part for controlling the scanning drive circuit. The two control parts can be integrated together or independently set. In addition, the signal processing circuit and the control circuit can also be integrated together or independently set.

[0122] In addition, in one implementation, the laser emitting part 100 may also include a laser modulator and a beam controller. The laser beam emitted by the laser passes through the beam controller. Under the control of the laser modulator, the beam controller controls the direction and number of lines of the emitted laser beam. The laser beam emitted from the beam controller passes through the emitting optical system and is emitted outward.

[0123] In addition, the laser radar may also include a scanning part (or system) 400. The laser beam emitted by the laser implements scanning of the laser beam on the plane under the action of the scanning part 400 to generate real-time plane map information. The scanning part 400 mainly includes a scanning mechanism and a scanning drive circuit. The scanning drive circuit is used to drive the scanning mechanism to operate. Under the action of the scanning mechanism, the laser beam implements the change from "line" to "plane".

[0124] Taking the scanning method of electric scanning as an example, please refer to Figure 2B , Figure 2BA schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0125] like Figure 2B As shown, a scanning method of electric scanning using a 1D (one-dimensional) laser array is used. The 1D laser array can also be called a 1D solid-state laser radar, wherein the laser structure in the 1D laser array includes but is not limited to vertical cavity surface emitting lasers (VCSEL), photonic crystal surface emitting lasers (PCSEL) and other lasers.

[0126] In 1D or 2D solid-state lidar, a common driving method is to select the laser emission path on the high-level side and drive the laser emission on the low-level side. This driving method has a lower cost.

[0127] For details, please refer to Figure 3 , Figure 3 A schematic diagram of a radar driving circuit provided in an embodiment of the present application.

[0128] like Figure 3 As shown, the driving circuit includes but is not limited to: N lasers, N capacitors, N switches, two drivers, and a power supply. Wherein, N is an integer greater than or equal to 2. The power supply is connected to the N lasers and N capacitors respectively through N switches, and the N capacitors are connected in parallel with the N lasers in a one-to-one correspondence. The two drivers are respectively arranged at the head end and the end of the laser array composed of N lasers, and the two drivers are respectively connected to the lasers at the head end and the end. When the switch is closed, the power supply charges the N capacitors, and the N capacitors store a certain amount of electricity. After the switch is disconnected, even if there is no power supply charging, the N capacitors can supply energy to the N lasers and emit lasers under the drive of the two drivers.

[0129] By the above Figure 3 It can be seen from the driving circuit shown that since each transmitting channel uses an independent capacitor, and in order to have better angular resolution performance, the number of independent laser channels is generally large, resulting in a large number of capacitors used, which leads to a larger overall size of the laser and a larger laser lighting loop inductance, thus affecting the detection performance of the laser radar. At the same time, due to the physical position differences in the layout of the devices (such as the driver) in the driving circuit, the discharge loop inductance between the laser channels is not completely consistent, thus affecting the detection performance of the laser radar.

[0130] For details, please refer to Figure 4 , Figure 4 A schematic diagram of the transmission power of a radar provided in an embodiment of the present application.

[0131] like Figure 4 As shown, the horizontal axis is the channel number of the laser emission, and the vertical axis is the peak power corresponding to the emission channel. Curve 1 and curve 2 respectively represent the peak power corresponding to each emission channel under different drive circuit structure designs.

[0132] The peak powers represented by curves 1 and 2 are arranged in a roughly symmetrical pattern, with the peak powers being larger at the two ends and smaller in the middle. Generally, the closer the driver is to the laser, the greater the emission power of the laser. Therefore, curves 1 and 2 can also be expressed as Figure 3 The peak power corresponding to each transmitting channel under the driving circuit structure design shown.

[0133] By the above Figure 4 It can be seen from the transmission power diagram shown that the consistency of the full width at half maxima (FWHM) and peak power of the laser light pulse width between channels varies greatly, which affects the performance of the lidar, such as target reflectivity estimation.

[0134] In view of this, the present application provides a transmission system and related devices, which relate to the field of laser radar technology and can reduce the consistency differences in the light pulse width and transmission power output between each laser channel, thereby improving the detection performance of the laser radar.

[0135] The present application provides a launching device, which includes at least one launching system, and the launching system includes:

[0136] At least one driving unit and a plurality of transmitting channels.

[0137] The plurality of emission channels emit lasers under the drive of at least one driving unit, the plurality of emission channels are not completely located at the same distance from the at least one driving unit, and the difference in emission power corresponding to any two emission channels among the plurality of emission channels is less than a preset threshold.

[0138] It is understandable that the preset threshold is not a fixed value and can be adjusted accordingly according to different application scenarios, and the embodiments of the present application do not limit this.

[0139] Optionally, the difference in transmit power corresponding to any two transmit channels among the multiple transmit channels may be 0. In this case, the transmit powers corresponding to the multiple transmit channels tend to be completely consistent, and the detection performance of the laser radar can be maximized.

[0140] It is understandable that since the positions of the various transmission channels and the driving units in the transmission system are not exactly the same, and the distance between the driving unit and each transmission channel will directly affect the transmission power of each transmission channel, generally, the closer the driving unit is to the transmission channel, the greater the transmission power of the transmission channel, which leads to large differences in the consistency of the transmission power of each transmission channel. In addition, other factors such as model differences, heating and / or heat dissipation differences, and production process differences among the various transmission channels in the transmission system will also lead to large differences in the consistency of the transmission power of each transmission channel. In order to reduce the consistency difference of the transmission power of each transmission channel, the voltage value for supplying power to each transmission channel also needs to be designed accordingly to make the transmission power of each transmission channel consistent.

[0141] The transmitting device in the embodiment of the present application, through the corresponding differentiated design of the voltage value for supplying power to each transmitting channel, can make the difference in the transmission power corresponding to any two transmitting channels among the multiple transmitting channels smaller than the preset threshold value. Therefore, through the transmitting device in the embodiment of the present application, the consistency difference of the light pulse width and the transmission power outputted between the various laser channels can be reduced, thereby improving the detection performance of the laser radar.

[0142] The launch system and related devices provided in this application will be described below in conjunction with the accompanying drawings.

[0143] See also Figure 5 , Figure 5 A schematic diagram of the structure of a transmission system provided in an embodiment of the present application.

[0144] like Figure 5 As shown, the transmitting system 50 includes but is not limited to a first control unit 501, a first boost circuit 502, a first driving unit 503, and at least one multi-channel multiplexer (multiplexers, MUX). The first MUX (504) in the at least one MUX includes a plurality of first switches 504a, and each first switch 504a is correspondingly connected to at least one first laser circuit 505.

[0145] The first laser circuit 505 includes but is not limited to a first laser 505a and a first energy storage unit 505b.

[0146] The first boost circuit 502 is connected to the first laser 505a and the first energy storage unit 505b through the first switch 504a, the first laser 505a and the first energy storage unit 505b are connected in parallel, the first driving unit 503 is connected to the first laser 505a, one end of the first control unit 501 is connected to the first boost circuit 502, and the other end of the first control unit 501 is connected to the first switch 504a.

[0147] The first control unit 501 is used to control the first boost circuit 502 to output the first voltage at a first moment, and to control the on or off of the first switch 504a. The on time of the first switch 504a is no later than the first moment.

[0148] Understandably, Figure 5 As an example, only three MUXs are shown. In fact, more or fewer (one or more) MUXs may be included, and this should not be used to limit the embodiments of the present application.

[0149] It is understandable that the consistency of the emission power of each laser circuit varies greatly due to other factors such as the location difference, model difference, heating and / or heat dissipation difference, and production process difference of each laser circuit in the emission system 50. In order to reduce the consistency difference of the emission power of each laser circuit, the voltage value for supplying power to each laser circuit also needs to be designed with differentiation accordingly, so that the emission power of each laser circuit tends to be consistent.

[0150] The transmitting system 50 in the embodiment of the present application is equipped with a first control unit 501 and a first boost circuit 502 for the first laser circuit 505. The first control unit 501 is used to control the first boost circuit 502 to output a first voltage at a first moment, and control the conduction or disconnection of the first switch 504a. The conduction time of the first switch 504a is no later than the first moment, so that the first voltage can be provided to charge the first energy storage unit 505b in the first laser circuit 505, and the first energy storage unit 505b supplies energy to the first laser 505a in the first laser circuit 505.

[0151] Through the embodiments of the present application, by performing timing control on the moment when the first boost circuit 502 outputs the first voltage and the on and off of the first switch 504a, it is possible to provide the first laser circuit 505 with the first voltage it needs, thereby minimizing or even eliminating the difference in emission power consistency between the first laser circuit 505 and other laser circuits, thereby improving the consistency of the optical pulse width and emission power output between the various laser channels, and improving the detection performance of the laser radar.

[0152] Optionally, the first voltage is related to the relative positions of the first laser circuit 505 and the first driving unit 503 .

[0153] Generally, the closer the first driving unit 503 is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to be consistent with the emission power of other laser circuits that are relatively farther away from the first driving unit 503, the closer the distance between the first laser circuit 505 and the first driving unit 503 is, the smaller the voltage output by the first boosting circuit 502 is.

[0154] Similarly, the farther the first driving unit 503 is from the laser circuit, the smaller the transmission power of the laser circuit. Therefore, in order to be consistent with the transmission power of other laser circuits that are relatively closer to the first driving unit 503, the farther the distance between the first laser circuit 505 and the first driving unit 503 is, the greater the voltage output by the first boosting circuit 502 is.

[0155] The first boost circuit 502 outputs a first voltage to charge the first energy storage unit 505b in the first laser circuit 505, and the first energy storage unit 505b supplies energy to the first laser 505a in the first laser circuit 505, so as to minimize or even eliminate the difference in the consistency of the emission power of each laser circuit caused by the position difference between the first driving unit 503 and each laser circuit.

[0156] Through the embodiment of the present application, based on the relative position relationship between the laser circuit and the first driving unit 503, the first boost circuit 502 outputs a corresponding voltage for the laser circuit, which can reduce the consistency difference of the light pulse width and emission power output between each laser channel, thereby improving the detection performance of the laser radar.

[0157] In a possible embodiment, the first boost circuit 502 includes but is not limited to:

[0158] A first power supply, a first inductor, a first diode, and a first boost switch.

[0159] For details, please refer to Figure 6 , Figure 6 A schematic diagram of the structure of another transmission system provided in an embodiment of the present application.

[0160] like Figure 6 As shown, the first boost circuit 502 includes but is not limited to:

[0161] A first power source V1, a first inductor L1, a first diode D1, and a first boost switch Q1.

[0162] Among them, the first power supply V1 is connected to the first inductor L1, the first inductor L1 is respectively connected to the first end of the first diode D1 and the first end of the first boost switch Q1, the second end of the first diode D1 is connected to the first laser 505a and the first energy storage unit 505b through the first switch 504a, the second end of the first boost switch Q1 is connected to the first control unit 501, and the third end of the first boost switch Q1 is grounded.

[0163] The first control unit 501 is used to control the first boost switch Q1 to be turned on in a first time period before a first moment, and to control the first boost switch Q1 to be turned off at the first moment.

[0164] It is understandable that the first power source V1 can continuously charge the first inductor L1 in the first time period. Accordingly, the first inductor L1 continuously stores energy in the first time period and outputs the first voltage at the first moment, and cooperates with controlling the first switch 504a to be turned on no later than the first moment, so as to provide the first voltage to charge the first energy storage unit 505b in the first laser circuit 505, and the first energy storage unit 505b supplies energy to the first laser 505a in the first laser circuit 505.

[0165] Through the embodiments of the present application, by performing timing control on the on and off of the first boost switch Q1 and the first switch 504a, it is possible to provide the first laser circuit 505 with the first voltage it needs, thereby minimizing or even eliminating the difference in emission power consistency between the first laser circuit 505 and other laser circuits, thereby improving the consistency of the optical pulse width and emission power output between the various laser channels, and improving the detection performance of the laser radar.

[0166] Optionally, the duration of the first time period is related to the relative positions of the first laser circuit 505 and the first driving unit 503 .

[0167] Generally, the closer the first driving unit 503 is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to be consistent with the emission power of other laser circuits that are relatively farther away from the first driving unit 503, the closer the distance between the first laser circuit 505 and the first driving unit 503 is, the smaller the voltage output by the first boost circuit 502 should be, and the shorter the duration of the first boost switch Q1 being turned on in the first time period before the first moment should be.

[0168] Similarly, the farther the first driving unit 503 is from the laser circuit, the smaller the emission power of the laser circuit. Therefore, in order to be consistent with the emission power of other laser circuits that are relatively closer to the first driving unit 503, the farther the distance between the first laser circuit 505 and the first driving unit 503 is, the greater the voltage output by the first boost circuit 502 should be, and the longer the duration of the first boost switch Q1 being turned on in the first time period before the first moment should be controlled.

[0169] Optionally, there is a corresponding relationship between the duration of the first boost switch Q1 being turned on and the voltage value of the energy stored in the first inductor L1. The longer the first time period is, the more energy is stored in the first inductor L1 in the first boost circuit 502. The duration of the first boost switch Q1 being turned on in the first time period can make the first inductor L1 store the first voltage.

[0170] Through the embodiment of the present application, the first boost switch Q1 is controlled to be turned on in the first time period before the first moment, and the first boost switch Q1 is controlled to be turned off at the first moment, so that the first inductor L1 can provide the first voltage at the first moment to charge the first energy storage unit 505b in the first laser circuit 505, and the first energy storage unit 505b supplies energy to the first laser 505a in the first laser circuit 505, so as to minimize or even eliminate the difference in the consistency of the emission power of each laser circuit caused by the position difference between the first driving unit 503 and each laser circuit.

[0171] In a possible embodiment, the at least one MUX includes a second MUX in addition to the first MUX, and the second MUX includes a plurality of second switches, and each second switch is correspondingly connected to at least one second laser circuit.

[0172] For details, please refer to Figure 6 ,like Figure 6 As shown, the second MUX (506) in the at least one MUX includes a plurality of second switches 506a, and each second switch 506a is correspondingly connected to at least one second laser circuit 507.

[0173] The second laser circuit 507 includes but is not limited to a second laser 507a and a second energy storage unit 507b.

[0174] The first boost circuit 502 is connected to the second laser 507a and the second energy storage unit 507b through the second switch 506a, the second laser 507a and the second energy storage unit 507b are connected in parallel, the first driving unit 503 is connected to the second laser 507a, one end of the first control unit 501 is connected to the first boost circuit 502, and the other end of the first control unit 501 is connected to the second switch 506a.

[0175] The first control unit 501 is used to control the first boost circuit 502 to output a second voltage at a second moment, and to control the on or off of the second switch 506a. The second voltage is different from the first voltage, and the on time of the second switch 506a is no later than the second moment.

[0176] It is understandable that the consistency of the emission power of each laser circuit varies greatly due to other factors such as the location difference, model difference, heating and / or heat dissipation difference, and production process difference of each laser circuit in the emission system 50. In order to reduce the consistency difference of the emission power of each laser circuit, the voltage value for supplying power to each laser circuit also needs to be designed with differentiation accordingly, so that the emission power of each laser circuit tends to be consistent.

[0177] The transmitting system 50 in the embodiment of the present application is equipped with a first control unit 501 and a first boost circuit 502 for the second laser circuit 507. The first control unit 501 is used to control the first boost circuit 502 to output a second voltage at a second moment, and to control the conduction or disconnection of the second switch 506a. The conduction time of the second switch 506a is no later than the second moment, so that the second voltage can be provided to charge the second energy storage unit 507b in the second laser circuit 507, and the second energy storage unit 507b supplies energy to the second laser 507a in the second laser circuit 507.

[0178] Through the embodiment of the present application, the timing of the first boost circuit 502 outputting the second voltage and the on and off of the second switch 506a are controlled, so as to provide the second laser circuit 507 with the second voltage required, so as to reduce or even eliminate the difference in the consistency of the emission power between the second laser circuit 507 and other laser circuits as much as possible, thereby improving the consistency of the optical pulse width and emission power output between each laser channel, and improving the detection performance of the laser radar. In addition, the second voltage is different from the first voltage, so that different voltages can be used to supply power to different laser channels, thereby adjusting the emission power of different laser channels, so that the optical pulse width and emission power output between each laser channel tend to be consistent, and the detection performance of the laser radar is improved.

[0179] Optionally, the second voltage may be the same as the first voltage, which is not limited in the embodiment of the present application.

[0180] Optionally, due to other factors such as the position difference, model difference, heating and / or heat dissipation difference, and production process difference between the first laser circuit 505 and the second laser circuit 507, the emission powers of the first laser circuit 505 and the second laser circuit 507 are consistent, so the voltage values ​​for powering the first laser circuit 505 and the second laser circuit 507 do not need to be designed differently. Therefore, the first voltage for powering the first laser circuit 505 and the second voltage for powering the second laser circuit 507 can be the same.

[0181] In a possible embodiment, the first boost circuit 502 includes but is not limited to:

[0182] A first power supply, a first inductor, a first diode, and a first boost switch.

[0183] For details, please refer to Figure 6 ,like Figure 6 As shown, the first boost circuit 502 includes but is not limited to:

[0184] A first power source V1, a first inductor L1, a first diode D1, and a first boost switch Q1.

[0185] Among them, the first power supply V1 is connected to the first inductor L1, the first inductor L1 is respectively connected to the first end of the first diode D1 and the first end of the first boost switch Q1, the second end of the first diode D1 is connected to the second laser 507a and the second energy storage unit 507b through the second switch 506a, and the second end of the first diode D1 is connected to the first laser 505a and the first energy storage unit 505b through the first switch 504a, the second end of the first boost switch Q1 is connected to the first control unit 501, and the third end of the first boost switch Q1 is grounded.

[0186] The first control unit 501 is used to control the first boost switch Q1 to be turned on in a second time period before a second moment, and to control the first boost switch Q1 to be turned off at the second moment. The length of the second time period is different from the length of the first time period. The first time period is the time period in which the first boost switch Q1 is turned on before the first moment.

[0187] It is understandable that the first power source V1 continuously charges the first inductor L1 in the second time period. Accordingly, the first inductor L1 continuously stores energy in the second time period and outputs a second voltage at a second moment, and cooperates with controlling the second switch 506a to be turned on no later than the second moment, so as to provide a second voltage to charge the second energy storage unit 507b in the second laser circuit 507, and the second energy storage unit 507b supplies energy to the second laser 507a in the second laser circuit 507.

[0188] Through the embodiment of the present application, the on and off of the first boost switch Q1 and the second switch 506a are controlled in time sequence, so as to provide the second laser circuit 507 with the second voltage required by it, so as to reduce or even eliminate the difference in the consistency of the emission power between the second laser circuit 507 and other laser circuits as much as possible, thereby improving the consistency of the optical pulse width and emission power output between each laser channel, and improving the detection performance of the laser radar. In addition, the duration of the second time period is different from the duration of the first time period, and the corresponding output second voltage is different from the first voltage, so that different voltages can be supplied to different laser channels, thereby adjusting the emission power of different laser channels, so that the optical pulse width and emission power output between each laser channel tend to be consistent, and the detection performance of the laser radar is improved.

[0189] Optionally, the duration of the second time period may be the same as the duration of the first time period, which is not limited in this embodiment of the present application.

[0190] Optionally, due to other factors such as the position difference, model difference, heating and / or heat dissipation difference, and production process difference between the first laser circuit 505 and the second laser circuit 507, the emission powers of the first laser circuit 505 and the second laser circuit 507 are consistent, so the voltage value for powering the first laser circuit 505 and the second laser circuit 507 does not need to be designed differently. Therefore, the duration of the second time period can be the same as the duration of the first time period, so that the first voltage output to power the first laser circuit 505 and the second voltage output to power the second laser circuit 507 are the same.

[0191] In a possible embodiment, the difference between the emission power of the first laser 505a and the emission power of the second laser 507a is less than the first threshold.

[0192] It is understandable that the first threshold is not a fixed value and can be adjusted accordingly according to different application scenarios, and the embodiments of the present application do not limit this.

[0193] Optionally, the difference between the emission power of the first laser 505a and the emission power of the second laser 507a may be zero.

[0194] It can be understood that, ideally, the emission power of the first laser 505a and the emission power of the second laser 507a tend to be completely consistent. Figure 4 Curve 1 and curve 2 in the figure should be infinitely close to a straight horizontal line, which can maximize the detection performance of the lidar.

[0195] Optionally, the transmitting system 50 may further include more or fewer laser circuits, and MUXs correspondingly connected to the laser circuits, which is not limited in the embodiment of the present application.

[0196] Understandably, Figure 5 and Figure 6 Six laser circuits are shown. In fact, the transmitting system 50 may include any number of laser circuits, which is not limited in the present embodiment and should not be construed as Figure 5 and Figure 6 This constitutes a limitation to the embodiments of the present application.

[0197] It is understandable that the above Figure 5 and Figure 6 In the embodiment of the present invention, one driver is shown. In fact, the launch system 50 may include only one driver, or may include any number of two or more drivers, and the location of the driver is not limited. The embodiment of the present application does not limit this, and should not be used as Figure 5 and Figure 6 This constitutes a limitation to the embodiments of the present application.

[0198] In a possible embodiment, the first driving unit 503 in the transmitting system 50 may include one or more drivers, and when different numbers of drivers are included, the arrangement of the drivers is also different, as shown in the following cases:

[0199] Case 1:

[0200] The first driving unit 503 includes a driver, and the driver is arranged at the head end or the end end of the laser array in the transmitting system 50 along the first direction.

[0201] Among them, the laser array is composed of multiple laser circuits in the transmitting system 50, which includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of the various energy storage units in the laser array are arranged in increasing or decreasing order along the first direction.

[0202] For details, please refer to Fig. 7A , Fig. 7A A schematic diagram of a driver layout provided in an embodiment of the present application.

[0203] like Fig. 7A As shown, in the transmitting system 50, a capacitor (Cap) is used to power the laser, and the capacitor is arranged on both sides of the laser, which can be realized with only one row layout. The first driving unit 503 includes a driver, and the driver is arranged at the head end or the end of the laser array in the transmitting system 50 along the arrangement direction of the laser array.

[0204] Optionally, the laser circuit in the transmitting system 50 may be disposed on a printed circuit board (PCB).

[0205] Optionally, the laser circuit in the transmitting system 50 can be arranged on the front side of the PCB or on the back side of the PCB, and the embodiment of the present application does not limit this.

[0206] Optionally, Fig. 7A The capacitors in the figure can be arranged on the front side or the back side of the PCB. For example, the Cap in the solid line frame can be arranged on the front side of the PCB, and the Cap in the dotted line frame can be arranged on the back side of the PCB.

[0207] Optionally, the driver can be arranged on the reverse side of the PCB, which is helpful to optimize the wiring design between various modules in the transmitting system 50 and improve the space utilization.

[0208] It can be understood that when the first driving unit 503 includes a driver, the driver can be arranged at the head end or the end of the laser array in the transmitting system 50 along the first direction, which is beneficial to the heat dissipation of the driver.

[0209] It can be understood that, in the case where the emission powers of multiple lasers in the laser array increase or decrease along the first direction, in order to make the emission powers of the multiple lasers in the laser array tend to be consistent, the voltages of the multiple energy storage units in the laser array that supply energy to the multiple lasers will correspondingly decrease or increase along the first direction, so as to reduce the consistency differences in the light pulse width and emission power output by each laser, thereby achieving consistency in the emission powers of the multiple lasers.

[0210] Optionally, when the emission powers of the multiple lasers in the laser array increase along the first direction, the voltage magnitudes of the multiple energy storage units in the laser array that supply energy to the multiple lasers should correspondingly decrease along the first direction.

[0211] Optionally, when the emission powers of the multiple lasers in the laser array decrease along the first direction, the voltage magnitudes of the multiple energy storage units in the laser array that supply energy to the multiple lasers should correspondingly increase along the first direction.

[0212] Optionally, the driver may also be disposed at other positions of the laser array in the transmitting system 50 along the first direction, and the embodiment of the present application does not limit this. Accordingly, the voltage of each energy storage unit in the laser array may be determined in combination with the position of the driver to achieve consistency in the transmission power of multiple lasers in the laser array.

[0213] Case 2:

[0214] The first driving unit 503 includes a driver, and the driver is arranged in the middle of the laser array in the transmitting system 50 along the first direction.

[0215] Among them, the laser array is composed of multiple laser circuits in the transmitting system 50, which includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of the various energy storage units in the laser array are symmetrically arranged along the first direction.

[0216] For details, please refer to Figure 7B , Figure 7B A schematic diagram of another driver layout provided in an embodiment of the present application.

[0217] like Figure 7B As shown, in the transmitting system 50, capacitors (capacitance, Cap) are used to power the laser, and the capacitors are arranged on both sides of the laser, which can be realized with only one row layout. The first driving unit 503 includes a driver, and the driver is arranged in the middle of the laser array in the transmitting system 50 along the arrangement direction of the laser array.

[0218] Optionally, the laser circuit in the transmitting system 50 may be disposed on a printed circuit board (PCB).

[0219] Optionally, the laser circuit in the transmitting system 50 can be arranged on the front side of the PCB or on the back side of the PCB, and the embodiment of the present application does not limit this.

[0220] Optionally, Figure 7B The capacitors in the figure can be arranged on the front side or the back side of the PCB. For example, the Cap in the solid line frame can be arranged on the front side of the PCB, and the Cap in the dotted line frame can be arranged on the back side of the PCB.

[0221] Optionally, the driver can be arranged on the reverse side of the PCB, which is helpful to optimize the wiring design between various modules in the transmitting system 50 and improve the space utilization.

[0222] It can be understood that when the first driving unit 503 includes a driver, the driver can be arranged in the middle of the laser array in the emission system 50 along the first direction. At this time, the overall difference in the emission power of multiple lasers in the laser array is small. Therefore, this arrangement can improve the consistency of the emission power of multiple lasers in the laser array in terms of position layout.

[0223] It can be understood that in the second situation, the emission powers of multiple lasers in the laser array are symmetrically arranged along the first direction in a regular pattern of being larger in the middle and smaller at both ends. At this time, in order to make the emission powers of the multiple lasers in the laser array tend to be consistent, the voltages of the multiple energy storage units in the laser array that supply energy to the multiple lasers will be correspondingly arranged symmetrically along the first direction in a regular pattern of being smaller in the middle and larger at both ends, so as to reduce the consistency differences in the light pulse width and emission power output by each laser, and achieve consistency in the emission powers of the multiple lasers.

[0224] Optionally, the voltage of the energy storage unit in two or more laser circuits that are symmetrical about the driver should be kept consistent, which can ensure that the optical pulse width and emission power output by the lasers in the two or more symmetrical laser circuits are consistent.

[0225] Optionally, the driver may also be disposed at other positions of the laser array in the transmitting system 50 along the first direction, and the embodiment of the present application does not limit this. Accordingly, the voltage of each energy storage unit in the laser array may be determined in combination with the position of the driver to achieve consistency in the transmission power of multiple lasers in the laser array.

[0226] Case 3:

[0227] The first driving unit 503 includes at least two drivers, and the at least two drivers are respectively arranged at two ends of the laser array in the transmitting system 50 along the first direction.

[0228] Among them, the laser array is composed of multiple laser circuits in the transmitting system 50, which includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of the various energy storage units in the laser array are symmetrically arranged along the first direction.

[0229] For details, please refer to Figure 7C , Figure 7C A schematic diagram of another driver layout provided in an embodiment of the present application.

[0230] like Figure 7C As shown, in the transmitting system 50, a capacitor (Cap) is used to power the laser, and the capacitor is arranged on both sides of the laser, which can be realized with only one row layout. The first driving unit 503 includes at least two drivers (503a and 503b), and the at least two drivers are arranged at both ends of the laser array in the transmitting system 50 along the arrangement direction of the laser array.

[0231] Optionally, the laser circuit in the transmitting system 50 may be disposed on a printed circuit board (PCB).

[0232] Optionally, the laser circuit in the transmitting system 50 can be arranged on the front side of the PCB or on the back side of the PCB, and the embodiment of the present application does not limit this.

[0233] Optionally, Figure 7C The capacitors in the figure can be arranged on the front side or the back side of the PCB. For example, the Cap in the solid line frame can be arranged on the front side of the PCB, and the Cap in the dotted line frame can be arranged on the back side of the PCB.

[0234] Optionally, the driver can be arranged on the reverse side of the PCB, which is helpful to optimize the wiring design between various modules in the transmitting system 50 and improve the space utilization.

[0235] It is understandable that when the first driving unit 503 includes at least two drivers, the at least two drivers can be respectively arranged at the two ends of the laser array in the transmitting system 50 along the first direction, which is beneficial to the heat dissipation of the driver. In addition, at this time, the overall difference in the emission power of the multiple lasers in the laser array is small, so the consistency of the emission power of the multiple lasers in the laser array can be improved from the position layout through this arrangement.

[0236] It can be understood that in case three, the emission powers of multiple lasers in the laser array are arranged symmetrically along the first direction in a regular pattern of being small in the middle and large at both ends. At this time, in order to make the emission powers of the multiple lasers in the laser array tend to be consistent, the voltages of the multiple energy storage units in the laser array that supply energy to the multiple lasers will be correspondingly arranged symmetrically along the first direction in a regular pattern of being large in the middle and small at both ends, so as to reduce the consistency differences in the light pulse width and emission power output by each laser, and achieve consistency in the emission powers of the multiple lasers.

[0237] Optionally, the voltage of the energy storage unit in two or more laser circuits that are symmetrical about the driver should be kept consistent, which can ensure that the optical pulse width and emission power output by the lasers in the two or more symmetrical laser circuits are consistent.

[0238] Optionally, the driver may also be disposed at other positions of the laser array in the transmitting system along the first direction, and the embodiments of the present application do not limit this. Accordingly, the voltage of each energy storage unit in the laser array may be determined in combination with the position of the driver to achieve consistency in the transmission power of multiple lasers in the laser array.

[0239] Optionally, the mirror-image arrangement of the at least two drivers can be beneficial to optimizing the wiring design between the modules in the transmitting system 50 and improving space utilization.

[0240] Case 4:

[0241] The first driving unit 503 includes at least two drivers, and the at least two drivers are arranged in the middle of the laser array in the emission system 50 along the first direction.

[0242] Among them, the laser array is composed of multiple laser circuits in the transmitting system 50, which includes multiple lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage magnitudes of the various energy storage units in the laser array are symmetrically arranged along the first direction.

[0243] For details, please refer to Fig.7D , Fig.7D A schematic diagram of another driver layout provided in an embodiment of the present application.

[0244] like Fig.7D As shown, in the transmitting system 50, a capacitor (Cap) is used to power the laser, and the capacitor is arranged on both sides of the laser, which can be realized with only one row layout. The first driving unit 503 includes at least two drivers, and the at least two drivers are arranged in the middle of the laser array in the transmitting system 50 along the arrangement direction of the laser array.

[0245] Optionally, the laser circuit in the transmitting system 50 may be disposed on a printed circuit board (PCB).

[0246] Optionally, the laser circuit in the transmitting system 50 can be arranged on the front side of the PCB or on the back side of the PCB, and the embodiment of the present application does not limit this.

[0247] Optionally, Fig.7D The capacitors in the figure can be arranged on the front side or the back side of the PCB. For example, the Cap in the solid line frame can be arranged on the front side of the PCB, and the Cap in the dotted line frame can be arranged on the back side of the PCB.

[0248] Optionally, the driver can be arranged on the reverse side of the PCB, which is helpful to optimize the wiring design between various modules in the transmitting system 50 and improve the space utilization.

[0249] It can be understood that when the first driving unit 503 includes at least two drivers, the at least two drivers can be respectively arranged in the middle of the laser array in the emission system 50 along the first direction. At this time, the overall difference in the emission power of multiple lasers in the laser array is small. Therefore, this arrangement can improve the consistency of the emission power of multiple lasers in the laser array in terms of position layout.

[0250] It can be understood that in case four, the emission powers of multiple lasers in the laser array are symmetrically arranged along the first direction in a regular pattern of being larger in the middle and smaller at both ends. At this time, in order to make the emission powers of the multiple lasers in the laser array tend to be consistent, the voltages of the multiple energy storage units in the laser array that supply energy to the multiple lasers will be correspondingly symmetrically arranged along the first direction in a regular pattern of being smaller in the middle and larger at both ends, so as to reduce the consistency differences in the light pulse width and emission power output by each laser, and achieve consistency in the emission powers of the multiple lasers.

[0251] Optionally, the voltage of the energy storage unit in two or more laser circuits that are symmetrical about the driver should be kept consistent, which can ensure that the optical pulse width and emission power output by the lasers in the two or more symmetrical laser circuits are consistent.

[0252] Optionally, the driver may also be disposed at other positions of the laser array in the transmitting system along the first direction, and the embodiments of the present application do not limit this. Accordingly, the voltage of each energy storage unit in the laser array may be determined in combination with the position of the driver to achieve consistency in the transmission power of multiple lasers in the laser array.

[0253] Optionally, the mirror-image arrangement of the at least two drivers can be beneficial to optimizing the wiring design between the modules in the transmitting system 50 and improving space utilization.

[0254] It should be understood that the above-mentioned cases 1 to 4 are merely several possible embodiments for exemplifying the arrangement of one or more drivers included in the above-mentioned first driving unit 503, and should not be used to limit the embodiments of the present application.

[0255] It should be understood that new embodiments obtained by reasonable deformation, supplementation or combination of the above-mentioned situations 1 to 4 all fall within the protection scope of the embodiments of the present application.

[0256] In a possible embodiment, the laser circuit in the transmitting system 50 is disposed on a printed circuit board (PCB).

[0257] Optionally, the laser circuit in the above-mentioned transmitting system 50 can be arranged on the front side of the PCB or on the back side of the PCB, and the embodiment of the present application does not limit this.

[0258] Optionally, the first driving unit 503 in the above-mentioned transmitting system 50 can be arranged on the reverse side of the PCB, which is beneficial to optimize the wiring design between various modules in the transmitting system 50 and improve space utilization.

[0259] See also Figure 8 , Figure 8 This is a schematic diagram of the structure of another transmitting system provided in an embodiment of the present application. It can be understood that: Figure 8 It can be regarded as the above Figure 5 and Figure 6 Structural variations or additions to the launch system shown, Figure 8 It can also be regarded as an embodiment that can be executed independently, and the embodiments of the present application do not limit this.

[0260] like Figure 8 As shown, the transmitting system 80 includes but is not limited to a second control unit 801, a second boost circuit 802, a third boost circuit 803, a second driving unit 804, at least one third laser circuit 805, at least one fourth laser circuit 806, and a second power supply V2.

[0261] The third laser circuit 805 includes a third laser 805a and a third energy storage unit 805b, and the fourth laser circuit 806 includes a fourth laser 806a and a fourth energy storage unit 806b.

[0262] The second power supply V2 is connected to the second boost circuit 802 and the third boost circuit 803 respectively; the second boost circuit 802 is connected to the third laser 805a and the third energy storage unit 805b respectively, and the third laser 805a and the third energy storage unit 805b are connected in parallel; the third boost circuit 803 is connected to the fourth laser 806a and the fourth energy storage unit 806b respectively, and the fourth laser 806a and the fourth energy storage unit 806b are connected in parallel; the second driving unit 804 is connected to the third laser 805a and the fourth laser 806a respectively, and the second control unit 801 is connected to the second boost circuit 802 and the third boost circuit 803 respectively.

[0263] The second control unit 801 is used to control the second boost circuit 802 to output a third voltage, and to control the third boost circuit 803 to output a fourth voltage, where the third voltage is different from the fourth voltage.

[0264] It is understandable that the consistency of the emission power of each laser circuit varies greatly due to other factors such as the location difference, model difference, heating and / or heat dissipation difference, and production process difference of each laser circuit in the emission system 80. In order to reduce the consistency difference of the emission power of each laser circuit, the voltage value for supplying power to each laser circuit also needs to be designed with differentiation accordingly, so that the emission power of each laser circuit tends to be consistent.

[0265] The transmitting system 80 in the embodiment of the present application is equipped with a second control unit 801 and a second boost circuit 802 for the third laser circuit 805. The second control unit 801 is used to control the second boost circuit 802 to output a third voltage, and control the third boost circuit 803 to output a fourth voltage, so that the third voltage can be provided to charge the third energy storage unit 805b in the third laser circuit 805, and the third energy storage unit 805b supplies energy to the third laser 805a in the third laser circuit 805, and the fourth voltage can be provided to charge the fourth energy storage unit 806b in the fourth laser circuit 806, and the fourth energy storage unit 806b supplies energy to the fourth laser 806a in the fourth laser circuit 806. In addition, the third voltage is different from the fourth voltage, so that different voltages can be used to supply power to different laser channels, thereby adjusting the emission power of different laser channels, so that the optical pulse width and emission power output between each laser channel tend to be consistent, thereby improving the detection performance of the laser radar.

[0266] Optionally, the third voltage is related to the relative position of the third laser circuit 805 and the second driving unit 804 , and the fourth voltage is related to the relative position of the fourth laser circuit 806 and the second driving unit 804 .

[0267] Generally, the closer the second driving unit 804 is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to be consistent with the emission power of other laser circuits that are relatively farther away from the second driving unit 804, the closer the distance between the third laser circuit 805 and the second driving unit 804 is, the smaller the voltage output by the second boosting circuit 802 is.

[0268] Similarly, the farther the second driving unit 804 is from the laser circuit, the smaller the transmission power of the laser circuit. Therefore, in order to be consistent with the transmission power of other laser circuits that are relatively closer to the second driving unit 804, the farther the distance between the fourth laser circuit 806 and the second driving unit 804 is, the greater the voltage output by the third boost circuit 803.

[0269] The second boost circuit 802 outputs a third voltage to charge the third energy storage unit 805b in the third laser circuit 805, and the third energy storage unit 805b supplies energy to the third laser 805a in the third laser circuit 805; the third boost circuit 803 outputs a fourth voltage to charge the fourth energy storage unit 806b in the fourth laser circuit 806, and the fourth energy storage unit 806b supplies energy to the fourth laser 806a in the fourth laser circuit 806, so as to minimize or even eliminate the difference in emission power consistency of each laser circuit caused by the position difference between the second driving unit 804 and each laser circuit.

[0270] Through the embodiments of the present application, based on the relative position relationship between the laser circuit and the second driving unit 804, the second boost circuit 802 outputs a corresponding voltage for the third laser circuit 805, and the third boost circuit 803 outputs a corresponding voltage for the fourth laser circuit 806, thereby reducing the consistency difference in the light pulse width and emission power outputted between the various laser channels, and improving the detection performance of the laser radar.

[0271] Optionally, the third voltage and the fourth voltage may also be the same, which is not limited in the embodiment of the present application.

[0272] Optionally, due to other factors such as position difference, model difference, heating and / or heat dissipation difference, production process difference, etc. between the third laser circuit 805 and the fourth laser circuit 806, the emission powers of the third laser circuit 805 and the fourth laser circuit 806 are consistent, so the voltage value for powering the third laser circuit 805 and the fourth laser circuit 806 does not need to be designed differently, and therefore, the third voltage for powering the third laser circuit 805 and the fourth voltage for powering the fourth laser circuit 806 can be the same.

[0273] In a possible embodiment, the second boost circuit 802 includes but is not limited to a second inductor, a second diode, and a second boost switch, and the third boost circuit 803 includes but is not limited to a third inductor, a third diode, and a third boost switch.

[0274] For details, please refer to Fig. 9 , Fig. 9 A schematic diagram of the structure of another transmission system provided in an embodiment of the present application.

[0275] like Fig. 9 As shown, the second boost circuit 802 includes but is not limited to a second inductor L2, a second diode D2, and a second boost switch Q2, and the third boost circuit 803 includes but is not limited to a third inductor L3, a third diode D3, and a third boost switch Q3.

[0276] Among them, the second power supply V2 is connected to the second inductor L2 and the third inductor L3 respectively; the second inductor L2 is connected to the first end of the second diode D2 and the first end of the second boost switch Q2 respectively, and the second end of the second diode D2 is connected to the third laser 805a and the third energy storage unit 805b respectively; the third inductor L3 is connected to the first end of the third diode D3 and the first end of the third boost switch Q3 respectively, and the second end of the third diode D3 is connected to the fourth laser 806a and the fourth energy storage unit 806b respectively; the second control unit 801 is connected to the second end of the second boost switch Q2 and the second end of the third boost switch Q3 respectively; the third end of the second boost switch Q2 and the third end of the third boost switch Q3 are grounded.

[0277] The second control unit 801 is used to control the second boost switch Q2 to be turned on in a third time period before a third moment, and to control the second boost switch Q2 to be turned off at the third moment; the second control unit 801 is used to control the third boost switch Q3 to be turned on in a fourth time period before a fourth moment, and to control the third boost switch Q3 to be turned off at the fourth moment; the duration of the third time period is different from the duration of the fourth time period.

[0278] It is understandable that the second power source V2 continuously charges the second inductor L2 in the third time period. Accordingly, the second inductor L2 continuously stores energy in the third time period and outputs a third voltage at a third moment, and can provide a third voltage to charge the third energy storage unit 805b in the third laser circuit 805, and the third energy storage unit 805b supplies energy to the third laser 805a in the third laser circuit 805.

[0279] It is understandable that the second power source V2 continuously charges the third inductor L3 in the fourth time period. Accordingly, the third inductor L3 continuously stores energy in the fourth time period and outputs a fourth voltage at a fourth moment, and can provide a fourth voltage to charge the fourth energy storage unit 806b in the fourth laser circuit 806, and the fourth energy storage unit 806b supplies energy to the fourth laser 806a in the fourth laser circuit 806.

[0280] Moreover, the length of the third time period is different from that of the fourth time period, so that the provided third voltage is also different from the fourth voltage, so that different voltages are used to supply power to different laser channels, thereby adjusting the emission power of different laser channels, making the light pulse width and emission power output by each laser channel tend to be consistent, thereby improving the detection performance of the lidar.

[0281] Optionally, the duration of the third time period is related to the relative position of the third laser circuit 805 and the second driving unit 804 , and the duration of the fourth time period is related to the relative position of the fourth laser circuit 806 and the second driving unit 804 .

[0282] Generally, the closer the second driving unit 804 is to the laser circuit, the greater the emission power of the laser circuit. Therefore, in order to be consistent with the emission power of other laser circuits that are relatively farther away from the second driving unit 804, if the distance between the third laser circuit 805 and the second driving unit 804 is closer, the voltage output by the second boost circuit 802 should be smaller, and the duration of the conduction of the second boost switch Q2 in the third time period before the third moment should be shorter.

[0283] Similarly, the farther the second driving unit 804 is from the laser circuit, the smaller the emission power of the laser circuit. Therefore, in order to be consistent with the emission power of other laser circuits that are relatively closer to the second driving unit 804, if the distance between the fourth laser circuit 806 and the second driving unit 804 is farther, the voltage output by the third boost circuit 803 should be greater, and the duration of the third boost switch Q3 being turned on in the fourth time period before the fourth moment should be longer.

[0284] Optionally, there is a corresponding relationship between the duration of the conduction of the second boost switch Q2 and the voltage value of the energy stored in the second inductor L2. The longer the third time period is, the more energy is stored in the second inductor L2 in the second boost circuit 802. The duration of the conduction of the second boost switch Q2 in the third time period can make the second inductor L2 store a third voltage. By controlling the second boost switch Q2 to be turned on in the third time period before the third moment, and controlling the second boost switch Q2 to be turned off at the third moment, the second inductor L2 can provide a third voltage at the third moment, charge the third energy storage unit 805b in the third laser circuit 805, and the third energy storage unit 805b supplies energy to the third laser 805a in the third laser circuit 805, so as to minimize or even eliminate the difference in the consistency of the emission power of each laser circuit caused by the position difference between the second driving unit 804 and each laser circuit.

[0285] Optionally, there is a corresponding relationship between the duration of the conduction of the third boost switch Q3 and the voltage value of the energy stored in the third inductor L3. The longer the fourth time period is, the more energy is stored in the third inductor L3 in the third boost circuit 803. The duration of the conduction of the third boost switch Q3 in the fourth time period can make the third inductor L3 store a fourth voltage. By controlling the third boost switch Q3 to be turned on in the fourth time period before the fourth moment, and controlling the third boost switch Q3 to be turned off at the fourth moment, the third inductor L3 can provide a fourth voltage at the fourth moment, charge the fourth energy storage unit 806b in the fourth laser circuit 806, and the fourth energy storage unit 806b supplies energy to the fourth laser 806a in the fourth laser circuit 806, so as to minimize or even eliminate the difference in the consistency of the emission power of each laser circuit caused by the position difference between the second drive unit 804 and each laser circuit.

[0286] Optionally, the duration of the third time period may be the same as the duration of the fourth time period, which is not limited in this embodiment of the present application.

[0287] Optionally, due to other factors such as the position difference, model difference, heating and / or heat dissipation difference, and production process difference between the third laser circuit 805 and the fourth laser circuit 806, the emission powers of the third laser circuit 805 and the fourth laser circuit 806 are consistent, so the voltage value for powering the third laser circuit 805 and the fourth laser circuit 806 does not need to be designed differently. Therefore, the duration of the third time period can be the same as the duration of the fourth time period, so that the third voltage output to power the third laser circuit 805 and the fourth voltage output to power the fourth laser circuit 806 are the same.

[0288] In a possible embodiment, the difference between the emission power of the third laser 805a and the emission power of the fourth laser 806a is less than the second threshold.

[0289] It is understandable that the second threshold is not a fixed value and can be adjusted accordingly according to different application scenarios, and the embodiments of the present application do not limit this.

[0290] Optionally, the difference between the emission power of the third laser 805a and the emission power of the fourth laser 806a may be zero.

[0291] It can be understood that, ideally, the emission power of the third laser 805a and the emission power of the fourth laser 806a tend to be completely consistent. Figure 4 Curve 1 and curve 2 in the figure should be infinitely close to a straight horizontal line, which can maximize the detection performance of the lidar.

[0292] Optionally, the transmitting system 50 may further include more or fewer laser circuits, and MUXs correspondingly connected to the laser circuits, which is not limited in the embodiment of the present application.

[0293] Understandably, Figure 8 and Fig. 9 Two laser circuits are shown. In fact, the transmitting system 80 may include any number of laser circuits, which is not limited in the present embodiment and should not be construed as Figure 8 and Fig. 9 This constitutes a limitation to the embodiments of the present application.

[0294] It is understandable that the above Figure 8 and Fig. 9 In the embodiment of the present invention, one driver is shown. In fact, the launch system 80 may include only one driver, or may include any number of two or more drivers, and the location of the driver is not limited. The embodiment of the present application does not limit this, and should not be used as Figure 8 and Fig. 9 This constitutes a limitation to the embodiments of the present application.

[0295] In a possible embodiment, the transmitting system 80 may further include but is not limited to at least one fifth laser circuit.

[0296] For details, please refer to Fig.10 , Fig.10 This is a schematic diagram of the structure of another transmitting system provided in an embodiment of the present application. It can be understood that: Fig.10 It can be regarded as the above Figure 8 and Fig. 9 Structural variations or additions to the launch system shown, Fig.10 It can also be regarded as an embodiment that can be executed independently, and the embodiments of the present application do not limit this.

[0297] like Fig.10As shown, the transmitting system 80 may also include, but is not limited to, at least one fifth laser circuit 807 .

[0298] The position of the fifth laser circuit 807 and the position of the third laser circuit 805 are symmetrical with respect to the second driving unit 804 .

[0299] The fifth laser circuit 807 includes but is not limited to a fifth laser 807a and a fifth energy storage unit 807b.

[0300] The fifth laser 807a and the fifth energy storage unit 807b are connected in parallel, one side of the fifth laser 807a and the fifth energy storage unit 807b is connected to the second boost circuit 802 , and the other side of the fifth laser 807a and the fifth energy storage unit 807b is connected to the second driving unit 804 .

[0301] It is understandable that, due to the symmetry of the position of the fifth laser circuit 807 and the position of the third laser circuit 805, the emission power consistency difference between the fifth laser circuit 807 and the third laser circuit 805 is small, or even completely consistent, so the voltage value for supplying power to the fifth laser circuit 807 and the third laser circuit 805 does not need to be designed differently, and the same second boost circuit 802 can be shared, so that the emission power of the fifth laser circuit 807 and the third laser circuit 805 tends to be consistent. Through the embodiment of the present application, hardware costs can be saved, the routing design between modules in the transmission system can be optimized, and space utilization can be improved.

[0302] Optionally, similarly, the transmitting system 80 may also include but is not limited to at least one sixth laser circuit 808 .

[0303] The position of the sixth laser circuit 808 and the position of the fourth laser circuit 806 are symmetrical with respect to the second driving unit 804 .

[0304] The sixth laser circuit 808 includes but is not limited to a sixth laser 808 a and a sixth energy storage unit 808 b .

[0305] The sixth laser 808a and the sixth energy storage unit 808b are connected in parallel, one side of the sixth laser 808a and the sixth energy storage unit 808b is connected to the third boost circuit 803 , and the other side of the sixth laser 808a and the sixth energy storage unit 808b is connected to the second driving unit 804 .

[0306] It is understandable that, due to the symmetry of the position of the sixth laser circuit 808 and the position of the fourth laser circuit 806, the transmission power consistency difference between the sixth laser circuit 808 and the fourth laser circuit 806 is small, or even completely consistent, so the voltage value for supplying power to the sixth laser circuit 808 and the fourth laser circuit 806 does not need to be designed differently, and the same third boost circuit 803 can be shared, so that the transmission power of the sixth laser circuit 808 and the fourth laser circuit 806 tends to be consistent. Through the embodiment of the present application, hardware costs can be saved, the routing design between modules in the transmission system can be optimized, and space utilization can be improved.

[0307] Optionally, the second driving unit 804 in the transmitting system 80 may include one or more drivers, and when the number of drivers is different, the arrangement of the drivers may also be different. For details, please refer to the above 7A to 7D The descriptions of the driver arrangement situations 1 to 4 shown are not repeated here.

[0308] Optionally, the laser circuit in the transmitting system 80 is arranged on a PCB.

[0309] Optionally, the laser circuit in the above-mentioned transmitting system 80 can be arranged on the front side of the PCB or on the back side of the PCB, and the embodiment of the present application does not limit this.

[0310] Optionally, the second driving unit 804 in the above-mentioned transmitting system 80 can be arranged on the reverse side of the PCB, which is beneficial to optimize the wiring design between various modules in the transmitting system 80 and improve space utilization.

[0311] The present application provides a chip, which includes the transmission system provided by the present application.

[0312] The present application provides a radar, which includes the transmitting system provided in the present application or the above-mentioned chip.

[0313] In a possible implementation, the radar includes but is not limited to a laser radar and the like.

[0314] In a possible implementation, there may be a smart sensor that integrates multiple sensors. When the smart sensor includes but is not limited to a laser detection function, the smart sensor may also be called a radar.

[0315] The present application also provides a terminal device, which includes the transmitting system or chip or radar provided in the present application. For example, the terminal device can be a transportation tool, such as a car, a truck, an aircraft, a drone, a slow transport vehicle, a spacecraft, or a ship, etc., and can also be any device that can carry a detection device, such as a surveying and mapping device. One or more transmitting systems or chips or radars provided in the present application are deployed on the terminal device.

[0316] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A transmitting system, characterized in that: The transmitting system includes a first boosting circuit, a first control unit, a first driving unit, and at least one multi-channel multiplexer MUX; a first MUX in the at least one MUX includes a plurality of first switches, and each first switch is correspondingly connected to at least one first laser circuit; The first laser circuit comprises: A first laser, a first energy storage unit; The first boost circuit is connected to the first laser and the first energy storage unit through the first switch, the first laser and the first energy storage unit are connected in parallel, the first driving unit is connected to the first laser, one end of the first control unit is connected to the first boost circuit, and the other end of the first control unit is connected to the first switch; The first control unit is used to control the first boost circuit to output a first voltage at a first moment, and to control the first switch to be turned on or off, and the first switch is turned on no later than the first moment.

2. The transmitting system according to claim 1, characterized in that: The first boost circuit comprises: A first power source, a first inductor, a first diode, and a first boost switch; The first power supply is connected to the first inductor, the first inductor is respectively connected to the first end of the first diode and the first end of the first boost switch, the second end of the first diode is connected to the first laser and the first energy storage unit through the first switch, the second end of the first boost switch is connected to the first control unit, and the third end of the first boost switch is grounded; The first control unit is used to control the first boost switch to be turned on in a first time period before the first moment, and to control the first boost switch to be turned off at the first moment.

3. The transmitting system according to claim 1 or 2, characterized in that: The at least one MUX includes a second MUX other than the first MUX, the second MUX includes a plurality of second switches, and each second switch is correspondingly connected to at least one second laser circuit; The second laser circuit comprises: A second laser, a second energy storage unit; The first boost circuit is connected to the second laser and the second energy storage unit through the second switch, the second laser and the second energy storage unit are connected in parallel, the first driving unit is connected to the second laser, one end of the first control unit is connected to the first boost circuit, and the other end of the first control unit is connected to the second switch; The first control unit is used to control the first boost circuit to output a second voltage at a second moment, and to control the on or off of the second switch, the second voltage is different from the first voltage, and the on time of the second switch is no later than the second moment.

4. The transmitting system according to claim 3, characterized in that: The first boost circuit comprises: A first power source, a first inductor, a first diode, and a first boost switch; The first power supply is connected to the first inductor, the first inductor is respectively connected to the first end of the first diode and the first end of the first boost switch, the second end of the first diode is connected to the second laser and the second energy storage unit through the second switch, and the second end of the first diode is connected to the first laser and the first energy storage unit through the first switch, the second end of the first boost switch is connected to the first control unit, and the third end of the first boost switch is grounded; The first control unit is used to control the first boost switch to be turned on in a second time period before the second moment, and to control the first boost switch to be turned off at the second moment, wherein the length of the second time period is different from the length of the first time period, and the first time period is the time period in which the first boost switch is turned on before the first moment.

5. The transmitting system according to claim 4, characterized in that: A difference between the emission power of the first laser and the emission power of the second laser is less than a first threshold.

6. A transmitting system, characterized in that: The transmitting system includes at least one third laser circuit, at least one fourth laser circuit, a second driving unit, a second control unit, a second boosting circuit, a third boosting circuit and a second power supply; The third laser circuit includes a third laser and a third energy storage unit, and the fourth laser circuit includes a fourth laser and a fourth energy storage unit; Wherein, the second power supply is connected to the second boost circuit and the third boost circuit respectively; the second boost circuit is connected to the third laser and the third energy storage unit respectively, and the third laser and the third energy storage unit are connected in parallel; the third boost circuit is connected to the fourth laser and the fourth energy storage unit respectively, and the fourth laser and the fourth energy storage unit are connected in parallel; the second driving unit is connected to the third laser and the fourth laser respectively, and the second control unit is connected to the second boost circuit and the third boost circuit respectively; The second control unit is used to control the second boost circuit to output a third voltage, and to control the third boost circuit to output a fourth voltage, wherein the third voltage is different from the fourth voltage.

7. The transmitting system according to claim 6, characterized in that: The second boost circuit includes a second inductor, a second diode, and a second boost switch, and the third boost circuit includes a third inductor, a third diode, and a third boost switch; Wherein, the second power supply is connected to the second inductor and the third inductor respectively; the second inductor is connected to the first end of the second diode and the first end of the second boost switch respectively, and the second end of the second diode is connected to the third laser and the third energy storage unit respectively; the third inductor is connected to the first end of the third diode and the first end of the third boost switch respectively, and the second end of the third diode is connected to the fourth laser and the fourth energy storage unit respectively; the second control unit is connected to the second end of the second boost switch and the second end of the third boost switch respectively; the third end of the second boost switch and the third end of the third boost switch are grounded; The second control unit is used to control the second boost switch to be turned on in a third time period before a third moment, and to control the second boost switch to be turned off at the third moment; the second control unit is used to control the third boost switch to be turned on in a fourth time period before a fourth moment, and to control the third boost switch to be turned off at the fourth moment; the length of the third time period is different from the length of the fourth time period.

8. The transmitting system according to claim 6 or 7, characterized in that: A difference between the emission power of the third laser and the emission power of the fourth laser is less than a second threshold.

9. The transmitting system according to claim 6 or 7, characterized in that: The transmitting system further comprises at least one fifth laser circuit, the position of the fifth laser circuit and the position of the third laser circuit are symmetrical with respect to the second driving unit; the fifth laser circuit comprises a fifth laser and a fifth energy storage unit; The fifth laser and the fifth energy storage unit are connected in parallel, one side of the fifth laser and the fifth energy storage unit is connected to the second boost circuit, and the other side of the fifth laser and the fifth energy storage unit is connected to the second driving unit.

10. The transmitting system according to any one of claims 1 or 2 or 6 or 7, characterized in that: The driving unit in the transmitting system includes a driver, and the driver is arranged at the head end or the end end of the laser array in the transmitting system along the first direction; The laser array includes a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage magnitudes of the energy storage units in the laser array are arranged in increasing or decreasing order along the first direction.

11. The transmitting system according to any one of claims 1 or 2 or 6 or 7, characterized in that: The driving unit in the transmitting system includes a driver, and the driver is arranged in the middle of the laser array in the transmitting system along a first direction; The laser array includes a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage magnitudes of the energy storage units in the laser array are symmetrically arranged along the first direction.

12. The transmitting system according to any one of claims 1 or 2 or 6 or 7, characterized in that: The driving unit in the transmitting system includes at least two drivers, and the at least two drivers are respectively arranged at two ends of the laser array in the transmitting system along a first direction; The laser array includes a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage magnitudes of the energy storage units in the laser array are symmetrically arranged along the first direction.

13. The transmitting system according to claim 12, characterized in that: The at least two drives are arranged in a mirrored manner.

14. The transmitting system according to any one of claims 1 or 2 or 6 or 7, characterized in that: The laser circuit in the transmitting system is arranged on a printed circuit board PCB.

15. The transmitting system according to claim 14, characterized in that: The driving unit in the transmitting system is arranged on the reverse side of the PCB.

16. A chip, characterized in that: The chip comprises the transmitting system according to any one of claims 1 to 15.

17. A radar, characterized in that: The radar comprises the transmitting system according to any one of claims 1 to 15, or the chip according to claim 16.

18. A terminal device, characterized in that: The terminal device comprises the transmitting system according to any one of claims 1 to 15, or the chip according to claim 16, or the radar according to claim 17.

19. A vehicle end, characterized in that: The vehicle end includes the transmitting system described in any one of claims 1 to 15, or the chip described in claim 16, or the radar described in claim 17, or the terminal device described in claim 18.

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