Transmitting system and related device

Abstract

A transmitting system (50) and a related device, applied to the technical field of lidars. The transmitting system (50) comprises: at least one first laser circuit (501), a first driving unit (500), and a first power supply (V1). The first laser circuit (501) comprises a first laser (501a), a first energy storage unit (501b), and a first switch (501c). The first power supply (V1) is connected to the first laser (501a) and the first energy storage unit (501b) by means of the first switch (501c), the first laser (501a) and the first energy storage unit (501b) are connected in parallel, and the first driving unit (500) is connected to the first laser (501a). A voltage value provided by the first power supply (V1) is related to the relative position of the first laser circuit (501) and the first driving unit (500). The transmitting system (50) can reduce the consistency differences in output optical pulse width and transmit power between laser channels, thereby improving the detection performance of lidars.

Description

Transmitting system and related apparatus

[0001] This application claims priority to the Chinese patent application No. 202411306332.2, filed on September 14, 2024, entitled “Transmitting system and related apparatus”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of laser radar, in particular to a transmitting system and related apparatus. BACKGROUND

[0003] With the development of information technology and computer vision, detection technology has developed rapidly, and various detection devices have brought great convenience to people's life and travel. Detection devices can be regarded as the "eyes" of the environment, including visual system sensors such as cameras and radar system sensors such as millimeter wave radars, laser radars and ultrasonic radars. Among them, laser radar (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 near all-weather work. It is a key sensor in the perception field and plays an important role in intelligent driving, intelligent transportation, surveying and mapping, intelligent manufacturing and other fields.

[0004] At present, in 1D or 2D solid-state laser radars, due to the inconsistent discharge loop inductance between each laser channel, the consistency of the output light pulse width and the emission power between each laser channel is large, thereby affecting the detection performance of the laser radar.

[0005] Therefore, a feasible solution is needed to reduce the consistency difference of the output light pulse width and the emission power between each laser channel and improve the detection performance of the laser radar. SUMMARY

[0006] The embodiments of the present application provide a transmitting system and related apparatus, which can reduce the consistency difference of the output light pulse width and the emission power between each laser channel and improve the detection performance of the laser radar.

[0007] In a first aspect, the embodiments of the present application provide a transmitting system, which comprises at least one first laser circuit, a first driving unit and a first power supply; the first laser circuit comprises:

[0008] a first laser, a first energy storage unit and a first switch.

[0009] The first power supply is connected with 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, and the first driving unit is connected with the first laser.

[0010] The voltage provided by the first power supply is related to the relative position between the first laser circuit and the first driving unit.

[0011] In the embodiment of the application, a transmitting system is provided, which includes at least one first laser circuit, a first driving unit and a first power supply. Since the positions of each laser circuit and the first driving unit in the transmitting system are not completely the same, and the distance between the first driving unit and each laser circuit directly affects the transmitting power of each laser circuit, generally, the closer the first driving unit is to the laser circuit, the greater the transmitting power of the laser circuit is, thus leading to a large difference in the consistency of the transmitting power of each laser circuit. In order to reduce the difference in the consistency of the transmitting power of each laser circuit, the transmitting system in the embodiment of the application is provided with a first power supply for the first laser circuit, and the voltage provided by the first power supply is related to the relative position between the first laser circuit and the first driving unit. The first power supply charges the first energy storage unit in the first laser circuit, and the first energy storage unit supplies energy for the first laser in the first laser circuit, so as to reduce or even eliminate the difference in the consistency of the transmitting power of each laser circuit caused by the position difference between the first driving unit and each laser circuit. Through the embodiment of the application, a separate power supply is provided for the laser circuit in the transmitting system, and according to the relative position relationship between the laser circuit and the first driving unit, the corresponding voltage is provided for the laser circuit by the separately provided power supply, so as to reduce the difference in the consistency of the output optical pulse width and transmitting power between each laser channel, and improve the detection performance of the laser radar.

[0012] In a possible implementation, the voltage provided by the first power supply is related to the relative position between the first laser circuit and the first driving unit, including:

[0013] The closer the distance between the first laser circuit and the first driving unit is, the smaller the voltage provided by the first power supply is.

[0014] In the embodiment, a possible implementation of the voltage value provided by the first power supply and the relative position between the first laser circuit and the first driving unit is provided. Generally, the closer the first driving unit is to the laser circuit, the greater the emission power of the laser circuit, and therefore, in order to be consistent with the emission power of the laser circuit which is relatively farther away from the first driving unit, the closer the first laser circuit and the first driving unit, the smaller the voltage provided by the first power supply. Similarly, the farther the first driving unit is from the laser circuit, the smaller the emission power of the laser circuit, and therefore, in order to be consistent with the emission power of the laser circuit which is relatively closer to the first driving unit, the farther the first laser circuit and the first driving unit, the greater the voltage provided by the first power supply. Through the embodiment of the present application, according to the relative position relationship between the laser circuit and the first driving unit, the corresponding voltage is provided for the laser circuit by the separately equipped power supply, which can reduce the consistency difference of the output optical pulse width and emission power between each laser channel, and improve the detection performance of the laser radar.

[0015] In a possible implementation, the emission system further comprises at least one second laser circuit and a second power supply; the second laser circuit comprises:

[0016] a second laser, a second energy storage unit, and a second switch;

[0017] The second power supply is connected with 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, and the first driving unit is connected with the second laser.

[0018] The distance between the second laser circuit and the first driving unit is greater than the distance between the first laser circuit and the first driving unit, and the voltage value provided by the second power supply is greater than the voltage value provided by the first power supply.

[0019] In the embodiment, the transmitting system further comprises at least one second laser circuit and a second power supply. Generally, the closer the first driving unit is to the laser circuit, the greater the transmitting power of the laser circuit. Since the positions of the first laser circuit and the first driving unit and the positions of the second laser circuit and the first driving unit are not exactly the same, and the distance difference between the first driving unit and the first laser circuit and the second laser circuit directly affects the transmitting power difference between the first laser circuit and the second laser circuit, in order to make the transmitting power of the first laser circuit and the second laser circuit consistent, if the distance between the second laser circuit and the first driving unit is greater than the distance between the first laser circuit and the first driving unit, the voltage value provided by the second power supply is greater than the voltage value provided by the first power supply. Similarly, if the distance between the second laser circuit and the first driving unit is less than the distance between the first laser circuit and the first driving unit, the voltage value provided by the second power supply is less than the voltage value provided by the first power supply. Through the embodiment of the present application, according to the distance difference between each laser circuit and the first driving unit, each laser circuit is provided with a corresponding voltage by the power supply equipped separately, which can reduce the consistency difference of the output optical pulse width and transmitting power between each laser channel, and improve the detection performance of the laser radar.

[0020] In a possible implementation, a difference between the transmitting power of the first laser and the transmitting power of the second laser is less than a first threshold.

[0021] In the embodiment, a possible specific implementation of the consistency of the transmitting power of the first laser and the second laser is provided, specifically, a difference between the transmitting power of the first laser and the transmitting power of the second laser is less than a first threshold, which is not a fixed value and can be adjusted according to different application scenarios, and the embodiment of the present application does not limit this.

[0022] Optionally, the difference between the transmitting power of the first laser and the transmitting power of the second laser can be 0. It can be understood that, in an ideal case, the transmitting power of the first laser and the transmitting power of the second laser tend to be completely consistent, which can maximize the detection performance of the laser radar.

[0023] In a possible implementation, the driving unit in the transmitting system comprises one driver, and the one driver is arranged at the head end or the tail end of the laser array in the transmitting system along a first direction.

[0024] The laser array comprises a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array is arranged in an increasing or decreasing manner along the first direction.

[0025] In the embodiment, a possible implementation of the arrangement of the driver is provided. Specifically, when the driving unit includes one driver, the driver can be arranged at the head or tail of the laser array in the emission system along the first direction, which is beneficial to heat dissipation of the driver. It can be understood that in this case, the emission power of the plurality of lasers in the laser array increases or decreases along the first direction. At this time, in order to make the emission power of the plurality of lasers in the laser array consistent, the voltage of the plurality of energy storage units for supplying energy to the plurality of lasers in the laser array decreases or increases along the first direction, so as to reduce the consistency difference of the light pulse width and the emission power output by each laser, and realize the consistency of the emission power of the plurality of lasers.

[0026] Alternatively, the driver can also be arranged at other positions of the laser array in the emission system along the first direction, which is not limited in the embodiment. Correspondingly, the voltage of each energy storage unit in the laser array can be determined in combination with the position of the driver, so as to realize the consistency of the emission power of the plurality of lasers in the laser array.

[0027] In a possible implementation, the driving unit in the emission system includes one driver, and the one driver is arranged at the middle of the laser array in the emission system along the first direction.

[0028] 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 of each energy storage unit in the laser array is symmetrically arranged along the first direction.

[0029] In the embodiment, a possible implementation of the arrangement of the driver is provided. Specifically, when the driving unit includes one driver, the driver can be arranged at the middle of the laser array in the emission system along the first direction, at this time, the overall difference of the emission power of the plurality of lasers in the laser array is small, therefore, through the arrangement, the consistency of the emission power of the plurality of lasers in the laser array can be improved from the position layout. It can be understood that in this case, the emission power of the plurality of lasers in the laser array is symmetrically arranged in the rule of middle large and both ends small along the first direction. At this time, in order to make the emission power of the plurality of lasers in the laser array consistent, the voltage of the plurality of energy storage units for supplying energy to the plurality of lasers in the laser array is symmetrically arranged in the rule of middle small and both ends large along the first direction, so as to reduce the consistency difference of the light pulse width and the emission power output by each laser, and realize the consistency of the emission power of the plurality of lasers.

[0030] Optionally, the driver can also be arranged at other positions of the laser array in the emission system along the first direction, and the embodiments of the present application do not limit this. Correspondingly, the voltage of each energy storage unit in the laser array can be determined in combination with the position of the driver, so as to make the emission powers of the plurality of lasers in the laser array tend to be consistent.

[0031] In a possible implementation, the driving unit in the emission system includes at least two drivers, and the at least two drivers are respectively arranged at two ends of the laser array in the emission system along the first direction.

[0032] In the embodiment, 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 of each energy storage unit in the laser array is symmetrically arranged along the first direction.

[0033] In the embodiment, a possible specific implementation of the arrangement of the driver is provided, specifically, when the driving unit includes at least two drivers, the at least two drivers can be respectively arranged at two ends of the laser array in the emission system along the first direction, which is beneficial to heat dissipation of the driver. At this time, the overall difference of the emission powers of the plurality of lasers in the laser array is small, and therefore, the consistency of the emission powers of the plurality of lasers in the laser array can be improved from the position layout by using the arrangement. It can be understood that in this case, the emission powers of the plurality of lasers in the laser array are symmetrically arranged along the first direction in the rule of small in the middle and large at two ends, and at this time, in order to make the emission powers of the plurality of lasers in the laser array tend to be consistent, the voltage of the plurality of energy storage units for supplying energy to the plurality of lasers in the laser array is symmetrically arranged along the first direction in the rule of large in the middle and small at two ends, so as to reduce the consistency difference of the light pulse width and the emission power output by each laser, and realize that the emission powers of the plurality of lasers tend to be consistent.

[0034] Optionally, the driver can also be arranged at other positions of the laser array in the emission system along the first direction, and the embodiments of the present application do not limit this. Correspondingly, the voltage of each energy storage unit in the laser array can be determined in combination with the position of the driver, so as to make the emission powers of the plurality of lasers in the laser array tend to be consistent.

[0035] In a possible implementation, the at least two drivers are mirror arranged.

[0036] In the embodiment, a possible specific implementation of the arrangement of the driver is provided, specifically, the at least two drivers in the emission system are mirror arranged, which is beneficial to optimize the wiring design between the modules in the emission system and improve the space utilization.

[0037] In a possible implementation, the laser circuit in the transmitting system is arranged on a printed circuit board (PCB).

[0038] In the embodiment, the laser circuit in the transmitting system is arranged on a printed circuit board (PCB). Further, the laser circuit in the transmitting system can be arranged on the front surface of the PCB or the back surface of the PCB, which is not limited in the application.

[0039] In a possible implementation, the driving unit in the transmitting system is arranged on the back surface of the PCB.

[0040] In the embodiment, the driving unit in the transmitting system is arranged on the back surface of the PCB, which is beneficial to optimize the wiring design between the modules in the transmitting system and improve the space utilization.

[0041] In a second aspect, an embodiment of the application provides a transmitting system, which comprises at least one third laser circuit, a second driving unit, a first resistor and a third power supply; the third laser circuit comprises:

[0042] a third laser, a third energy storage unit and a third switch.

[0043] The third power supply is connected with the third laser and the third energy storage unit through the first resistor and the third switch in sequence, the third laser and the third energy storage unit are connected in parallel, and the second driving unit is connected with the third laser.

[0044] The resistance of the first resistor is related to the relative position of the third laser circuit and the second driving unit.

[0045] In the embodiments of the present application, a transmitting system is provided, which comprises at least one third laser circuit, a second driving unit, a first resistor and a third power supply. Since the positions of each laser circuit and the second driving unit in the transmitting system are not completely the same, and the distance between the second driving unit and each laser circuit will directly affect the emission power of each laser circuit. Generally, the closer the second driving unit is to the laser circuit, the greater the emission power of the laser circuit, thus leading to a large difference in the consistency of the emission power of each laser circuit. In order to reduce the difference in the consistency of the emission power of each laser circuit, the transmitting system in the embodiments of the present application is provided with a first resistor for the third laser circuit, and the resistance value of the first resistor is related to the relative position between the third laser circuit and the second driving unit. The third power supply charges a third energy storage unit in the third laser circuit, and the third energy storage unit supplies energy for a third laser in the third laser circuit. By setting the resistance value of the first resistor, the voltage across the third energy storage unit is adjusted, so as to reduce 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 and each laser circuit. Through the embodiments of the present application, a resistor is set for the laser circuit in the transmitting system, and according to the relative position relationship between the laser circuit and the second driving unit, the resistance value of the resistor is set to adjust the voltage across the energy storage unit in the laser circuit, so as to reduce the difference in the consistency of the output optical pulse width and emission power between each laser channel, and improve the detection performance of the laser radar.

[0046] In a possible implementation, the resistance value of the first resistor is related to the relative position between the third laser circuit and the second driving unit, comprising:

[0047] The closer the distance between the third laser circuit and the second driving unit, the greater the resistance value of the first resistor.

[0048] In the embodiment, possible specific implementations of the resistance value of the first resistor and the relative position between the third laser circuit and the second driving unit are provided. Generally, the closer the second driving unit is to the laser circuit, the greater the emission power of the laser circuit, and therefore, in order to be consistent with the emission power of other laser circuits that are relatively farther away from the second driving unit, the closer the third laser circuit is to the second driving unit, the greater the resistance value of the first resistor should be, so that the voltage across the third energy storage unit in the third laser circuit is smaller. Similarly, the farther the second driving unit is from the laser circuit, the smaller the emission power of the laser circuit, and therefore, in order to be consistent with the emission power of other laser circuits that are relatively closer to the second driving unit, the farther the third laser circuit is from the second driving unit, the smaller the resistance value of the first resistor should be, so that the voltage across the third energy storage unit in the third laser circuit is greater. Through the embodiment of the present application, according to the relative position relationship between the laser circuit and the second driving unit, the voltage across the energy storage unit in the laser circuit is adjusted by setting the resistance value of the resistor, which can reduce the consistency difference of the output optical pulse width and emission power between each laser channel, and improve the detection performance of the laser radar.

[0049] In a possible implementation, the transmitting system further comprises at least one fourth laser circuit and a second resistor; the fourth laser circuit comprises:

[0050] a fourth laser, a fourth energy storage unit, and a fourth switch;

[0051] wherein the third power supply is connected with the fourth laser and the fourth energy storage unit through the second resistor and the fourth switch in sequence, the fourth laser and the fourth energy storage unit are connected in parallel, and the second driving unit is connected with the fourth laser;

[0052] The distance between the fourth laser circuit and the second driving unit is less than the distance between the third laser circuit and the second driving unit, and the resistance value of the second resistor is greater than the resistance value of the first resistor.

[0053] In the embodiment, the transmitting system further comprises at least one fourth laser circuit and a second power supply. Generally, the closer the second driving unit is to the laser circuit, the greater the transmitting power of the laser circuit. Since the positions of the third laser circuit and the second driving unit and the positions of the fourth laser circuit and the second driving unit are not exactly the same, and the distance difference between the second driving unit and the third laser circuit and the fourth laser circuit will directly affect the transmitting power difference between the third laser circuit and the fourth laser circuit, in order to make the transmitting power of the third laser circuit and the fourth laser circuit consistent, if the distance between the fourth laser circuit and the second driving unit is less than the distance between the third laser circuit and the second driving unit, the resistance value of the second resistor should be greater than the resistance value of the first resistor, so that the voltage across the fourth energy storage unit in the fourth laser circuit is less than the voltage across the third energy storage unit in the third laser circuit. Similarly, if the distance between the fourth laser circuit and the second driving unit is greater than the distance between the third laser circuit and the second driving unit, the resistance value of the second resistor should be less than the resistance value of the first resistor, so that the voltage across the fourth energy storage unit in the fourth laser circuit is greater than the voltage across the third energy storage unit in the third laser circuit. Through the embodiment of the present application, according to the distance difference between each laser circuit and the second driving unit, the voltage across the energy storage unit in each laser circuit is adjusted by the resistance value of the respective resistor, which can reduce the consistency difference of the output optical pulse width and transmitting power between each laser channel, and improve the detection performance of the laser radar.

[0054] In a possible implementation, the difference between the transmitting power of the third laser and the transmitting power of the fourth laser is less than a second threshold value.

[0055] In the embodiment, a possible specific implementation of the consistency of the transmitting power of the third laser and the fourth laser is provided, specifically, the difference between the transmitting power of the third laser and the transmitting power of the fourth laser is less than a second threshold value, which is not a fixed value and can be adjusted according to different application scenarios, and the embodiment of the present application does not limit this.

[0056] Optionally, the difference between the transmitting power of the third laser and the transmitting power of the fourth laser can be 0. It can be understood that, in an ideal case, the transmitting power of the third laser and the transmitting power of the fourth laser tend to be completely consistent, which can maximize the detection performance of the laser radar.

[0057] In a possible implementation, the transmitting system further comprises a third resistor;

[0058] The third resistor is connected with the third switch.

[0059] The closer the third laser circuit and the second driving unit are, the greater the resistance of the third resistor is.

[0060] In the embodiment, the transmitting system further comprises a third resistor connected with a third switch in the third laser circuit. The closer the third laser circuit and the second driving unit are, the greater the resistance of the third resistor is, so that the voltage across the third energy storage unit in the third laser circuit is smaller, thereby tending to be consistent with the transmitting power of other laser circuits relatively farther from the second driving unit. Similarly, the farther the third laser circuit and the second driving unit are, the smaller the resistance of the third resistor is, so that the voltage across the third energy storage unit in the third laser circuit is greater, thereby tending to be consistent with the transmitting power of other laser circuits relatively closer to the second driving unit. Through the embodiment, according to the relative position relationship between the laser circuit and the second driving unit, the voltage across the energy storage unit in the laser circuit is adjusted by connecting the third switch with the resistor and setting the resistance of the resistor, so that the consistency difference of the output optical pulse width and transmitting power among the laser channels is reduced, and the detection performance of the laser radar is improved.

[0061] In a possible implementation, the driving unit in the transmitting system comprises one driver, and the one driver is arranged at the head end or the tail end of the laser array in the transmitting system along a first direction.

[0062] The laser array comprises a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array is arranged in an increasing or decreasing manner along the first direction.

[0063] In a possible implementation, the driving unit in the transmitting system comprises one driver, and the one driver is arranged at the middle of the laser array in the transmitting system along a first direction.

[0064] The laser array comprises a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array is arranged in a symmetrical manner along the first direction.

[0065] In a possible implementation, the driving unit in the transmitting system comprises at least two drivers, and the at least two drivers are arranged at the two ends of the laser array in the transmitting system along a first direction respectively.

[0066] The laser array comprises a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array is arranged in a symmetrical manner along the first direction.

[0067] In a possible implementation, the at least two drivers are arranged in mirror.

[0068] In a possible implementation, the laser circuit in the transmitting system is arranged on a printed circuit board (PCB).

[0069] In a possible implementation, the driving unit in the transmitting system is arranged on the back of the PCB.

[0070] The transmitting system according to the second aspect and any possible implementation can refer to the description of the transmitting system according to the first aspect and the corresponding implementations.

[0071] The technical effects brought by the second aspect and any possible implementation can refer to the description of the technical effects of the transmitting system according to the first aspect and the corresponding implementations.

[0072] In a third aspect, the embodiments of the present application provide a transmitting system, which comprises at least one fifth laser circuit, a third driving unit, a fourth power supply, a control unit; the fifth laser circuit comprises:

[0073] a fifth laser, a fifth energy storage unit, and a fifth switch.

[0074] The fourth power supply is connected with the fifth laser and the fifth energy storage unit through the fifth switch, the fifth laser and the fifth energy storage unit are connected in parallel, the third driving unit is connected with the fifth laser, one end of the control unit is connected with the fifth energy storage unit, and the other end of the control unit is connected with the fifth switch.

[0075] The control unit is used for controlling the conduction or disconnection of the fifth switch, and the conduction duration of the fifth switch is related to the relative position of the fifth laser circuit and the third driving unit.

[0076] In the embodiments of the present application, a transmitting system is provided, which comprises at least one fifth laser circuit, a third driving unit, a fourth power supply and a control unit. Since the positions of each laser circuit and the third driving unit in the transmitting system are not completely the same, and the distance between the third driving unit and each laser circuit will directly affect the emission power of each laser circuit. Generally, the closer the third driving unit is to the laser circuit, the greater the emission power of the laser circuit, thus leading to a large difference in the consistency of the emission power of each laser circuit. In order to reduce the difference in the consistency of the emission power of each laser circuit, the transmitting system in the embodiments of the present application is provided with a control unit for the fifth laser circuit, which is used to control the conduction or turn-off of a fifth switch in the fifth laser circuit, and the conduction time of the fifth switch is related to the relative position of the fifth laser circuit and the third driving unit. The fourth power supply is used to charge a fifth energy storage unit in the fifth laser circuit, and the fifth energy storage unit is used to supply energy for a fifth laser in the fifth laser circuit. By controlling the conduction time of the fifth switch to adjust the amount of electricity stored in the fifth energy storage unit, the difference in the consistency of the emission power of each laser circuit caused by the position difference of the third driving unit and each laser circuit can be reduced as much as possible or even eliminated. Through the embodiments of the present application, the control unit is provided for the laser circuit in the transmitting system, and according to the relative position relationship between the laser circuit and the third driving unit, the amount of electricity stored in the energy storage unit in the laser circuit is adjusted by controlling the conduction time of the switch in the laser circuit, so that the difference in the consistency of the output optical pulse width and emission power between each laser channel can be reduced, and the detection performance of the laser radar can be improved.

[0077] In a possible implementation, the conduction time of the fifth switch is related to the relative position of the fifth laser circuit and the third driving unit, which comprises:

[0078] The closer the distance between the fifth laser circuit and the third driving unit, the shorter the conduction time of the fifth switch.

[0079] In the embodiment, a possible implementation of the on duration of the fifth switch and the relative position between the fifth laser circuit and the third driving unit is provided. Generally, the closer the third driving unit is to the laser circuit, the greater the emission power of the laser circuit is. Therefore, in order to be consistent with the emission power of other laser circuits which are relatively closer to the third driving unit, the closer the fifth laser circuit is to the third driving unit, the shorter the on duration of the fifth switch controlled by the control unit should be, so that the fifth energy storage unit in the fifth laser circuit stores less electricity. Similarly, the farther the third driving unit is from the laser circuit, the smaller the emission power of the laser circuit is. Therefore, in order to be consistent with the emission power of other laser circuits which are relatively closer to the third driving unit, the farther the fifth laser circuit is to the third driving unit, the longer the on duration of the fifth switch controlled by the control unit should be, so that the fifth energy storage unit in the fifth laser circuit stores more electricity. Through the embodiment, according to the relative position between the laser circuit and the third driving unit, the amount of electricity stored in the energy storage unit in the laser circuit is adjusted by controlling the on duration of the switch in the laser circuit, which can reduce the consistency difference of the output optical pulse width and emission power between each laser channel, and improve the detection performance of the laser radar.

[0080] In a possible implementation, the emission system further comprises at least one sixth laser circuit; the sixth laser circuit comprises:

[0081] a sixth laser, a sixth energy storage unit, and a sixth switch;

[0082] The fourth power supply is connected with the sixth laser and the sixth energy storage unit through the sixth switch, the sixth laser and the sixth energy storage unit are connected in parallel, the third driving unit is connected with the sixth laser, one end of the control unit is connected with the sixth energy storage unit, and the other end of the control unit is connected with the sixth switch.

[0083] The control unit is configured to control the on or off of the sixth switch. The distance between the sixth laser circuit and the third driving unit is less than the distance between the fifth laser circuit and the third driving unit. The on duration of the sixth switch is shorter than the on duration of the fifth switch.

[0084] In the embodiment, the transmitting system further comprises at least one sixth laser circuit. Generally, the closer the third driving unit is to a laser circuit, the greater the transmitting power of the laser circuit. Since the positions of the fifth laser circuit and the third driving unit and the positions of the sixth laser circuit and the third driving unit are not exactly the same, and the distance difference between the third driving unit and the fifth laser circuit and the sixth laser circuit directly affects the transmitting power difference between the fifth laser circuit and the sixth laser circuit, in order to make the transmitting power of the fifth laser circuit and the sixth laser circuit consistent, if the distance between the sixth laser circuit and the third driving unit is less than the distance between the fifth laser circuit and the third driving unit, the control unit controls the on duration of the sixth switch to be shorter than the on duration of the fifth switch, so that the sixth energy storage unit in the sixth laser circuit stores less electricity than the fifth energy storage unit in the fifth laser circuit. Similarly, if the distance between the sixth laser circuit and the third driving unit is greater than the distance between the fifth laser circuit and the third driving unit, the control unit controls the on duration of the sixth switch to be longer than the on duration of the fifth switch, so that the sixth energy storage unit in the sixth laser circuit stores more electricity than the fifth energy storage unit in the fifth laser circuit. Through the embodiment of the present application, according to the distance difference between each laser circuit and the third driving unit, the control unit controls the on duration of the switch in each laser circuit to adjust the electricity stored in the energy storage unit in each laser circuit, which can reduce the consistency difference of the output optical pulse width and transmitting power between each laser channel, and improve the detection performance of the laser radar.

[0085] In a possible implementation, the difference between the transmitting power of the fifth laser and the transmitting power of the sixth laser is less than a third threshold.

[0086] In the embodiment, a possible specific implementation of the consistency of the transmitting power of the fifth laser and the sixth laser is provided, specifically, the difference between the transmitting power of the fifth laser and the transmitting power of the sixth laser is less than a third threshold, which is not a fixed value and can be adjusted according to different application scenarios, and the embodiment of the present application does not limit this.

[0087] Optionally, the difference between the transmitting power of the fifth laser and the transmitting power of the sixth laser can be 0. It can be understood that, in an ideal case, the transmitting power of the fifth laser and the transmitting power of the sixth laser tend to be completely consistent, which can maximize the detection performance of the laser radar.

[0088] In a possible implementation, the control unit comprises:

[0089] an analog-to-digital converter, a controller;

[0090] One end of the analog-to-digital converter is connected with the fifth energy storage unit, the other end of the analog-to-digital converter is connected with one end of the controller, the other end of the controller is connected with the fifth switch;

[0091] The analog-to-digital converter is configured to detect the voltage of the fifth energy storage unit and obtain a detection result.

[0092] The controller is configured to control the on duration of the fifth switch based on the detection result.

[0093] In the embodiment, a possible specific implementation of a control unit is provided, specifically, the control unit includes an analog-to-digital converter (ADC) and a controller, the analog-to-digital converter is configured to detect the voltage of an energy storage unit in a laser circuit, and the controller is configured to control the on duration of a switch in the laser circuit based on the detection result, so as to adjust the amount of electricity stored in the energy storage unit, thereby reducing the difference in the consistency of the output pulse width and the emission power among the laser channels, and improving the detection performance of the laser radar.

[0094] In a possible implementation, the driving unit in the transmitting system includes one driver, and the one driver is arranged at the head end or the tail end of the laser array in the transmitting system along a first direction.

[0095] 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 voltages of the energy storage units in the laser array are arranged in an increasing or decreasing manner along the first direction.

[0096] In a possible implementation, the driving unit in the transmitting system includes one driver, and the one driver is arranged at the middle of the laser array in the transmitting system along a first direction.

[0097] 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 voltages of the energy storage units in the laser array are arranged in a symmetrical manner along the first direction.

[0098] In a possible implementation, the driving unit in the transmitting system includes at least two drivers, and the at least two drivers are arranged at the two ends of the laser array in the transmitting system along a first direction respectively.

[0099] 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 voltages of the energy storage units in the laser array are arranged in a symmetrical manner along the first direction.

[0100] In a possible implementation, the at least two drivers are arranged in a mirror image.

[0101] In a possible implementation, the laser circuit in the transmitting system is arranged on a printed circuit board (PCB).

[0102] In a possible implementation, the driving unit in the transmitting system is arranged on the back side of the PCB.

[0103] The transmitting system according to the third aspect and any possible implementation can refer to the description of the transmitting system according to the first aspect and the corresponding implementations.

[0104] The technical effects brought by the third aspect and any possible implementation can refer to the description of the technical effects of the first aspect and the corresponding implementations.

[0105] According to a fourth aspect, an embodiment of the present application provides a chip, which comprises the transmitting system according to the first aspect or any possible implementation of the first aspect, or the transmitting system according to the second aspect or any possible implementation of the second aspect, or the transmitting system according to the third aspect or any possible implementation of the third aspect.

[0106] According to a fifth aspect, an embodiment of the present application provides a radar or a radar system, which comprises the transmitting system according to the first aspect or any possible implementation of the first aspect, or the transmitting system according to the second aspect or any possible implementation of the second aspect, or the transmitting system according to the third aspect or any possible implementation of the third aspect, or the chip according to the fourth aspect.

[0107] In a possible implementation, the radar includes but is not limited to a laser radar and the like.

[0108] In a possible implementation, there can be a smart sensor integrated with multiple sensors, and in the case where the smart sensor includes but is not limited to a laser detection function and the like, the smart sensor can also be referred to as a radar or a radar system.

[0109] According to a sixth aspect, an embodiment of the present application provides a terminal device, which comprises the transmitting system according to the first aspect or any possible implementation of the first aspect, or the transmitting system according to the second aspect or any possible implementation of the second aspect, or the transmitting system according to the third aspect or any possible implementation of the third aspect, or the chip according to the fourth aspect, or the radar or radar system according to the fifth aspect.

[0110] In a seventh aspect, an embodiment of the present application provides a vehicle end, which comprises the transmitting system in the first aspect or any possible implementation manner of the first aspect, or comprises the transmitting system in the second aspect or any possible implementation manner of the second aspect, or comprises the transmitting system in the third aspect or any possible implementation manner of the third aspect, or comprises the chip in the fourth aspect, or comprises the radar or radar system in the fifth aspect, or comprises the terminal device in the sixth aspect. BRIEF DESCRIPTION OF DRAWINGS

[0111] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0112] FIG. 1A is a schematic diagram of an application scenario of a radar according to an embodiment of the present application;

[0113] FIG. 1B is a schematic diagram of an application scenario of a radar according to an embodiment of the present application;

[0114] FIG. 2A is a schematic diagram of an architecture of a radar according to an embodiment of the present application;

[0115] FIG. 2B is a schematic diagram of an architecture of a radar according to an embodiment of the present application;

[0116] FIG. 3 is a schematic diagram of a driving circuit of a radar according to an embodiment of the present application;

[0117] FIG. 4 is a schematic diagram of a transmitting power of a radar according to an embodiment of the present application;

[0118] FIG. 5 is a schematic diagram of a structure of a transmitting system according to an embodiment of the present application;

[0119] FIG. 6A is a schematic diagram of a driver layout according to an embodiment of the present application;

[0120] FIG. 6B is a schematic diagram of another driver layout according to an embodiment of the present application;

[0121] FIG. 6C is a schematic diagram of still another driver layout according to an embodiment of the present application;

[0122] FIG. 6D is a schematic diagram of still another driver layout according to an embodiment of the present application;

[0123] FIG. 7 is a schematic diagram of a structure of another transmitting system according to an embodiment of the present application;

[0124] FIG. 8 is a structural schematic diagram of another transmitting system according to an embodiment of the present application;

[0125] FIG. 9 is a structural schematic diagram of another transmitting system according to an embodiment of the present application;

[0126] FIG. 10 is a schematic diagram of a control signal according to an embodiment of the present application. DETAILED DESCRIPTION

[0127] In order to make the objects, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described below with reference to the drawings.

[0128] The terms "first" and "second" and the like in the specification of the present application, claims, and drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device, etc. that includes a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed or inherent to the process, method, product or device, etc.

[0129] In the present document, the term "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the terms and / or descriptions between various embodiments are consistent and can be mutually referenced, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship, if there is no special description and logical conflict.

[0130] It should be understood that in the present application, "at least one" refers to one or more, "multiple" refers to two or more, "at least two" refers to two or three and three or more, and "and / or" is used to describe the association relationship of the associated objects, which means that there can be three relationships, for example, "A and / or B" can mean: only A, only B, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, including any combination of single or multiple 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, and c can be single or multiple.

[0131] As described in the background section, in the currently designed 1D or 2D solid-state laser radar, due to the fact that the discharge loop inductance of each laser channel is not completely consistent, the consistency of the output light pulse width and the emission power of each laser channel is greatly different, thereby affecting the detection performance of the laser radar. The present application provides a transmitting system and related device, which relates to the technical field of laser radar, and can reduce the consistency of the output light pulse width and the emission power of each laser channel, and improve the detection performance of the laser radar.

[0132] In order to more clearly describe the scheme of the present application, some possible application scenarios of laser radar will be introduced first.

[0133] Please refer to FIG. 1A and FIG. 1B, which are schematic diagrams of the application scenarios of the radar provided by the embodiments of the present application.

[0134] As shown in FIG. 1A and FIG. 1B, the exemplary application scenario takes the laser radar installed on a vehicle as an example.

[0135] The vehicle can be, for example, a driverless car, an intelligent car, an electric car, or a digital car, etc. The laser radar can be deployed at various positions of the vehicle (see FIG. 1B). For example, the laser radar can be deployed in any one or more of the front, rear, left, and right directions of the vehicle to capture the environmental information around the vehicle. FIG. 1A takes the laser radar deployed in the front direction of the vehicle as an example. The laser radar can perceive the fan-shaped area shown in the dashed box in FIG. 1A, which can be referred to as the detection area of the laser radar (or the field of view of the laser radar).

[0136] In a possible implementation, the laser radar can acquire the longitude and latitude, speed, orientation of the ego vehicle, or associated information (such as distance of the target, moving speed of the target, pose of the target, or grayscale map of the target) of the target (such as other vehicles around the ego vehicle) within a certain range in real time or periodically. The laser radar or the vehicle can determine the position and / or path planning of the vehicle according to the associated information. For example, the position of the vehicle is determined by using the longitude and latitude, or the driving direction and destination of the vehicle in a future period of time are determined by using the speed and orientation, or the number and density of obstacles around the vehicle are determined by using the distance of the surrounding objects. Further, optionally, the functions of the advanced driving assistant system (ADAS) can be combined to achieve the assisted driving or autonomous driving of the vehicle, and the like. It should be understood that the principle of the laser radar detecting the associated information of the target is that the laser radar emits a detection light in a certain direction, if there is a target in the detection region of the laser radar, the target can reflect the received detection light back to the laser radar (the reflected detection light can be referred to as a return signal), and the laser radar determines the associated information of the target according to the return signal.

[0137] It should be noted that the above application scenarios are only examples, and the laser radar (including the optical waveguide assembly provided in the present application) provided in the present application can also be applied to various other possible scenarios, and is not limited to the above 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, and can realize intelligent vehicle-road cooperative communication. For another example, the laser radar can be installed on an automated guided vehicle (AGV), where the AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, which can travel along a specified navigation path, has safety protection and various transfer functions. Here, they are not listed one by one. It should be understood that the application scenarios described in the present application are for more clearly illustrating the technical solutions of the present application, and do not constitute a limitation on the technical solutions provided in the present application. It can be known by those skilled in the art that, as new application scenarios appear, the technical solutions provided in the present application are also applicable to similar technical problems.

[0138] Based on the above content, the above application scenarios can be applied to the fields of unmanned driving, autonomous driving, assisted driving, intelligent driving, networked vehicles, security detection, remote interaction, surveying and mapping, or artificial intelligence, and the like.

[0139] Some related concepts of the laser radar will be introduced below in combination with FIG. 2A and FIG. 2B.

[0140] 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).

[0141] The laser radar uses light as a detection medium, and uses the emission and reception of laser light to achieve the detection of a target, such as range finding, speed measurement, or azimuth angle measurement. The laser radar can achieve range finding of a target based on the time of flight of laser light, that is, the time difference between the transmission and reception of laser light, or the laser radar can achieve range finding of a target based on the phase difference between the emitted laser signal and the echo signal of the received laser signal. The biggest advantage of the laser radar is that it can use the multi-spectral imaging technology to create a clear three-dimensional (3D) image of the target. The laser radar collects the three-dimensional coordinates, reflectivity, and texture of a large number of dense points on the surface of the target by using the emission and reception of laser light, and obtains a three-dimensional model of the measured target according to 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 light, the laser radar imaging technology revolutionizes the traditional two-dimensional projection imaging mode, can collect the depth information of the target surface, obtain the relatively complete spatial information of the target, reconstruct the three-dimensional surface of the target through data processing, obtain a three-dimensional graph that can better reflect the geometric shape of the target, and also can obtain rich feature information such as the reflection characteristics and the movement speed of the target, thereby providing sufficient information support for target detection, recognition, and following, and reducing the algorithm difficulty.

[0142] Please refer to FIG. 2A, which is an architecture schematic diagram of a radar provided in an embodiment of the present application.

[0143] As shown in FIG. 2A, the laser radar mainly includes a laser emission part (or system) 100, a laser reception part (or system) 200, and a signal processing part (or system) 300.

[0144] The laser emission part 100 includes an excitation source (or laser driver), a laser, and an emission 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 emission optical system. The laser receiving part 200 includes a receiving optical system and a detector; the laser beam emitted from the laser radar encounters a target object, interacts with the target object to form a reflected / scattered return light beam, the return light beam is collected by the receiving optical system, and then received by the detector, converts the optical signal into an electrical signal, and transmits the electrical signal to the signal processing part 300 after analog front-end processing. The signal processing part 300 processes the received signal to obtain the distance, speed, azimuth angle, etc. of the target object, and can further obtain the surface morphology, physical properties, etc. of the target object to establish an object model. The detector is usually a photodetector that converts the received optical signal into an electrical signal, and the electrical signal is usually an analog signal, while the signal processing part 300 is usually used to process digital signals, such as a digital signal processor (DSP), so that the analog electrical signal is converted into a digital signal by an analog-to-digital converter (ADC) and provided to the signal processing part 300, and the electrical signal can also be amplified and processed, and the amplified and processed electrical signal is converted into a digital signal by an analog-to-digital converter and provided to the signal processing part 300. The signal processing part 300 includes a signal processing circuit for processing the digital signal to obtain the distance, speed, azimuth angle, etc. of the target object, and further establishing 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, which can be integrated or independently set. In addition, the signal processing circuit and the control circuit can also be integrated or independently set.

[0145] In addition, in one implementation, the laser emission part 100 can also include a laser modulator and a beam controller, and the laser beam emitted by the laser passes through the beam controller, which controls the direction and line number of the emitted laser beam under the control of the laser modulator, and the laser beam emitted from the beam controller passes through the emission optical system and is emitted outward.

[0146] In addition, the laser radar can also include a scanning part (or system) 400, and the laser beam emitted by the laser is subjected to the action of the scanning part 400 to realize the scanning of the laser beam on the plane to generate real-time plane information. The scanning part 400 mainly includes a scanning mechanism and a scanning drive circuit, and the scanning drive circuit is used to drive the scanning mechanism to work, and the laser beam is changed from a "line" to a "plane" under the action of the scanning mechanism.

[0147] Taking an electric scanning scanning mode as an example, refer to FIG. 2B for details. FIG. 2B is an architecture schematic diagram of a radar provided in an embodiment of the present application.

[0148] As shown in FIG. 2B, it is an electric scanning scanning mode using a 1D (one-dimensional) laser array, which can also be referred to as a 1D solid-state laser radar, wherein the laser structure in the 1D laser array includes but is not limited to a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting laser (PCSEL), and the like.

[0149] In a 1D or 2D solid-state laser radar, a common driving mode is a mode in which a high-level side selects a laser emission path, and a low-level side drives laser emission. This driving mode has a lower cost.

[0150] Refer to FIG. 3 for details. FIG. 3 is a schematic diagram of a driving circuit of a radar provided in an embodiment of the present application.

[0151] As shown in FIG. 3, the driving circuit includes but is not limited to N lasers, N capacitors, N switches, two drivers, and a power supply. N is an integer greater than or equal to 2. The power supply is connected to the N lasers and the N capacitors through the N switches, the N capacitors are connected in parallel one-to-one with the N lasers, the two drivers are respectively arranged at the head and tail of a laser array composed of the N lasers, and the two drivers are respectively connected to the lasers at the head and tail. When the switches are closed, the power supply charges the N capacitors, and the N capacitors store a certain amount of electricity. After the switches are opened, even if there is no power supply charging, the N capacitors can supply power to the N lasers, and the N lasers emit laser under the driving of the two drivers.

[0152] As can be seen from the driving circuit shown in the above FIG. 3, since each emission channel uses an independent capacitor, and in order to have better angle resolution performance, the number of independent laser channels is generally large, thus resulting in a large number of capacitors used, thereby resulting in a large overall size of the laser, resulting in a large laser light ring inductance, thereby affecting the detection performance of the laser radar. At the same time, due to the physical position difference of the layout of the devices (such as the drivers) in the driving circuit, the discharge loop inductance between the laser channels is not completely consistent, thereby affecting the detection performance of the laser radar.

[0153] Refer to FIG. 4 for details. FIG. 4 is a schematic diagram of the emission power of a radar provided in an embodiment of the present application.

[0154] As shown in FIG. 4, the abscissa is the channel number of the emitted laser, and the ordinate 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 design of the driving circuit structure.

[0155] In which, the peak power represented by curve 1 and curve 2 is approximately symmetrically arranged with the two ends large and the middle small. Generally, the closer the driver is to the laser, the greater the emission power of the laser. Therefore, curve 1 and curve 2 can also represent the peak power corresponding to each emission channel under the design of the driving circuit structure shown in FIG. 3.

[0156] As can be seen from the emission power diagram shown in FIG. 4, the consistency difference of the full width at half maxima (FWHM) and the peak power of the laser light pulse width between channels is large, thereby affecting the performance of the laser radar, such as target reflectivity estimation.

[0157] In view of this, the present application provides a kind of emission system and related device, it is related to laser radar technical field, can reduce the consistency difference of the light pulse width and emission power output between each laser channel, improve the detection performance of laser radar.

[0158] The present application provides a kind of emission device, the emission device includes at least one emission system, the emission system includes:

[0159] At least one driving unit and a plurality of emission channels.

[0160] In which, the plurality of emission channels emits laser under the driving of at least one driving unit. The distance between the plurality of emission channels and at least one driving unit is not completely the same, and the difference of the emission power corresponding to any two emission channels in the plurality of emission channels is less than a preset threshold value.

[0161] It can be understood that the preset threshold value is not a fixed value, which can be adjusted according to different application scenarios, and the embodiments of the present application do not limit this.

[0162] Optionally, the difference of the emission power corresponding to any two emission channels in the plurality of emission channels can be 0. In this case, the emission power corresponding to the plurality of emission channels tends to be completely consistent, which can maximize the detection performance of the laser radar.

[0163] It can be understood that, since the positions of each emission channel and the driving unit in the emission system are not completely the same, and the distance between the driving unit and each emission channel will directly affect the emission power of each emission channel. Generally, the closer the driving unit is to the emission channel, the greater the emission power of the emission channel, thus leading to a large consistency difference of the emission power of each emission channel.

[0164] The difference between the transmission powers corresponding to any two of the plurality of transmission channels of the transmission device in the embodiment of the present application is less than a preset threshold value. Therefore, the transmission device in the embodiment of the present application can reduce the difference in the consistency of the output light pulse width and the transmission power between the laser channels, and improve the detection performance of the laser radar.

[0165] The transmission system and related devices provided in the present application will be described below with reference to the accompanying drawings.

[0166] Please refer to FIG. 5, which is a structural schematic diagram of a transmission system according to an embodiment of the present application.

[0167] As shown in FIG. 5, the transmission system 50 includes:

[0168] a first driving unit 500, at least one first laser circuit 501, and a first power supply V1.

[0169] The first laser circuit 501 includes:

[0170] a first laser 501a, a first energy storage unit 501b, and a first switch 501c.

[0171] The first power supply V1 is connected to the first laser 501a and the first energy storage unit 501b through the first switch 501c, the first laser 501a and the first energy storage unit 501b are connected in parallel, and the first driving unit 500 is connected to the first laser 501a.

[0172] The voltage value provided by the first power supply V1 is related to the relative position between the first laser circuit 501 and the first driving unit 500.

[0173] As can be seen from FIG. 5, when the first switch 501c is closed, the first power supply V1 charges the first energy storage unit 501b, and the first energy storage unit 501b stores a certain amount of electricity. After the first switch 501c is opened, even if there is no charging by the first power supply V1, the first energy storage unit 501b can still supply power to the first laser 501a, and the first laser 501a emits laser under the drive of the first driving unit 500.

[0174] It can be understood that FIG. 5 shows two first laser circuits 501. In fact, the transmission system 50 can include only one first laser circuit 501, or two or more first laser circuits 501 of any number, and the embodiments of the present application do not limit this, nor should the embodiments of the present application be limited by FIG. 5.

[0175] Optionally, when the transmitting system 50 comprises a plurality of first laser circuits 501, a plurality of first switches 501c in the plurality of first laser circuits 501 constitute multiplexers (MUX) for controlling the turn-on or turn-off of the plurality of first laser circuits 501.

[0176] In the transmitting system 50, since the positions of the respective laser circuits and the first driving unit 500 are not exactly the same, the distance between the first driving unit 500 and the respective laser circuits directly affects the emission power of the respective laser circuits. Generally, the closer the first driving unit 500 is to a laser circuit, the greater the emission power of the laser circuit, thus resulting in a greater difference in the emission power consistency of the respective laser circuits.

[0177] In order to reduce the difference in the emission power consistency of the respective laser circuits, the transmitting system 50 in the embodiment of the present application is provided with a first power supply V1 for the first laser circuit 501, and the voltage provided by the first power supply V1 is related to the relative position between the first laser circuit 501 and the first driving unit 500. At this time, the first power supply V1 charges the first energy storage unit 501b in the first laser circuit 501, the first energy storage unit 501b supplies energy to the first laser 501a in the first laser circuit 501, and the first laser 501a emits laser under the energy supply of the first energy storage unit 501b and the driving of the first driving unit 500, which can reduce or even eliminate the difference in the emission power consistency of the respective laser circuits caused by the position difference between the first driving unit 500 and the respective laser circuits.

[0178] Through the embodiment of the present application, a separate power supply is provided for the laser circuit in the transmitting system 50, and according to the relative position relationship between the laser circuit and the first driving unit 500, the corresponding voltage is provided for the laser circuit by the separately provided power supply, which can reduce the difference in the output light pulse width and emission power consistency between the respective laser channels and improve the detection performance of the laser radar.

[0179] In a possible embodiment, the voltage provided by the first power supply V1 is related to the relative position between the first laser circuit 501 and the first driving unit 500, and the correlation can be as follows:

[0180] The closer the distance between the first laser circuit 501 and the first driving unit 500, the smaller the voltage provided by the first power supply V1. Similarly, the farther the distance between the first laser circuit 501 and the first driving unit 500, the greater the voltage provided by the first power supply V1.

[0181] Generally, the closer the first driving unit 500 is to a laser circuit, the greater the emission power of the laser circuit.

[0182] Therefore, in order to be consistent with the emission power of other laser circuits which are relatively closer to the first driving unit 500, if the distance between the first laser circuit 501 and the first driving unit 500 is closer, the voltage provided by the first power supply V1 should be smaller.

[0183] Similarly, in order to be consistent with the emission power of other laser circuits which are relatively closer to the first driving unit 500, if the distance between the first laser circuit 501 and the first driving unit 500 is farther, the voltage provided by the first power supply V1 should be larger.

[0184] According to the relative position relationship between the laser circuit and the first driving unit 500, the corresponding voltage is provided for the laser circuit by the separately equipped power supply, so that the consistency difference of the output light pulse width and the emission power between each laser channel can be reduced, and the detection performance of the laser radar can be improved.

[0185] In a possible embodiment, the above-mentioned emission system 50 further comprises:

[0186] at least one second laser circuit 502, a second power supply V2.

[0187] The second laser circuit 502 comprises:

[0188] a second laser 502a, a second energy storage unit 502b, and a second switch 502c.

[0189] The second power supply V2 is connected with the second laser 502a and the second energy storage unit 502b through the second switch 502c, the second laser 502a and the second energy storage unit 502b are connected in parallel, and the first driving unit 500 is connected with the second laser 502a.

[0190] The distance between the second laser circuit 502 and the first driving unit 500 is greater than the distance between the first laser circuit 501 and the first driving unit 500, and the voltage value provided by the second power supply V2 is greater than the voltage value provided by the first power supply V1.

[0191] As can be seen from FIG. 5, when the second switch 502c is closed, the second power supply V2 charges the second energy storage unit 502b, and the second energy storage unit 502b stores a certain amount of electricity. After the second switch 502c is opened, even if there is no charging of the second power supply V2, the second energy storage unit 502b can still supply power to the second laser 502a, and the second laser 502a emits laser under the driving of the first driving unit 500.

[0192] It can be understood that FIG. 5 shows two second laser circuits 502, and in fact, the emission system 50 can include only one second laser circuit 502, or two or more second laser circuits 502 in any number, and the embodiments of the present application do not limit this, nor should the embodiments of the present application be limited by FIG. 5.

[0193] Optionally, when the emission system 50 includes a plurality of second laser circuits 502, a plurality of second switches 502c in the plurality of second laser circuits 502 constitute a multiplexer (MUX) for controlling the turn-on or turn-off of the plurality of second laser circuits 502.

[0194] In the emission system 50, since the positions of the first laser circuit 501 and the first driving unit 500 and the positions of the second laser circuit 502 and the first driving unit 500 are not exactly the same, and the distance difference between the first driving unit 500 and the first laser circuit 501 and the second laser circuit 502 will directly affect the emission power difference of the first laser circuit 501 and the second laser circuit 502. Generally, the closer the first driving unit 500 is to a laser circuit, the greater the emission power of the laser circuit, thus resulting in a greater difference in the emission power consistency of the first laser circuit 501 and the second laser circuit 502.

[0195] Therefore, in order to make the emission power of the first laser circuit 501 and the second laser circuit 502 consistent, if the distance between the second laser circuit 502 and the first driving unit 500 is greater than the distance between the first laser circuit 501 and the first driving unit 500, the voltage value provided by the second power supply V2 should be greater than the voltage value provided by the first power supply V1.

[0196] Similarly, in order to make the emission power of the first laser circuit 501 and the second laser circuit 502 consistent, if the distance between the second laser circuit 502 and the first driving unit 500 is less than the distance between the first laser circuit 501 and the first driving unit 500, the voltage value provided by the second power supply V2 should be less than the voltage value provided by the first power supply V1.

[0197] Through the embodiments of the present application, according to the distance difference between each laser circuit and the first driving unit 500, and by providing corresponding voltages for each laser circuit through the power supply provided separately for each laser circuit, the consistency difference in the output optical pulse width and emission power between each laser channel can be reduced, and the detection performance of the laser radar can be improved.

[0198] In a possible embodiment, the difference between the emission power of the first laser 501a and the emission power of the second laser 502a is less than a first threshold value.

[0199] It can be understood that the first threshold is not a fixed value, which can be adjusted according to different application scenarios, and embodiments of the present application do not limit this.

[0200] Optionally, the difference between the emission power of the first laser 501a and the emission power of the second laser 502a can be 0.

[0201] It can be understood that, in an ideal case, the emission power of the first laser 501a and the emission power of the second laser 502a tend to be completely consistent, and accordingly, the curve 1 and the curve 2 in the above FIG. 4 should infinitely approach a straight horizontal line, at which time the detection performance of the laser radar can be maximized.

[0202] Optionally, the above-mentioned emission system 50 further includes more or less laser circuits, and a power supply for providing corresponding voltages to the laser circuits, and embodiments of the present application do not limit this.

[0203] It can be understood that FIG. 5 shows six laser circuits, and in fact, the emission system 50 can include any number of laser circuits, and embodiments of the present application do not limit this, nor should FIG. 5 limit embodiments of the present application.

[0204] In one possible embodiment, the first driving unit 500 in the above-mentioned emission system 50 can include one or more drivers, and in the case of including different numbers of drivers, the arrangement of the drivers is also different, which can be shown as follows:

[0205] Case one:

[0206] The first driving unit 500 includes one driver, and the driver is arranged at the head or tail end of the laser array in the emission system 50 along the first direction.

[0207] Wherein, the laser array is composed of multiple laser circuits in the emission system 50, which includes multiple lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltages of the energy storage units in the laser array are arranged in an increasing or decreasing manner along the first direction.

[0208] For details, please refer to FIG. 6A, which is a schematic diagram of a driver layout provided by an embodiment of the present application.

[0209] As shown in FIG. 6A, in the emission system 50, a capacitor (Cap) is used to supply energy to the laser, and the capacitor is arranged on both sides of the laser, and only one column layout is needed. The first driving unit 500 includes one driver, and the driver is arranged at the head or tail end of the laser array in the emission system 50 along the arrangement direction of the laser array.

[0210] Optionally, the laser circuit in the transmitting system 50 can be arranged on a printed circuit board (PCB).

[0211] Optionally, the laser circuit in the transmitting system 50 can be arranged on the front side of the PCB or the back side of the PCB, and the embodiments of the present application do not limit this.

[0212] Optionally, the capacitor in FIG. 6A can be arranged on the front side of the PCB or the back side of the PCB. For example, the capacitor in the solid line frame can be arranged on the front side of the PCB, and the capacitor in the dashed line frame can be arranged on the back side of the PCB.

[0213] Optionally, the driver can be arranged on the back side of the PCB, which is beneficial to optimize the wiring design between the modules in the transmitting system 50 and improve the space utilization.

[0214] It can be understood that when the first driving unit 500 includes one driver, the driver can be arranged at the head end or the tail end of the laser array in the transmitting system 50 along the first direction, which is beneficial to heat dissipation of the driver.

[0215] It can be understood that in the case, the emission power of the plurality of lasers in the laser array increases or decreases along the first direction. At this time, in order to make the emission power of the plurality of lasers in the laser array tend to be consistent, the voltage of the plurality of energy storage units for supplying energy to the plurality of lasers in the laser array decreases or increases along the first direction, so as to reduce the consistency difference of the light pulse width and the emission power of each laser, and realize the emission power of the plurality of lasers tend to be consistent.

[0216] Optionally, when the emission power of the plurality of lasers in the laser array increases along the first direction, the voltage of the plurality of energy storage units for supplying energy to the plurality of lasers in the laser array should decrease along the first direction.

[0217] Optionally, when the emission power of the plurality of lasers in the laser array decreases along the first direction, the voltage of the plurality of energy storage units for supplying energy to the plurality of lasers in the laser array should increase along the first direction.

[0218] Optionally, the driver can also be arranged at other positions of the laser array in the transmitting system 50 along the first direction, and the embodiments of the present application do not limit this. Correspondingly, the voltage of each energy storage unit in the laser array can be determined in combination with the position of the driver, so as to realize the emission power of the plurality of lasers in the laser array tend to be consistent.

[0219] Case two:

[0220] The first driving unit 500 includes one driver, and the driver is arranged in the middle of the laser array in the emission system 50 along the first direction.

[0221] The laser array is composed of a plurality of laser circuits in the emission system 50, and each laser circuit includes a plurality of lasers and an energy storage unit. The first direction is the arrangement direction of the laser array, and the voltages of the energy storage units in the laser array are symmetrically arranged along the first direction.

[0222] For details, refer to FIG. 6B, which is a schematic diagram of another driver layout provided by the embodiment of the application.

[0223] As shown in FIG. 6B, in the emission system 50, the lasers are powered by capacitance (Cap), and the capacitance is arranged on both sides of the lasers, and only one column layout is needed. The first driving unit 500 includes one driver, and the driver is arranged in the middle of the laser array in the emission system 50 along the arrangement direction of the laser array.

[0224] Optionally, the laser circuits in the emission system 50 can be arranged on a printed circuit board (PCB).

[0225] Optionally, the laser circuits in the emission system 50 can be arranged on the front surface of the PCB or the back surface of the PCB, and the embodiment of the application does not limit this.

[0226] Optionally, the capacitance in FIG. 6A can be arranged on the front surface or the back surface of the PCB. For example, the Cap in the solid line box can be arranged on the front surface of the PCB, and the Cap in the dashed line box can be arranged on the back surface of the PCB.

[0227] Optionally, the driver can be arranged on the back surface of the PCB, which is beneficial to optimize the wiring design between the modules in the emission system 50 and improve the space utilization.

[0228] It can be understood that when the first driving unit 500 includes one 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 of the emission power of the plurality of lasers in the laser array is small, and therefore, the consistency of the emission power of the plurality of lasers in the laser array can be improved from the position layout by using this arrangement mode.

[0229] It can be understood that in case two, the emission power of the plurality of lasers in the laser array is arranged symmetrically along the first direction in the rule of large in the middle and small at both ends, and at this time, in order to make the emission power of the plurality of lasers in the laser array tend to be consistent, the voltage of the plurality of energy storage units in the laser array for supplying energy to the plurality of lasers is arranged symmetrically along the first direction in the rule of small in the middle and large at both ends, so as to reduce the consistency difference of the light pulse width and the emission power output by each laser, and realize that the emission power of the plurality of lasers tends to be consistent.

[0230] Optionally, the voltage of the energy storage units in the two or more laser circuits symmetric about the driver should be kept consistent, which can ensure that the light pulse width and the emission power of the lasers in the two or more symmetric laser circuits have consistency.

[0231] Optionally, the driver can also be arranged at other positions of the laser array in the emission system 50 along the first direction, and the embodiments of the present application do not limit this. Correspondingly, the voltage of each energy storage unit in the laser array can be determined in combination with the position of the driver, so as to realize that the emission power of the plurality of lasers in the laser array tends to be consistent.

[0232] Case three:

[0233] The first driving unit 500 includes at least two drivers, and the at least two drivers are arranged at both ends of the laser array in the emission system 50 along the first direction.

[0234] The laser array is composed of a plurality of laser circuits in the emission system 50, and includes a plurality of lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array is arranged symmetrically along the first direction.

[0235] For details, refer to FIG. 6C, which is a schematic diagram of another driver layout provided by the embodiments of the present application.

[0236] As shown in FIG. 6C, in the emission system 50, capacitance (Cap) is used to supply energy to the lasers, and the capacitance is arranged on both sides of the lasers, and only one column layout is needed to realize it. The first driving unit 500 includes at least two drivers (500a and 500b), and the at least two drivers are arranged at both ends of the laser array in the emission system 50 along the arrangement direction of the laser array.

[0237] Optionally, the laser circuit in the emission system 50 can be arranged on a printed circuit board (PCB).

[0238] Optionally, the laser circuit in the transmitting system 50 can be arranged on the front surface of the PCB or on the back surface of the PCB, and the embodiments of the present application do not limit this.

[0239] Optionally, the capacitor in FIG. 6A can be arranged on the front surface or the back surface of the PCB. For example, the capacitor in the solid line frame can be arranged on the front surface of the PCB, and the capacitor in the dashed line frame can be arranged on the back surface of the PCB.

[0240] Optionally, the driver can be arranged on the back surface of the PCB, which is beneficial to optimizing the wiring design between the modules in the transmitting system 50 and improving the space utilization.

[0241] It can be understood that the driver layout shown in FIG. 6C corresponds to the driver 500a and the driver 500b included in the first driving unit 500 in the transmitting system 50 shown in FIG. 5.

[0242] It can be understood that FIG. 5 shows two drivers (the driver 500a and the driver 500b), and in fact, the transmitting system 50 can include only one driver, or two or more drivers, and the position of the driver is not limited, and the embodiments of the present application do not limit this, and FIG. 5 should not limit the embodiments of the present application.

[0243] It can be understood that when the first driving unit 500 includes at least two drivers, the at least two drivers can be arranged at two ends of the laser array in the transmitting system 50 along the first direction, which is beneficial to heat dissipation of the drivers. Moreover, at this time, the emission power of the plurality of lasers in the laser array has a small overall difference, and therefore, the consistency of the emission power of the plurality of lasers in the laser array can be improved in terms of position layout through the arrangement manner.

[0244] It can be understood that in case three, the emission power of the plurality of lasers in the laser array is arranged in a regular symmetry along the first direction, in which the middle is small and the two ends are large, and at this time, in order to make the emission power of the plurality of lasers in the laser array tend to be consistent, the voltage of the plurality of energy storage units for supplying energy to the plurality of lasers in the laser array will be arranged in a regular symmetry along the first direction, in which the middle is large and the two ends are small, so as to reduce the consistency difference of the light pulse width and the emission power output by each laser, and realize the emission power of the plurality of lasers tend to be consistent.

[0245] Optionally, the voltage of the energy storage unit in the two or more laser circuits corresponding to the symmetric driver should be kept consistent, which can ensure that the light pulse width and the emission power output by the lasers in the two or more laser circuits corresponding to the symmetric driver have consistency.

[0246] Optionally, the driver can also be arranged at other positions of the laser array in the emission system in the first direction, and the embodiments of the present application do not limit this. Correspondingly, the voltage of each energy storage unit in the laser array can be determined in combination with the position of the driver, so as to realize the consistency of the emission power of the plurality of lasers in the laser array.

[0247] Optionally, the mirror arrangement of the at least two drivers can be beneficial to optimize the wiring design between the modules in the emission system 50 and improve the space utilization.

[0248] Case four:

[0249] The first driving unit 500 includes at least two drivers, and the at least two drivers are arranged at the middle of the laser array in the emission system 50 in the first direction.

[0250] The laser array is composed of a plurality of laser circuits in the emission system 50, and includes a plurality of lasers and energy storage units. The first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array is symmetrically arranged in the first direction.

[0251] For details, refer to FIG. 6D, which is a schematic diagram of another driver layout provided by the embodiments of the present application.

[0252] As shown in FIG. 6D, in the emission system 50, the laser is powered by capacitance (Cap), and the capacitance is arranged on both sides of the laser, and only one column layout is required. The first driving unit 500 includes at least two drivers, and the at least two drivers are arranged at the middle of the laser array in the emission system 50 in the arrangement direction of the laser array.

[0253] Optionally, the laser circuit in the emission system 50 can be arranged on a printed circuit board (PCB).

[0254] Optionally, the laser circuit in the emission system 50 can be arranged on the front surface of the PCB or the back surface of the PCB, and the embodiments of the present application do not limit this.

[0255] Optionally, the capacitance in FIG. 6A can be arranged on the front surface or the back surface of the PCB. For example, the Cap in the solid line frame can be arranged on the front surface of the PCB, and the Cap in the dashed line frame can be arranged on the back surface of the PCB.

[0256] Optionally, the driver can be arranged on the back surface of the PCB, which is beneficial to optimize the wiring design between the modules in the emission system 50 and improve the space utilization.

[0257] It is understood that when the first driving unit 500 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 emission power of the multiple lasers in the laser array is small. Therefore, this arrangement can improve the consistency of emission power of the multiple lasers in the laser array from the position layout.

[0258] Understandably, in scenario four, the emission power of multiple lasers in the laser array is symmetrically arranged along the first direction with a pattern of larger power in the middle and smaller power at both ends. In order to make the emission power of multiple lasers in the laser array more consistent, the voltage of multiple energy storage units that power multiple lasers in the laser array will be symmetrically arranged along the first direction with a pattern of smaller power in the middle and larger power at both ends. This will reduce the consistency difference in the pulse width and emission power output of each laser, and achieve consistency in the emission power of multiple lasers.

[0259] Optionally, the voltage of the energy storage unit in two or more laser circuits symmetrical about the driver should be kept consistent to ensure that the pulse width and emission power of the laser output in the two or more symmetrical laser circuits are consistent.

[0260] Optionally, the driver can also be positioned at other locations in the laser array within the emission system along the first direction; this embodiment does not impose any limitations on this. Accordingly, the voltage of each energy storage unit in the laser array can be determined in conjunction with the driver's position to achieve uniformity in the emission power of the multiple lasers in the laser array.

[0261] Optionally, the mirrored arrangement of the above-mentioned at least two drivers can help optimize the wiring design between various modules within the launch system 50 and improve space utilization.

[0262] It should be understood that the above scenarios one to four are merely illustrative examples of the arrangement of one or more drivers included in the first drive unit 500, and should not be construed as limiting the embodiments of this application.

[0263] It should be understood that any new embodiments obtained by reasonable modifications, additions, or combinations of the above-described situations one through four are all within the protection scope of the embodiments of this application.

[0264] In one possible embodiment, the laser circuit in the above-described emission system 50 is disposed on a printed circuit board (PCB).

[0265] Optionally, the laser circuit in the above-mentioned transmitting system 50 can be arranged on the front surface of the PCB or on the back surface of the PCB, and the embodiments of the present application do not limit this.

[0266] Optionally, the first driving unit 500 in the above-mentioned transmitting system 50 can be arranged on the back surface of the PCB, which is beneficial to optimizing the wiring design between various modules in the transmitting system 50 and improving the space utilization.

[0267] Please refer to FIG. 7, which is a structural schematic diagram of another transmitting system provided by the embodiments of the present application. It can be understood that FIG. 7 can be regarded as a structural transformation or supplement of the transmitting system shown in FIG. 5, and FIG. 7 can also be regarded as an embodiment that can be independently executed, and the embodiments of the present application do not limit this.

[0268] As shown in FIG. 7, the transmitting system 70 includes:

[0269] a second driving unit 700, at least one third laser circuit 701, a first resistor R1, and a third power supply V3.

[0270] The third laser circuit 701 includes:

[0271] a third laser 701a, a third energy storage unit 701b, and a third switch 701c.

[0272] The third power supply V3 is connected with the third laser 701a and the third energy storage unit 701b through the first resistor R1 and the third switch 701c in sequence, the third laser 701a and the third energy storage unit 701b are connected in parallel, and the second driving unit 700 is connected with the third laser 701a.

[0273] The resistance value of the first resistor R1 is related to the relative position of the third laser circuit 701 and the second driving unit 700.

[0274] As can be seen from FIG. 7, when the third switch 701c is closed, the third power supply V3 charges the third energy storage unit 701b, and the third energy storage unit 701b stores a certain amount of electricity. After the third switch 701c is opened, even if there is no charging of the third power supply V3, the third energy storage unit 701b can still supply energy to the third laser 701a, and the third laser 701a emits laser under the driving of the second driving unit 700.

[0275] It can be understood that FIG. 7 shows two third laser circuits 701, and in fact, the transmitting system 70 can include only one third laser circuit 701, or two or more than two third laser circuits 701, and the embodiments of the present application do not limit this, and FIG. 7 should not limit the embodiments of the present application.

[0276] Optionally, when the transmitting system 70 comprises a plurality of third laser circuits 701, a plurality of third switches 701c in the plurality of third laser circuits 701 constitute multiplexers (MUX) for controlling the turn-on or turn-off of the plurality of third laser circuits 701.

[0277] In the transmitting system 70, since the positions of each laser circuit and the second driving unit 700 are not exactly the same, the distance between the second driving unit 700 and each laser circuit directly affects the emission power of each laser circuit. Generally, the closer the second driving unit 700 is to a laser circuit, the greater the emission power of the laser circuit, thus resulting in a greater difference in the emission power consistency of each laser circuit.

[0278] In order to reduce the difference in the emission power consistency of each laser circuit, the transmitting system 70 in the embodiment of the present application is provided with a first resistor R1 for the third laser circuit 701, and the resistance value of the first resistor R1 is related to the relative position between the third laser circuit 701 and the second driving unit 700. At this time, the third power supply V3 charges the third energy storage unit 701b in the third laser circuit 701, the third energy storage unit 701b supplies energy for the third laser 701a in the third laser circuit 701, and the voltage across the third energy storage unit 701b is adjusted by setting the resistance value of the first resistor R1. The third laser 701a emits laser under the energy supply of the third energy storage unit 701b and the driving of the second driving unit 700, and the difference in the emission power consistency of each laser circuit caused by the position difference between the second driving unit 700 and each laser circuit can be reduced or even eliminated as much as possible.

[0279] By the embodiment of the present application, the resistance is set for the laser circuit in the transmitting system 70, and the voltage across the energy storage unit in the laser circuit is adjusted by setting the resistance value according to the relative position between the laser circuit and the second driving unit 700, so that the difference in the output light pulse width and emission power consistency between each laser channel can be reduced, and the detection performance of the laser radar can be improved.

[0280] In a possible embodiment, the resistance value of the first resistor R1 is related to the relative position between the third laser circuit 701 and the second driving unit 700, and the correlation can be as follows:

[0281] If the distance between the third laser circuit 701 and the second driving unit 700 is closer, the resistance value of the first resistor R1 should be greater. Similarly, if the distance between the third laser circuit 701 and the second driving unit 700 is farther, the resistance value of the first resistor R1 should be smaller.

[0282] Generally, the closer the second driving unit 700 is to the laser circuit, the greater the emission power of the laser circuit.

[0283] Therefore, in order to tend to be consistent with the emission power of other laser circuits which are relatively farther away from the second driving unit 700, the closer the third laser circuit 701 is to the second driving unit 700, the greater the resistance value of the first resistor R1 should be, so that the voltage across the third energy storage unit 701b in the third laser circuit 701 is smaller.

[0284] Similarly, in order to tend to be consistent with the emission power of other laser circuits which are relatively closer to the second driving unit 700, the farther the third laser circuit 701 is to the second driving unit 700, the smaller the resistance value of the first resistor R1 should be, so that the voltage across the third energy storage unit 701b in the third laser circuit 701 is greater.

[0285] Through the embodiments of the present application, according to the relative positional relationship between the laser circuit and the second driving unit 700, the voltage across the energy storage unit in the laser circuit is adjusted by setting the resistance value, which can reduce the consistency difference of the output optical pulse width and emission power between each laser channel, and improve the detection performance of the laser radar.

[0286] In a possible embodiment, the above-mentioned emission system 70 further comprises:

[0287] at least one fourth laser circuit 702, a second resistor R2.

[0288] The fourth laser circuit 702 comprises:

[0289] a fourth laser 702a, a fourth energy storage unit 702b, and a fourth switch 702c.

[0290] The third power supply V3 is connected with the fourth laser 702a and the fourth energy storage unit 702b through the second resistor R2 and the fourth switch 702c in sequence, the fourth laser 702a and the fourth energy storage unit 702b are connected in parallel, and the second driving unit 700 is connected with the fourth laser 702a.

[0291] The distance between the fourth laser circuit 702 and the second driving unit 700 is less than the distance between the third laser circuit 701 and the second driving unit 700, and the resistance value of the second resistor R2 is greater than the resistance value of the first resistor R1.

[0292] As shown in FIG. 7, when the fourth switch 702c is closed, the third power supply V3 charges the fourth energy storage unit 702b, and the fourth energy storage unit 702b stores a certain amount of electricity. After the fourth switch 702c is opened, even if there is no charging of the third power supply V3, the fourth energy storage unit 702b can still supply power to the fourth laser 702a, and the fourth laser 702a emits laser under the driving of the second driving unit 700.

[0293] It can be understood that FIG. 7 shows two fourth laser circuits 702, and in fact, the transmitting system 70 can include only one fourth laser circuit 702, or two or more fourth laser circuits 702 in any number, and the embodiments of the present application are not limited thereto, nor should the embodiments of the present application be limited by FIG. 7.

[0294] Optionally, when the transmitting system 70 includes multiple fourth laser circuits 702, the multiple fourth switches 702c in the multiple fourth laser circuits 702 constitute a multiplexer (MUX) for controlling the on or off of the multiple fourth laser circuits 702.

[0295] In the transmitting system 70, since the positions of the third laser circuit 701 and the second driving unit 700 and the positions of the fourth laser circuit 702 and the second driving unit 700 are not exactly the same, and the distance difference between the second driving unit 700 and the third laser circuit 701 and the fourth laser circuit 702 will directly affect the emission power difference of the third laser circuit 701 and the fourth laser circuit 702. Generally, the closer the second driving unit 700 is to a laser circuit, the greater the emission power of the laser circuit, thus resulting in a greater difference in the emission power consistency of the third laser circuit 701 and the fourth laser circuit 702.

[0296] Therefore, in order to make the emission power of the third laser circuit 701 and the fourth laser circuit 702 consistent, if the distance between the fourth laser circuit 702 and the second driving unit 700 is less than the distance between the third laser circuit 701 and the second driving unit 700, the resistance value of the second resistor R2 should be greater than the resistance value of the first resistor R1, so that the voltage across the fourth energy storage unit 702b in the fourth laser circuit 702 is less than the voltage across the third energy storage unit 701b in the third laser circuit 701.

[0297] Similarly, in order to make the emission powers of the third laser circuit 701 and the fourth laser circuit 702 consistent, if the distance between the fourth laser circuit 702 and the second driving unit 700 is greater than the distance between the third laser circuit 701 and the second driving unit 700, the resistance value of the second resistor R2 should be smaller than the resistance value of the first resistor R1, so that the voltage across the fourth energy storage unit 702b in the fourth laser circuit 702 is greater than the voltage across the third energy storage unit 701b in the third laser circuit 701.

[0298] According to the embodiments of the present application, the voltage across the energy storage unit in each laser circuit is adjusted by the resistance value of the resistor arranged for each laser circuit according to the distance difference between each laser circuit and the second driving unit 700, which can reduce the consistency difference of the output optical pulse width and emission power between each laser channel, and improve the detection performance of the laser radar.

[0299] In a possible embodiment, the difference between the emission power of the third laser 701a and the emission power of the fourth laser 702a is less than a second threshold value.

[0300] It can be understood that the second threshold value is not a fixed value, and can be adjusted according to different application scenarios, and the embodiments of the present application do not limit this.

[0301] Optionally, the difference between the emission power of the third laser 701a and the emission power of the fourth laser 702a can be 0.

[0302] It can be understood that, in an ideal case, the emission power of the third laser 701a and the emission power of the fourth laser 702a tend to be completely consistent, and accordingly, the curve 1 and the curve 2 in the above-mentioned FIG. 4 should infinitely approach to a straight horizontal line, at this time, the detection performance of the laser radar can be improved to the greatest extent.

[0303] In a possible embodiment, the above-mentioned emission system 70 further comprises a third resistor.

[0304] The third resistor is connected with the third switch.

[0305] The closer the distance between the third laser circuit and the second driving unit, the greater the resistance value of the third resistor.

[0306] For details, refer to FIG. 8, which is a structural schematic diagram of another emission system provided by the embodiments of the present application. It can be understood that FIG. 8 can be regarded as a structural deformation or supplement of the emission system shown in the above-mentioned FIG. 7, and FIG. 8 can also be regarded as an embodiment that can be independently executed, and the embodiments of the present application do not limit this.

[0307] As shown in FIG. 8, the emission system 70 further comprises a third resistor R11.

[0308] The third resistor R11 is connected with the third switch 701c.

[0309] The closer the distance between the third laser circuit 701 and the second driving unit 700, the greater the resistance of the third resistor R11.

[0310] In the transmitting system 70, the closer the distance between the third laser circuit 701 and the second driving unit 700, the greater the resistance of the third resistor R11 should be, so that the voltage across the third energy storage unit 701b in the third laser circuit 701 is smaller, thereby tending to be consistent with the transmitting power of other laser circuits which are relatively farther away from the second driving unit 700.

[0311] Similarly, the farther the distance between the third laser circuit 701 and the second driving unit 700, the smaller the resistance of the third resistor R11 should be, so that the voltage across the third energy storage unit 701b in the third laser circuit 701 is greater, thereby tending to be consistent with the transmitting power of other laser circuits which are relatively closer to the second driving unit 700.

[0312] According to the relative position relationship between the laser circuit and the second driving unit 700, by connecting the resistor outside the switch in the laser circuit and setting the resistance of the resistor to adjust the voltage across the energy storage unit in the laser circuit, the consistency difference of the output optical pulse width and transmitting power among the laser channels can be reduced, and the detection performance of the laser radar can be improved.

[0313] Optionally, the third resistor R11 can also be replaced by a power supply or a capacitor, and the embodiments of the present application do not limit this. At this time, the voltage or the capacitor can be connected outside to adjust the voltage across the energy storage unit in the laser circuit, so as to reduce the consistency difference of the output optical pulse width and transmitting power among the laser channels.

[0314] In a possible embodiment, the second driving unit 700 in the transmitting system 70 can include one or more drivers, and the arrangement of the drivers is different in the case of including different numbers of drivers. For details, refer to the descriptions of the driver arrangement cases one to four in the transmitting system 50 shown in FIG. 5, which will not be repeated here.

[0315] In a possible embodiment, the laser circuit in the transmitting system 70 is arranged on a PCB.

[0316] Optionally, the laser circuit in the transmitting system 70 can be arranged on the front surface of the PCB, or can be arranged on the back surface of the PCB, and the embodiments of the present application do not limit this.

[0317] Optionally, the second driving unit 700 in the above-mentioned transmitting system 70 can be arranged on the back of the PCB, which is advantageous for optimizing the wiring design between the modules in the transmitting system 70 and improving the space utilization.

[0318] Please refer to FIG. 9, which is a structural schematic diagram of another transmitting system provided by the embodiments of the present application. It can be understood that FIG. 9 can be regarded as a structural variation or supplement of the transmitting system shown in FIG. 5 or FIG. 7 or FIG. 8, or can be regarded as an embodiment that can be independently executed, and the embodiments of the present application do not limit this.

[0319] As shown in FIG. 9, the transmitting system 90 includes:

[0320] a third driving unit 900, at least one fifth laser circuit 901, a fourth power supply V4, and a control unit 902.

[0321] The fifth laser circuit 901 includes:

[0322] a fifth laser 901a, a fifth energy storage unit 901b, and a fifth switch 901c.

[0323] The fourth power supply V4 is connected with the fifth laser 901a and the fifth energy storage unit 901b through the fifth switch 901c, the fifth laser 901a and the fifth energy storage unit 901b are connected in parallel, the third driving unit 900 is connected with the fifth laser 901a, one end of the control unit 902 is connected with the fifth energy storage unit 901b, and the other end of the control unit 902 is connected with the fifth switch 901c.

[0324] The control unit 902 is configured to control the conduction or disconnection of the fifth switch 901c, and the conduction duration of the fifth switch 901c is related to the relative position of the fifth laser circuit 901 and the third driving unit 900.

[0325] As can be seen from FIG. 9, when the fifth switch 901c is closed, the fourth power supply V4 charges the fifth energy storage unit 901b, and the fifth energy storage unit 901b stores a certain amount of electricity. After the fifth switch 901c is disconnected, even if there is no charging of the fourth power supply V4, the fifth energy storage unit 901b can still supply energy to the fifth laser 901a, and the fifth laser 901a emits laser under the driving of the third driving unit 900.

[0326] It can be understood that FIG. 9 shows two fifth laser circuits 901, and in fact, the transmitting system 90 can include only one fifth laser circuit 901, or two or more fifth laser circuits 901, and the embodiments of the present application do not limit this, nor should FIG. 9 limit the embodiments of the present application.

[0327] Optionally, when the transmitting system 90 comprises a plurality of fifth laser circuits 901, a plurality of fifth switches 901c in the plurality of fifth laser circuits 901 constitute multiplexers (MUX) for controlling the on or off of the plurality of fifth laser circuits 901.

[0328] In the transmitting system 90, since the positions of each laser circuit in the transmitting system 90 and the third driving unit 900 are not exactly the same, the distance between the third driving unit 900 and each laser circuit directly affects the emission power of each laser circuit. Generally, the closer the third driving unit 900 is to a laser circuit, the greater the emission power of the laser circuit, thus resulting in a greater difference in the emission power consistency of each laser circuit.

[0329] In order to reduce the difference in the emission power consistency of each laser circuit, the transmitting system 90 in the embodiment of the present application is provided with a control unit 902 for the fifth laser circuit 901, which is used to control the on or off of the fifth switch 901c in the fifth laser circuit 901, and the on duration of the fifth switch 901c is related to the relative position of the fifth laser circuit 901 and the third driving unit 900, the fourth power supply V4 is used to charge the fifth energy storage unit 901b in the fifth laser circuit 901, and the fifth energy storage unit 901b is used to supply energy for the fifth laser 901a in the fifth laser circuit 901. By controlling the on duration of the fifth switch 901c to adjust the amount of electricity stored in the fifth energy storage unit 901b, the difference in the emission power consistency of each laser circuit caused by the position difference of the third driving unit 900 and each laser circuit can be reduced as much as possible or even eliminated.

[0330] Through the embodiment of the present application, the laser circuit in the transmitting system 90 is provided with a control unit 902, and according to the relative position relationship between the laser circuit and the third driving unit 900, the on duration of the switch in the laser circuit is controlled to adjust the amount of electricity stored in the energy storage unit in the laser circuit, which can reduce the difference in the output light pulse width and emission power consistency between each laser channel, and improve the detection performance of the laser radar.

[0331] In a possible embodiment, the on duration of the fifth switch 901c is related to the relative position of the fifth laser circuit 901 and the third driving unit 900, and the correlation can be as follows:

[0332] If the distance between the fifth laser circuit 901 and the third driving unit 900 is closer, the on duration of the fifth switch 901c should be shorter. Similarly, if the distance between the fifth laser circuit 901 and the third driving unit 900 is farther, the on duration of the fifth switch 901c should be longer.

[0333] Generally, the closer the third driving unit 900 is to the laser circuit, the greater the emission power of the laser circuit.

[0334] Therefore, in order to tend to be consistent with the emission power of other laser circuits which are relatively farther away from the third driving unit 900, the closer the fifth laser circuit 901 is to the third driving unit 900, the shorter the conduction time of the fifth switch 901c controlled by the control unit 902 should be, so that the fifth energy storage unit 901b in the fifth laser circuit 901 stores less electricity.

[0335] Similarly, in order to tend to be consistent with the emission power of other laser circuits which are relatively closer to the third driving unit 900, the farther the fifth laser circuit 901 is to the third driving unit 900, the longer the conduction time of the fifth switch 901c controlled by the control unit 902 should be, so that the fifth energy storage unit 901b in the fifth laser circuit 901 stores more electricity.

[0336] Through the embodiments of the present application, according to the relative positional relationship between the laser circuit and the third driving unit 900, by controlling the conduction time of the switch in the laser circuit to adjust how much electricity the energy storage unit in the laser circuit stores, the consistency difference of the output optical pulse width and emission power between each laser channel can be reduced, and the detection performance of the laser radar can be improved.

[0337] In a possible embodiment, the above-mentioned emission system 90 further comprises:

[0338] At least one sixth laser circuit 903.

[0339] The sixth laser circuit 903 comprises:

[0340] The sixth laser 903a, the sixth energy storage unit 903b, and the sixth switch 903c.

[0341] Among them, the fourth power supply V4 is connected with the sixth laser 903a and the sixth energy storage unit 903b through the sixth switch 903c, the sixth laser 903a and the sixth energy storage unit 903b are connected in parallel, the third driving unit 900 is connected with the sixth laser 903a, one end of the control unit 902 is connected with the sixth energy storage unit 903b, and the other end of the control unit 902 is connected with the sixth switch 903c.

[0342] The control unit 902 is used for controlling the conduction or disconnection of the sixth switch 903c, the distance between the sixth laser circuit 903 and the third driving unit 900 is less than the distance between the fifth laser circuit 901 and the third driving unit 900, and the conduction time of the sixth switch 903c is shorter than the conduction time of the fifth switch 901c.

[0343] As shown in FIG. 9, when the sixth switch 903c is closed, the fourth power supply V4 charges the sixth energy storage unit 903b, and the sixth energy storage unit 903b stores a certain amount of electricity. After the sixth switch 903c is opened, even if there is no fourth power supply V4 charging, the sixth energy storage unit 903b can still supply power to the sixth laser 903a, and the sixth laser 903a emits laser under the driving of the third driving unit 900.

[0344] It can be understood that FIG. 9 shows two sixth laser circuits 903, and in fact, the emission system 90 can include only one sixth laser circuit 903, or two or more sixth laser circuits 903 of any number, and the embodiments of the present application are not limited thereto, nor should the embodiments of the present application be limited by FIG. 9.

[0345] Optionally, when the emission system 90 includes a plurality of sixth laser circuits 903, the plurality of sixth switches 903c in the plurality of sixth laser circuits 903 constitute a multiplexer (MUX) for controlling the on or off of the plurality of sixth laser circuits 903.

[0346] In the emission system 90, since the positions of the fifth laser circuit 901 and the third driving unit 900 and the positions of the sixth laser circuit 903 and the third driving unit 900 are not exactly the same, and the distance differences between the third driving unit 900 and the fifth laser circuit 901 and the sixth laser circuit 903 will directly affect the emission power differences of the fifth laser circuit 901 and the sixth laser circuit 903. Generally, the closer the third driving unit 900 is to a laser circuit, the greater the emission power of the laser circuit, thus resulting in a greater difference in the emission power consistency of the fifth laser circuit 901 and the sixth laser circuit 903.

[0347] Therefore, in order to make the emission powers of the fifth laser circuit 901 and the sixth laser circuit 903 consistent, if the distance between the sixth laser circuit 903 and the third driving unit 900 is less than the distance between the fifth laser circuit 901 and the third driving unit 900, the control unit 902 controls the on duration of the sixth switch 903c to be shorter than the on duration of the fifth switch 901c, so that the amount of electricity stored in the sixth energy storage unit 903b in the sixth laser circuit 903 is less than the amount of electricity stored in the fifth energy storage unit 901b in the fifth laser circuit 901.

[0348] Similarly, in order to make the emission powers of the fifth laser circuit 901 and the sixth laser circuit 903 consistent, if the distance between the sixth laser circuit 903 and the third driving unit 900 is greater than the distance between the fifth laser circuit 901 and the third driving unit 900, the control unit 902 controls the on duration of the sixth switch 903c to be longer than the on duration of the fifth switch 901c, so that the sixth energy storage unit 903b in the sixth laser circuit 903 stores more electric quantity than the fifth energy storage unit 901b in the fifth laser circuit 901.

[0349] Through the embodiments of the present application, according to the distance difference between each laser circuit and the third driving unit 900, the control unit 902 controls the on duration of the switch in each laser circuit to adjust the electric quantity stored in the energy storage unit in the respective laser circuit, which can reduce the consistency difference of the output optical pulse width and the emission power between each laser channel, and improve the detection performance of the laser radar.

[0350] In a possible embodiment, the difference between the emission power of the fifth laser 901a and the emission power of the sixth laser 903a is less than a third threshold value.

[0351] It can be understood that the third threshold value is not a fixed value, and can be adjusted according to different application scenarios, and the embodiments of the present application do not limit this.

[0352] Optionally, the difference between the emission power of the fifth laser 901a and the emission power of the sixth laser 903a can be 0.

[0353] It can be understood that, in an ideal case, the emission power of the fifth laser 901a and the emission power of the sixth laser 903a tend to be completely consistent, and accordingly, the curve 1 and the curve 2 in the above FIG. 4 should approach to a straight horizontal line infinitely, at this time, the detection performance of the laser radar can be improved to the maximum extent.

[0354] In a possible embodiment, the control unit 902 includes:

[0355] an analog-to-digital converter 902a and a controller 902b.

[0356] One end of the analog-to-digital converter 902a is connected with the fifth energy storage unit 901b, the other end of the analog-to-digital converter 902a is connected with one end of the controller 902b, and the other end of the controller 902b is connected with the fifth switch 901c.

[0357] The analog-to-digital converter 902a is configured to detect the voltage of the fifth energy storage unit 901b and obtain a detection result.

[0358] The controller 902b is configured to control the on duration of the fifth switch 901c based on the detection result.

[0359] It can be understood that the analog-to-digital converter (ADC) 902a is configured to detect the voltage of the energy storage unit in the laser circuit, and the controller 902b is configured to control the on duration of the switch in the laser circuit based on the detection result, so as to adjust the amount of electricity stored by the energy storage unit, thereby reducing the difference in consistency of the output optical pulse width and emission power among the laser channels, and improving the detection performance of the lidar.

[0360] Optionally, the controller 902b can specifically use a system on chip (SOC) or a field programmable gate array (FPGA) or the like in the lidar, and the embodiments of the present application do not limit this.

[0361] Optionally, the analog-to-digital converter 902a can use an external independent ADC, as shown in FIG. 9, or the analog-to-digital converter 902a can also be built-in in the controller 902b, and the embodiments of the present application do not limit this.

[0362] It can be understood that considering the aging or individual differences of the energy storage unit (capacitor), the voltage reached at both ends of the energy storage unit in the predetermined charging time will be different from the expected value, and therefore a voltage detection circuit such as the analog-to-digital converter 902a is introduced, and the detection result is fed back to the controller 902b, and the on duration of the switch is controlled to adjust the charging time, for example, if the voltage value is lower than the expected value, the charging time is increased, and vice versa.

[0363] Specifically, refer to FIG. 10, which is a schematic diagram of a control signal provided by an embodiment of the present application.

[0364] As shown in FIG. 10, it is a schematic diagram of curves of different voltages controlled by the controller through a control signal to control the RC charging duration of the resistance-capacitance (RC) circuit.

[0365] As can be seen from FIG. 10, the controller can control the RC circuit to perform RC charging within the t1 duration through the control signal EN1, so as to achieve that the voltage at both ends of the energy storage unit reaches 0.7-0.8V, the controller can control the RC circuit to perform RC charging within the t2 duration through the control signal EN2, so as to achieve that the voltage at both ends of the energy storage unit reaches about 0.9V, and the controller can control the RC circuit to perform RC charging within the tn duration through the control signal ENn, so as to achieve that the voltage at both ends of the energy storage unit reaches 0.9-1.0V.

[0366] It should be understood that FIG. 10 is only exemplary to illustrate that the control of the charging duration of the RC circuit can achieve different voltages, and should not be construed as a limitation on the embodiments of the present application.

[0367] In a possible embodiment, the third driving unit 900 in the transmitting system 90 described above can include one or more drivers, and the arrangement of the drivers is different when the number of drivers is different. For details, refer to the descriptions of the driver arrangement cases 1 to 4 in the transmitting system 50 shown in FIG. 5, which will not be repeated here.

[0368] In a possible embodiment, the laser circuit in the transmitting system 90 described above is arranged on a PCB.

[0369] Optionally, the laser circuit in the transmitting system 90 described above can be arranged on the front surface of the PCB, or arranged on the back surface of the PCB, which is not limited in the embodiments of the present application.

[0370] Optionally, the third driving unit 900 in the transmitting system 90 described above can be arranged on the back surface of the PCB, which is beneficial to optimize the wiring design between the modules in the transmitting system 90 and improve the space utilization.

[0371] The present application provides a chip, which includes the transmitting system provided by the present application.

[0372] The present application provides a radar or a radar system, which includes the transmitting system or the chip provided by the present application.

[0373] In a possible implementation, the radar includes but is not limited to a laser radar and the like.

[0374] In a possible implementation, there can be a smart sensor integrated with multiple sensors, and in the case where the smart sensor includes but is not limited to a laser detection function and the like, the smart sensor can also be referred to as a radar or a radar system.

[0375] The present application also provides a terminal device, which includes the transmitting system or the chip or the radar or the radar system provided by 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-speed transport vehicle, a space vehicle, or a ship, and the like, and can also be a surveying and mapping device, and the like, which can be equipped with a detection device. One or more transmitting systems or chips or radars or radar systems provided by the present application are deployed on the terminal device.

[0376] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A transmitting system, characterized by, The transmitting system comprises at least one first laser circuit, a first driving unit and a first power supply; the first laser circuit comprises: a first laser, a first energy storage unit and a first switch; wherein the first power supply is connected with 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, and the first driving unit is connected with the first laser; the voltage provided by the first power supply is related to the relative position between the first laser circuit and the first driving unit.

2. The launch system of claim 1, wherein, The voltage provided by the first power supply is related to the relative position between the first laser circuit and the first driving unit, comprising: the closer the distance between the first laser circuit and the first driving unit, the smaller the voltage provided by the first power supply.

3. The launch system of claim 1 or 2, characterized in that, The transmitting system further comprises at least one second laser circuit and a second power supply; the second laser circuit comprises: a second laser, a second energy storage unit and a second switch; wherein the second power supply is connected with 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, and the first driving unit is connected with the second laser; the distance between the second laser circuit and the first driving unit is greater than the distance between the first laser circuit and the first driving unit, and the voltage provided by the second power supply is greater than the voltage provided by the first power supply.

4. The launch system of claim 3, wherein, 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.

5. A transmitting system characterized by, The transmitting system comprises at least one third laser circuit, a second driving unit, a first resistor and a third power supply; the third laser circuit comprises: a third laser, a third energy storage unit and a third switch; wherein the third power supply is connected with the third laser and the third energy storage unit through the first resistor and the third switch in sequence, the third laser and the third energy storage unit are connected in parallel, and the second driving unit is connected with the third laser; the resistance of the first resistor is related to the relative position between the third laser circuit and the second driving unit.

6. The launch system of claim 5, wherein, The resistance of the first resistor is related to the relative position between the third laser circuit and the second driving unit, comprising: the closer the distance between the third laser circuit and the second driving unit, the greater the resistance of the first resistor.

7. The launch system of claim 5 or 6, characterized in that The transmitting system further comprises at least one fourth laser circuit and a second resistor; the fourth laser circuit comprises: a fourth laser, a fourth energy storage unit and a fourth switch; wherein the third power supply is connected with the fourth laser and the fourth energy storage unit through the second resistor and the fourth switch in sequence, the fourth laser and the fourth energy storage unit are connected in parallel, and the second driving unit is connected with the fourth laser; the distance between the fourth laser circuit and the second driving unit is less than the distance between the third laser circuit and the second driving unit, and the resistance of the second resistor is greater than the resistance of the first resistor.

8. The launch system of claim 7, wherein, A difference between the emission power of the third laser and the emission power of the fourth laser is less than a second threshold value.

9. The launch system of any one of claims 5 to 8, wherein, The emission system further comprises a third resistor; The third resistor is connected with the third switch; The closer the third laser circuit and the second driving unit, the greater the resistance of the third resistor.

10. A transmitting system, characterized by The emission system comprises at least one fifth laser circuit, a third driving unit, a fourth power supply, a control unit; The fifth laser circuit comprises: a fifth laser, a fifth energy storage unit, and a fifth switch; The fourth power supply is connected with the fifth laser and the fifth energy storage unit through the fifth switch, the fifth laser and the fifth energy storage unit are connected in parallel, the third driving unit is connected with the fifth laser, one end of the control unit is connected with the fifth energy storage unit, and the other end of the control unit is connected with the fifth switch; The control unit is used to control the conduction or disconnection of the fifth switch, and the conduction duration of the fifth switch is related to the relative position of the fifth laser circuit and the third driving unit.

11. The launch system of claim 10, wherein, The conduction duration of the fifth switch is related to the relative position of the fifth laser circuit and the third driving unit, including: The closer the fifth laser circuit and the third driving unit, the shorter the conduction duration of the fifth switch.

12. The launch system of claim 10 or 11, characterized in that, The emission system further comprises at least one sixth laser circuit; the sixth laser circuit comprises: a sixth laser, a sixth energy storage unit, and a sixth switch; The fourth power supply is connected with the sixth laser and the sixth energy storage unit through the sixth switch, the sixth laser and the sixth energy storage unit are connected in parallel, the third driving unit is connected with the sixth laser, one end of the control unit is connected with the sixth energy storage unit, and the other end of the control unit is connected with the sixth switch; The control unit is used to control the conduction or disconnection of the sixth switch, the distance between the sixth laser circuit and the third driving unit is less than the distance between the fifth laser circuit and the third driving unit, and the conduction duration of the sixth switch is shorter than the conduction duration of the fifth switch.

13. The launch system of claim 12, wherein, A difference between the emission power of the fifth laser and the emission power of the sixth laser is less than a third threshold value.

14. The launch system of any one of claims 10 to 13, wherein, The control unit comprises: an analog-to-digital converter and a controller; One end of the analog-to-digital converter is connected with the fifth energy storage unit, the other end of the analog-to-digital converter is connected with one end of the controller, and the other end of the controller is connected with the fifth switch; The analog-to-digital converter is used to detect the voltage of the fifth energy storage unit to obtain a detection result; The controller is used to control the conduction duration of the fifth switch based on the detection result.

15. The launch system of any one of claims 1 to 14, wherein, The driving unit in the emission system comprises one driver, and the one driver is arranged at the head end or the tail end of the laser array in the emission system along a first direction; The laser array comprises a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array is arranged in an increasing or decreasing manner along the first direction.

16. The launch system of any one of claims 1 to 14, wherein, The driving unit in the transmitting system comprises one driver, and the one driver is arranged at the middle of the laser array in the transmitting system along the first direction. The laser array comprises a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array is arranged in a symmetrical manner along the first direction.

17. The launch system of any one of claims 1 to 14, wherein, The driving unit in the transmitting system comprises at least two drivers, and the at least two drivers are respectively arranged at the two ends of the laser array in the transmitting system along the first direction. The laser array comprises a plurality of lasers and energy storage units, the first direction is the arrangement direction of the laser array, and the voltage of each energy storage unit in the laser array is arranged in a symmetrical manner along the first direction.

18. The launch system of claim 17, wherein, The at least two drivers are arranged in a mirror image manner.

19. The launch system of any one of claims 1 to 18, wherein, The laser circuit in the transmitting system is arranged on a printed circuit board (PCB).

20. The launch system of claim 19, wherein, The driving unit in the transmitting system is arranged on the back of the PCB.

21. A chip, characterized by The chip comprises the transmitting system in any one of claims 1 to 20.

22. A radar, characterized by The radar comprises the transmitting system in any one of claims 1 to 20 or the chip in claim 21.

23. A terminal device, comprising: The terminal device comprises the transmitting system in any one of claims 1 to 20, the chip in claim 21, or the radar in claim 22.

24. A vehicle end characterized by, The vehicle terminal comprises the transmitting system in any one of claims 1 to 20, the chip in claim 21, the radar in claim 22, or the terminal device in claim 23.

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