Power supply unit, emitting apparatus including the same, and control method
A detection method ( 100 ) of a lidar ( 200 ), the lidar ( 200 ), and a system for a vehicle ( 300 ) including the same. The lidar ( 200 ) is capable of rotating around a rotating shaft, and includes an emitting unit ( 210 ) having a plurality of laser emitters ( 211 ). The detection method ( 100 ) includes: step S 101 , controlling the plurality of laser emitters ( 211 ) to emit laser beams for detection so that the lidar ( 200 ) has a non-uniform angular resolution along a horizontal direction; step S 102 , receiving echoes of the emitted laser beams for detection reflected by a target object and converting the echoes into electrical signals; and step S 103 , calculating a distance and/or reflectivity of the target object according to the electrical signals. Thereby, an angular resolution along a horizontal direction of the lidar ( 200 ) is flexibly configured, flight time and power consumption are reduced, and a detection range of the lidar ( 200 ) is improved.
1 . A power supply unit for a laser emitter, comprising:
a preparatory voltage source, configured to output a preparatory voltage;
a high-voltage generation unit, coupled to the preparatory voltage source, and configured to receive the preparatory voltage, generate an output voltage higher than the preparatory voltage, and output the output voltage via an output end;
a capacitor unit, coupled to the output end of the high-voltage generation unit; and
a reset switch, wherein the reset switch is connected between the preparatory voltage source and the capacitor unit and configured to reduce the output voltage back to the preparatory voltage,
wherein the high-voltage generation unit and the capacitor unit are configured to cooperatively adjust the output voltage through charge and discharge processes,
wherein the high-voltage generation unit comprises:
a first inductor, a first end of which is coupled to the preparatory voltage source, configured to receive electrical energy from the preparatory voltage source;
a first switch having a first end coupled to a second end of the first inductor and a second end connected to ground, the first switch configured to, upon switching to a connected state, connect the voltage source and the first inductor to form a charging loop, and cause the first inductor to be charged; and
a second switch having a first end coupled to the second end of the first inductor and a second end coupled to the capacitor unit as the output end of the high-voltage generation unit.
2 . The power supply unit according to claim 1 , wherein the first switch, the second switch, and the reset switch comprise one or more of a GaN switch and a CMOS switch.
3 . An emitting apparatus for a lidar, comprising:
a plurality of power supply units according to claim 1 , configured to output voltages, respectively;
a laser emitter unit, comprising a plurality of laser emitters, wherein one end of each laser emitter is connected to an output end of one of the power supply units, so that at least two laser emitters are connected to the output ends of different power supply units; and
at least one switching device, wherein cathodes of laser emitters that do not share a common voltage are connected to one of the at least one switching device, and the one of the at least one switching device is configured to selectively control a connection state of a current loop formed by one of the voltages, the laser emitters connected thereto, and the ground.
4 . A control unit for controlling the power supply unit according to claim 1 , the control unit configured to:
generate a voltage control signal according to a time sequence of emission of a laser emitters, and output the voltage control signal to control electrodes of the first switch, the second switch, and the reset switch, respectively, to control the high-voltage generation unit to output an output voltage higher than the preparatory voltage, and control the capacitor unit and the high-voltage generation unit to cooperatively adjust the output voltage through charge and discharge processes.
5 . A method for controlling a laser emitter to emit light by using the power supply unit according to claim 1 , comprising:
outputting the preparatory voltage by the preparatory voltage source;
generating the output voltage higher than the preparatory voltage through the high-voltage generation unit; and
cooperatively adjusting the output voltage through charge and discharge processes of a capacitor unit and the high-voltage generation unit.
6 . The method according to claim 5 , further comprising:
receiving electrical energy from the preparatory voltage source through the first inductor;
connecting the preparatory voltage source and the first inductor to form a charging loop by closing the first switch and opening the second switch, thus charging the first inductor by the preparatory voltage source; and
connecting the preparatory voltage source and the first inductor to form a discharging loop by opening the first switch and closing the second switch, thus charging the capacitor unit by the preparatory voltage source and the first inductor, which causes the output voltage to be higher than the preparatory voltage.
7 . The method according to claim 5 , further comprising:
by disconnecting the first switch and closing the second switch, causing the capacitor unit to discharge and causing the first inductor to receive electrical energy from the capacitor unit, which reduces the output voltage.
8 . The method according to claim 5 , further comprising:
reducing the output voltage back to the preparatory voltage through the reset switch.
9 . An emitting apparatus for a lidar, comprising:
a plurality of power supply units configured to receive a preparatory voltage and output a high voltage, and at least two power supply units output the high voltage at different times, respectively, wherein the high voltage is a voltage higher than the preparatory voltage;
a laser emitter unit, comprising a plurality of laser emitters, the plurality of laser emitters comprising one or more subsets of laser emitters, wherein an anode of each laser emitter of a given subset of laser emitters is connected to an output end of a corresponding power supply unit of the plurality of power supply units, wherein the laser emitters of the given subset of laser emitters are connected to different power supply units of the plurality of power supply units; and
at least one switching device, wherein the at least one switching device comprises a first switching device and a second switching device, the one or more subsets of laser emitters comprise a first subset of laser emitters and a second subset of laser emitters, cathodes of the first subset of laser emitters are connected to the first switching device, and cathodes of the second subset of laser emitters are connected to the second switching device, and the at least one switching device is configured to control a connection state of a current loop formed by the corresponding power supply unit, the laser emitter connected thereto, and the ground, a number of the at least one switching device is less than a number of the plurality of laser emitters.
10 . The emitting apparatus according to claim 9 , further comprising a plurality of voltage buses corresponding to the plurality of power supply units, wherein the voltage buses are connected to components on the corresponding power supply units, an input end of the voltage bus receives the preparatory voltage, the output end outputs a voltage higher than the preparatory voltage, and each laser emitter is connected to the output end of the corresponding power supply unit through one of the voltage buses.
11 . The emitting apparatus according to claim 10 , further comprising a capacitor unit, connected between the voltage bus and the ground, configured to be charged through the voltage bus, and be discharged to an activated laser emitter on the current loop when the switching device is closed, to drive the laser emitter to emit light.
12 . The emitting apparatus according to claim 11 , wherein the power supply unit further comprises:
a preparatory voltage source, configured to output a preparatory voltage;
a high-voltage generation unit, connected to the preparatory voltage source, wherein the preparatory voltage source is suitable for outputting the preparatory voltage to the high-voltage generation unit, and the high-voltage generation unit is configured to generate a high voltage higher than the preparatory voltage.
13 . The emitting apparatus according to claim 12 , wherein the high-voltage generation unit comprises:
a first inductor, a first end of which is connected to the preparatory voltage source, configured to receive electrical energy from the preparatory voltage source;
a first switch having a first end connected to a second end of the first inductor and a second end connected to ground, the first switch configured to, upon being closed, cause the preparatory voltage source and the first inductor to form a charging loop and cause the first inductor to be charged; and
a second switch having a first end connected to the second end of the first inductor and a second end connected to the capacitor unit, the second switch configured to, upon being closed, cause the preparatory voltage source and the first inductor to form a discharging loop and discharge the capacitor unit.
14 . The emitting apparatus according to claim 9 , wherein the power supply unit further comprises a voltage control end, configured to receive a voltage control signal to control the power supply unit to output a voltage.
15 . The emitting apparatus according to claim 14 , wherein each switching device comprises a control end, a first end, and a second end, the first end is connected to the cathodes of the laser emitters of the corresponding subset of laser emitters, and the second end is connected to the ground; and the control end is configured to receive a driving signal to control a connection state between the first end and the second end, and the voltage control signal is cooperated with the driving signal to control the corresponding subset of laser emitters to emit light.
16 . The emitting apparatus according to claim 9 , wherein the plurality of laser emitters of the laser emitter unit are arranged in a plurality of arrays, each array corresponds to a subset of laser emitters of the one or more subsets of laser emitters, two laser emitter arrays are interlaced with each other, and a distance between each laser emitter and the corresponding switching device is substantially the same.
17 . The emitting apparatus according to claim 9 , wherein the switching device comprises one or more of a GaN switch and a CMOS switch.
18 . A method for controlling the emitting apparatus according to claim 9 to emit light, comprising:
controlling a power supply unit to output a voltage; and
controlling a current loop of a subset of laser emitters of the one or more subsets of laser emitters connected through a corresponding switching device of the at least one switching device, which causes a laser emitter of the respective subset of laser emitters connected to the power supply unit of the output voltage to emit light by the effect of the voltage.
19 . The method according to claim 18 , wherein the emitting apparatus further comprises a plurality of voltage buses corresponding to a plurality of power supply units, each voltage bus is connected to an output end of a corresponding power supply unit, each laser emitter is connected to the output end of the corresponding power supply unit through one of the voltage buses, the power supply unit comprises a capacitor unit connected to the voltage bus, and the method further comprises:
charging the capacitor unit through the voltage bus, and discharging the laser emitter connected to the same voltage bus through the capacitor unit, to drive the laser emitter to emit light.
20 . The method according to claim 19 , wherein the power supply unit further comprises: a preparatory voltage source and a high-voltage generation unit, and the method further comprises:
outputting a preparatory voltage by the preparatory voltage source; and
generating a voltage higher than the preparatory voltage by the high-voltage generation unit, and outputting the voltage via the voltage bus.
21 . The method according to claim 20 , wherein the high-voltage generation unit comprises: a first inductor having a first end connected to the preparatory voltage source, a first switch having a first end connected to a second end of the first inductor and a second end connected to ground, and a second switch having a first end connected to the second end of the first inductor and a second end connected to the capacitor unit, and the method further comprises:
outputting electrical energy from the preparatory voltage source through the first inductor;
causing the preparatory voltage source and the first inductor to form a charging loop by connecting the first switch, thus charging the first inductor; and
causing the preparatory voltage source and the first inductor to form a discharging loop by connecting the second switch, thus charging the capacitor unit.
22 . The method according to claim 18 , wherein the power supply unit further comprises a voltage control end, and the method further comprises:
receiving a voltage control signal through the voltage control end to control the power supply unit to output the voltage.
23 . The method according to claim 22 , wherein each switching device comprises a control end, a first end, and a second end, the control end is configured to receive a driving signal to control a connection state between the first end and the second end, the first end is connected to the cathodes of the laser emitters of the corresponding subset of laser emitters, the second end is connected to the ground, and the method further comprises:
cooperating the voltage control signal and the driving signal with each other to control the laser emitter to emit light.
24 . A lidar, comprising the emitting apparatus according to claim 9 , a receiving apparatus, and a control apparatus, wherein
the emitting apparatus is suitable for driving laser emitters to emit a detection laser beam according to a certain time sequence under the control of the control apparatus;
the receiving apparatus is suitable for receiving an echo reflected by an external obstacle relative to the lidar; and
the control apparatus is suitable for generating a voltage control signal according to a detection demand of the lidar, controlling a power supply unit to output a voltage, and generating a driving signal to activate one or more laser emitters of the plurality of laser emitters to emit light; and is suitable for processing the echo received by the receiving apparatus, and calculating a distance and/or reflectivity between the external obstacle and the lidar according to the echo that the lidar communicates with a photographing unit to receive scene information and is configured to determine an expected angular resolution along a horizontal direction for a lidar point cloud according to the scene information and adjust light emission frequency of the laser emitter.