A control device and control method for a multi-channel photoelectric conversion module

Abstract

The present invention provides a control device and a control method for a multi-channel photoelectric conversion module used in the field of laser radar. The control device includes: a processor and a driver; the processor is used to output a pulse power supply signal; the driver is used to receive the pulse power supply signal and output a drive signal for controlling the working state of the photoelectric conversion module; the N output terminals on the processor are respectively connected to the N input terminals of the N drivers in a one-to-one correspondence; the N output terminals of the N drivers are respectively connected to the N power supply terminals of the N photoelectric conversion modules in a one-to-one correspondence. The present invention can ensure that only one photoelectric conversion module is in a working state at the same time through a pulse power supply method in a timing manner, and multiplex multiple time-sharing signals to the same output bus, thereby realizing time-sharing multiplexing of multiple signals, effectively improving the frequency band utilization and electrical signal transmission speed, reducing delay, and eliminating the need to add a multiplexer at the back end of the photoelectric conversion module, thereby effectively reducing the volume.

Description

Technical Field

[0001] The present invention relates to the field of laser radar technology, and in particular to a control device and a control method for a multi-channel photoelectric conversion module. Background Art

[0002] LiDAR (LiDAR) uses a laser transmitter to emit laser light, receives the laser's return light signal, and processes it to obtain target parameters. Multi-line LiDAR is a type of LiDAR that can scan over a wider field of view, enabling three-dimensional ranging. Therefore, multi-line LiDAR requires multiple optoelectronic conversion modules to receive return light signals over a wider field of view. However, multi-line LiDAR typically uses an extremely high emission frequency, resulting in a very large amount of data. Furthermore, because LiDAR detection time accuracy is in the picosecond range, it requires extremely high signal transmission speeds.

[0003] In the prior art, the multiple optoelectronic conversion modules of a multi-line LiDAR are each physically and electrically connected to a multiplexer. After selection, the signals are sent to a post-processor, thus achieving multi-channel transmission. However, this connection method increases the power consumption of the multi-line LiDAR and reduces its bandwidth utilization. The separate physical electrical connections also lead to system latency and a larger size. Summary of the Invention

[0004] To address the shortcomings of the prior art, the present invention provides a control device and method for a multi-channel photoelectric conversion module. The multi-channel photoelectric conversion module receives and transmits external laser signals. The control device time-shares the signals output by the modules and multiplexes them onto a single output bus. The output bus transmits the time-shared signals to a subsequent processor, which identifies the laser signal moment, calculates the laser transit time, and then calculates and outputs distance information. This achieves the ranging function of a laser radar.

[0005] To achieve the above objectives, the present invention provides the following technical solutions:

[0006] In one aspect, the present invention provides a control device for a multi-channel photoelectric conversion module, comprising: a processor and a driver;

[0007] The processor is used to output a pulse power supply signal;

[0008] The driver is used to receive the pulse power supply signal and output a driving signal for controlling the working state of the photoelectric conversion module;

[0009] The N output terminals on the processor are connected to the N input terminals of the N drivers in a one-to-one correspondence; the N output terminals of the N drivers are connected to the N power supply terminals of the N photoelectric conversion modules in a one-to-one correspondence.

[0010] Furthermore, the processor is an FPGA chip, and the driver is a multi-way inverter;

[0011] The M input terminals on each of the multi-way inverters are connected one-to-one with the M I / O pins on the FPGA chip, and the M output terminals are connected one-to-one with the M power supply terminals of the M-way photoelectric conversion modules.

[0012] Furthermore, each photoelectric conversion module includes:

[0013] A pre-amplifier circuit is used to convert the external laser signal into an electrical signal;

[0014] A secondary amplifier circuit for amplifying the electrical signal;

[0015] The output end of the pre-stage amplifier circuit is connected to the input end of the secondary amplifier circuit.

[0016] Furthermore, the output end of the multi-way inverter is connected to the power supply end of the pre-amplifier circuit; the power supply end of the secondary amplifier circuit is connected to a DC power supply. Alternatively, the output end of the multi-way inverter is connected to the power supply end of the secondary amplifier circuit; the power supply end of the pre-amplifier circuit is connected to a DC power supply.

[0017] In another aspect, the present invention provides a method for controlling a multi-channel photoelectric conversion module, comprising:

[0018] The power supply end of the multi-channel photoelectric conversion module is controlled by a pulse power supply method so that the multi-channel photoelectric conversion module outputs electrical signals in a time-sharing manner;

[0019] The electrical signals output by multiple photoelectric conversion modules in time-sharing manner are output to the outside through the same output bus.

[0020] Furthermore, the photoelectric conversion module of each path includes:

[0021] A pre-amplifier circuit, used for converting the optical signal into an electrical signal and sending the electrical signal to a secondary amplifier circuit;

[0022] A secondary amplifier circuit is used to receive the electrical signal sent by the pre-amplifier circuit, amplify the electrical signal and output the amplified electrical signal;

[0023] The input end of the pre-amplifier circuit is connected to the external output end, and the output end thereof is connected to the input end of the secondary amplifier circuit; the output end of the secondary amplifier circuit is connected to an output bus.

[0024] Furthermore, the power supply of the pre-amplifier circuit adopts a pulse power supply mode, and the power supply of the secondary amplifier circuit adopts a DC power supply mode. Optionally, the power supply of the pre-amplifier circuit adopts a DC power supply mode, and the power supply of the secondary amplifier circuit adopts a pulse power supply mode.

[0025] Furthermore, the electrical signals output by the multiple optoelectronic conversion modules in a time-sharing manner are coupled to the same output bus and output to the outside.

[0026] It can be seen from the above technical solution that the control device and control method of a multi-channel optoelectronic conversion module described in an embodiment of the present invention can ensure that only one optoelectronic conversion module is in working state at the same time, realizing time-sharing multiplexing of multiple signals by the output bus, thereby effectively reducing the power consumption of the multi-line laser radar and effectively improving the frequency band utilization of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 This is a schematic structural diagram of a control device for a multi-channel photoelectric conversion module provided by an embodiment of the present invention;

[0029] Figure 2 This is a timing diagram of time-division multiplexing in a control device for a multi-channel photoelectric conversion module provided by an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of a pulse power supply connected to a pre-amplifier circuit in a control device for a multi-channel photoelectric conversion module provided by an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of a pulse power supply connected to a secondary amplifier circuit in a control device for a multi-channel photoelectric conversion module provided by an embodiment of the present invention;

[0032] Figure 5 This is a flow chart of a control method for a multi-channel photoelectric conversion module provided by an embodiment of the present invention;

[0033] Figure 6 This is a timing diagram of time-division multiplexing in a control method for a multi-channel photoelectric conversion module provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0035] The embodiment of the present invention provides a control device for a multi-channel photoelectric conversion module. Figure 1 , the control device includes: a processor 10 and a driver 20;

[0036] The processor 10 is configured to output a pulse power supply signal;

[0037] The driver 20 is used to receive the pulse power supply signal and output a driving signal to control the working state of the photoelectric conversion module;

[0038] The N output terminals on the processor 10 are connected to the N input terminals of the N drivers 20 in a one-to-one correspondence; the N output terminals of the N drivers 20 are connected to the N power supply terminals of the N photoelectric conversion modules in a one-to-one correspondence.

[0039] In a specific application, the processor 10 is an FPGA chip, and the driver 20 is a multi-way inverter;

[0040] The M input terminals on each of the multi-way inverters are connected one-to-one with the M I / O pins on the FPGA chip, and the M output terminals are connected one-to-one with the M power supply terminals of the M photoelectric conversion modules. The power supply terminal of each photoelectric conversion module is connected to one output terminal on a multi-way inverter; wherein, the M output terminals of a multi-way inverter are respectively connected to the power supply terminals of the M photoelectric conversion modules, and the multi-way photoelectric conversion modules correspond to multiple multi-way inverters. The M input terminals of each inverter in the multiple multi-way inverters are connected to the M I / O interfaces on the FPGA chip. See Figure 2 The output signals of the FPGA chip control the outputs of multiple inverters, which in turn control the power supply of multiple optoelectronic conversion modules. This allows for time-sharing output of the multiple electrical signals output by these modules. The outputs of these modules are connected to the same output bus, ensuring that only one signal is output at a time. This allows for time-sharing multiplexing of multiple signals.

[0041] Using an FPGA chip to control multiple inverters to output pulse power signals in a time-sharing manner not only isolates the FPGA chip from downstream circuits, protecting the FPGA, but also prevents situations where the FPGA chip's own driving capability is insufficient. As a processor, the FPGA chip has numerous controllable I / O pins that can be connected to the inputs of multiple inverters. By controlling the output levels of these inverters, the FPGA chip can achieve timing control of multiple optoelectronic conversion modules. The inverters invert the phase of the signals output from the FPGA chip's I / O interface by 180 degrees, outputting pulse signals with the same duty cycle and equal phase intervals. These inverted pulse signals are then transmitted to the connected optoelectronic conversion modules, driving the different optoelectronic conversion modules.

[0042] In the above embodiment, each photoelectric conversion module includes:

[0043] A pre-amplifier circuit is used to convert the external laser signal into an electrical signal;

[0044] A secondary amplifier circuit for amplifying the electrical signal;

[0045] The output end of the pre-stage amplifier circuit is connected to the input end of the secondary amplifier circuit.

[0046] According to the specific circuit structure of the photoelectric conversion module, select the corresponding different control methods, see Figure 3 , one control method is:

[0047] The power supply of the multiple pre-amplifier circuits adopts a pulse power supply mode, and the power supply of the multiple secondary amplifier circuits adopts a DC power supply mode. The multiple secondary amplifier circuits adopting the DC power supply mode are always in working state.

[0048] A pulsed power supply signal powers the preamplifier circuit of the first channel. The high level of the pulse causes the power supply terminal of the preamplifier circuit to be at a high level, enabling normal operation of the preamplifier circuit. The preamplifier circuit converts the optical signal, and its output electrical signal is amplified by the secondary amplifier circuit and transmitted to the output bus. Simultaneously, the power supply terminals of the preamplifier circuits of the other channels are at a low level, rendering them inactive and preventing any signal transmission to the bus. Subsequently, a pulsed signal powers the preamplifier circuit of the second channel. Simultaneously, the power supply terminals of the first and other preamplifier circuits are at a low level, rendering them inactive, thereby enabling transmission of the electrical signal of the second channel. This analogy allows multiple optoelectronic conversion modules to output signals in a time-sharing manner, with each signal physically multiplexed via a wired-and-direct connection. This operating mode, based on pulsed power supply and wired-and-direct connection, multiplexes the time-sharing signals onto the same output bus, effectively improving bandwidth utilization.

[0049] See also Figure 4 , another control method is:

[0050] The power supply of the multiple pre-amplifier circuits adopts a DC power supply mode, and the power supply of the multiple secondary amplifier circuits adopts a pulse power supply mode. Among them, the multiple pre-amplifier circuits adopting the DC power supply mode are always in working state.

[0051] A pulsed power supply signal powers the secondary amplifier circuit of the first channel. The high level of the pulse causes the power supply terminal of the secondary amplifier circuit to be at a high level, allowing the secondary amplifier circuit to operate normally. The secondary amplifier circuit amplifies the electrical signal output by the pre-amplifier circuit and transmits it to the output bus. At the same time, the power supply terminals of the secondary amplifier circuits of the other channels are at a low level, rendering them inoperative and thus preventing any signal from being transmitted to the bus. Subsequently, a pulsed signal powers the secondary amplifier circuit of the second channel. Meanwhile, the power supply terminals of the first channel and the other secondary amplifier circuits are at a low level, rendering them inoperative, thereby enabling the transmission of the electrical signal of the second channel. This process continues in this manner, achieving time-sharing multiplexing. This operating mode, based on pulsed power supply and line-to-line direct connection, multiplexes time-sharing signals onto the same output bus, effectively improving bandwidth utilization.

[0052] It can be seen from the above technical solution that the control device of a multi-channel optoelectronic conversion module described in the present invention adopts a pulse power supply control method, which can ensure that only one optoelectronic conversion module is in working state at the same time, thereby effectively reducing the power consumption of the whole machine, and realizing time-sharing multiplexing of multiple signals, thereby effectively improving the bandwidth utilization; adopting a line and direct connection connection method, so its signal transmission speed is fast and the system delay is low; adopting a pulse power supply control method and a line and direct connection connection method, there is no need to add a multiplexer at the back end of the multi-channel optoelectronic conversion module, thereby effectively saving device resources.

[0053] An embodiment of the present invention provides a multi-line laser radar, comprising: a multi-channel photoelectric conversion module, a laser emission module, an output bus module, a main control module and a control device for the multi-channel photoelectric conversion module in the above embodiment; wherein, multiple photoelectric conversion modules constitute a multi-channel photoelectric conversion module.

[0054] The laser emission module is used to emit laser pulse signals to the object to be measured.

[0055] The photoelectric conversion module has an input end that receives the laser echo signal reflected by the object to be measured, an output end that is connected to the output bus, and a power supply end that is connected to the control device of the multi-channel photoelectric conversion module. It is used to receive the echo signal reflected by the object to be measured and convert the received echo signal into an electrical signal for output.

[0056] The multi-channel photoelectric conversion module is a set of identical modules, each receiving an external laser signal as input. The outputs of the modules are connected to the same output bus, and the power supply terminals of the modules are connected one-to-one with the outputs of the multi-channel pulse power supply signal generation module. The modules are used to receive multiple laser echo signals reflected from the object under test, convert the echo signals into electrical signals, and transmit them to the output bus.

[0057] The control device for the multi-channel photoelectric conversion module has multi-channel output terminals connected one-to-one with the power supply terminals of the multi-channel photoelectric conversion modules, and is used to generate pulse power supply signals for the multi-channel photoelectric conversion modules.

[0058] The output bus module has an input end connected to the output end of the multi-channel photoelectric conversion module and an output end connected to the main control module, and is used to couple the multi-channel signals output by the multi-channel photoelectric conversion module to a transmission line and output them to the main control module.

[0059] The multiple output terminals of the multi-channel photoelectric conversion module are connected to the output bus module in a wired and direct connection manner.

[0060] The main control module has an input end connected to an output bus and an output end for the distance information of the object to be measured, and is used to calculate and process the electrical signals output by the multi-channel photoelectric conversion modules and obtain the distance information of the target to be measured.

[0061] The embodiment of the present invention provides a control method for a multi-channel photoelectric conversion module. Figure 5 , the control method specifically includes the following steps:

[0062] S101: Controlling the power supply terminals of multiple photoelectric conversion modules by pulse power supply, so that the multiple photoelectric conversion modules output electrical signals in a time-sharing manner;

[0063] In this step, the photoelectric conversion module is used to convert the external optical signal into an electrical signal and output the electrical signal to the signal processing end. When there are n photoelectric conversion modules, the n power supply ends of the n photoelectric conversion modules are controlled by using a pulse power supply method to control whether the n photoelectric conversion modules are in a working state, so that the n electrical signals output by the n photoelectric conversion modules are transmitted in a time-sharing manner; wherein, if the power supply end of one photoelectric conversion module is at a high level, the power supply ends of n-1 photoelectric conversion modules are at a low level. The photoelectric conversion module with a power supply end at a high level is in a working state and can output the converted electrical signal; the photoelectric conversion module with a power supply end at a low level is in a non-working state and cannot output an electrical signal. By controlling the power supply ends of the n photoelectric conversion modules and making the power supply ends of the n photoelectric conversion modules high in turn, the time-sharing output of the n photoelectric conversion modules is achieved.

[0064] S102: Outputting the electrical signals output by the multiple optoelectronic conversion modules in time-sharing mode to the outside through the same output bus.

[0065] In this step, the n electrical signals output by the n photoelectric conversion modules are coupled to the same output bus using a wired and direct connection method. Based on the output control of the n photoelectric conversion modules in step S101, the n electrical signals output by the n photoelectric conversion modules are time-division multiplexed onto the output bus. The output bus couples the n electrical signals to the signal processing end.

[0066] From the above description, it can be seen that the control method of a multi-channel optoelectronic conversion module provided by an embodiment of the present invention can ensure that only one optoelectronic conversion module is in working state at the same time, realizes the time-sharing multiplexing of multiple signals by the bus, thereby effectively reducing the power consumption of the multi-line laser radar and effectively improving the bandwidth utilization; the line and direct connection method is adopted to improve the speed of electrical signal transmission, reduce the delay, and there is no need to add a multiplexer at the back end of the optoelectronic conversion module, thereby effectively reducing the volume of the multi-line laser radar.

[0067] In the specific implementation of the above embodiment, each photoelectric conversion module includes:

[0068] A pre-amplifier circuit, used for converting an external laser signal into an electrical signal and sending the electrical signal to a secondary amplifier circuit;

[0069] A secondary amplifier circuit is used to receive the electrical signal sent by the pre-amplifier circuit, amplify the electrical signal and output the amplified electrical signal;

[0070] The input end of the pre-amplifier circuit is connected to the external output end, and the output end thereof is connected to the input end of the secondary amplifier circuit; the output end of the secondary amplifier circuit is connected to an output bus.

[0071] According to the specific circuit structure of the photoelectric conversion module, different control methods are selected. One control method is:

[0072] See also Figure 3 and Figure 6 The power supply of the multiple pre-amplifier circuits adopts a pulse power supply mode, and the power supply of the multiple secondary amplifier circuits adopts a DC power supply mode. Among them, the multiple secondary amplifier circuits adopting the DC power supply mode are always in a working state.

[0073] In T 11 Time to T 12During the time period, the pulse power supply signal powers the first channel's preamplifier circuit. The high level of the pulse causes the power supply end of the preamplifier circuit to be at a high level, and the preamplifier circuit works normally. The preamplifier circuit converts the optical signal, and its output electrical signal is amplified by the secondary amplifier circuit and transmitted to the output bus. At the same time, the power supply end of the preamplifier circuits of other channels is at a low level, causing the preamplifier circuit to be in a non-operating state, and thus no signal is transmitted to the bus. Similarly, at T 21 Time to T 22 During this time, the pulse signal then powers the second channel's preamplifier circuit. Meanwhile, the power supply terminals of the first channel and the other preamplifier circuits remain at a low level and inactive, enabling the transmission of the second channel's electrical signal. Similarly, multiple signals are physically time-shared through a wired-AND scheme. This pulsed power supply and wired-AND operation mode multiplexes time-shared signals onto the same output bus, effectively improving bandwidth utilization.

[0074] Another control method is:

[0075] See also Figure 4 and Figure 6 The power supply of the multiple pre-amplifier circuits adopts a DC power supply mode, and the power supply of the multiple secondary amplifier circuits adopts a pulse power supply mode. Among them, the multiple pre-amplifier circuits adopting the DC power supply mode are always in the working state.

[0076] In T 11 Time to T 12 During the time period, the pulse power supply signal powers the secondary amplifier circuit of the first channel. The high level of the pulse makes the power supply end of the secondary amplifier circuit at a high level, and the secondary amplifier circuit works normally. The secondary amplifier circuit receives the electrical signal output by the pre-amplifier circuit, amplifies it and transmits it to the output bus. At the same time, the power supply end of the secondary amplifier circuits of other channels is at a low level, making their secondary amplifier circuits in a non-working state, and thus no signal is transmitted to the output bus. Similarly, at T 21 Time to T 22 During this time, the pulse signal then powers the secondary amplifier circuit of the second channel. Meanwhile, the power supply terminals of the secondary amplifier circuits of the first channel and the other channels are at a low level and inactive, thus enabling the transmission of the electrical signal of the second channel. This analogy is repeated to achieve time-sharing multiplexing. This operating mode based on pulse power supply and direct line-and-line connection multiplexes time-sharing signals onto the same output bus, effectively improving bandwidth utilization.

[0077] From the above description, it can be seen that the control method of a multi-channel optoelectronic conversion module provided by an embodiment of the present invention is based on pulse power supply, which can ensure that only one optoelectronic conversion module is in working state at the same time, thereby effectively reducing the power consumption of the entire machine and realizing time-sharing multiplexing of multiple signals, thereby effectively improving the bandwidth utilization; adopting a line and direct connection method, so its signal transmission speed is fast and the system delay is low; adopting a line and direct connection method, there is no need to add a multiplexer at the back end of the optoelectronic conversion module, thereby effectively saving resources.

[0078] The present description describes numerous specific details. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not described in detail so as not to obscure the understanding of this description. Similarly, it should be understood that, in order to streamline the present disclosure and facilitate understanding of one or more of the various inventive aspects, various features of the present invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of the exemplary embodiments of the present invention. However, this disclosure should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in fewer than all the features of the individual embodiments disclosed above. Accordingly, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the present invention. It should be noted that, where not in conflict, the embodiments and features therein may be combined. The present invention is not limited to any single aspect or embodiment, nor to any combination and / or permutation of such aspects and / or embodiments. Furthermore, each aspect and / or embodiment of the present invention may be used alone or in combination with one or more of the other aspects and / or embodiments thereof.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A control device for a multi-channel photoelectric conversion module used in the field of laser radar, characterized in that: The control device includes: a processor, a driver and M-way photoelectric conversion modules; The processor is used to output a pulse power supply signal; The driver is used to receive the pulse power supply signal and output a driving signal for controlling the working state of the photoelectric conversion module, so that the multiple photoelectric conversion modules can output electrical signals in a time-sharing manner; The processor is an FPGA chip, and the driver is a multi-way inverter; the M input terminals on each of the multi-way inverters are respectively connected one-to-one with the M I / O pins on the FPGA chip, and the M output terminals are respectively connected one-to-one with the M power supply terminals of the M photoelectric conversion modules; the power supply terminal of each photoelectric conversion module is connected to an output terminal on a multi-way inverter; and the output terminals of the multiple photoelectric conversion modules are connected to the same output bus.

2. The control device according to claim 1, characterized in that Each photoelectric conversion module includes: A pre-amplifier circuit is used to convert the external laser signal into an electrical signal; A secondary amplifier circuit for amplifying the electrical signal; The output end of the pre-stage amplifier circuit is connected to the input end of the secondary amplifier circuit.

3. The control device according to claim 2, characterized in that The output end of the multi-way inverter is connected to the power supply end of the pre-stage amplifier circuit; the power supply end of the secondary amplifier circuit is connected to a DC power supply.

4. The control device according to claim 2, characterized in that The output end of the multi-way inverter is connected to the power supply end of the secondary amplifier circuit; the power supply end of the pre-amplifier circuit is connected to a DC power supply.

5. A control method for a multi-channel photoelectric conversion module, applied to the control device for a multi-channel photoelectric conversion module according to any one of claims 1 to 4, characterized in that: The control method includes: The power supply end of the multi-channel photoelectric conversion module is controlled by a pulse power supply method so that the multi-channel photoelectric conversion module outputs electrical signals in a time-sharing manner; The electrical signals output by the multiple optoelectronic conversion modules in a time-sharing manner are connected to the same output bus and output to the outside.

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