Laser detection device and manufacturing method thereof

Abstract

The present application discloses a laser detection device and a manufacturing method thereof, which belongs to the field of laser detection technology, such as laser radar (Lidar). The device includes: a multi-phase signal generating circuit, an amplifier array and a laser array. The amplifier array includes a plurality of first amplifiers, and the laser array includes a plurality of laser emitters. The plurality of output ends of the multi-phase signal generating circuit are connected to the input ends of the corresponding first amplifiers, and the output ends of the plurality of first amplifiers are connected to the corresponding laser emitters. Among them, the multi-phase signal generating circuit is used to generate a plurality of target electrical signals with different phases, each first amplifier is used to amplify the target electrical signal, and each laser emitter is used to emit a first laser signal. Since the phases of the plurality of target electrical signals are different, the first laser signal has a strong anti-interference ability, which improves the accuracy of the detection distance. In addition, since the emission power of each laser emitter is small, the emission pulse width can be reduced.

Description

Technical Field

[0001] The present application relates to the field of laser detection technology, and in particular to a laser detection device and a manufacturing method thereof. Background Art

[0002] The laser detection device mainly includes a signal generating circuit, a laser emitter and a laser detector. The signal generating circuit can generate an electrical signal, which can drive the laser emitter to emit a laser signal. The laser signal can be reflected after encountering an object. In this way, the laser detector can detect the reflected signal, convert the reflected signal into an electrical signal and output it to the signal generating circuit, thereby determining the distance between the laser detection device and the object.

[0003] However, since the waveform of the laser signal emitted by the laser transmitter is relatively simple, it is necessary to ensure that the signal detected by the laser detector meets a certain signal-to-noise ratio in order to obtain a reliable laser signal, and then to ensure the accuracy of the final distance. In addition, since the laser transmitter has a large transmission power, the parasitic parameters of the laser transmitter have a greater impact, resulting in a larger transmission pulse width. Summary of the invention

[0004] The present application provides a laser detection device and a manufacturing method thereof, which can solve the problems of low accuracy of the laser detection distance and large emission pulse width. The technical solution is as follows:

[0005] In a first aspect, a laser detection device is provided, the laser detection device comprising: a multi-phase signal generating circuit, an amplifier array and a laser array, the amplifier array comprising a plurality of first amplifiers, the laser array comprising a plurality of laser emitters, the plurality of first amplifiers corresponding to the plurality of laser emitters. In this case, the multi-phase signal generating circuit comprises a plurality of output terminals corresponding to the plurality of first amplifiers, the plurality of output terminals of the multi-phase signal generating circuit are connected to the input terminals of the corresponding first amplifiers, and the output terminals of the plurality of first amplifiers are connected to the corresponding laser emitters.

[0006] The multi-phase signal generating circuit is used to generate a plurality of target electrical signals with different phases, wherein the plurality of target electrical signals with different phases means that the phases of any two target electrical signals are different, that is, there are no target electrical signals with the same phase among the plurality of target electrical signals. Each of the plurality of first amplifiers is used to amplify the target electrical signal outputted by the corresponding output terminal in the multi-phase signal generating circuit, and each of the plurality of laser emitters is used to emit a first laser signal according to the target electrical signal amplified by the corresponding first amplifier.

[0007] It should be noted that the "correspondence" involved in the embodiments of the present application may refer to one-to-one, one-to-many, or many-to-one. For example, the "correspondence" in the above "multiple first amplifiers correspond to multiple laser emitters" may refer to one first amplifier corresponding to one laser emitter, one first amplifier corresponding to multiple laser emitters, or multiple first amplifiers corresponding to one laser emitter.

[0008] In the present application, since the multi-phase signal generating circuit can generate multiple target electrical signals with different phases, after the first amplifier included in the amplifier array amplifies the multiple target electrical signals, the first laser signal emitted by the laser emitter included in the laser array according to the amplified target electrical signal has strong anti-interference, thereby improving the accuracy of the detection distance of the laser detection device. In addition, since the laser array includes multiple laser emitters, the emission power of each laser emitter is relatively small, and the influence of the parasitic parameters of the laser emitter will be relatively small. Therefore, by emitting the laser signal through the laser array, the emission pulse width can be reduced.

[0009] It should be noted that each of the multiple first amplifiers included in the amplifier array can receive the target electrical signal output by the output end of the connected multi-phase signal generating circuit, and amplify the power of the target electrical signal so that the power of the target electrical signal meets the emission power requirement of the laser transmitter. After that, the target electrical signal with amplified power can be output to the connected laser transmitter.

[0010] Each of the multiple laser emitters included in the laser array can receive the target electrical signal whose power is amplified by the output of the connected first amplifier. Since the power of the target electrical signal is amplified to meet the power requirement of the laser emitter to emit the laser, the laser emitter can emit the corresponding first laser signal under the drive of the target electrical signal, thereby obtaining multiple first laser signals, and the phases of the multiple first laser signals are all different. The phases of the multiple first laser signals are all different, which means that the phases of any two first laser signals are different, that is, there are no first laser signals with the same phase among the multiple first laser signals.

[0011] It should be noted that a laser transmitter may include one or more laser units, which may constitute a laser transmitter. Among them, a laser unit may include three parts: an excitation source, a laser working medium, and a resonant cavity. Among them, the laser working medium may achieve a particle population inversion to create the necessary conditions for obtaining a laser. The excitation source is used to excite the atomic system, so that the number of particles in the upper energy level increases, thereby causing a particle population inversion in the working medium. The resonant cavity may amplify the laser generated after the particle population inversion, generate a strong laser, and output it.

[0012] In the present application, each laser emitter in the laser array can emit a first laser signal respectively, and the first laser signals emitted by all the laser emitters can constitute a laser signal for detecting the distance, which is equivalent to each laser emitter only needing to emit a part of the power. In this way, the emission power of each laser emitter is reduced, thereby reducing the influence of the parasitic parameters of the laser emitter, and further reducing the emission pulse width.

[0013] Optionally, the multiphase signal generating circuit includes a digital-to-analog converter and a multiphase analog modulation circuit, and the multiphase analog modulation circuit includes a plurality of output terminals corresponding to the plurality of first amplifiers. In this case, the output terminal of the digital-to-analog converter is connected to the input terminal of the multiphase analog modulation circuit, and the plurality of output terminals of the multiphase analog modulation circuit are connected to the input terminals of the corresponding first amplifiers.

[0014] The digital-to-analog converter is used to convert the first digital electrical signal into a first analog electrical signal, and the multi-phase analog modulation circuit is used to perform multi-phase modulation on the first analog electrical signal to obtain the multiple target electrical signals with different phases.

[0015] Optionally, the multi-phase analog modulation circuit includes a plurality of analog signal generating circuits and a plurality of first comparators, the plurality of analog signal generating circuits correspond to the plurality of first comparators, and the plurality of first comparators correspond to the plurality of first amplifiers. In this case, the output ends of the plurality of analog signal generating circuits are connected to the first input ends of the corresponding first comparators, the second input ends of the plurality of first comparators are connected to the output ends of the digital-to-analog converter, and the output ends of the plurality of first comparators are connected to the input ends of the corresponding first amplifiers.

[0016] Among them, each analog signal generating circuit among the multiple analog signal generating circuits is used to generate a second analog electrical signal, the multiple second analog electrical signals generated by the multiple analog signal generating circuits have different phases, and each first comparator among the multiple first comparators is used to output a target electrical signal based on the input second analog electrical signal and the first analog electrical signal, so as to obtain the multiple target electrical signals with different phases.

[0017] As an example, after the first comparator receives the second analog electrical signal and the first analog electrical signal, it can compare the second analog electrical signal at the same horizontal axis position with the waveform of the first analog electrical signal corresponding to the vertical axis based on the horizontal axis. In the waveform of the target electrical signal, the horizontal axis interval where the waveform of the first analog electrical signal is above the waveform of the second analog electrical signal is set to a high level, and the horizontal axis interval where the waveform of the first analog electrical signal is below the waveform of the second analog electrical signal is set to a low level. That is, at the same horizontal axis position, when the value of the first analog electrical signal is greater than the value of the second analog electrical signal, the horizontal axis position in the target electrical signal corresponds to a high level, otherwise, it is a low level.

[0018] It should be noted that the first digital electrical signal is a discrete binary data string. Since the multi-phase analog modulation circuit cannot directly modulate the first digital electrical signal, in this case, the first digital electrical signal in the form of a discrete binary data string can be converted into a continuous first analog electrical signal through a digital-to-analog converter, and then the first analog electrical signal is input into the multi-phase analog modulation circuit, so that the multi-phase analog modulation circuit modulates the first analog electrical signal, thereby obtaining a plurality of target electrical signals with different phases. Since the process of obtaining the target electrical signal according to the first analog electrical signal by the multi-phase analog modulation circuit is to process the analog electrical signal, the target electrical signal obtained by processing is also a continuous analog electrical signal.

[0019] Optionally, the multi-phase signal generating circuit includes a multi-phase digital modulation circuit, which includes multiple output terminals corresponding to the multiple first amplifiers, and the multiple output terminals of the multi-phase digital modulation circuit are connected to the input terminals of the corresponding first amplifiers. The multi-phase digital modulation circuit is used to perform multi-phase modulation on the first digital electrical signal to obtain the multiple target electrical signals with different phases.

[0020] Optionally, the multi-phase digital modulation circuit includes a plurality of digital signal generating circuits and a plurality of second comparators, wherein the plurality of digital signal generating circuits correspond to the plurality of second comparators, and the plurality of second comparators correspond to the plurality of first amplifiers. In this case, the output ends of the plurality of digital signal generating circuits are connected to the first input ends of the corresponding second comparators, the output ends of the plurality of second comparators are connected to the input ends of the corresponding first amplifiers, and the second input ends of the plurality of second comparators are used to input the first digital electrical signals.

[0021] Among them, each digital signal generating circuit among the multiple digital signal generating circuits is used to generate a second digital electrical signal, the multiple second digital electrical signals generated by the multiple digital signal generating circuits have different phases, and each second comparator among the multiple second comparators is used to output a target electrical signal based on the input second digital electrical signal and the first digital electrical signal, so as to obtain the multiple target electrical signals with different phases.

[0022] It should be noted that the first comparator is used to generate a target electrical signal based on the waveforms of the continuous first analog electrical signal and the second analog electrical signal, while the second comparator generates a target electrical signal based on the first digital electrical signal and the second digital electrical signal in the form of discrete binary data strings. In this case, when the binary data is 1, it corresponds to a high level, and when the binary data is 0, it corresponds to a low level. In this way, at the same horizontal axis position, when the first digital electrical signal corresponds to a high level and the second digital electrical signal corresponds to a low level, the corresponding horizontal axis position of the target electrical signal is a high level. When the first digital electrical signal corresponds to a low level and the second digital electrical signal corresponds to a high level, the corresponding horizontal axis position of the target electrical signal is a low level.

[0023] It should be noted that, since the multi-phase digital modulation circuit can directly modulate the first digital electrical signal, in this case, the multi-phase digital modulation circuit can directly receive the first digital electrical signal, and perform multi-phase modulation on the first digital electrical signal in the form of a discrete binary data string to obtain a plurality of target electrical signals with different phases. Since the process of the multi-phase digital modulation circuit obtaining the target electrical signal according to the first digital electrical signal is to process the digital electrical signal, the target electrical signal obtained by processing is also a digital electrical signal in the form of a discrete binary data string.

[0024] Optionally, the laser detection device further comprises a laser detector and a second amplifier. In this case, the output end of the laser detector is connected to the input end of the second amplifier, and the laser detector is used to detect the second laser signal and convert the second laser signal into a third analog electrical signal and then output it to the second amplifier.

[0025] It should be noted that after each laser emitter included in the laser array emits a first laser signal, the multiple laser emitters emit a total of multiple first laser signals. Due to the aggregation characteristics of light, the multiple first laser signals will aggregate into a second laser signal after encountering an object. Afterwards, the laser detector can detect the second laser signal and convert the second laser signal into a third analog electrical signal.

[0026] It should be noted that since the second amplifier connected to the laser detector is used to amplify the power of the analog electrical signal, after the laser detector detects the second laser signal, the second laser signal can be converted into a third analog electrical signal so that the analog-to-digital converter can amplify the power of the third analog electrical signal.

[0027] Optionally, the detection bandwidth of the laser detector may be greater than the emission bandwidth of the target electrical signal, so that the second laser signal detected by the laser detector can restore the original signal. For example, the detection bandwidth of the laser detector may be 2-5 times the emission bandwidth of the target electrical signal.

[0028] Optionally, the second amplifier has a certain signal passing bandwidth, which refers to the bandwidth of the analog electrical signal that can be transmitted through the second amplifier and the second amplifier can perform power amplification. That is, only the analog signal within the signal passing bandwidth can be transmitted through the second amplifier, and the second amplifier can perform power amplification on the analog electrical signal within the signal passing bandwidth. In this way, the original signal can be restored after the power of the third analog electrical signal is amplified by the second amplifier. For example, the signal passing bandwidth of the second amplifier can be 2-5 times the transmission bandwidth of the target electrical signal.

[0029] In the present application, although the first laser signal emitted by the laser transmitter is a high-speed pulse waveform, the envelope bandwidth of the second laser signal received by the laser detector is not high, thereby reducing the difficulty of the laser detector converting the second laser signal into a third analog electrical signal.

[0030] Optionally, the laser detection device further comprises an analog-to-digital converter and a baseband processor. In this case, the input end of the analog-to-digital converter is connected to the output end of the second amplifier, the output end of the analog-to-digital converter is connected to the input end of the baseband processor, and the output end of the baseband processor is connected to the input end of the multi-phase signal generating circuit.

[0031] Among them, the analog-to-digital converter is used to convert the third analog electrical signal into a third digital electrical signal, and output the third digital electrical signal to the baseband processor, the baseband processor is used to generate a first digital electrical signal, and output the first digital electrical signal to the multi-phase signal generating circuit, and is also used to detect distance based on the first digital electrical signal and the third digital electrical signal.

[0032] It should be noted that since the baseband processor cannot directly process continuous analog electrical signals but can only process digital electrical signals in the form of discrete binary data strings, it is necessary to use an analog-to-digital converter to discretize the third analog electrical signal into a third digital electrical signal, and then output the third digital electrical signal to the baseband processor.

[0033] As an example, the baseband processor can obtain the moment when the first digital electrical signal starts to be output, and the moment when the third digital electrical signal starts to be received, and determine the first time difference between the two moments. Since the time when the multi-phase signal generating circuit modulates and generates multiple target electrical signals, the time when the amplifier array amplifies multiple target electrical signals, the time when the multiple target electrical signals drive the laser array to emit the first laser signal, the time when the laser detector converts the second laser signal into the third analog electrical signal, the time when the second amplifier amplifies the third analog electrical signal, and the time when the analog-to-digital converter converts the third analog electrical signal into the third digital electrical signal are all constant, the baseband processor can subtract the constant time spent on these circuit processing from the first time difference, thereby obtaining the second time difference between the moment when the first laser signal is emitted by the laser transmitter and the moment when it is received by the laser detector. Afterwards, the baseband processor can determine the distance between the laser detection device and the object based on the second time difference.

[0034] It should be noted that the baseband processor can also demodulate the received third digital electrical signal. Since the first digital electrical signal and the third digital electrical signal are coherent signals, when the baseband processor demodulates the third digital electrical signal, it can obtain a coherent carrier according to the first digital electrical signal, and coherently demodulate the third digital electrical signal according to the coherent carrier. In this way, coherent gain can be obtained, thereby improving the anti-interference performance and the accuracy of the detection distance. Among them, the coherent signal is a signal with the same vibration direction, the same frequency and the same phase or phase difference.

[0035] Optionally, the laser detection device further comprises a low-pass filter. In this case, the low-pass filter is connected in series between the laser detector and the second amplifier, or in series between the second amplifier and the analog-to-digital converter.

[0036] It should be noted that, since there are various interference signals in nature, the second laser signal may be interfered in nature, so that the second laser signal detected by the laser detector includes the interference signal, and the third analog electrical signal converted from the second laser signal also includes the interference signal. In order to enable the baseband processor to obtain a more accurate third digital electrical signal, the third digital electrical signal or the third analog electrical signal can be filtered before the third digital electrical signal is input to the baseband processor 7 to filter out the interference signal included in the third digital electrical signal or the third analog electrical signal. Among them, the low-pass filter can be any filter that can be used to filter out the interference signal included in the third analog electrical signal or the third digital electrical signal, and this application is not limited here.

[0037] In a second aspect, a method for manufacturing a laser detection device is provided, wherein the laser detection device includes a multiphase signal generating circuit, an amplifier array, and a laser array, wherein the amplifier array includes a plurality of first amplifiers, the laser array includes a plurality of laser emitters, the plurality of first amplifiers correspond to the plurality of laser emitters, and the multiphase signal generating circuit includes a plurality of output terminals corresponding to the plurality of first amplifiers. In this case, the plurality of output terminals of the multiphase signal generating circuit can be connected to the input terminals of the corresponding first amplifiers, and the output terminals of the plurality of first amplifiers can be connected to the corresponding laser emitters.

[0038] In which, the multi-phase signal generating circuit is used to generate multiple target electrical signals with different phases, each of the multiple first amplifiers is used to amplify the target electrical signal output by the corresponding output end of the multi-phase signal generating circuit, and each of the multiple laser emitters is used to emit a first laser signal according to the target electrical signal amplified by the corresponding first amplifier.

[0039] Optionally, the multiphase signal generating circuit includes a digital-to-analog converter and a multiphase analog modulation circuit, and the multiphase analog modulation circuit includes a plurality of output terminals corresponding to the plurality of first amplifiers. In this case, the output terminal of the digital-to-analog converter can be connected to the input terminal of the multiphase analog modulation circuit; and the plurality of output terminals of the multiphase analog modulation circuit can be connected to the input terminals of the corresponding first amplifiers.

[0040] The digital-to-analog converter is used to convert the first digital electrical signal into a first analog electrical signal, and the multi-phase analog modulation circuit is used to perform multi-phase modulation on the first analog electrical signal to obtain the multiple target electrical signals with different phases.

[0041] Optionally, the multi-phase analog modulation circuit includes multiple analog signal generating circuits and multiple first comparators, the multiple analog signal generating circuits correspond to the multiple first comparators, and the multiple first comparators correspond to the multiple first amplifiers. In this case, the output end of the digital-to-analog converter can be connected to the second input end of the multiple first comparators, the first input end of the multiple first comparators can be connected to the output end of the corresponding analog signal generating circuit, and the output end of the multiple first comparators can be connected to the input end of the corresponding first amplifier.

[0042] Among them, each analog signal generating circuit among the multiple analog signal generating circuits is used to generate a second analog electrical signal, the multiple second analog electrical signals generated by the multiple analog signal generating circuits have different phases, and each first comparator among the multiple first comparators is used to output a target electrical signal based on the input second analog electrical signal and the first analog electrical signal, so as to obtain the multiple target electrical signals with different phases.

[0043] Optionally, the multiphase signal generating circuit includes a multiphase digital modulation circuit, and the multiphase digital modulation circuit includes a plurality of output terminals corresponding to the plurality of first amplifiers. In this case, the plurality of output terminals of the multiphase digital modulation circuit can be connected to the input terminals of the corresponding first amplifiers. The multiphase digital modulation circuit is used to perform multiphase modulation on the first digital electrical signal to obtain the plurality of target electrical signals with different phases.

[0044] Optionally, the multi-phase digital modulation circuit includes a plurality of digital signal generating circuits and a plurality of second comparators, the plurality of digital signal generating circuits correspond to the plurality of second comparators, and the plurality of second comparators correspond to the plurality of first amplifiers. In this case, the output ends of the plurality of digital signal generating circuits can be connected to the first input ends of the corresponding second comparators; and the output ends of the plurality of second comparators can be connected to the input ends of the corresponding first amplifiers.

[0045] Among them, the second input ends of the multiple second comparators are used to input the first digital electrical signal, each digital signal generating circuit in the multiple digital signal generating circuits is used to generate a second digital electrical signal, the multiple second digital electrical signals generated by the multiple digital signal generating circuits have different phases, and each second comparator in the multiple second comparators is used to output a target electrical signal based on the input second digital electrical signal and the first digital electrical signal, so as to obtain the multiple target electrical signals with different phases.

[0046] Optionally, the laser detection device further includes a laser detector and a second amplifier. In this case, the output end of the laser detector can be connected to the input end of the second amplifier. The laser detector is used to detect the second laser signal, and convert the second laser signal into a third analog electrical signal and output it to the second amplifier.

[0047] Optionally, the laser detection device further includes an analog-to-digital converter and a baseband processor. In this case, the input end of the analog-to-digital converter can be connected to the output end of the second amplifier; the output end of the analog-to-digital converter can be connected to the input end of the baseband processor; and the output end of the baseband processor can be connected to the input end of the multi-phase signal generating circuit.

[0048] Among them, the analog-to-digital converter is used to convert the third analog electrical signal into a third digital electrical signal, and output the third digital electrical signal to the baseband processor, the baseband processor is used to generate a first digital electrical signal, and output the first digital electrical signal to the multi-phase signal generating circuit, and is also used to detect distance based on the first digital electrical signal and the third digital electrical signal.

[0049] Optionally, the laser detection device further comprises a low-pass filter. In this case, the low-pass filter may be connected in series between the laser detector and the second amplifier, or the low-pass filter may be connected in series between the second amplifier and the analog-to-digital converter.

[0050] The technical solution provided by this application can at least bring the following beneficial effects:

[0051] In the present application, since the multi-phase signal generating circuit can generate multiple target electrical signals with different phases, after the first amplifier included in the amplifier array amplifies the multiple target electrical signals, the first laser signal emitted by the laser emitter included in the laser array according to the amplified target electrical signal has strong anti-interference, thereby improving the accuracy of the detection distance of the laser detection device. In addition, since the laser array includes multiple laser emitters, the emission power of each laser emitter is relatively small, and the influence of the parasitic parameters of the laser emitter will be relatively small. Therefore, by emitting the laser signal through the laser array, the emission pulse width can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a structural schematic diagram of a first laser detection device provided in an embodiment of the present application;

[0053] Figure 2 is a schematic diagram of a plurality of first laser signals provided in an embodiment of the present application;

[0054] Figure 3 is a schematic structural diagram of a second laser detection device provided in an embodiment of the present application;

[0055] Figure 4 is a structural schematic diagram of a multi-phase analog modulation circuit provided in an embodiment of the present application;

[0056] Figure 5 is a schematic diagram of generating a target electrical signal provided by an embodiment of the present application;

[0057] Figure 6 is a schematic structural diagram of a third laser detection device provided in an embodiment of the present application;

[0058] Figure 7It is a structural schematic diagram of a multi-phase digital modulation circuit provided in an embodiment of the present application;

[0059] Figure 8 is a schematic structural diagram of a fourth laser detection device provided in an embodiment of the present application;

[0060] Fig. 9 is a schematic structural diagram of a fifth laser detection device provided in an embodiment of the present application;

[0061] Fig.10 is a schematic diagram of a second laser signal provided in an embodiment of the present application;

[0062] Fig.11 is a schematic structural diagram of a sixth laser detection device provided in an embodiment of the present application;

[0063] Fig.12 is a structural schematic diagram of a seventh laser detection device provided in an embodiment of the present application;

[0064] Fig.13 is a schematic diagram of waveforms of a first digital signal and a third digital signal provided in an embodiment of the present application;

[0065] Fig.14 is a schematic structural diagram of an eighth laser detection device provided in an embodiment of the present application;

[0066] Fig.15 It is a flow chart of a method for manufacturing a laser detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0068] Before explaining the embodiments of the present application in detail, the application scenarios involved in the embodiments of the present application are first introduced.

[0069] At present, in many scenarios, the distance can be detected by installing a laser detection device. Among them, the laser detection device may include a laser emitter and a laser detector. The laser emitter can emit a laser signal driven by an electrical signal. The laser signal will be reflected after encountering an object, and the laser detector can detect the reflected signal. In this way, the laser detection device can detect the time from emitting the laser signal to detecting the reflected signal, and then calculate the distance between the laser detection device and the object according to the time. However, the waveform of the laser signal emitted by the laser emitter is relatively simple, which makes it difficult for the laser detection device to obtain a reliable reflected signal, which leads to low accuracy of the determined distance, and the emission power of the laser emitter is large, resulting in a large emission pulse width. Therefore, according to the method provided in the embodiment of the present application, the generated electrical signal can be multi-phase modulated to obtain multiple target electrical signals with different phases. After the multiple target electrical signals are amplified by the amplifier array, the laser emitters in the laser array can be driven to emit laser signals respectively. Among them, multiple target electrical signals with different phases refer to the phases of any two target electrical signals are different, that is, there are no target electrical signals with the same phase in the multiple target electrical signals. Since multiple target electrical signals with different phases can be synthesized into a complex modulation signal, after the laser emitters in the laser array are driven by multiple target electrical signals to send laser signals, the anti-interference performance of the laser signal can be improved. In addition, since the laser array includes multiple lasers, the emission power of these multiple lasers is relatively small, and the influence of the parasitic parameters of the laser emitter will be relatively small, which will reduce the emission pulse width.

[0070] For example, for a vehicle with an automatic driving mode, a laser detection device can be installed on the vehicle. In this way, during the driving of the automatic driving vehicle, the laser transmitter can emit a laser signal and the laser detector can detect the reflected signal. The laser detection device can detect the time from emitting the laser signal to detecting the reflected signal, and then determine the distance between the laser detection device and the object, that is, the distance between the automatic driving vehicle and the object. When the distance is too close, a reminder can also be given. However, since the waveform of the laser signal emitted by the laser transmitter is relatively simple, it is difficult for the laser detection device to obtain a reliable reflected signal, resulting in a low accuracy of the determined distance, and thus resulting in a low accuracy of the alarm. Therefore, the generated electrical signal can be multi-phase modulated according to the method provided in the embodiment of the present application to obtain multiple target electrical signals. After the multiple target electrical signals are amplified by the amplifier array, the laser transmitters in the laser array can be driven to emit laser signals respectively, thereby improving the anti-interference of the laser signal and thus improving the accuracy of the alarm.

[0071] For another example, for a drone, a laser detection device can be installed on the drone. In this way, during the flight of the drone, the laser transmitter can emit a laser signal, and the laser detector can detect the reflected signal. The laser detection device can detect the time from emitting the laser signal to detecting the reflected signal, and then determine the distance between the laser detection device and the object, that is, the distance between the drone and the object. When the drone enters the danger range, the drone can be warned. However, since the waveform of the laser signal emitted by the laser transmitter is relatively simple, it is difficult for the laser detection device to obtain a reliable reflected signal, resulting in low accuracy of the determined distance, and thus low accuracy of the warning. Therefore, the generated electrical signal can be multi-phase modulated according to the method provided in the embodiment of the present application to obtain multiple target electrical signals. After the multiple target electrical signals are amplified by the amplifier array, the laser transmitters in the laser array can be driven to emit laser signals respectively, thereby improving the anti-interference of the laser signal and thus improving the accuracy of the warning.

[0072] Next, the structure of the laser detection device provided in the embodiment of the present application is introduced. Among them, the "corresponding" involved in the embodiment of the present application can refer to one-to-one, one-to-many, or many-to-one. For example, the "corresponding" in "multiple first amplifiers corresponding to multiple laser emitters" involved below can refer to one first amplifier corresponding to one laser emitter, one first amplifier corresponding to multiple laser emitters, or multiple first amplifiers corresponding to one laser emitter.

[0073] Figure 1 is a schematic diagram of a laser detection device provided in an embodiment of the present application, such as Figure 1 As shown, the laser detection device includes a multi-phase signal generating circuit 1, an amplifier array 2 and a laser array 3. The amplifier array 2 includes a plurality of first amplifiers 21, and the laser array 3 includes a plurality of laser emitters 31. The plurality of first amplifiers 21 corresponds to the plurality of laser emitters 31.

[0074] The multiphase signal generating circuit 1 includes a plurality of output terminals 1b corresponding to the plurality of first amplifiers 21, the plurality of output terminals 1b of the multiphase signal generating circuit 1 are connected to the input terminals 21a of the corresponding first amplifiers 21, and the output terminals 21b of the plurality of first amplifiers 21 are connected to the corresponding laser emitters 31. The multiphase signal generating circuit 1 is used to generate a plurality of target electrical signals with different phases. Each of the plurality of first amplifiers 21 is used to amplify the target electrical signal output by the corresponding output terminal 1b of the multiphase signal generating circuit 1, and each of the plurality of laser emitters 31 is used to emit a first laser signal according to the target electrical signal amplified by the corresponding first amplifier 21.

[0075] In an embodiment of the present application, each of the multiple first amplifiers 21 included in the amplifier array 2 can receive the target electrical signal output by the output terminal 1b of the connected multi-phase signal generating circuit 1, and amplify the power of the target electrical signal so that the power of the target electrical signal meets the emission power requirement of the laser emitter 31. After that, the target electrical signal with amplified power can be output to the connected laser emitter 31.

[0076] Each of the multiple laser emitters 31 included in the laser array 3 can receive the target electrical signal whose power is amplified and output by the connected first amplifier 21. Since the power of the target electrical signal is amplified and meets the power requirement of the laser emitter 31 to emit the laser, the laser emitter 31 can emit the corresponding first laser signal under the drive of the target electrical signal, thereby obtaining multiple first laser signals, and the phases of the multiple first laser signals are all different. The phases of the multiple first laser signals are all different, which means that the phases of any two first laser signals are different, that is, there are no first laser signals with the same phase among the multiple first laser signals.

[0077] Exemplarily, the laser transmitter 31 transmits eight first laser signals, and some of the eight first laser signals may be as follows: Figure 2 As shown, the phase of the first laser signal 201 is 0 degrees, the phase of the first laser signal 202 is 45 degrees, the phase of the first laser signal 203 is 90 degrees...the phase of the first laser signal 208 is 315 degrees, that is, the phase difference between each two adjacent first laser signals is 45 degrees.

[0078] It should be noted that a laser emitter 31 may include one or more laser units, and these one or more laser units may constitute a laser emitter 31. Among them, a laser unit may include three parts: an excitation source, a laser working medium, and a resonant cavity. Among them, the laser working medium can achieve a particle number inversion to create the necessary conditions for obtaining a laser. The excitation source is used to excite the atomic system to increase the number of particles in the upper energy level, thereby causing a particle number inversion in the working medium. The resonant cavity can amplify the laser generated after the particle number inversion, generate a strong laser and output it.

[0079] Optionally, Figure 1In the figure, an example is given in which the amplifier array 2 includes four first amplifiers 21, the laser array 3 includes four laser emitters 31, and the output end 21b of the first amplifier 21 is connected to the input end 31a of the laser emitter 31 in a one-to-one correspondence. Of course, in other possible cases, the amplifier array 2 may also include more or fewer first amplifiers 21, the laser array 3 may also include more or fewer laser emitters 31, and the number of first amplifiers 21 included in the amplifier array 2 may be different from the number of laser emitters 31 included in the laser array 3. In this case, the output ends 21b of the multiple first amplifiers 21 may not be connected to the input end 31a of the laser emitter 31 in a one-to-one correspondence, that is, the output ends 21b of the multiple first amplifiers 21 may be connected to the input end 31a of the same laser emitter 31, and the embodiment of the present application is not limited here.

[0080] In the embodiment of the present application, each laser emitter 31 in the laser array 3 can emit a first laser signal respectively, and the first laser signals emitted by all the laser emitters 31 can constitute a laser signal for detecting the distance, which is equivalent to that each laser emitter 31 only needs to emit a part of the power. In this way, the emission power of each laser emitter 31 is reduced, thereby reducing the influence of the parasitic parameters of the laser emitter 31, and further reducing the emission pulse width.

[0081] It should be noted that the multi-phase signal generating circuit 1 can be implemented by a digital circuit or an analog circuit. These two different situations will be introduced separately below.

[0082] In one possible case, the multi-phase signal generating circuit 1 is implemented by an analog circuit. Figure 3 As shown, the multiphase signal generating circuit 1 may include a digital-to-analog converter 11 and a multiphase analog modulation circuit 12, and the multiphase analog modulation circuit 12 includes a plurality of output terminals 12b corresponding to a plurality of first amplifiers 21. The output terminal 11b of the digital-to-analog converter 11 is connected to the input terminal 12a of the multiphase analog modulation circuit 12, and the plurality of output terminals 12b of the multiphase analog modulation circuit 12 are connected to the input terminals 21a of the corresponding first amplifiers 21. The digital-to-analog converter 11 is used to convert the first digital electrical signal into a first analog electrical signal, and the multiphase analog modulation circuit 12 is used to perform multiphase modulation on the first analog electrical signal to obtain the plurality of target electrical signals with different phases.

[0083] The first digital electrical signal is a digital electrical signal having certain characteristic information, and illustratively, the characteristic information may refer to a specific phase, a specific frequency, or a specific amplitude, etc. The multiple target electrical signals with different phases refer to the multiple target electrical signals having different phases for each two target electrical signals, that is, there are no target electrical signals with the same phase among the multiple target electrical signals.

[0084] In the embodiments of the present application, Figure 4 As shown, the multi-phase analog modulation circuit 12 may include multiple analog signal generating circuits 121 and multiple first comparators 122, the multiple analog signal generating circuits 121 correspond to the multiple first comparators 122, and the multiple first comparators 122 correspond to the multiple first amplifiers 21. The output ends of the multiple analog signal generating circuits 121 are connected to the first input ends of the corresponding first comparators 122, the second input ends of the multiple first comparators 122 are connected to the output ends 11b of the digital-to-analog converter 11, and the output ends of the multiple first comparators 122 are connected to the input ends 21a of the corresponding first amplifiers 21. Each analog signal generating circuit 121 in the multiple analog signal generating circuits 121 is used to generate a second analog electrical signal, and the multiple second analog electrical signals generated by the multiple analog signal generating circuits 121 have different phases. Each first comparator 122 in the multiple first comparators 122 is used to output a target electrical signal based on the input second analog electrical signal and the first analog electrical signal, so as to obtain multiple target electrical signals with different phases.

[0085] It should be noted that, since the digital-to-analog converter 11 outputs the first analog electrical signal, Figure 4 The first analog electrical signal is used to represent the digital-to-analog converter 11. Figure 4 The digital-to-analog converter 11 is not shown. Figure 4 In the figure, a multi-phase analog modulation circuit including four analog signal generating circuits and four first comparators is used as an example. In actual applications, the multi-phase analog modulation circuit may also include more or fewer analog signal generating circuits, and more or fewer first comparators, and the embodiments of the present application are not limited to this.

[0086] For example, Figure 4As shown, the multi-phase analog modulation circuit 12 includes four first comparators 122 and four analog signal generating circuits 121. Among the four analog signal generating circuits 121, one analog signal generating circuit 121 is used to generate a second analog electrical signal with a phase of 0 degree or 360 degrees, one analog signal generating circuit 121 is used to generate a second analog electrical signal with a phase of 90 degrees, one analog signal generating circuit 121 is used to generate a second analog electrical signal with a phase of 180 degrees, and one analog signal generating circuit 121 is used to generate a second analog electrical signal with a phase of 270 degrees. One of the four first comparators 122 can output a target electrical signal with a phase of 0 degrees based on the input second analog electrical signal with a phase of 0 degrees or 360 degrees and the first analog electrical signal, one first comparator 122 can output a target electrical signal with a phase of 90 degrees based on the input second analog electrical signal with a phase of 90 degrees and the first analog electrical signal, one first comparator 122 can output a target electrical signal with a phase of 180 degrees based on the input second analog electrical signal with a phase of 180 degrees and the first analog electrical signal, and one first comparator 122 can output a target electrical signal with a phase of 270 degrees based on the input second analog electrical signal with a phase of 270 degrees and the first analog electrical signal.

[0087] As an example, after the first comparator 122 receives the second analog electrical signal and the first analog electrical signal, it can compare the second analog electrical signal at the same horizontal axis position with the waveform of the first analog electrical signal corresponding to the vertical axis based on the horizontal axis. In the waveform of the target electrical signal, the horizontal axis interval where the waveform of the first analog electrical signal is located above the waveform of the second analog electrical signal is set to a high level, and the horizontal axis interval where the waveform of the first analog electrical signal is located below the waveform of the second analog electrical signal is set to a low level. That is, at the same horizontal axis position, when the value of the first analog electrical signal is greater than the value of the second analog electrical signal, the horizontal axis position in the target electrical signal corresponds to a high level, otherwise, it is a low level.

[0088] For example, Figure 5 As shown, the analog signal generating circuit 121 generates a second analog electrical signal 601 , the digital-to-analog converter outputs a first analog electrical signal 602 , and the first comparator 122 can output a target electrical signal 603 according to the second analog electrical signal 601 and the first analog electrical signal 602 .

[0089] It should be noted that the first digital electrical signal is a discrete binary data string. Since the multi-phase analog modulation circuit 12 cannot directly modulate the first digital electrical signal, in this case, the first digital electrical signal in the form of a discrete binary data string can be converted into a continuous first analog electrical signal through the digital-to-analog converter 11, and then the first analog electrical signal is input into the multi-phase analog modulation circuit 12, so that the multi-phase analog modulation circuit 12 modulates the first analog electrical signal, thereby obtaining a plurality of target electrical signals with different phases. Since the process of the multi-phase analog modulation circuit 12 obtaining the target electrical signal according to the first analog electrical signal is to process the analog electrical signal, the target electrical signal obtained by processing is also a continuous analog electrical signal.

[0090] Optionally, based on the same reasons mentioned above, the number of multiple output terminals 12b of the multi-phase analog modulation circuit 12 may also be different from the number of multiple first amplifiers 21 included in the amplifier array 2. In this case, the multiple output terminals 12b of the multi-phase analog modulation circuit 12 can be connected to the input terminal 21a of the same first amplifier 21.

[0091] In another possible case, the multi-phase signal generating circuit 1 is implemented by a digital circuit. Figure 6 As shown, the multi-phase signal generating circuit 1 may include a multi-phase digital modulation circuit 13, the multi-phase digital modulation circuit 13 includes a plurality of output terminals 13b corresponding to the plurality of first amplifiers 21, the plurality of output terminals 13b of the multi-phase digital modulation circuit 13 are connected to the input terminals 21b of the corresponding first amplifiers 21, and the multi-phase digital modulation circuit 13 is used to perform multi-phase modulation on the first digital electrical signal to obtain a plurality of target electrical signals with different phases.

[0092] Among them, Figure 7 As shown, the multi-phase digital modulation circuit 13 may include a plurality of digital signal generating circuits 131 and a plurality of second comparators 132, wherein the plurality of digital signal generating circuits 131 correspond to the plurality of second comparators 132, and the plurality of second comparators 132 correspond to the plurality of first amplifiers 21. The output ends of the plurality of digital signal generating circuits 131 are connected to the first input ends of the corresponding second comparators 132, and the output ends of the plurality of second comparators 132 are connected to the input ends 21a of the corresponding first amplifiers 21, and the second input ends of the plurality of second comparators 132 are used to input the first digital electrical signal, and each of the plurality of digital signal generating circuits 131 is used to generate a second digital electrical signal, and the phases of the plurality of second digital electrical signals generated by the plurality of digital signal generating circuits 131 are different, and each of the plurality of second comparators 132 is used to output a target electrical signal based on the input second digital electrical signal and the first digital electrical signal, so as to obtain a plurality of target electrical signals with different phases.

[0093] Exemplarily, the multi-phase digital modulation circuit 13 may be a field-programmable gate array (FPGA) or an application-specific integrated circuit (ASIC). Of course, it may also be other possible circuits.

[0094] It should be noted that the first comparator is used to generate a target electrical signal based on the waveforms of the continuous first analog electrical signal and the second analog electrical signal, while the second comparator generates a target electrical signal based on the first digital electrical signal and the second digital electrical signal in the form of discrete binary data strings. In this case, when the binary data is 1, it corresponds to a high level, and when the binary data is 0, it corresponds to a low level. In this way, at the same horizontal axis position, when the first digital electrical signal corresponds to a high level and the second digital electrical signal corresponds to a low level, the corresponding horizontal axis position of the target electrical signal is a high level. When the first digital electrical signal corresponds to a low level and the second digital electrical signal corresponds to a high level, the corresponding horizontal axis position of the target electrical signal is a low level.

[0095] It should be noted that, since the multi-phase digital modulation circuit 13 can directly modulate the first digital electrical signal, in this case, the multi-phase digital modulation circuit 13 can directly receive the first digital electrical signal, and perform multi-phase modulation on the first digital electrical signal in the form of a discrete binary data string to obtain a plurality of target electrical signals with different phases. Since the process of the multi-phase digital modulation circuit 13 obtaining the target electrical signal according to the first digital electrical signal is to process the digital electrical signal, the target electrical signal obtained by processing is also a digital electrical signal in the form of a discrete binary data string.

[0096] Optionally, based on the same reasons mentioned above, the number of multiple output terminals 13b of the multi-phase digital modulation circuit 13 may also be different from the number of multiple first amplifiers 21 included in the amplifier array 2. In this case, the multiple output terminals 13b of the multi-phase digital modulation circuit 13 can be connected to the input terminal 21a of the same first amplifier 21.

[0097] In some embodiments, Figure 8 and Fig. 9 As shown, the laser detection device may further include a laser detector 4 and a second amplifier 5. The output end 4b of the laser detector 4 is connected to the input end 5a of the second amplifier 5, and the laser detector 4 is used to detect the second laser signal, and convert the second laser signal into a third analog electrical signal and output it to the second amplifier 5. The second amplifier 5 may receive the third analog electrical signal output by the laser detector 4, and then amplify the power of the third analog electrical signal, and output the amplified third analog signal to the analog-to-digital converter 6.

[0098] It should be noted that after each laser emitter 31 included in the laser array 3 emits a first laser signal, the multiple laser emitters 31 emit a total of multiple first laser signals. Due to the aggregation characteristics of light, the multiple first laser signals will aggregate into a second laser signal after encountering an object. Afterwards, the laser detector 4 can detect the second laser signal and convert the second laser signal into a third analog electrical signal.

[0099] Exemplarily, the second laser signal detected by the laser detector may be Fig.10 The laser signal shown in , wherein the area between curve 1101 and curve 1102 is the envelope of the second laser signal.

[0100] It should be noted that since the second amplifier 5 connected to the laser detector 4 is used to amplify the power of the analog electrical signal, after the laser detector 4 detects the second laser signal, the second laser signal can be converted into a third analog electrical signal so that the second amplifier 5 can amplify the power of the third analog electrical signal.

[0101] Optionally, the detection bandwidth of the laser detector 4 may be greater than the emission bandwidth of the target electrical signal, so that the original signal can be restored from the second laser signal detected by the laser detector 4. For example, the detection bandwidth of the laser detector may be 2-5 times the emission bandwidth of the target electrical signal.

[0102] Optionally, the second amplifier 5 has a certain signal passing bandwidth, which refers to the bandwidth of the analog electrical signal that can be transmitted through the second amplifier 5 and the second amplifier 5 can perform power amplification. That is, only the analog signal within the signal passing bandwidth can be transmitted through the second amplifier 5, and the second amplifier 5 can perform power amplification on the analog electrical signal within the signal passing bandwidth. In this way, the original signal can be restored after the power of the third analog electrical signal is amplified by the second amplifier 5. For example, the signal passing bandwidth of the second amplifier 5 can be 2-5 times the transmission bandwidth of the target electrical signal.

[0103] In the embodiment of the present application, although the first laser signal emitted by the laser transmitter is a high-speed pulse waveform, the envelope bandwidth of the second laser signal received by the laser detector is not high, thereby reducing the difficulty of the laser detector converting the second laser signal into a third analog electrical signal.

[0104] In some embodiments, Fig.11 and Fig.12As shown, the laser detection device may further include an analog-to-digital converter 6 and a baseband processor 7. The input end 6a of the analog-to-digital converter 6 is connected to the output end 5b of the second amplifier 5, the output end 6b of the analog-to-digital converter 6 is connected to the input end 7a of the baseband processor 7, and the output end 7b of the baseband processor 7 is connected to the input end 1a of the multi-phase signal generating circuit 1. The analog-to-digital converter 6 is used to convert the third analog electrical signal into a third digital electrical signal, and output the third digital electrical signal to the baseband processor 7, the baseband processor 7 is used to generate a first digital electrical signal, and output the first digital electrical signal to the multi-phase signal generating circuit 1, and is also used to detect the distance based on the first digital electrical signal and the third digital electrical signal.

[0105] It should be noted that since the baseband processor 7 cannot directly process continuous analog electrical signals but can only process digital electrical signals in the form of discrete binary data strings, it is necessary to discretize the third analog electrical signal into a third digital electrical signal through the analog-to-digital converter 6, and then output the third digital electrical signal to the baseband processor 7.

[0106] As an example, the baseband processor 7 can obtain the moment when the first digital electrical signal starts to be output, and the moment when the third digital electrical signal starts to be received, and determine the first time difference between the two moments. Since the time when the multi-phase signal generating circuit 1 modulates and generates multiple target electrical signals, the time when the amplifier array 2 amplifies multiple target electrical signals, the time when the multiple target electrical signals drive the laser array 3 to emit the first laser signal, the time when the laser detector 4 converts the second laser signal into the third analog electrical signal, the time when the second amplifier 5 amplifies the third analog electrical signal, and the time when the analog-to-digital converter 6 converts the third analog electrical signal into the third digital electrical signal are all constant, the baseband processor 7 can subtract the constant time spent on these circuit processing from the first time difference, so as to obtain the second time difference between the moment when the first laser signal is emitted by the laser transmitter and the moment when it is received by the laser detector. Afterwards, the baseband processor 7 can determine the distance between the laser detection device and the object based on the second time difference.

[0107] It should be noted that the baseband processor 7 can also demodulate the received third digital electrical signal. Since the first digital electrical signal and the third digital electrical signal are coherent signals, when the baseband processor 7 demodulates the third digital electrical signal, it can obtain a coherent carrier according to the first digital electrical signal, and coherently demodulate the third digital electrical signal according to the coherent carrier. In this way, coherent gain can be obtained, thereby improving the anti-interference performance and the accuracy of the detection distance. Among them, the coherent signal is a signal with the same vibration direction, the same frequency and the same phase or phase difference.

[0108] For example, Fig.13As shown, a coherent carrier can be obtained according to the first digital electrical signal 1401, and the baseband processor can demodulate the third digital electrical signal 1402 according to the coherent carrier, and can obtain a coherent gain.

[0109] Optionally, the laser detection device may further include a low-pass filter, which may be connected in series between the laser detector 4 and the second amplifier 5 , or connected in series between the second amplifier 5 and the analog-to-digital converter 6 .

[0110] It should be noted that, since there are various interference signals in nature, the second laser signal may be interfered in nature, so that the second laser signal detected by the laser detector includes the interference signal, and the third analog electrical signal converted from the second laser signal also includes the interference signal. In order to enable the baseband processor 7 to obtain a more accurate third digital electrical signal, the third digital electrical signal or the third analog electrical signal can be filtered before the third digital electrical signal is input to the baseband processor 7 to filter out the interference signal included in the third digital electrical signal or the third analog electrical signal. Among them, the low-pass filter can be any filter that can be used to filter out the interference signal included in the third analog electrical signal or the third digital electrical signal, and the embodiment of the present application is not limited here.

[0111] See also Fig.14 , Fig.14 An exemplary laser detection device is provided in the embodiment of the present application. Fig.14 A complete introduction to the embodiments of the present application is given.

[0112] Fig.14 The laser detection device shown includes a multi-phase signal generating circuit 1, an amplifier array 2, a laser array 3, a laser detector 4, a second amplifier 5, an analog-to-digital converter 6, and a baseband processor 7. The multi-phase signal generating circuit 1 includes a digital-to-analog converter 11 and a multi-phase analog modulation circuit 12, and the multi-phase analog modulation circuit 12 includes a plurality of output terminals corresponding to a plurality of first amplifiers. The multi-phase analog modulation circuit 12 includes a plurality of analog signal generating circuits and a plurality of first comparators, and each first comparator includes two input terminals, the amplifier array 2 includes a plurality of first amplifiers, and the laser array 3 includes a plurality of laser emitters.

[0113] The output end of the baseband processor 7 is connected to the input end of the digital-to-analog converter 11, the output end of the digital-to-analog converter 11 is connected to the second input end of the plurality of first comparators included in the multi-phase analog modulation circuit 12, the first input end of the plurality of first comparators is connected to the output end of the plurality of analog signal generating circuits, the output end of the plurality of first comparators is connected to the input end of the plurality of first amplifiers included in the amplifier array 2, the output end of the plurality of first amplifiers included in the amplifier array 2 is connected to the input end of the plurality of laser emitters included in the laser array 3. The output end of the laser detector 4 is connected to the input end of the second amplifier 5, the output end of the second amplifier 5 is connected to the input end of the analog-to-digital converter 6, and the output end of the analog-to-digital converter 6 is connected to the input end of the baseband processor 7.

[0114] The baseband processor 7 is used to generate a first digital electrical signal and output the first digital electrical signal to the digital-to-analog converter 11. The digital-to-analog converter 11 can convert the first digital electrical signal into a first analog electrical signal and output the first analog electrical signal to the multi-phase analog modulation circuit 12. The multi-phase analog modulation circuit 12 includes a plurality of analog signal generating circuits that can generate a plurality of second analog electrical signals, and the phases of the plurality of second analog electrical signals are all different. Each of the plurality of first comparators includes a first input terminal for receiving the second analog electrical signal generated by the connected analog signal generating circuit, and a second input terminal for receiving the first analog electrical signal. Afterwards, each first comparator can generate a target electrical signal based on the first analog electrical signal and the second analog electrical signal, and the phases of the target electrical signals generated by the plurality of first comparators are all different. After the multiple first amplifiers included in the amplifier array 2 amplify the power of the received target electrical signal, the amplified target electrical signal can drive the laser emitter connected in the laser array 3 to emit a first laser signal. After the multiple laser emitters all emit the first laser signal, the multiple first laser signals will aggregate into a second laser signal due to the aggregation of light when encountering an object, and reflect the second laser signal.

[0115] The laser detector 4 can detect the second laser signal, convert the second laser signal into a third analog electrical signal, and output the third analog electrical signal to the second amplifier 5. The second amplifier 5 can amplify the power of the third analog electrical signal, and then the analog-to-digital converter 6 can convert the amplified third analog electrical signal into a third digital electrical signal, and output the third digital electrical signal to the baseband processor 7. The baseband processor 7 can demodulate the third digital electrical signal and determine the distance between the laser detection device and the object based on the first digital electrical signal and the third digital electrical signal.

[0116] It should be noted that the “connections” described in the embodiments of the present application may all be direct connections. Optionally, in other possible cases, they may not be direct connections but may be connected through some components, which is not limited in the embodiments of the present application.

[0117] In the present application, since the multi-phase signal generating circuit can generate multiple target electrical signals with different phases, after the first amplifier included in the amplifier array amplifies the multiple target electrical signals, the first laser signal emitted by the laser emitter included in the laser array according to the amplified target electrical signal has strong anti-interference, thereby improving the accuracy of the detection distance of the laser detection device. In addition, since the laser array includes multiple laser emitters, the emission power of each laser emitter is relatively small, and the influence of the parasitic parameters of the laser emitter will be relatively small. Therefore, by emitting the laser signal through the laser array, the emission pulse width can be reduced.

[0118] Fig.15 This is a flow chart of a method for manufacturing a laser detection device provided by an embodiment of the present application, wherein the laser detection device includes a multi-phase signal generating circuit, an amplifier array and a laser array, wherein the amplifier array includes a plurality of first amplifiers, the laser array includes a plurality of laser emitters, the plurality of first amplifiers correspond to the plurality of laser emitters, the multi-phase signal generating circuit includes a plurality of output terminals corresponding to the plurality of first amplifiers, wherein the multi-phase signal generating circuit is used to generate a plurality of target electrical signals with different phases, each of the plurality of first amplifiers is used to amplify the target electrical signal output by the corresponding output terminal in the multi-phase signal generating circuit, and each of the plurality of laser emitters is used to emit a first laser signal according to the target electrical signal amplified by the corresponding first amplifier. See Fig.15 , the method comprises the following steps.

[0119] Step 1501: Connect multiple output terminals of a multi-phase signal generating circuit to corresponding input terminals of a first amplifier.

[0120] In some embodiments, the multiphase signal generating circuit may include a digital-to-analog converter and a multiphase analog modulation circuit, and the multiphase analog modulation circuit includes multiple output terminals corresponding to the multiple first amplifiers. In this case, the output terminal of the digital-to-analog converter can be connected to the input terminal of the multiphase analog modulation circuit, and the multiple output terminals of the multiphase analog modulation circuit can be connected to the input terminals of the corresponding first amplifiers. The digital-to-analog converter is used to convert the first digital electrical signal into a first analog electrical signal, and the multiphase analog modulation circuit is used to perform multiphase modulation on the first analog electrical signal to obtain the multiple target electrical signals with different phases.

[0121] It should be noted that the multi-phase analog modulation circuit may include multiple analog signal generating circuits and multiple first comparators, the multiple analog signal generating circuits correspond to the multiple first comparators, and the multiple first comparators correspond to the multiple first amplifiers. In this case, the output end of the digital-to-analog converter can be connected to the second input end of the multiple first comparators, the first input end of the multiple first comparators can be connected to the output end of the corresponding analog signal generating circuit, and the output end of the multiple first comparators can be connected to the input end of the corresponding first amplifier.

[0122] Among them, each analog signal generating circuit among the multiple analog signal generating circuits is used to generate a second analog electrical signal, the multiple second analog electrical signals generated by the multiple analog signal generating circuits have different phases, and each first comparator among the multiple first comparators is used to output a target electrical signal based on the input second analog electrical signal and the first analog electrical signal, so as to obtain the multiple target electrical signals with different phases.

[0123] In some other embodiments, the multiphase signal generating circuit includes a multiphase digital modulation circuit, and the multiphase digital modulation circuit includes a plurality of output terminals corresponding to the plurality of first amplifiers. In this case, the plurality of output terminals of the multiphase digital modulation circuit can be connected to the input terminals of the corresponding first amplifiers. The multiphase digital modulation circuit is used to perform multiphase modulation on the first digital electrical signal to obtain the plurality of target electrical signals with different phases.

[0124] It should be noted that the multi-phase digital modulation circuit includes a plurality of digital signal generating circuits and a plurality of second comparators, the plurality of digital signal generating circuits correspond to the plurality of second comparators, and the plurality of second comparators correspond to the plurality of first amplifiers. In this case, the output ends of the plurality of digital signal generating circuits can be connected to the first input ends of the corresponding second comparators, and the output ends of the plurality of second comparators can be connected to the input ends of the corresponding first amplifiers.

[0125] Among them, the second input ends of the multiple second comparators are used to input the first digital electrical signal, each digital signal generating circuit in the multiple digital signal generating circuits is used to generate a second digital electrical signal, the multiple second digital electrical signals generated by the multiple digital signal generating circuits have different phases, and each second comparator in the multiple second comparators is used to output a target electrical signal based on the input second digital electrical signal and the first digital electrical signal, so as to obtain the multiple target electrical signals with different phases.

[0126] Step 1502: Connect the output ends of the plurality of first amplifiers to corresponding laser transmitters.

[0127] Optionally, the laser detection device may further include a laser detector and a second amplifier. In this case, the output end of the laser detector may be connected to the input end of the second amplifier. The laser detector is used to detect the second laser signal and convert the second laser signal into a third analog electrical signal and then output it to the second amplifier.

[0128] Optionally, the laser detection device may further include an analog-to-digital converter and a baseband processor. In this case, the input end of the analog-to-digital converter may be connected to the output end of the second amplifier, the output end of the analog-to-digital converter may be connected to the input end of the baseband processor, and the output end of the baseband processor may be connected to the input end of the multi-phase signal generating circuit. The analog-to-digital converter is used to convert the third analog electrical signal into a third digital electrical signal, and output the third digital electrical signal to the baseband processor, the baseband processor is used to generate a first digital electrical signal, and output the first digital electrical signal to the multi-phase signal generating circuit, and is also used to detect the distance based on the first digital electrical signal and the third digital electrical signal.

[0129] Optionally, the laser detection device further comprises a low-pass filter. In this case, the low-pass filter can be connected in series between the laser detector and the second amplifier, or the low-pass filter can be connected in series between the second amplifier and the analog-to-digital converter.

[0130] It should be noted that the "connection" described in the embodiments of the present application may be fusion welding, pressure welding and brazing, and of course, other methods may also be used. The relevant explanations may refer to the introduction in the aforementioned embodiments, and the embodiments of the present application will not be repeated here.

[0131] In an embodiment of the present application, a multi-phase signal generating circuit can generate multiple target electrical signals with different phases. After the multiple target electrical signals are amplified by any first amplifier included in the amplifier array, they can drive any laser emitter included in the laser array to emit a first laser signal. It can be seen that each laser emitter only needs to emit a part of the power, thereby reducing the emission pulse width. In addition, since the multiple target electrical signals are electrical signals modulated by the multi-phase signal generating circuit, they have certain characteristic information. In this way, the multiple target electrical signals drive the laser to emit the first laser signal, which can improve the anti-interference ability of the first laser signal, thereby improving the accuracy of the detection distance of the laser detection device.

[0132] The embodiment of the present application also provides a sensor system, which includes one or more of the above-mentioned laser detection devices. Optionally, the sensor system may also include one or more of millimeter wave radars, camera devices, etc., and the number of millimeter wave radars may be one or more, and the number of camera devices may also be one or more.

[0133] The embodiment of the present application also provides a vehicle, which carries the above-mentioned sensor system. Optionally, the vehicle may also include a braking system, a control system, etc. The sensor system is used to detect the distance between the vehicle and other objects, the control system is used to issue a control instruction according to the distance detected by the sensor system, and the braking system is used to execute the control instruction issued by the control system.

[0134] The embodiment of the present application also provides a drone device, which carries the above-mentioned sensor system. Optionally, the drone device may also include a braking system, a control system, etc. The sensor system is used to detect the distance between the drone device and other objects, the control system is used to issue a control instruction according to the distance detected by the sensor system, and the braking system is used to execute the control instruction issued by the control system.

[0135] The above-mentioned embodiments are provided for the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A laser detection device, characterized in that: The laser detection device comprises: a multi-phase signal generating circuit, an amplifier array and a laser array, wherein the amplifier array comprises a plurality of first amplifiers, the laser array comprises a plurality of laser emitters, and the plurality of first amplifiers correspond to the plurality of laser emitters; The multi-phase signal generating circuit includes a plurality of output terminals corresponding to the plurality of first amplifiers, the plurality of output terminals of the multi-phase signal generating circuit are connected to the input terminals of the corresponding first amplifiers, the output terminals of the plurality of first amplifiers are connected to the corresponding laser emitters, the multi-phase signal generating circuit is used to generate a plurality of target electrical signals with different phases based on a first digital electrical signal, the first digital electrical signal is a digital electrical signal having certain characteristic information, each of the plurality of first amplifiers is used to amplify the target electrical signal output by the corresponding output terminal in the multi-phase signal generating circuit, each of the plurality of laser emitters is used to emit a first laser signal according to the target electrical signal amplified by the corresponding first amplifier, and the plurality of first laser signals emitted by the plurality of laser emitters constitute a laser signal for detecting distance.

2. The laser detection device according to claim 1, characterized in that: The multi-phase signal generating circuit includes a digital-to-analog converter and a multi-phase analog modulation circuit, wherein the multi-phase analog modulation circuit refers to a multi-phase pulse width modulation circuit of an analog signal, and the multi-phase analog modulation circuit includes a plurality of output terminals corresponding to the plurality of first amplifiers; The output end of the digital-to-analog converter is connected to the input end of the multi-phase analog modulation circuit, and the multiple output ends of the multi-phase analog modulation circuit are connected to the input ends of the corresponding first amplifier. The digital-to-analog converter is used to convert the first digital electrical signal into a first analog electrical signal, and the multi-phase analog modulation circuit is used to perform multi-phase modulation on the first analog electrical signal to obtain the multiple target electrical signals with different phases.

3. The laser detection device according to claim 2, characterized in that: The multi-phase analog modulation circuit includes a plurality of analog signal generating circuits and a plurality of first comparators, the plurality of analog signal generating circuits correspond to the plurality of first comparators, and the plurality of first comparators correspond to the plurality of first amplifiers; The output ends of the multiple analog signal generating circuits are connected to the first input ends of the corresponding first comparators, the second input ends of the multiple first comparators are connected to the output end of the digital-to-analog converter, and the output ends of the multiple first comparators are connected to the input ends of the corresponding first amplifiers. Each of the multiple analog signal generating circuits is used to generate a second analog electrical signal, and the multiple second analog electrical signals generated by the multiple analog signal generating circuits have different phases. Each of the multiple first comparators is used to output a target electrical signal based on the input second analog electrical signal and the first analog electrical signal, so as to obtain the multiple target electrical signals with different phases.

4. The laser detection device according to claim 1, characterized in that: The multi-phase signal generating circuit includes a multi-phase digital modulation circuit, which refers to a multi-phase pulse width modulation circuit for digital signals. The multi-phase digital modulation circuit includes multiple output terminals corresponding to the multiple first amplifiers. The multiple output terminals of the multi-phase digital modulation circuit are connected to the input terminals of the corresponding first amplifiers. The multi-phase digital modulation circuit is used to perform multi-phase modulation on the first digital electrical signal to obtain the multiple target electrical signals with different phases.

5. The laser detection device according to claim 4, characterized in that: The multi-phase digital modulation circuit includes a plurality of digital signal generating circuits and a plurality of second comparators, wherein the plurality of digital signal generating circuits correspond to the plurality of second comparators, and the plurality of second comparators correspond to the plurality of first amplifiers; The output ends of the multiple digital signal generating circuits are connected to the first input ends of the corresponding second comparators, the output ends of the multiple second comparators are connected to the input ends of the corresponding first amplifiers, the second input ends of the multiple second comparators are used to input the first digital electrical signal, each of the multiple digital signal generating circuits is used to generate a second digital electrical signal, the multiple second digital electrical signals generated by the multiple digital signal generating circuits have different phases, and each of the multiple second comparators is used to output a target electrical signal based on the input second digital electrical signal and the first digital electrical signal, so as to obtain the multiple target electrical signals with different phases.

6. The laser detection device according to any one of claims 1 to 5, characterized in that: The laser detection device also includes a laser detector and a second amplifier; The output end of the laser detector is connected to the input end of the second amplifier. The laser detector is used to detect the second laser signal and convert the second laser signal into a third analog electrical signal and then output it to the second amplifier.

7. The laser detection device according to claim 6, characterized in that: The laser detection device also includes an analog-to-digital converter and a baseband processor; The input end of the analog-to-digital converter is connected to the output end of the second amplifier, the output end of the analog-to-digital converter is connected to the input end of the baseband processor, the output end of the baseband processor is connected to the input end of the multi-phase signal generating circuit, the analog-to-digital converter is used to convert the third analog electrical signal into a third digital electrical signal, and output the third digital electrical signal to the baseband processor, the baseband processor is used to generate a first digital electrical signal, and output the first digital electrical signal to the multi-phase signal generating circuit, and is also used to detect distance based on the first digital electrical signal and the third digital electrical signal.

8. The laser detection device according to claim 7, characterized in that: The laser detection device also includes a low-pass filter; The low-pass filter is connected in series between the laser detector and the second amplifier, or is connected in series between the second amplifier and the analog-to-digital converter.

9. A method for manufacturing a laser detection device, characterized in that: The laser detection device comprises a multi-phase signal generating circuit, an amplifier array and a laser array, wherein the amplifier array comprises a plurality of first amplifiers, the laser array comprises a plurality of laser emitters, the plurality of first amplifiers correspond to the plurality of laser emitters, and the multi-phase signal generating circuit comprises a plurality of output terminals corresponding to the plurality of first amplifiers; The method comprises: Connecting a plurality of output terminals of the multi-phase signal generating circuit to corresponding input terminals of the first amplifier; Connecting the output ends of the plurality of first amplifiers to corresponding laser transmitters; Among them, the multi-phase signal generating circuit is used to generate multiple target electrical signals with different phases based on a first digital electrical signal, the first digital electrical signal is a digital electrical signal with certain characteristic information, each of the multiple first amplifiers is used to amplify the target electrical signal output by the corresponding output end of the multi-phase signal generating circuit, and each of the multiple laser emitters is used to emit a first laser signal according to the target electrical signal amplified by the corresponding first amplifier, and the multiple first laser signals emitted by the multiple laser emitters constitute a laser signal for detecting distance.

10. The method according to claim 9, characterized in that The multi-phase signal generating circuit includes a digital-to-analog converter and a multi-phase analog modulation circuit, wherein the multi-phase analog modulation circuit refers to a multi-phase pulse width modulation circuit of an analog signal, and the multi-phase analog modulation circuit includes a plurality of output terminals corresponding to the plurality of first amplifiers; The step of connecting the plurality of output terminals of the multi-phase signal generating circuit to the corresponding input terminals of the first amplifier comprises: Connecting the output end of the digital-to-analog converter to the input end of the multi-phase analog modulation circuit; Connecting a plurality of output terminals of the multi-phase analog modulation circuit to corresponding input terminals of the first amplifier; The digital-to-analog converter is used to convert the first digital electrical signal into a first analog electrical signal, and the multi-phase analog modulation circuit is used to perform multi-phase modulation on the first analog electrical signal to obtain the multiple target electrical signals with different phases.

11. The method according to claim 10, characterized in that The multi-phase analog modulation circuit includes a plurality of analog signal generating circuits and a plurality of first comparators, the plurality of analog signal generating circuits correspond to the plurality of first comparators, and the plurality of first comparators correspond to the plurality of first amplifiers; The step of connecting the output end of the digital-to-analog converter to the input end of the multi-phase analog modulation circuit comprises: Connecting the output terminal of the digital-to-analog converter to the second input terminals of the plurality of first comparators; Connecting the first input terminals of the plurality of first comparators to the output terminals of the corresponding analog signal generating circuits; The step of connecting the plurality of output terminals of the multi-phase analog modulation circuit to the corresponding input terminals of the first amplifier comprises: connecting the output terminals of the plurality of first comparators to the input terminals of corresponding first amplifiers; Among them, each analog signal generating circuit among the multiple analog signal generating circuits is used to generate a second analog electrical signal, the multiple second analog electrical signals generated by the multiple analog signal generating circuits have different phases, and each first comparator among the multiple first comparators is used to output a target electrical signal based on the input second analog electrical signal and the first analog electrical signal, so as to obtain the multiple target electrical signals with different phases.

12. The method according to claim 9, characterized in that The multi-phase signal generating circuit comprises a multi-phase digital modulation circuit, wherein the multi-phase digital modulation circuit refers to a multi-phase pulse width modulation circuit of a digital signal, and the multi-phase digital modulation circuit comprises a plurality of output terminals corresponding to the plurality of first amplifiers; The step of connecting the plurality of output terminals of the multi-phase signal generating circuit to the corresponding input terminals of the first amplifier comprises: Connecting a plurality of output terminals of the multi-phase digital modulation circuit to corresponding input terminals of the first amplifier; The multi-phase digital modulation circuit is used to perform multi-phase modulation on the first digital electrical signal to obtain the multiple target electrical signals with different phases.

13. The method according to claim 12, characterized in that The multi-phase digital modulation circuit includes a plurality of digital signal generating circuits and a plurality of second comparators, wherein the plurality of digital signal generating circuits correspond to the plurality of second comparators, and the plurality of second comparators correspond to the plurality of first amplifiers; The step of connecting the plurality of output terminals of the multi-phase digital modulation circuit to the corresponding input terminals of the first amplifier comprises: Connecting the output terminals of the plurality of digital signal generating circuits to the first input terminals of the corresponding second comparators; connecting the output terminals of the plurality of second comparators to the input terminals of the corresponding first amplifiers; Among them, the second input ends of the multiple second comparators are used to input the first digital electrical signal, each digital signal generating circuit in the multiple digital signal generating circuits is used to generate a second digital electrical signal, the multiple second digital electrical signals generated by the multiple digital signal generating circuits have different phases, and each second comparator in the multiple second comparators is used to output a target electrical signal based on the input second digital electrical signal and the first digital electrical signal, so as to obtain the multiple target electrical signals with different phases.

14. The method according to any one of claims 9 to 13, characterized in that: The laser detection device also includes a laser detector and a second amplifier; The method further comprises: Connecting the output end of the laser detector to the input end of the second amplifier; The laser detector is used to detect the second laser signal, and convert the second laser signal into a third analog electrical signal and output it to the second amplifier.

15. The method according to claim 14, characterized in that The laser detection device also includes an analog-to-digital converter and a baseband processor; The method further comprises: Connecting the input terminal of the analog-to-digital converter to the output terminal of the second amplifier; Connecting the output of the analog-to-digital converter to the input of the baseband processor; Connecting the output terminal of the baseband processor to the input terminal of the multi-phase signal generating circuit; Among them, the analog-to-digital converter is used to convert the third analog electrical signal into a third digital electrical signal, and output the third digital electrical signal to the baseband processor, the baseband processor is used to generate a first digital electrical signal, and output the first digital electrical signal to the multi-phase signal generating circuit, and is also used to detect distance based on the first digital electrical signal and the third digital electrical signal.

16. The method according to claim 15, characterized in that The laser detection device also includes a low-pass filter; The method further comprises: The low-pass filter is connected in series between the laser detector and the second amplifier, or the low-pass filter is connected in series between the second amplifier and the analog-to-digital converter.

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