Laser radar

Abstract

The present disclosure provides a lidar comprising: a light source configured to emit a light signal; the optical communication receiving unit is configured to receive the optical signal, convert the optical signal into an initial electric signal, convert the initial electric signal into a first differential signal and a second differential signal, and generate a digital signal corresponding to the optical signal according to the first differential signal and the second differential signal; the digital signal is used for representing information carried by the optical signal. By adopting the technical scheme, the stability of digital signal generation in the optical communication receiving link can be improved, and the working performance of the laser radar is further improved.

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar technology, and in particular to a laser radar. Background Art

[0002] With the rise of autonomous driving technology, LiDAR (Light Detection and Ranging) has received increasing attention as an important environmental perception component.

[0003] The working principle of lidar is: lidar emits detection light to the surrounding environment, and collects echo light reflected by external targets (such as vehicles, pedestrians, buildings, etc.) to obtain echo signals. After data processing based on the detection light signal and the echo signal, relevant information of the target can be obtained, such as the target's distance, direction, height, speed, posture, and even shape parameters, thereby realizing target detection.

[0004] Some laser radars use wireless optical communication technology to achieve data transmission between the upper and lower panels of the laser radar. Therefore, how to provide a technical solution to improve the stability of digital signal generation in the optical communication receiving link has become an urgent problem to be solved. Summary of the invention

[0005] In view of this, the present disclosure provides a laser radar, which can improve the stability of digital signal generation in an optical communication receiving link, thereby improving the working performance of the laser radar.

[0006] The present disclosure provides a laser radar, comprising:

[0007] a light source configured to emit a light signal;

[0008] An optical communication receiving unit is configured to receive the optical signal, convert the optical signal into an initial electrical signal, and convert the initial electrical signal into a first differential signal and a second differential signal, and generate a digital signal corresponding to the optical signal based on the first differential signal and the second differential signal, wherein the digital signal is used to characterize the information carried by the optical signal.

[0009] Optionally, the optical communication receiving unit includes:

[0010] a detection module, configured to detect the optical signal and convert the optical signal into the initial electrical signal;

[0011] a differential module, configured to convert the initial electrical signal into the first differential signal and the second differential signal;

[0012] The digital signal generating module is configured to generate a digital signal corresponding to the optical signal according to the first differential signal and the second differential signal.

[0013] Optionally, the differential conversion ratio of the differential module is adjustable, and the differential conversion ratio is used to characterize the amplification factor of the initial electrical signal.

[0014] Optionally, the differential module includes: at least one balanced-unbalanced transformer, any balanced-unbalanced transformer includes a first coil and a second coil coupled to each other, wherein the first coil is coupled to the detection module; and the second coil is coupled to the digital signal generation module.

[0015] Optionally, the differential conversion ratio of the differential module is determined according to the resistance value of the first coil and the resistance value of the second coil in the balanced-unbalanced transformer.

[0016] Optionally, the at least one balun is a plurality of baluns, and each balun has a different conversion ratio, which is the ratio of the resistance of the first coil to the resistance of the second coil in the balun.

[0017] Optionally, the differential module also includes multiple enable channels, one enable channel corresponds to one balun, and the enable channel is coupled between the corresponding balun and the detection module; the enable channel is configured to, when enabled, conduct the path between the corresponding balun and the detection module; wherein the conversion ratio of the balun in the on state is the current differential conversion ratio of the differential module.

[0018] Optionally, the digital signal generation module includes a gain submodule and a comparison submodule, wherein:

[0019] The gain submodule is coupled to the differential module, the comparison submodule and the power supply respectively, and is configured to amplify the first differential signal and the second differential signal, and convert the types of the first differential signal and the second differential signal to obtain the first differential voltage and the second differential voltage;

[0020] The comparison submodule is configured to output a corresponding digital signal according to the first differential voltage and the second differential voltage.

[0021] Optionally, the gain submodule includes a first gain device and a second gain device, wherein:

[0022] The first gain device is coupled to the differential module, the first input terminal of the comparison submodule and the power supply respectively, and is configured to amplify the first differential signal and convert the type of the first differential signal to obtain the first differential voltage;

[0023] The second gain device is coupled to the differential module, the second input terminal of the comparison submodule and the power supply respectively, and is configured to amplify the second differential signal and convert the type of the second differential signal to obtain the second differential voltage.

[0024] Optionally, the first gain device includes: a first resistor and a second resistor, the first end of the first resistor is grounded, the second end of the first resistor is coupled to the first end of the second resistor, the first input end of the comparison submodule and the first output end of the differential module respectively; the second end of the second resistor is coupled to the power supply;

[0025] The second gain device includes: a third resistor and a fourth resistor, the first end of the third resistor is coupled to the power supply, the second end of the third resistor is coupled to the first end of the fourth resistor, the second input end of the comparison submodule and the second output end of the differential module respectively; the second end of the fourth resistor is grounded.

[0026] Optionally, at least two of the first resistor, the second resistor, the third resistor and the fourth resistor have different resistance values.

[0027] Optionally, the resistance value of the first resistor is the same as the resistance value of the third resistor, and the resistance value of the second resistor is the same as the resistance value of the fourth resistor.

[0028] Optionally, the resistance value of at least one of the first resistor, the second resistor, the third resistor and the fourth resistor is adjustable.

[0029] Optionally, the comparison submodule is configured to output a first digital signal when the first differential voltage is greater than the second differential voltage; and to output a second digital signal when the first differential voltage is less than the second differential voltage.

[0030] Optionally, the detection module includes a photodetector.

[0031] Optionally, the optical communication receiving unit further includes: a DC source module, coupled to the detection module and configured to provide a DC bias voltage to the detection module.

[0032] Optionally, the optical communication receiving unit further includes: a first filtering module, respectively coupled to the DC source module, the detection module, and the differential module, and configured to filter out noise in the DC bias voltage.

[0033] Optionally, the optical communication receiving unit further includes: a second filtering module, disposed between the differential module and the digital signal generating module, and configured to filter out noise in the first differential signal and the second differential signal.

[0034] Optionally, the second filtering module includes a common mode inductor.

[0035] Optionally, the laser radar also includes: a data processing unit, coupled to the optical communication receiving unit, and configured to process the digital signal to obtain information carried in the optical signal.

[0036] The laser radar provided by the present disclosure may include a light source and an optical communication receiving unit, wherein the optical communication receiving unit can receive the optical signal emitted by the light source and convert the optical signal into an initial electrical signal, and then the optical communication receiving unit can convert the initial electrical signal into a first differential signal and a second differential signal, and based on the first differential signal and the second differential signal, a digital signal corresponding to the optical signal can be generated, and since the digital signal can be used to characterize the information carried by the optical signal, the detected target parameter information can be obtained. With the above-mentioned laser radar, since the first differential signal and the second differential signal have strong anti-interference performance, the transmission mode of the differential signal can reduce interference, thereby improving the stability of the digital signal generation in the optical communication receiving link, and thus improving the working performance of the laser radar.

[0037] Furthermore, since the differential conversion ratio of the differential module is adjustable, and the differential conversion ratio can be used to characterize the amplification factor of the initial electrical signal, the amplification factor of the initial electrical signal can be controlled by adjusting the differential conversion ratio of the differential module to obtain differential signals with different amplitudes, so that the optical communication receiving unit can be suitable for different scenarios.

[0038] Furthermore, the differential module may include at least one balanced-unbalanced transformer, and any balanced-unbalanced transformer may include a first coil and a second coil coupled to each other, wherein the first coil is coupled to the detection module; and the second coil is coupled to the digital signal generation module. By using at least one balanced-unbalanced transformer, a first differential signal and a second differential signal in a balanced state can be obtained, thereby improving the anti-interference performance of the first differential signal and the second differential signal, further improving the stability of digital signal generation, and thus improving communication quality.

[0039] Further, the digital signal generation module may include a gain submodule and a comparison submodule, wherein: the gain submodule may amplify the first differential signal and the second differential signal, and convert the types of the first differential signal and the second differential signal to obtain the first differential voltage and the second differential voltage, and then the comparison submodule may output a corresponding digital signal according to the first differential voltage and the second differential voltage. By amplifying the first differential signal and the second differential signal, the gain of the digital signal can be increased, and by converting the types of the first differential signal and the second differential signal, the first differential signal and the second differential signal can be adapted to the comparison submodule to obtain a digital signal corresponding to the optical signal.

[0040] Furthermore, the optical communication receiving unit may also include a first filtering module, which can filter out noise in the DC bias voltage to further improve the stability of digital signal generation.

[0041] Furthermore, the optical communication receiving unit may further include a second filtering module, which may filter out noise in the first differential signal and the second differential signal, thereby further improving the stability of digital signal generation. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments of the present disclosure or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0043] Figure 1 It is a schematic diagram of the structure of a laser radar in an embodiment of the present disclosure;

[0044] Figure 2 It is a structural schematic diagram of an optical communication receiving unit in an embodiment of the present disclosure;

[0045] Figure 3 This is a schematic diagram of the structure of another optical communication receiving unit in an embodiment of the present disclosure;

[0046] Figure 4 It is a structural schematic diagram of a digital signal generating module in an embodiment of the present disclosure;

[0047] Figure 5 is a waveform diagram of corresponding monitoring points in an optical communication receiving unit in an embodiment of the present disclosure;

[0048] Figure 6 is a structural schematic diagram of another optical communication receiving unit in an embodiment of the present disclosure;

[0049] Figure 7 It is a structural schematic diagram of an optical communication receiving unit in a specific application scenario in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0050] As described in the background technology, when laser radar adopts wireless optical communication, it is necessary to ensure the stability and reliability of signal transmission.

[0051] In order to solve the above technical problems, the present disclosure provides a laser radar, which can convert an optical signal emitted by a light source into an initial electrical signal, and convert the initial electrical signal into a first differential signal and a second differential signal. Since the first differential signal and the second differential signal have strong anti-interference performance, the differential signal transmission method is adopted to reduce interference, thereby improving the stability of digital signal generation in the optical communication receiving link, thereby improving the working performance of the laser radar.

[0052] In order to enable those skilled in the art to better understand and implement the present disclosure, the concept, scheme, principle and advantages of the present disclosure are described in detail below with reference to the accompanying drawings and through specific application examples.

[0053] The present invention provides a laser radar, such as Figure 1 The schematic diagram of the structure of a laser radar in the present disclosure is shown. In some embodiments, the laser radar 100 may include: a light source 110 and an optical communication receiving unit 120, wherein:

[0054] The light source 110 is configured to emit a light signal;

[0055] The optical communication receiving unit 120 is configured to receive the optical signal, convert the optical signal into an initial electrical signal, and convert the initial electrical signal into a first differential signal and a second differential signal, and generate a digital signal corresponding to the optical signal based on the first differential signal and the second differential signal, wherein the digital signal is used to characterize the information carried by the optical signal.

[0056] In a specific implementation, when the light source 110 emits an optical signal, the optical communication receiving unit 120 can convert the received optical signal into an initial electrical signal, and perform differential processing on the initial electrical signal to obtain a first differential signal and a second differential signal corresponding to the initial electrical signal. Since the first differential signal and the second differential signal have strong anti-interference performance, the use of a differential signal transmission method can reduce interference, and then according to the first differential signal and the second differential signal, the impact of the external environment on the digital signal can be reduced, thereby improving the stability of digital signal generation in the optical communication receiving link, thereby improving the working performance of the lidar.

[0057] Among them, the differential signal refers to a signal with the same amplitude and opposite phase generated on two branches in the optical communication receiving link. Therefore, after the initial electrical signal is differentially processed in the embodiment of the present disclosure, two signals that are differential signals of each other are obtained, namely the first differential signal and the second differential signal.

[0058] In order to enable those skilled in the art to better understand and implement the embodiments of the present disclosure, some specific examples are given below for the specific implementation methods of the laser radar in the embodiments of the present disclosure.

[0059] In some embodiments of the present disclosure, the light source may be implemented by a light emitting diode (LED). In the subsequent examples, LED is used as an example.

[0060] As an optional example, the light source may include one LED or multiple LEDs, and the multiple LEDs may be configured according to a preset connection relationship.

[0061] In some other optional examples, the light source can also be realized by a laser diode LD. The embodiments of the present disclosure do not limit the type of light source as long as it can emit light signals when applied to a laser radar.

[0062] In a specific implementation, information can be transmitted by emitting a light signal with varying brightness through a light source, and then an optical communication receiving unit can obtain a digital signal corresponding to the light signal according to the light signal with varying brightness.

[0063] In some embodiments of the present disclosure, continue to refer to Figure 1 , the optical communication receiving unit 120 may include: a detection module 121, a differential module 122 and a digital signal generating module 123, wherein:

[0064] The detection module 121 is configured to detect the optical signal and convert the optical signal into the initial electrical signal;

[0065] The differential module 122 is configured to convert the initial electrical signal into the first differential signal and the second differential signal;

[0066] The digital signal generating module 123 is configured to generate a digital signal corresponding to the optical signal according to the first differential signal and the second differential signal.

[0067] In an optional implementation, the detection module 121 can detect in real time the light signal of the brightness change emitted by the light source 110. When the light signal is detected, the detection module 121 can convert the detected light signal into an initial electrical signal. The differential module 122 can perform differential processing on the initial electrical signal to obtain a corresponding first differential signal and a second differential signal. Then, the digital signal generation module 123 can generate a digital signal corresponding to the light signal based on the first differential signal and the second differential signal. Since the digital signal can be used to characterize the brightness change of the light signal, and thus can characterize the information carried by the light signal, the information carried by the light signal, such as point cloud data detected by the lidar, control signals, etc., can be obtained by subsequently processing the digital signal.

[0068] By adopting the optical communication receiving unit with the above structure, by converting the optical signal into the initial electrical signal, the anti-interference performance during the transmission of the initial electrical signal can be improved, the influence of the external environment on the digital signal can be reduced, and the stability of the digital signal generation can be further improved.

[0069] In an optional implementation, the detection module includes a photodetector PD, which is capable of converting an optical signal into an electrical signal.

[0070] In some other embodiments, the detection module may further include other devices capable of sensing optical signals, such as a photoelectric measurement sensor, an avalanche photodiode, and the like.

[0071] In a specific implementation, when the differential module is used to convert the initial electrical signal into the first differential signal and the second differential signal, the first differential signal and the second differential signal with different differential conversion ratios can be obtained according to actual needs.

[0072] As an implementation example, the differential conversion ratio of the differential module in the embodiment of the present disclosure is adjustable, and the differential conversion ratio can be used to characterize the amplification factor of the initial electrical signal.

[0073] That is, by adjusting the differential conversion ratio of the differential module, the amplification factor of the initial electrical signal can be controlled, and the initial electrical signal can be amplified to different degrees to obtain differential signals with different amplitudes (including a first differential signal and a second differential signal), so that the optical communication receiving unit can be suitable for different scenarios.

[0074] In some embodiments, differential modules with different structures and characteristics may be used to perform differential transformation processing on the initial electrical signal to obtain corresponding first differential signals and second differential signals.

[0075] As an optional example, the differential module in the embodiment of the present disclosure may include at least one balanced-unbalanced transformer (Balun), and any balanced-unbalanced transformer includes a first coil and a second coil coupled to each other, wherein the first coil is coupled to the detection module; and the second coil is coupled to the digital signal generation module.

[0076] Combination Figure 1 and Figure 2 As shown in the structural schematic diagram of an optical communication receiving unit, the differential module 122 may include a balanced-unbalanced transformer, wherein the balanced-unbalanced transformer may include a first coil LP1 and a second coil LP2 coupled to each other, wherein the first coil LP1 may be coupled to the detection module 121, and the second coil LP2 may be coupled to the digital signal generating module 123, and through the first coil LP1 and the second coil LP2, the initial electrical signal generated by the detection module 121 can be converted into a first differential signal and a second differential signal, and output to the digital signal generating module 123.

[0077] In an optional implementation, when the differential module is a balanced-unbalanced transformer, the differential transformation ratio of the differential module is determined according to the resistance value of the first coil and the resistance value of the second coil in the balanced-unbalanced transformer.

[0078] That is, the differential conversion ratio of the differential module can be changed by adjusting the resistance value of the first coil and / or the resistance value of the second coil in the balanced-unbalanced transformer, thereby changing the amplification factor of the initial electrical signal.

[0079] Continue to refer to Figure 2 By changing the resistance of the first coil LP1 and / or the resistance of the second coil LP2, the conversion ratio of the balun can be changed, and the conversion ratio of the balun Balun1 can be used as the current differential conversion ratio of the differential module.

[0080] In an optional example, the resistance values ​​of the first coil and the second coil may be changed by changing parameters such as length, thickness, and material of the first coil and the second coil.

[0081] As can be seen from the foregoing, the ratio of the resistance value of the first coil to the resistance value of the second coil in the balun can be used as the differential conversion ratio of the differential module. Therefore, in some embodiments of the present disclosure, the resistance values ​​of the first coil and the second coil can be adjusted so that the balun has different conversion ratios, and then the balun with different conversion ratios can be selected as the differential module.

[0082] As an implementation example, the optical communication receiving unit in the embodiment of the present disclosure may include multiple balanced-unbalanced transformers, and the conversion ratios of the balanced-unbalanced transformers may be different.

[0083] like Figure 3 As shown in the structural schematic diagram of another optical communication receiving unit in the embodiment of the present disclosure, the multiple balanced-unbalanced converters can be n balanced-unbalanced converters, such as Balun11 to Balun1n, wherein the conversion ratios of the balanced-unbalanced converters Balun11 to Balun1n are different.

[0084] For example, the conversion ratios of the balanced-unbalanced transformers Balun11 to Balun1n are k1, k2, ..., kn, respectively, and k1, k2, ..., kn are all different, wherein n is an integer greater than 1. The specific structure of each balanced-unbalanced transformer can be found in Figure 2 and its corresponding description content.

[0085] It should be noted that the embodiments of the present disclosure do not limit the specific value of the conversion ratio of the balun, as long as the conversion ratios of the multiple baluns are different. For example, among the multiple baluns, there may be a balun with a conversion ratio greater than 1, there may be a balun with a conversion ratio less than 1, and there may be a balun with a conversion ratio equal to 1.

[0086] In some embodiments, the conversion ratio may be the ratio of the resistance value of the first coil to the resistance value of the second coil in the balun. Therefore, by selecting the first coil and the second coil with different resistance values, each balun can have a different conversion ratio, and further by selecting different baluns, the differential module can have a different differential conversion ratio, without adjusting the parameters of the balun.

[0087] In a specific implementation, a plurality of baluns may be disposed on a substrate, and the initial electrical signal may be amplified by a corresponding multiple by using different baluns.

[0088] In some embodiments of the present disclosure, a balanced-unbalanced transformer with different transformation ratios can be connected between the detection module and the digital signal generation module in a variety of ways.

[0089] As an optional example, the differential module in the embodiment of the present disclosure may also include multiple enable channels, one enable channel corresponds to one balance-unbalanced transformer, and the enable channel is coupled between the corresponding balance-unbalanced transformer and the detection module; the enable channel is configured to, when enabled, conduct the path between the corresponding balance-unbalanced transformer and the detection module; wherein the conversion ratio of the balance-unbalanced transformer in the on state is the current differential conversion ratio of the differential module.

[0090] Continue to refer to Figure 3 The differential module may also include n selection channels corresponding to the n baluns, for example, selection channels XT1 to XTn, wherein the selection channel XT1 is coupled between the balun11 and the detection module 121, the selection channel XT2 is coupled between the balun12 and the detection module 121, ..., the selection channel XTn is coupled between the balun1n and the detection module 121.

[0091] When any one of the selection channels XT1 to XTn is selected, the path between the balanced-unbalanced transformer and the detection module corresponding to the selected selection channel is turned on. For example, when the selection channel XT1 is selected, the path between the balanced-unbalanced transformer Balun1 and the detection module 121 is turned on, and at this time, the conversion ratio k1 of the balanced-unbalanced transformer Balun1 can be used as the current differential conversion ratio of the differential module, and then the initial electrical signal can be amplified k1 times, and the amplified first differential signal and the second differential signal are output to the digital signal generation module.

[0092] In some embodiments, the conversion ratio of each balun can be preconfigured, and then the initial electrical signal can be amplified to a corresponding degree by selecting the corresponding selection channel according to actual needs and different scenarios. For example, when the digital signal strength is low, a balun with a larger conversion ratio can be selected to improve the digital signal strength.

[0093] In a specific implementation, any one of the gating channels can be selected in a variety of ways, for example, automatically selected according to a determination condition, manually selected, or by using an auxiliary device electrically connected to the gating channel, the auxiliary device can respond to an input gating signal to select any one of the gating channels.

[0094] That is, by using an asymmetrical balanced-unbalanced transformer, the initial electrical signal can be converted into a first differential signal and a second differential signal.

[0095] In a specific implementation, the differential signal may be a differential current signal or a differential voltage signal, and the embodiments of the present disclosure do not impose any limitation on the type of the differential signal.

[0096] In some examples, the differential signal may be a differential current signal.

[0097] By using the differential module in the above example, the initial electrical signal can be converted into a first differential signal and a second differential signal, and by adjusting the differential conversion ratio of the differential module, a first differential signal and a second differential signal with different amplitudes can be obtained, and then the digital signal generation module can generate a corresponding digital signal based on the first differential signal and the second differential signal.

[0098] In some embodiments of the present disclosure, Figure 1 and Figure 4 The structural diagram of a digital signal generating module in the embodiment of the present disclosure is described, the digital signal generating module 123 includes a gain submodule (not shown) and a comparison submodule 1231, wherein:

[0099] The gain submodule is coupled to the differential module 122, the comparison submodule 1231 and the power supply VDD respectively, and is configured to amplify the first differential signal and the second differential signal, and convert the types of the first differential signal and the second differential signal to obtain the first differential voltage and the second differential voltage;

[0100] The comparison submodule 1231 is configured to output a corresponding digital signal according to the first differential voltage and the second differential voltage.

[0101] In an optional implementation, the gain submodule can amplify and perform type conversion processing on the first differential signal and the second differential signal respectively, and input the obtained first differential voltage to the first input terminal of the comparison submodule, and input the obtained second differential voltage to the second input terminal of the comparison submodule, and then output a corresponding digital signal according to the relative size relationship between the first differential voltage and the second differential voltage.

[0102] In some embodiments, the first input terminal of the comparison submodule may be a non-inverting input terminal (+), and the second input terminal of the comparison submodule may be an inverting input terminal (-).

[0103] By amplifying the first differential signal and the second differential signal, the gain of the digital signal can be improved, and by converting the types of the first differential signal and the second differential signal, they can be adapted to the comparison submodule to obtain a digital signal corresponding to the optical signal.

[0104] In some embodiments of the present disclosure, the first differential signal and the second differential signal may be processed separately by providing different electronic devices or circuits in the gain submodule.

[0105] As an implementation example, continue to refer to Figure 4 , the gain submodule may include a first gain device 1232 and a second gain device 1233, wherein:

[0106] The first gain device 1232 is coupled to the differential module 122, the first input terminal of the comparison submodule 1231 and the power supply VDD respectively, and is configured to amplify the first differential signal and convert the type of the first differential signal to obtain the first differential voltage;

[0107] The second gain device 1233 is coupled to the differential module 122, the second input terminal of the comparison submodule 1231 and the power supply VDD respectively, and is configured to amplify the second differential signal and convert the type of the second differential signal to obtain the second differential voltage.

[0108] In an optional implementation, the first gain device 1232 can amplify and type-convert the first differential signal, and input the obtained first differential voltage to the first input terminal of the comparison submodule 1231, and the second gain device 1233 can amplify and type-convert the second differential signal, and input the obtained second differential voltage to the second input terminal of the comparison submodule 1231.

[0109] That is, by amplifying and converting the first differential signal and the second differential signal respectively through different gain devices, the probability of crosstalk between the first differential signal and the second differential signal can be reduced, the anti-interference performance during signal transmission can be improved, and the processing efficiency can be improved.

[0110] In some embodiments of the present disclosure, continue to refer to Figure 4 The first gain device 1232 may include: a first resistor R1 and a second resistor R2, the first end of the first resistor R1 is grounded, the second end of the first resistor R1 is respectively coupled to the first end of the second resistor R2, the first input end of the comparison submodule 1231 and the first output end of the differential module 122; the second end of the second resistor R2 is coupled to the power supply VDD.

[0111] The second gain device 1233 includes: a third resistor R3 and a fourth resistor R4, the first end of the third resistor R3 is coupled to the power supply VDD, the second end of the third resistor R3 is respectively coupled to the first end of the fourth resistor R4, the second input end of the comparison submodule 1231 and the second output end of the differential module 122; the second end of the fourth resistor R4 is grounded.

[0112] Combination Figure 4 and Figure 5 ,in, Figure 5 The waveform diagram of the initial electrical signal I converted by the detection module within 0 to 50 μs, the waveform diagram of the first differential voltage signal U1 corresponding to the first differential signal converted by the first gain device 1232, and the waveform diagram of the second differential voltage signal U2 corresponding to the second differential signal converted by the second gain device 1233 are shown.

[0113] like Figure 5 As shown, in the time period from 0 to t2, a schematic diagram of the waveform change of the initial electrical signal I within a period of time is shown, and the initial electrical signal I may include a high level segment and a low level segment, wherein:

[0114] During the period from 0 to t1, the initial electrical signal I is in the high level segment, and its corresponding signal amplitude is I L1 When the signal amplitude is I L1 After the initial electrical signal I is converted into a first differential signal and a second differential signal and input into the gain submodule, a first differential voltage U corresponding to the first differential signal can be obtained through the first gain device 1232. L11 Through the second gain device 1233, the second differential voltage U corresponding to the second differential signal can be obtained L22 .

[0115] At time t1, the initial electrical signal I changes from a high level to a low level.

[0116] During the period from t1 to t2, the initial electrical signal I is in the low level segment, and its corresponding signal amplitude is I L2 When the signal amplitude is I L2 After the initial electrical signal I is converted into a first differential signal and a second differential signal and input into the gain submodule, a first differential voltage U corresponding to the first differential signal can be obtained through the first gain device 1232. L12 Through the second gain device 1233, the second differential voltage U corresponding to the second differential signal can be obtained L21 .

[0117] Among them, since the first differential signal and the second differential signal are differential signals, the voltage signals obtained by converting them are voltage differential signals with equal amplitudes and a phase difference of 180°, and thus the voltages corresponding to the voltage signals are differential voltages.

[0118] Next refer to Figure 5 , whether in the period from 0 to t1 or from t1 to t2, the value of the first differential voltage corresponding to the first differential signal and the value of the second differential voltage corresponding to the second differential signal are different, so when the first differential voltage corresponding to the first differential signal and the second differential voltage corresponding to the second differential signal are input to the comparison submodule 1231, a differential mode voltage can be generated between the first input terminal and the second input terminal of the comparison submodule 1231. For example, the differential mode voltage can be: U L21 -U L12 Or: U L11 -U L22 , and then under the action of the differential mode voltage, the comparison submodule 1231 can generate a digital signal.

[0119] It should be noted that, first of all, Figure 5 It is only used to illustrate that the first differential signal can be converted into a first differential voltage, and the second differential signal can be converted into a second differential voltage through the gain submodule. Figure 5 The initial electrical signal, the amplitude of the first differential voltage and the second differential voltage, the pulse width, the number of pulses, and the transition time of the high and low levels shown in the figure are only examples. Different waveform diagrams can be obtained for different optical communication receiving scenarios, and the embodiments of the present disclosure do not limit this. Secondly, Figure 5 The description is made by taking the initial electrical signal as a current signal as an example. In some other embodiments, the initial electrical signal may also be a voltage signal.

[0120] Continue to refer to Figure 4 , when the first gain device 1232 does not obtain the first differential signal, since the first resistor R1 and the second resistor R2 are connected in series, and the second resistor R2 is coupled to the power supply VDD, the voltage value of the first input terminal of the comparison submodule 1231 can be: U VDD *R R1 / (R R1 +R R2 ), where U VDD The voltage provided by the power supply VDD, R R1 is the resistance value of the first resistor R1, R R2 is the resistance value of the second resistor R2.

[0121] When the second gain device 1233 does not obtain the second differential signal, since the third resistor R3 and the fourth resistor R4 are connected in series and the third resistor R3 is coupled to the power supply terminal VDD, the voltage value of the first input terminal of the comparison submodule 1231 can be: U VDD *R R4 / (R R3 +R R4 ), where U VDD The voltage provided by the power supply VDD, R R3 is the resistance value of the third resistor R3, R R4 is the resistance value of the fourth resistor R4.

[0122] Furthermore, through the first resistor R1, the second resistor R2, the third resistor R3 and the fourth resistor R4, a suitable static operating voltage can be provided for the first input terminal and the second input terminal of the comparison submodule 1231. For example, the static operating voltage of the first input terminal (non-inverting input terminal) can be U VDD *R R1 / (R R1 +R R2 ), the static operating voltage of the second input terminal (inverting input terminal) can be U VDD *R R4 / (R R3 +R R4 ).

[0123] In the embodiment of the present disclosure, the parameters of the first resistor, the second resistor, the third resistor and the fourth resistor can be flexibly set according to the actual working state of the optical communication receiving unit.

[0124] As an optional example, at least two resistors among the first resistor, the second resistor, the third resistor, and the fourth resistor have different resistance values.

[0125] Specifically, since at least two of the first resistor, the second resistor, the third resistor and the fourth resistor may have different resistance values, the first differential voltage obtained by amplification and type conversion by the first resistor is different from the second differential voltage obtained by amplification and type conversion by the second resistor, thereby causing the differential voltage generated between the first input terminal and the second input terminal of the comparison submodule to exceed the voltage threshold of the comparison submodule itself.

[0126] As an optional example, the resistance value of the first resistor may be the same as the resistance value of the third resistor, and the resistance value of the second resistor may be the same as the resistance value of the fourth resistor, thereby enabling the first gain device and the second gain device to have the same amplification factor.

[0127] As another optional example, the resistance value of at least one of the first resistor, the second resistor, the third resistor, and the fourth resistor is adjustable. By adjusting the resistance value of at least one of the first resistor, the second resistor, the third resistor, and the fourth resistor, the amplitude of the differential mode voltage generated between the first input terminal and the second input terminal of the comparison submodule and the bandwidth of the generated digital signal can be adjusted, so that the optical communication receiving unit has a higher communication frequency.

[0128] In some embodiments, by adjusting the resistance of at least one of the first resistor, the second resistor, the third resistor and the fourth resistor, the bandwidth of the generated digital signal can be 10Mbps to 300Mbps, and the communication frequency of the optical communication receiving unit can reach 1MHz to 1GHz.

[0129] In some embodiments of the present disclosure, when the comparison submodule obtains the first differential voltage and the second differential voltage, a corresponding digital signal may be output according to the relative magnitude relationship between the first differential voltage and the second differential voltage.

[0130] For example, the comparison submodule may output a first digital signal when the first differential voltage is greater than the second differential voltage, and output a second digital signal when the first differential voltage is less than the second differential voltage.

[0131] As a specific example, Figure 5 As shown, the digital signal U generated by the comparison submodule within 0 to 50 μs is shown. o In the period from 0 to t1, the first differential voltage U1 is greater than the second differential voltage U2, and the comparison submodule can output an amplitude of U o1 In the period from t1 to t2, the first differential voltage U1 is less than the second differential voltage U2, and the comparison submodule can output an amplitude of U o2 The second digital signal.

[0132] It should be noted that Figure 5 The amplitude, pulse width, number of pulses, and transition moments of the digital signal shown are only examples. Different waveform diagrams may be obtained for different optical communication receiving scenarios, and the present disclosure does not impose any limitation on this.

[0133] In a specific implementation, according to actual application scenarios and requirements, the laser radar in the embodiment of the present disclosure can be further expanded to further improve the stability of digital signal generation.

[0134] As an optional example, Figure 6As shown in the structural schematic diagram of another optical communication receiving unit in the embodiment of the present disclosure, the optical communication receiving unit 120 in the embodiment of the present disclosure may also include: a DC source module 124, which can be coupled to the detection module 121 and configured to provide a DC bias voltage to the detection module 121.

[0135] In an optional implementation, the DC source module 124 can provide a DC source electrical signal to the detection module 121, so that the detection module 121 can detect the optical pulse signal emitted by the light source and convert the optical pulse signal into an initial electrical signal.

[0136] In some embodiments of the present disclosure, Figure 7 In the structural schematic diagram of the optical communication receiving unit in a specific application scenario shown, the DC source module 124 may include a DC power supply VCC and a fifth resistor R5, wherein the first end of the fifth resistor R5 may be connected to the DC power supply VCC, and the second end of the fifth resistor R5 may be coupled to the detection module 121.

[0137] As another alternative example, Figure 6 As shown, the optical communication receiving unit 120 in the embodiment of the present disclosure may also include: a first filtering module 125, which may be respectively coupled to the DC source module 124, the detection module 121, and the differential module 122, and configured to filter out noise in the DC bias voltage, thereby further improving the stability and signal-to-noise ratio of digital signal generation.

[0138] In some embodiments of the present disclosure, Figure 7 As shown, the first filtering module 125 may include a capacitor C1, wherein a first end of the capacitor C1 may be coupled to the DC source module 124 and the detection module 121 respectively, and a second end of the capacitor C1 may be coupled to the differential module 122 and the ground respectively.

[0139] It should be noted that the first filtering module may also be other components capable of filtering out noise. For example, the first filtering module may include a device composed of at least two elements of a capacitor, a resistor or an inductor. The embodiments of the present disclosure do not impose any limitation on this.

[0140] As another optional example, Figure 6 As shown, the optical communication receiving unit 120 in the embodiment of the present disclosure may also include: a second filtering module 126, which may be arranged between the differential module 122 and the digital signal generating module 123, and configured to filter out noise in the first differential signal and the second differential signal, so as to further improve the stability and signal-to-noise ratio of the digital signal generation.

[0141] In some embodiments of the present disclosure, Figure 7 As shown, the second filtering module 126 may include a common-mode inductor, wherein the common-mode inductor may include: a first common-mode coil LA and a second common-mode coil LB, wherein the first ends of the first common-mode coil LA and the second common-mode coil LB are both coupled to the differential module 122, and the second ends of the first common-mode coil LA and the second common-mode coil LB are both coupled to the digital signal generating module 123.

[0142] In addition, using a common-mode inductor as the second filtering module can reduce the electromagnetic interference (EMI) signal generated by the line itself in the optical communication receiving unit when it is working and suppress common-mode noise, which can effectively reduce the EMI interference intensity and improve the communication quality.

[0143] It should be noted that the above describes multiple embodiment schemes provided by the present disclosure, and the various optional methods introduced in each embodiment scheme can be combined and cross-referenced with each other without conflict, thereby extending a variety of possible embodiment schemes, which can all be considered as embodiment schemes disclosed and disclosed by the present disclosure.

[0144] In order to better understand and implement the specific working principle of the optical communication receiving unit provided by the present disclosure, it is described in detail below through specific examples in conjunction with the accompanying drawings.

[0145] Continue to refer to Figure 7 , the DC source module 124 may include a DC source VCC and a fifth resistor R5; the first filter module 125 may include a capacitor C1; the detection module 121 may include a photodetector PD; the differential module 122 may include a balanced-unbalanced converter; the second filter module 126 may include a common-mode inductor; the digital signal generation module may include a first resistor R1, a second resistor R2, a third resistor R3 and a fourth resistor R4, and a comparator TC, wherein the connection relationship inside the optical communication receiving unit is:

[0146] The first end of the fifth resistor R5 is connected to the DC source VCC, and the second end of the fifth resistor is respectively connected to the first end of the photodetector PD and the first end of the capacitor C1; the second end of the capacitor C1 is respectively connected to the first end of the first coil LP1 and the ground; the second end of the photodetector PD is connected to the second end of the first coil LP1.

[0147] A first end of the second coil LP2 is connected to a first end of the first common mode coil LA, and a second end of the second coil LP2 is connected to a first end of the second common mode coil LB.

[0148] The second end of the first common mode coil LA is respectively connected to the second end of the first resistor R1, the first end of the second resistor R2, and the first input end of the comparator TC; the first end of the first resistor R1 is grounded; the second end of the second resistor R2 is connected to the power supply VDD.

[0149] The second end of the second common mode coil LB is respectively connected to the second end of the third resistor R3, the first end of the fourth resistor R4, and the second input end of the comparator TC; the first end of the third resistor R3 is connected to the power supply VDD; the second end of the fourth resistor R4 is grounded.

[0150] The working principle of the optical communication receiving unit is:

[0151] The DC source VCC, the fifth resistor R5 and the capacitor C1 provide a stable DC bias voltage for the photodetector PD, so that the photodetector PD can convert the detected light signal into an initial electrical signal. Through the interaction between the first coil LP1 and the second coil LP2 in the balanced-unbalanced converter, the initial electrical signal can be converted into a first differential signal and a second differential signal with the same amplitude and a phase difference of 180°.

[0152] The common-mode inductor can filter out the common-mode noise in the first differential signal and the second differential signal, and reduce electromagnetic interference. Then, the first resistor R1 can amplify the first differential signal, convert the first differential signal into a first differential voltage, and output it to the first input terminal of the comparator TC; the fourth resistor R4 can amplify the second differential signal, convert the second differential signal into a second differential voltage, and output it to the second input terminal of the comparator TC. The comparator TC can generate a corresponding digital signal according to the first differential voltage and the second differential voltage, and complete the optical signal receiving process in the optical communication.

[0153] It is understandable that the above Figure 7 The structure shown is only for illustration. In a specific implementation, the above circuit may be modified or selected. For example, the differential module 122 may be Figure 3 For another example, the photodetector PD is replaced by an avalanche photodiode, etc. Based on this, different extension schemes can be obtained, and the embodiments of the present disclosure do not limit these extension schemes.

[0154] The optical communication receiving unit described in the above embodiment can convert the optical signal emitted by the light source into a digital signal. Since the digital signal can be used to characterize the information carried by the optical signal, the information carried in the optical signal can be obtained by processing the digital signal.

[0155] In some embodiments of the present disclosure, the laser radar may further include a data processing unit, which may be coupled to the optical communication receiving unit and configured to process the digital signal to obtain information carried in the optical signal.

[0156] For example, by processing digital signals, control signals, point cloud data, etc. can be obtained.

[0157] In some embodiments, the data processing unit may be implemented by a processing chip such as a central processing unit (CPU), a field programmable gate array (FPGA), or an application specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0158] It should be noted that the “one embodiment” or “embodiment” referred to in the present disclosure refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present disclosure. And in the description of the present disclosure, the terms “first”, “second”, “third”, “fourth”, etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined by the terms “first”, “second”, “third”, “fourth”, etc. may explicitly or implicitly include one or more of the features. Moreover, the terms “first”, “second”, “third”, “fourth”, etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or to express importance. It is understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described.

[0159] Although the embodiments of the present disclosure are disclosed above, the present disclosure is not limited thereto. Any person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A laser radar, characterized in that: include: a light source configured to emit a light signal; An optical communication receiving unit is configured to receive the optical signal, convert the optical signal into an initial electrical signal, and convert the initial electrical signal into a first differential signal and a second differential signal, and generate a digital signal corresponding to the optical signal based on the first differential signal and the second differential signal, wherein the digital signal is used to characterize the information carried by the optical signal.

2. The laser radar according to claim 1, characterized in that: The optical communication receiving unit comprises: a detection module, configured to detect the optical signal and convert the optical signal into the initial electrical signal; a differential module, configured to convert the initial electrical signal into the first differential signal and the second differential signal; The digital signal generating module is configured to generate a digital signal corresponding to the optical signal according to the first differential signal and the second differential signal.

3. The laser radar according to claim 2, characterized in that: The differential conversion ratio of the differential module is adjustable, and the differential conversion ratio is used to characterize the amplification factor of the initial electrical signal.

4. The laser radar according to claim 3, characterized in that: The differential module comprises: At least one balun, any balun includes a first coil and a second coil coupled to each other, wherein the first coil is coupled to the detection module; and the second coil is coupled to the digital signal generation module.

5. The laser radar according to claim 4, characterized in that: The differential conversion ratio of the differential module is determined according to the resistance value of the first coil and the resistance value of the second coil in the balanced-unbalanced transformer.

6. The laser radar according to claim 4, characterized in that: The at least one balun is a plurality of baluns, and each balun has a different conversion ratio, which is the ratio of the resistance of the first coil to the resistance of the second coil in the balun.

7. The laser radar according to claim 6, characterized in that: The differential module also includes multiple selection channels, one selection channel corresponds to a balun, and the selection channel is coupled between the corresponding balun and the detection module; the selection channel is configured to conduct the path between the corresponding balun and the detection module when being selected; wherein the conversion ratio of the balun in the conducting state is the current differential conversion ratio of the differential module.

8. The laser radar according to claim 2, characterized in that: The digital signal generation module includes a gain submodule and a comparison submodule, wherein: The gain submodule is coupled to the differential module, the comparison submodule and the power supply respectively, and is configured to amplify the first differential signal and the second differential signal, and convert the types of the first differential signal and the second differential signal to obtain the first differential voltage and the second differential voltage; The comparison submodule is configured to output a corresponding digital signal according to the first differential voltage and the second differential voltage.

9. The laser radar according to claim 8, characterized in that: The gain submodule includes a first gain device and a second gain device, wherein: The first gain device is coupled to the differential module, the first input terminal of the comparison submodule and the power supply respectively, and is configured to amplify the first differential signal and convert the type of the first differential signal to obtain the first differential voltage; The second gain device is coupled to the differential module, the second input terminal of the comparison submodule and the power supply respectively, and is configured to amplify the second differential signal and convert the type of the second differential signal to obtain the second differential voltage.

10. The laser radar according to claim 9, characterized in that: The first gain device comprises: a first resistor and a second resistor, the first end of the first resistor is grounded, the second end of the first resistor is coupled to the first end of the second resistor, the first input end of the comparison submodule and the first output end of the differential module respectively; the second end of the second resistor is coupled to the power supply; The second gain device includes: a third resistor and a fourth resistor, the first end of the third resistor is coupled to the power supply, the second end of the third resistor is coupled to the first end of the fourth resistor, the second input end of the comparison submodule and the second output end of the differential module respectively; the second end of the fourth resistor is grounded.

11. The laser radar according to claim 10, characterized in that: At least two of the first resistor, the second resistor, the third resistor, and the fourth resistor have different resistance values.

12. The laser radar according to claim 10, characterized in that: The resistance value of the first resistor is the same as the resistance value of the third resistor, and the resistance value of the second resistor is the same as the resistance value of the fourth resistor.

13. The laser radar according to any one of claims 10 to 12, characterized in that: The resistance value of at least one of the first resistor, the second resistor, the third resistor and the fourth resistor is adjustable.

14. The laser radar according to claim 8, characterized in that: The comparison submodule is configured to output a first digital signal when the first differential voltage is greater than the second differential voltage; and to output a second digital signal when the first differential voltage is less than the second differential voltage.

15. The laser radar according to claim 2, characterized in that: The detection module includes a photodetector.

16. The laser radar according to claim 2, characterized in that: The optical communication receiving unit also includes: The DC source module is coupled to the detection module and is configured to provide a DC bias voltage to the detection module.

17. The laser radar according to claim 16, characterized in that: The optical communication receiving unit also includes: The first filtering module is respectively coupled to the DC source module, the detection module, and the differential module, and is configured to filter out noise in the DC bias voltage.

18. The laser radar according to claim 2, characterized in that: The optical communication receiving unit also includes: The second filtering module is disposed between the differential module and the digital signal generating module, and is configured to filter out noise in the first differential signal and the second differential signal.

19. The laser radar according to claim 18, characterized in that: The second filtering module includes a common mode inductor.

20. The laser radar according to claim 1, characterized in that: Also includes: The data processing unit is coupled to the optical communication receiving unit and is configured to process the digital signal to obtain information carried in the optical signal.

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