Wireless communication circuit and laser radar

Abstract

The invention provides a wireless communication circuit and a laser radar, and the wireless communication circuit comprises a transmitting system which is configured to transmit an optical signal; the receiving system is configured to receive the optical signal, convert the optical signal into an electric signal and convert the electric signal into a first voltage signal and a second voltage signal, and the first voltage signal and the second voltage signal are differential signals; and the signal processing system is coupled with the receiving system and is configured to process the first voltage signal and the second voltage signal so as to obtain information carried by the optical signal. By adopting the technical scheme, the stability of signal generation in an optical communication receiving link can be improved, and the accuracy and the signal-to-noise ratio of acquired information are further improved.

Description

Technical Field

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

[0002] LiDAR is an active remote sensing device that uses lasers as the light source and adopts photoelectric detection technology. It is widely used in scenarios such as autonomous driving.

[0003] In order to obtain the detection information of the target, some laser radars use wireless optical communication technology to realize the data transmission between the upper and lower panels of the laser radar. Therefore, how to provide a technical solution to improve the stability of signal generation in the optical communication receiving link has become an urgent problem to be solved. Summary of the invention

[0004] In view of this, the present disclosure provides a wireless communication circuit and a laser radar, which can improve the stability of signal generation in an optical communication receiving link, thereby improving the accuracy and signal-to-noise ratio of acquired information.

[0005] The present disclosure provides a wireless communication circuit, comprising:

[0006] a transmitting system configured to transmit an optical signal;

[0007] a receiving system configured to receive the optical signal, convert the optical signal into an electrical signal, and convert the electrical signal into a first voltage signal and a second voltage signal, wherein the first voltage signal and the second voltage signal are differential signals;

[0008] The signal processing system is coupled to the receiving system and is configured to process the first voltage signal and the second voltage signal to obtain information carried by the optical signal.

[0009] Optionally, the receiving system includes:

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

[0011] A differential conversion unit includes a symmetrical first differential conversion module and a second differential conversion module, wherein the first differential conversion module is respectively coupled to the first end of the detection unit and the signal processing system, and is configured to convert the electrical signal into the first voltage signal; the second differential conversion module is respectively coupled to the second end of the detection unit and the signal processing system, and is configured to convert the electrical signal into the second voltage signal.

[0012] Optionally, the first differential conversion module includes a first transimpedance amplifier, and the first transimpedance amplifier includes: a first operational amplifier, a first conversion resistor and a first feedback capacitor, wherein:

[0013] The first input terminal of the first operational amplifier is respectively coupled to the first terminal of the detection unit, the first terminal of the first conversion resistor, and the first terminal of the first feedback capacitor, the second input terminal thereof is coupled to the power supply, and the output terminal thereof is respectively coupled to the second terminal of the first conversion resistor and the second terminal of the first feedback capacitor, and is configured to output the first voltage signal.

[0014] Optionally, the second differential conversion module includes a second transimpedance amplifier, and the second transimpedance amplifier includes: a second operational amplifier, a second conversion resistor and a second feedback capacitor, wherein:

[0015] The first input terminal of the second operational amplifier is coupled to the second end of the detection unit, the first end of the second conversion resistor, and the first end of the second feedback capacitor, its second input terminal is coupled to the power supply, and its output terminal is respectively coupled to the second end of the second conversion resistor and the second end of the second feedback capacitor, and is configured to output the second voltage signal.

[0016] Optionally, the first conversion resistor and the second conversion resistor have the same resistance value;

[0017] The first feedback capacitor and the second feedback capacitor have the same capacitance.

[0018] Optionally, the resistance values ​​of the first conversion resistor and the second conversion resistor are adjustable; and / or

[0019] The capacitances of the first feedback capacitor and the second feedback capacitor are adjustable.

[0020] Optionally, the receiving system further includes:

[0021] The voltage dividing unit is coupled to the first differential conversion module, the second differential conversion module and the ground respectively, and is configured to divide the voltage provided by the power supply and output the obtained divided voltage to the first differential conversion module and the second differential conversion module respectively.

[0022] Optionally, the voltage dividing unit comprises: a first voltage dividing resistor and a second voltage dividing resistor, wherein:

[0023] The first end of the first voltage-dividing resistor is coupled to a power source, and the second end of the first voltage-dividing resistor is coupled to the first end of the second voltage-dividing resistor, the first differential conversion module, and the second differential conversion module respectively;

[0024] The second end of the second voltage-dividing resistor is grounded.

[0025] Optionally, the receiving system further includes: a first filtering unit, coupled to the voltage dividing unit, and configured to filter out noise in the divided voltage.

[0026] Optionally, the receiving system further includes: a DC bias unit, which is respectively coupled to the detection unit, the first differential conversion module and the second differential conversion module, and is configured to provide a bias voltage to the detection unit.

[0027] Optionally, the DC bias unit comprises: a bias voltage source, a first bias resistor and a second bias resistor, wherein:

[0028] The bias voltage source is coupled to a first end of the second bias resistor;

[0029] The second end of the second bias resistor is coupled to the second end of the detection unit and the second differential conversion module respectively;

[0030] The first end of the first bias resistor is grounded, and the second end thereof is respectively coupled to the first end of the detection unit and the first differential conversion module;

[0031] The voltage difference between the second end of the first bias resistor and the second end of the second bias resistor is used as the bias voltage.

[0032] Optionally, the receiving system further includes: a first DC blocking capacitor, coupled to the DC bias unit, the first end of the detection unit, and the first differential conversion module, respectively, and configured to isolate a DC component in the electrical signal transmitted to the first differential conversion module;

[0033] The second DC blocking capacitor is respectively coupled to the DC bias unit, the second end of the detection unit, and the second differential conversion module, and is configured to isolate a DC component in the electrical signal transmitted to the second differential conversion module.

[0034] Optionally, the receiving system further includes: a second filtering unit, coupled to the output end of the first differential conversion module and the output end of the second differential conversion module respectively, and configured to filter out noise in the first voltage signal and the second voltage signal.

[0035] Optionally, the receiving system further includes: a clamping unit, coupled between output ends of the first differential conversion module and the second differential conversion module, and configured to limit amplitudes of the first voltage signal and the second voltage signal.

[0036] Optionally, the receiving system further includes: an impedance matching unit, disposed between the signal processing system and the differential conversion unit, and configured to match an impedance value between the signal processing system and the differential conversion unit.

[0037] Optionally, the impedance matching unit includes: a first resistor, a second resistor, a third resistor and a first capacitor, wherein:

[0038] The first end of the first resistor is respectively coupled to the output end of the second differential conversion module and the signal processing system, and the second end thereof is respectively coupled to the first end of the second resistor and the first end of the third resistor;

[0039] The second end of the second resistor is coupled to the first end of the first capacitor;

[0040] The second end of the first capacitor is grounded;

[0041] The second end of the third resistor is coupled to the output end of the first differential conversion module and the signal processing system respectively.

[0042] The present disclosure also provides a laser radar, comprising:

[0043] a first circuit board;

[0044] a second circuit board;

[0045] The wireless communication circuit described in any of the above embodiments, wherein the wireless communication circuit includes a transmitting system and a receiving system, wherein the transmitting system and the receiving system are respectively arranged on the first circuit board and the second circuit board;

[0046] one or more laser emitters configured to emit a probe beam into the environment;

[0047] One or more detectors configured to receive and generate a response signal in response to an echo beam after the probe beam is reflected by one or more objects in the environment;

[0048] The processor is coupled to the detector and configured to receive and process the response signal to obtain the distance and / or reflectivity information of the object.

[0049] The wireless communication circuit provided by the present disclosure may include a transmitting system, a receiving system and a signal processing system; wherein the receiving system may receive the optical signal transmitted by the transmitting system, and convert the type of the optical signal to obtain a corresponding electrical signal, and then convert the electrical signal into a first voltage signal and a second voltage signal; the signal processing system may process the first voltage signal and the second voltage signal to obtain the information carried by the optical signal. With the above-mentioned wireless communication circuit, since the first voltage signal and the second voltage signal are differential signals, by adopting the differential signal transmission method, interference can be reduced, the stability of signal generation in the optical communication receiving link can be improved, and the accuracy and signal-to-noise ratio of the acquired information can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 It is a structural schematic diagram of a wireless communication circuit in an embodiment of the present disclosure;

[0052] Figure 2 It is a structural schematic diagram of a receiving system in an embodiment of the present disclosure;

[0053] Figure 3 is a structural schematic diagram of a differential conversion unit in an embodiment of the present disclosure;

[0054] Figure 4 is a waveform diagram of corresponding monitoring points in a wireless communication circuit in an embodiment of the present disclosure;

[0055] Figure 5 It is a structural schematic diagram of another receiving system in an embodiment of the present disclosure;

[0056] Figure 6 It is a schematic diagram of a specific structure of a receiving system in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0057] 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.

[0058] To solve the above technical problems, the present disclosure provides a wireless communication circuit, which can convert an optical signal into an electrical signal, and convert the electrical signal into a first voltage signal and a second voltage signal, wherein the first voltage signal and the second voltage signal are differential signals of each other. The wireless communication circuit adopts a differential signal transmission method, which can reduce noise interference and improve the stability of signal generation in the optical communication receiving link, thereby improving the accuracy of the acquired information and the signal-to-noise ratio.

[0059] In order to enable those skilled in the art to better understand and implement the present invention, the concept, scheme, principle and advantages of the present invention are described in detail below with reference to the accompanying drawings and through specific application examples.

[0060] The present disclosure provides a wireless communication circuit, such as Figure 1The structure diagram of a wireless communication circuit of the present disclosure is shown in FIG. 1 . In some embodiments, the wireless communication circuit 100 may include: a transmitting system 110, a receiving system 120, and a signal processing system 130, wherein:

[0061] The transmitting system 110 is configured to transmit an optical signal;

[0062] The receiving system 120 is configured to receive the optical signal, convert the optical signal into an electrical signal, and convert the electrical signal into a first voltage signal and a second voltage signal, wherein the first voltage signal and the second voltage signal are differential signals;

[0063] The signal processing system 130 is coupled to the receiving system 120 and is configured to process the first voltage signal and the second voltage signal to obtain information carried by the optical signal.

[0064] In a specific implementation, when the transmitting system 110 transmits an optical signal, the receiving system 120 can convert the received optical signal into an electrical signal, and perform differential processing on the electrical signal to obtain a first voltage signal and a second voltage signal that are differential signals of each other. Since the differential signal itself has a strong anti-interference characteristic, the use of a differential signal transmission method can reduce interference and improve the stability of signal generation in the optical communication receiving link, thereby improving the accuracy and signal-to-noise ratio of the information carried by the acquired optical signal.

[0065] 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 electrical signal is differentially processed in the embodiment of the present disclosure, the first voltage signal and the second voltage signal obtained are differential signals of each other.

[0066] 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 of the wireless communication circuit in the embodiments of the present disclosure.

[0067] In some embodiments of the present disclosure, the transmitting system can transmit information by emitting light signals with varying brightness.

[0068] As an optional example, the transmitting system can be implemented by a light emitting diode (LED). In the subsequent examples, LED is used as an example.

[0069] As an optional example, the transmitting system may include one LED or multiple LEDs, and the multiple LEDs may be configured according to a preset connection relationship.

[0070] In some other optional examples, the transmitting system can also be implemented by a laser diode LD. The embodiments of the present disclosure do not limit the type of the transmitting system as long as it can transmit optical signals when applied to a wireless communication circuit.

[0071] In a specific implementation, the receiving system can generate a corresponding voltage signal based on the light signal with brightness changes emitted by the transmitting system, so as to transmit the light signal carrying information to the signal processing system.

[0072] In some embodiments of the present disclosure, Figure 1 , refer to Figure 2 The structural diagram of a receiving system shown in FIG. 1 , the receiving system 120 may include a detection unit 121 and a differential conversion unit 122, wherein:

[0073] The detection unit 121 is configured to detect the optical signal and convert the optical signal into the electrical signal;

[0074] The differential conversion unit 122 includes a symmetrical first differential conversion module 1221 and a second differential conversion module 1222, wherein the first differential conversion module 1221 can be coupled to the first end of the detection unit 121 and the signal processing system 130 respectively, and is configured to convert the electrical signal into the first voltage signal; the second differential conversion module 1222 can be coupled to the second end of the detection unit 121 and the signal processing system 130 respectively, and is configured to convert the electrical signal into the second voltage signal.

[0075] In an optional implementation, the detection unit 121 can detect the optical signal emitted by the transmitting system in real time. When the optical signal is detected, the detection unit 121 can convert the type of the detected optical signal to obtain a corresponding electrical signal. When the optical signal changes in brightness, the electrical signal converted by the detection unit 121 also changes accordingly. The first differential conversion module 1221 can convert the electrical signal into a first voltage signal, and the second differential conversion module 1222 can convert the electrical signal into a second voltage signal, and output the first voltage signal and the second voltage signal to the signal processing system 130. The signal processing system 130 can process the first voltage signal and the second voltage signal to obtain the information carried by the optical signal, such as a control signal for controlling the scanning module in the laser radar to perform detection and point cloud data detected by the laser radar.

[0076] By adopting a receiving system with the above structure, since the first differential conversion module and the second differential conversion module are symmetrically arranged, the first voltage signal and the second voltage signal, which are differential signals of each other, can be independently obtained, thereby reducing the probability of crosstalk between the first voltage signal and the second voltage signal, thereby reducing interference and further improving the stability of signal generation in the optical communication receiving link.

[0077] In an optional implementation, the detection unit includes a photoelectric detector (PD), and the photoelectric detector PD is capable of converting an optical signal into an electrical signal.

[0078] In some other embodiments, the detection unit may also include other devices capable of detecting optical signals, such as a photoelectric measurement sensor and an avalanche photodiode. The embodiments of the present disclosure do not impose any limitation on the type of the detection unit.

[0079] In a specific implementation, the electrical signal converted by the detection unit may be a current signal or a voltage signal, and the embodiment of the present disclosure does not impose any limitation on the type of the electrical signal.

[0080] In some examples of the present disclosure, the electrical signal may be a current signal.

[0081] In a specific implementation, when the detection unit converts the optical signal into an electrical signal, the electrical signal can be amplified and type-converted. On the one hand, the gain of the first voltage signal and the second voltage signal can be improved; on the other hand, it can be adapted to the signal processing system to facilitate the processing of the first voltage signal and the second voltage signal.

[0082] In a specific implementation, a differential conversion module with the same structure and characteristics may be used to process the electrical signal to obtain a corresponding first differential signal and a second differential signal.

[0083] As an optional example, combining Figure 2 , and refer to Figure 3 A specific structural diagram of a differential conversion unit in an embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the first differential conversion module 1221 may include a first transimpedance amplifier (TIA), wherein the first transimpedance amplifier may include: a first operational amplifier OA1, a first conversion resistor R1 and a first feedback capacitor C1, wherein:

[0084] The first input end of the first operational amplifier OA1 can be coupled to the first end of the detection unit 121, the first end of the first conversion resistor R1, and the first end of the first feedback capacitor C1, respectively, its second input end can be coupled to the power supply VDD, and its output end can be coupled to the second end of the first conversion resistor R1 and the second end of the first feedback capacitor C1, respectively, and is configured to output the first voltage signal.

[0085] Specifically, when the detection unit 121 converts the optical signal into an electrical signal, the electrical signal can flow to the first operational amplifier OA1 and the first conversion resistor R1, and then the first conversion resistor R1 can convert the type of the electrical signal, and the first operational amplifier OA1 and the first conversion resistor R1 can amplify the electrical signal to obtain a corresponding first voltage signal. In this process, the first feedback capacitor C1 can reduce the probability of the first transimpedance amplifier generating self-oscillation and improve the quality of the obtained first voltage signal.

[0086] As an example, if the electrical signal is a current signal, the current signal can be converted into a voltage signal when passing through the first conversion resistor R1, and by making the first transimpedance amplifier have a larger amplification factor (for example, the first conversion resistor R1 has a larger resistance value), the amplitude of the converted first voltage signal can be increased, that is, the first transimpedance amplifier can amplify and convert the current signal.

[0087] It should be noted that Figure 3 The working principle of the first transimpedance amplifier is described by taking the first input terminal of the first operational amplifier OA1 as the inverting input terminal and the second input terminal as the non-inverting input terminal as an example. In some other embodiments, the first input terminal of the first operational amplifier OA1 may be the non-inverting input terminal and the second input terminal may be the inverting input terminal, and the embodiments of the present disclosure do not impose any limitation on this, as long as the first transimpedance amplifier can play the role of amplification and type conversion.

[0088] Therefore, by adopting the first transimpedance amplifier having the above connection relationship, the electrical signal from the detection unit can be amplified and type-converted through the first conversion resistor and the first operational amplifier to obtain a first voltage signal.

[0089] As an alternative example, continue to refer to Figure 2 and Figure 3 The second differential conversion module 1222 may include a second transimpedance amplifier, wherein the second transimpedance amplifier may include: a second operational amplifier OA2, a second conversion resistor R2, and a second feedback capacitor C2, wherein:

[0090] The first input terminal of the second operational amplifier OA2 can be coupled to the second end of the detection unit 121, the first end of the second conversion resistor R2, and the first end of the second feedback capacitor C2, respectively, its second input terminal can be coupled to the power supply VDD, and its output terminal can be coupled to the second end of the second conversion resistor R2 and the second end of the second feedback capacitor C2, respectively, and is configured to output the second voltage signal.

[0091] Specifically, when the detection unit 121 converts the optical signal into an electrical signal, the electrical signal can flow to the second operational amplifier OA2 and the second conversion resistor R2, and then the second conversion resistor R2 can convert the type of the electrical signal, and the second operational amplifier OA2 and the second conversion resistor R2 can amplify the electrical signal to obtain a corresponding second voltage signal. In this process, the second feedback capacitor C1 can reduce the probability of the second transimpedance amplifier generating self-oscillation and improve the quality of the obtained second voltage signal.

[0092] As an example, if the electrical signal is a current signal, the current signal can be converted into a voltage signal when passing through the second conversion resistor R2, and by making the second transimpedance amplifier have a larger amplification factor (for example, the second conversion resistor R2 has a larger resistance value), the amplitude of the converted second voltage signal can be increased, that is, the second transimpedance amplifier can amplify and convert the current signal.

[0093] It should be noted that Figure 3 The working principle of the second transimpedance amplifier is described by taking the first input terminal of the second operational amplifier OA2 as the inverting input terminal and the second input terminal as the non-inverting input terminal as an example. In some other embodiments, the first input terminal of the second operational amplifier OA2 may be the non-inverting input terminal and the second input terminal may be the inverting input terminal. The embodiment of the present disclosure does not impose any limitation on this, as long as the second input terminal of the second operational amplifier OA2 is connected to the second input terminal of the first operational amplifier OA1.

[0094] Therefore, by adopting the second transimpedance amplifier having the above connection relationship, the electrical signal from the detection unit can be amplified and type-converted through the second conversion resistor and the second operational amplifier to obtain a second voltage signal.

[0095] And because the first differential conversion module and the second differential conversion module are symmetrically arranged, the same electrical signal can be synchronously converted and amplified, the synchronization of differential signal generation can be guaranteed, and the probability of crosstalk between the first voltage signal and the second voltage signal can be reduced, thereby reducing interference and improving the stability of signal generation in the optical communication receiving link.

[0096] To facilitate understanding of the process of processing the electrical signal to obtain the first voltage signal and the second voltage signal in the embodiment of the present disclosure, a detailed description is given below with reference to the accompanying drawings.

[0097] Combination Figure 3 , refer to Figure 4 The waveform diagram of the corresponding monitoring points in a wireless communication circuit in an embodiment of the present disclosure is shown, wherein: Figure 4 It shows a waveform diagram of the current signal I converted by the detection unit within 0 to 500ns, a waveform diagram of the first voltage signal U1 converted by the first differential conversion module, and a waveform diagram of the second voltage signal U2 converted by the second differential conversion module.

[0098] like Figure 4 As shown, in the time period from t1 to t3, a schematic diagram of the waveform change of the current signal I in a part of the time is shown, and the current signal I may include a low level segment and a high level segment, wherein:

[0099] During the period from t1 to t2, the current signal I is in a low level segment, and its corresponding signal amplitude is I2 (unit can be μA). When the current signal I with a signal amplitude of I2 is converted into a first voltage signal by the first differential conversion module, the corresponding first voltage U 12 (unit can be V); when the current signal I with a current amplitude of I2 is converted into a second differential signal by the second differential conversion module, the corresponding second voltage U 21 (The unit can be V).

[0100] At time t2, the current signal I changes from a low level to a high level.

[0101] During the period from t2 to t3, the current signal I is in a high level segment, and its corresponding signal amplitude is I1. When the current signal I with a signal amplitude of I1 is converted into a first voltage signal by the first differential conversion module, a first voltage U corresponding to the first voltage signal can be obtained. 11 When the current signal I with a signal amplitude of I1 is converted into a second voltage signal by the second differential conversion module, a second voltage U corresponding to the second voltage signal can be obtained. 22 .

[0102] Among them, since the first voltage signal and the second voltage signal are differential signals, the first voltage corresponding to the first voltage signal and the second voltage corresponding to the second voltage signal have equal amplitudes and a phase difference of 180°, and the first voltage and the second voltage are differential voltages.

[0103] Next refer to Figure 4, whether in the period from t1 to t2 or the period from t2 to t3, the first voltage corresponding to the first voltage signal and the second voltage corresponding to the second voltage signal are different, so when the first voltage signal and the second voltage signal are input to the signal processing unit, a differential mode voltage can be generated at the input end of the signal processing unit. For example, the differential mode voltage can be: U 21 -U 12 Or: U 11 -U 22 , and then under the action of the differential mode voltage, the signal processing system can accurately obtain the information carried by the optical signal.

[0104] Continue to refer to Figure 4 , and also shows the equivalent output voltage signal U of the first differential conversion module and the second differential conversion module o The waveform diagram is as follows: Figure 4 As shown, during the period from t1 to t2, the equivalent output voltage signal U o The corresponding voltage can be U o2 (can be considered as a low level); during the period from t2 to t3, the equivalent output voltage signal U o The corresponding voltage is U o1 (It can be considered as a high level).

[0105] It can be seen from the above that at any time between 0 and 500 ns, the receiving system can output voltage signals with different levels to the signal processing system.

[0106] It should be noted that, first of all, Figure 4 It is only used to illustrate that the electrical signal can be converted into the first voltage signal and the second voltage signal through the first differential conversion module and the second differential conversion module. Figure 4 The current amplitude corresponding to the current signal, the voltage amplitude corresponding to the first voltage signal and the second voltage signal, the pulse width, the number of pulses, and the transition time of the high and low levels are only examples. Different waveform diagrams can be obtained for different wireless communication scenarios, and the embodiments of the present disclosure do not limit this. Secondly, Figure 4 The description is made by taking the electrical signal as a current signal as an example. In some other embodiments, the electrical signal may also be a voltage signal.

[0107] In a specific implementation, when the first differential conversion module and the second differential conversion module are used to convert the electrical signal into the first voltage signal and the second voltage signal, the first voltage signal and / or the second voltage signal with different amplification ratios can be obtained according to actual needs.

[0108] As an implementation example, the amplification factor of the electrical signal amplified by the first differential conversion module and / or the second differential conversion module in the embodiment of the present disclosure is adjustable.

[0109] That is, by adjusting the differential amplification ratio of the first differential conversion module and / or the second differential conversion module, the amplification factor of the electrical signal can be controlled, and the electrical signal can be amplified to different degrees, thereby obtaining a first differential signal and / or a second differential signal with different amplitudes, so that the wireless communication circuit can be suitable for different scenarios.

[0110] For example, when the electrical signal strength is weak, the signal strength of the first voltage signal and the second voltage signal obtained by converting the electrical signal is low. At this time, the signal strength output to the signal processing system is weak, which affects the accurate recognition of the signal, and thus the signal-to-noise ratio of the signal receiving system will be reduced. At this time, a first differential conversion module and / or a second differential conversion module with a larger amplification factor can be selected to increase the strength of the first voltage signal and / or the second voltage signal.

[0111] In some embodiments, the electrical signal can be amplified to different degrees by making the resistance of the first conversion resistor and the second conversion resistor adjustable; and / or the capacitance of the first feedback capacitor and the second feedback capacitor adjustable.

[0112] The resistance value of the resistor can be adjusted in the following ways: 1) switching resistors with different resistance values ​​as the first conversion resistor and the second conversion resistor; 2) the first conversion resistor and the second conversion resistor themselves are variable resistors, for example, the resistance value of the first conversion resistor and the second conversion resistor can be changed by changing the length connected to the circuit; for example, changing the external light intensity or temperature to change the resistance value of the first conversion resistor and the second conversion resistor.

[0113] It can be understood that the method of adjusting the resistance value of the resistor described in the above example is only an example. In actual work, it can be selected according to needs. The embodiment of the present disclosure does not impose any limitation on the method of adjusting the resistance value of the resistor.

[0114] In some embodiments, by adjusting the resistance of the first conversion resistor and the second conversion resistor; and / or the capacitance of the first feedback capacitor and the second feedback capacitor, the bandwidth and communication frequency of the signal received by the generated wireless communication circuit can be changed.

[0115] As a specific implementation example, the bandwidth of the signal may be 300 Mbps to 400 Mbps, and the communication frequency of the signal may reach 1 GHz to 3 GHz.

[0116] In a specific implementation, in order to make the first differential conversion module and the second differential conversion module have the same amplification factor, the resistance of the first conversion resistor and the second conversion resistor can be the same, and the capacitance of the first feedback capacitor and the second feedback capacitor can be the same.

[0117] It should be noted that when performing actual component layout and routing, the first conversion resistor and the second conversion resistor can be arranged close to each other, the first feedback capacitor and the second feedback capacitor can be arranged close to each other, and the output ends of the first operational amplifier and the second operational amplifier can be arranged close to each other, thereby improving the anti-interference ability of the optical communication circuit and reducing radiation by cooperating with the subsequent transmission network.

[0118] In a specific circuit implementation process, a stable static operating voltage may be provided to the input terminals of the first differential conversion module and the second differential conversion module to control the common mode voltage value of the first voltage signal and the second voltage signal output by the differential conversion unit.

[0119] Based on this, a voltage dividing unit may be provided to provide a stable static operating voltage for the first differential conversion module and the second differential conversion module.

[0120] As an alternative example, continue to refer to Figure 3 The receiving system may further include a voltage divider unit 1223, which is respectively coupled to the first differential conversion module 1221, the second differential conversion module 1222 and the ground, and is configured to divide the voltage provided by the power supply VDD and output the obtained divided voltage to the first differential conversion module 1221 and the second differential conversion module 1222, respectively.

[0121] In some embodiments of the present disclosure, Figure 3 As shown, the voltage dividing unit 1223 may include a first voltage dividing resistor R3 and a second voltage dividing resistor R4, wherein:

[0122] The first end of the first voltage-dividing resistor R3 can be coupled to the power supply VDD, and the second end of the first voltage-dividing resistor R3 can be coupled to the first end of the second voltage-dividing resistor R4, the first differential conversion module 1221, and the second differential conversion module 1222 respectively; the second end of the second voltage-dividing resistor R4 can be grounded.

[0123] In some embodiments, Figure 3 As shown, the divided voltage output to the first differential conversion module 1221 (eg, the second input terminal of the first operational amplifier OA1) and the second differential conversion module 1222 (eg, the second input terminal of the second operational amplifier OA2) can be: U VDD *R R4 / (R R4 +R R3 ).

[0124] Among them, U VDD Represents the voltage value provided by the power supply VDD; R R3 represents the resistance value of the first voltage-dividing resistor R3; R R4 represents the resistance value of the second voltage-dividing resistor R4.

[0125] In some embodiments, the voltage divider unit can provide a stable operating voltage for the first differential conversion module and the second differential conversion module. And through the cooperation between the voltage divider unit, the first differential conversion module and the second differential conversion module, the electrical signal can be converted into the first voltage signal and the second voltage signal with lower power consumption.

[0126] As an optional implementation example, the voltage divider unit can provide a stable static operating voltage for the first differential conversion module and the second differential conversion. It is understandable that different voltages can be provided for the first differential conversion module and the second differential conversion by changing the resistance of the first voltage divider resistor and / or the second voltage divider resistor according to actual needs.

[0127] In some embodiments of the present disclosure, continue to refer to Figure 2 and Figure 3 The receiving system 120 may further include a first filtering unit 1224, which may be coupled to the voltage dividing unit 1223 and configured to filter out noise in the divided voltage.

[0128] By filtering out noise in the divided voltage output to the first differential conversion module and the second differential conversion module, the stability of the static operating voltage of the first differential conversion module and the second differential conversion module can be improved.

[0129] In some embodiments, Figure 3 As shown, the first filtering unit 1224 may include a first filtering capacitor C3, wherein the first end of the first filtering capacitor C3 may be respectively connected to the second end of the first voltage-dividing resistor R3, the first end of the second voltage-dividing resistor R4, and the second input end of the first operational amplifier OA1, and the second end thereof may be connected to the second end of the second voltage-dividing resistor R4.

[0130] It should be noted that the first filtering unit may also be other components capable of filtering out noise. For example, the first filtering unit may include a filtering 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.

[0131] In a specific implementation, according to actual application scenarios and requirements, the wireless communication circuit in the embodiment of the present disclosure can be further expanded to further improve the stability of signal generation in the optical communication receiving link.

[0132] As an optional example, Figure 5As shown in the structural schematic diagram of another receiving system in the embodiment of the present disclosure, the receiving system 120 in the embodiment of the present disclosure may also include a DC bias unit 123, and the DC bias unit 123 may be respectively coupled to the detection unit 121, the first differential conversion module 1221 and the second differential conversion module 1222, and configured to provide a bias voltage to the detection unit 121.

[0133] In an optional implementation, the DC bias unit 123 can provide a DC power signal to the detection unit 121, so that the detection unit 121 can detect the optical pulse signal emitted by the emission system (such as a light source) and convert the optical pulse signal into a voltage signal.

[0134] In some embodiments of the present disclosure, Figure 6 As shown in the specific structural diagram of a receiving system in an embodiment of the present disclosure, the DC bias unit 123 may include a bias voltage source VCC, a first bias resistor R5 and a second bias resistor R6, wherein:

[0135] The bias voltage source VCC is coupled to a first end of the first bias resistor R5;

[0136] The second end of the first bias resistor R5 is coupled to the first end of the detection unit 121 and the first differential conversion module 1221 respectively;

[0137] The first end of the second bias resistor R6 is grounded, and the second end thereof is coupled to the second end of the detection unit 121 and the second differential conversion module 1222 respectively;

[0138] The voltage difference between the second end of the first bias resistor R5 and the second end of the second bias resistor R6 serves as the bias voltage.

[0139] As another alternative example, continue to refer to Figure 5 , the receiving system 120 may further include a first DC blocking capacitor C4 and a first DC blocking capacitor C5, wherein:

[0140] A first DC blocking capacitor C4 is coupled to the DC bias unit 123, the first end of the detection unit 121, and the first differential conversion module 1221, respectively, and is configured to isolate a DC component in the electrical signal transmitted to the first differential conversion module 1221;

[0141] The second DC blocking capacitor C5 is coupled to the DC bias unit 123 , the second end of the detection unit 121 , and the second differential conversion module 1222 , respectively, and is configured to isolate the DC component of the electrical signal transmitted to the second differential conversion module 1222 .

[0142] In some embodiments, to further reduce interference, continue to refer to Figure 5 The receiving system 120 may further include a second filtering unit 124, which may be coupled to the output end of the first differential conversion module 1221 and the output end of the second differential conversion module 1222, respectively, and configured to filter out noise in the first voltage signal and the second voltage signal.

[0143] In some embodiments of the present disclosure, Figure 6 As shown, the second filtering unit 124 may include a common-mode inductor, wherein the common-mode inductor may include: a first common-mode coil L1 and a second common-mode coil L2, wherein the first end of the first common-mode coil L1 may be coupled to the first differential conversion module 1221, and the second end thereof may be coupled to the signal processing system; the first end of the second common-mode coil L2 may be coupled to the second differential conversion module 1222, and the second end thereof may be coupled to the signal processing system.

[0144] Furthermore, using a common-mode inductor as the second filtering unit 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.

[0145] In some embodiments of the present disclosure, in order to make the amplitudes of the first voltage signal and the second voltage signal within the preset level standard, continue to refer to Figure 5 The receiving system 120 may further include a clamping unit 125, which may be coupled between the output ends of the first differential conversion module 1221 and the second differential conversion module 1222, and configured to limit the amplitudes of the first voltage signal and the second voltage signal.

[0146] In a specific implementation, considering that the amplitudes of the first voltage signal and the second voltage signal are constantly changing, such as Figure 6 As shown, the clamping unit 125 may include a first clamping diode D1 and a second clamping diode D2, wherein the first end of the first clamping diode D1 is coupled to the output end of the first differential conversion module 1221, and the second end thereof is coupled to the output end of the second differential conversion module 1222; the first end of the second clamping diode D2 is coupled to the output end of the second differential conversion module 1222, and the second end thereof is coupled to the output end of the first differential conversion module 1221.

[0147] The first clamping diode D1 and the second clamping diode D2 are connected to the first differential conversion module and the second differential conversion module in opposite connection ways.

[0148] Depend on Figure 4It can be seen that at any time between 0 and 500 ns, the first voltage signal and the second voltage signal have opposite amplitudes, so the voltage amplitudes corresponding to the first voltage signal and the second voltage signal can be limited to within the tolerance range of the signal processing system by the first clamping diode D1 and the second clamping diode D2 respectively.

[0149] In some optional examples, when the first clamping diode and the second clamping diode are selected, the conduction voltage of the first clamping diode and the second clamping diode can be in the range of 0.25 V to 1 V. In addition, considering that the communication frequency of the wireless communication circuit is relatively high, the first clamping diode and the second clamping diode can have a relatively high switching speed, for example, within 1 ns.

[0150] It should be noted that the conduction voltage and on-off rate of the first clamping diode and the second clamping diode described in the above examples are only examples, and it will suffice as long as the first clamping diode and the second clamping diode are compatible with the wireless communication circuit.

[0151] It should also be noted that the first clamping diode D1 and the second clamping diode D2 may also be integrated into the signal processing system.

[0152] It can be seen from the foregoing that the first voltage signal and the second voltage signal generated by the receiving system are to be transmitted to the signal processing system and processed by the signal processing system to obtain the information carried by the optical signal.

[0153] In order to improve the stability of the first voltage signal and the second voltage signal during transmission and reduce the attenuation of the first voltage signal and the second voltage signal, continue to refer to Figure 2 and Figure 5 The receiving system 120 may further include an impedance matching unit 126 , which may be disposed between the signal processing system 130 and the differential conversion unit 122 and configured to match the impedance value between the signal processing system 130 and the differential conversion unit 122 .

[0154] In some embodiments of the present disclosure, Figure 6 As shown, the impedance matching unit 126 may include: a first resistor R7, a second resistor R8, a third resistor R9 and a first capacitor C6, wherein:

[0155] The first end of the first resistor R7 is coupled to the output end of the second differential conversion module 1222 and the signal processing system 130, and the second end thereof is coupled to the first end of the second resistor R8 and the first end of the third resistor R9;

[0156] The second end of the second resistor R8 is coupled to the first end of the first capacitor C6;

[0157] The second end of the first capacitor C6 is grounded;

[0158] The second end of the third resistor R9 is coupled to the output end of the first differential conversion module 1221 and the signal processing system 130 respectively.

[0159] In some optional examples, different wireless communication scenarios can be adapted by adjusting parameters of at least one of the first resistor, the second resistor, the third resistor, and the first capacitor.

[0160] It should be noted that the above describes multiple embodiment schemes provided by the embodiments of the present disclosure. 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.

[0161] To facilitate a better understanding and implementation of the specific working principle of the wireless communication circuit provided in the embodiment of the present disclosure, the following is described in detail through specific examples in conjunction with the accompanying drawings.

[0162] Continue to refer to Figure 6 , wherein the specific structure of each unit in the wireless communication circuit can refer to the above example, and will not be described here in detail. The connection relationship of the wireless communication circuit is:

[0163] The first end of the first bias resistor R5 can be connected to the bias voltage source VCC, and the second end of the first bias resistor R5 can be connected to the first end of the photodetector PD and the first end of the first DC blocking capacitor C4 respectively; the first end of the second bias resistor R6 can be grounded, and the second end of the second bias resistor R6 can be connected to the second end of the photodetector PD and the first end of the second DC blocking capacitor C5 respectively.

[0164] The second end of the first DC blocking capacitor C4 can be respectively connected to the first input terminal of the first operational amplifier OA1, the first end of the first conversion resistor R1, and the first end of the first feedback capacitor C1; the second end of the second DC blocking capacitor C5 can be respectively connected to the first input terminal of the second operational amplifier OA2, the first end of the second conversion resistor R2, and the first end of the second feedback capacitor C2.

[0165] The second input end of the first operational amplifier OA1 can be connected to the second end of the first voltage-dividing resistor R3 and the first end of the second voltage-dividing resistor R4 respectively, and its output end can be connected to the second end of the first conversion resistor R1, the second end of the first feedback capacitor C1, and the first end of the first common mode coil L1 respectively.

[0166] The second input end of the second operational amplifier OA2 can be respectively connected to the second end of the first voltage-dividing resistor R3, the first end of the second voltage-dividing resistor R4, and the first end of the first filter capacitor C3, and its output end can be respectively connected to the second end of the second conversion resistor R2, the second end of the second feedback capacitor C2, and the first end of the second common mode coil LB.

[0167] A first end of the first voltage-dividing resistor R3 may be connected to a power source VDD, and a second end of the second voltage-dividing resistor R4 may be connected to a second end of the first filter capacitor C3 and ground.

[0168] The second end of the first common mode coil L1 can be respectively connected to the first end of the first clamping diode D1, the second end of the second clamping diode D2, and the second end of the third resistor R9; the second end of the second common mode coil L2 can be respectively connected to the second end of the first clamping diode D1, the first end of the second clamping diode D2, and the first end of the first resistor R7.

[0169] The second end of the first resistor R7 can be connected to the first end of the second resistor R8 and the first end of the third resistor R9 respectively; the first end of the second resistor R8 can be connected to the first end of the first capacitor C6, and the second end of the first capacitor C6 is grounded.

[0170] The working principle of wireless communication circuit is:

[0171] The bias voltage source VCC, the first bias resistor R5 and the second bias resistor R6 provide a stable DC bias voltage for the photodetector PD, and the photodetector PD can convert the detected light signal into an electrical signal.

[0172] The first DC blocking capacitor C4 can isolate the DC component of the electrical signal transmitted to the first input terminal of the first operational amplifier OA1 and the first conversion resistor R1; the second DC blocking capacitor C5 can isolate the DC component of the electrical signal transmitted to the first input terminal of the second operational amplifier OA2 and the second conversion resistor R2.

[0173] At the same time, the first voltage-dividing resistor R3 and the second voltage-dividing resistor R4 can divide the voltage provided by the power supply VDD, and output the divided voltage on the second voltage-dividing resistor R4 to the second input terminals of the first operational amplifier OA1 and the second operational amplifier OA2, respectively. Then, the first operational amplifier OA1 and the first conversion resistor R1 can perform type conversion and amplification processing on the electrical signal to obtain a first voltage signal; the second operational amplifier OA2 and the second conversion resistor R2 can perform type conversion and amplification processing on the electrical signal to obtain a second voltage signal, wherein the first voltage signal and the second voltage signal can be differential signals to each other.

[0174] The first common mode coil L1 and the second common mode coil L2 in the common mode inductor can filter out common mode interference in the first voltage signal and the second voltage signal flowing into the signal processing system.

[0175] In addition, on the one hand, the voltage amplitudes of the first voltage signal and the second voltage signal output to the signal processing system can be limited by the first clamping diode D1 and the second clamping diode D2; on the other hand, by setting the first resistor R7, the second resistor R8, the third resistor R9 and the first capacitor C6, the impedance value between the signal processing system and the differential conversion unit can be matched, thereby completing the optical signal receiving process in optical communication.

[0176] It is understandable that the above Figure 6 The structure shown is only for illustrative purposes. In a specific implementation, the above circuit may be modified or selected. For example, the photodetector PD may be replaced by an avalanche photodiode, etc.; for another example, the second filter unit may be omitted. Based on this, different extension schemes may be obtained, and the embodiments of the present disclosure do not limit these extension schemes.

[0177] The receiving system described in the above embodiment can convert the optical signal emitted by the transmitting system into a first voltage signal and a second voltage signal which are differential signals of each other, and then the first voltage signal and the second voltage signal can be processed by the signal processing system to obtain the information carried in the optical signal.

[0178] For example, by processing a voltage signal and a second voltage signal, a control signal, point cloud data, etc. can be obtained.

[0179] In some embodiments, the signal processing system can 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.

[0180] In a specific implementation, the bias point detection circuit can be applied to various laser application occasions and corresponding equipment. An example of application in a laser radar is given below.

[0181] The present disclosure provides a laser radar, wherein the laser radar may include:

[0182] a first circuit board;

[0183] a second circuit board;

[0184] The wireless communication circuit described in any of the above embodiments, wherein the wireless communication circuit includes a transmitting system and a receiving system, wherein the transmitting system and the receiving system are respectively arranged on the first circuit board and the second circuit board;

[0185] one or more laser emitters configured to emit a probe beam into the environment;

[0186] One or more detectors configured to receive and generate a response signal in response to an echo beam after the probe beam is reflected by one or more objects in the environment;

[0187] The processor is coupled to the detector and configured to receive and process the response signal to obtain the distance and / or reflectivity information of the object.

[0188] Specifically, on the one hand, one or more laser emitters can emit a detection beam to the outside world, and then at least one corresponding detector can receive an echo beam after the detection beam is reflected by one or more objects in the environment, and generate a response signal corresponding to the echo beam. Then, after appropriate processing, the processor can determine the flight time difference and power and other parameters of the detection signal based on the response signal, and then obtain relevant information about the object, such as the distance of the object relative to the laser radar, the object reflectivity information and other parameters, thereby completing detection, tracking and identification of the object.

[0189] On the other hand, the wireless communication circuit can realize the optical communication process between the first circuit board and the second circuit board. For details, please refer to the above examples and will not be described in detail here.

[0190] 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.

[0191] Although the embodiments of the present disclosure are disclosed as above, the present invention 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 wireless communication circuit, characterized in that: include: a transmitting system configured to transmit an optical signal; a receiving system configured to receive the optical signal, convert the optical signal into an electrical signal, and convert the electrical signal into a first voltage signal and a second voltage signal, wherein the first voltage signal and the second voltage signal are differential signals; The signal processing system is coupled to the receiving system and is configured to process the first voltage signal and the second voltage signal to obtain information carried by the optical signal.

2. The wireless communication circuit according to claim 1, characterized in that: The receiving system comprises: a detection unit, configured to detect the optical signal and convert the optical signal into the electrical signal; A differential conversion unit includes a symmetrical first differential conversion module and a second differential conversion module, wherein the first differential conversion module is respectively coupled to the first end of the detection unit and the signal processing system, and is configured to convert the electrical signal into the first voltage signal; the second differential conversion module is respectively coupled to the second end of the detection unit and the signal processing system, and is configured to convert the electrical signal into the second voltage signal.

3. The wireless communication circuit according to claim 2, characterized in that: The first differential conversion module includes a first transimpedance amplifier, which includes: a first operational amplifier, a first conversion resistor and a first feedback capacitor, wherein: The first input terminal of the first operational amplifier is respectively coupled to the first terminal of the detection unit, the first terminal of the first conversion resistor, and the first terminal of the first feedback capacitor, the second input terminal thereof is coupled to the power supply, and the output terminal thereof is respectively coupled to the second terminal of the first conversion resistor and the second terminal of the first feedback capacitor, and is configured to output the first voltage signal.

4. The wireless communication circuit according to claim 3, characterized in that: The second differential conversion module includes a second transimpedance amplifier, and the second transimpedance amplifier includes: a second operational amplifier, a second conversion resistor and a second feedback capacitor, wherein: The first input terminal of the second operational amplifier is coupled to the second end of the detection unit, the first end of the second conversion resistor, and the first end of the second feedback capacitor, its second input terminal is coupled to the power supply, and its output terminal is respectively coupled to the second end of the second conversion resistor and the second end of the second feedback capacitor, and is configured to output the second voltage signal.

5. The wireless communication circuit according to claim 4, characterized in that: The first conversion resistor and the second conversion resistor have the same resistance value; The first feedback capacitor and the second feedback capacitor have the same capacitance.

6. The wireless communication circuit according to claim 4 or 5, characterized in that: The resistance values ​​of the first conversion resistor and the second conversion resistor are adjustable; and / or The capacitances of the first feedback capacitor and the second feedback capacitor are adjustable.

7. The wireless communication circuit according to claim 2, characterized in that: The receiving system further comprises: The voltage dividing unit is coupled to the first differential conversion module, the second differential conversion module and the ground respectively, and is configured to divide the voltage provided by the power supply and output the obtained divided voltage to the first differential conversion module and the second differential conversion module respectively.

8. The wireless communication circuit according to claim 7, characterized in that: The voltage dividing unit comprises: a first voltage dividing resistor and a second voltage dividing resistor, wherein: The first end of the first voltage-dividing resistor is coupled to a power source, and the second end of the first voltage-dividing resistor is coupled to the first end of the second voltage-dividing resistor, the first differential conversion module, and the second differential conversion module respectively; The second end of the second voltage-dividing resistor is grounded.

9. The wireless communication circuit according to claim 7 or 8, characterized in that: The receiving system further comprises: The first filtering unit is coupled to the voltage dividing unit and is configured to filter out noise in the divided voltage.

10. The wireless communication circuit according to claim 2, characterized in that: The receiving system further comprises: A DC bias unit is respectively coupled to the detection unit, the first differential conversion module and the second differential conversion module, and is configured to provide a bias voltage to the detection unit.

11. The wireless communication circuit according to claim 10, characterized in that: The DC bias unit comprises: a bias voltage source, a first bias resistor and a second bias resistor, wherein: The bias voltage source is coupled to a first end of the second bias resistor; The second end of the second bias resistor is coupled to the second end of the detection unit and the second differential conversion module respectively; The first end of the first bias resistor is grounded, and the second end thereof is respectively coupled to the first end of the detection unit and the first differential conversion module; The voltage difference between the second end of the first bias resistor and the second end of the second bias resistor is used as the bias voltage.

12. The wireless communication circuit according to claim 10, characterized in that: The receiving system further comprises: a first DC blocking capacitor, coupled to the DC bias unit, the first end of the detection unit, and the first differential conversion module, respectively, and configured to isolate a DC component in the electrical signal transmitted to the first differential conversion module; The second DC blocking capacitor is respectively coupled to the DC bias unit, the second end of the detection unit, and the second differential conversion module, and is configured to isolate a DC component in the electrical signal transmitted to the second differential conversion module.

13. The wireless communication circuit according to claim 2, characterized in that: The receiving system further comprises: The second filtering unit is coupled to the output end of the first differential conversion module and the output end of the second differential conversion module respectively, and is configured to filter out noise in the first voltage signal and the second voltage signal.

14. The wireless communication circuit according to claim 2, characterized in that: The receiving system further comprises: The clamping unit is coupled between the output terminals of the first differential conversion module and the second differential conversion module, and is configured to limit the amplitudes of the first voltage signal and the second voltage signal.

15. The wireless communication circuit according to claim 2, characterized in that: The receiving system further comprises: The impedance matching unit is disposed between the signal processing system and the differential conversion unit and is configured to match the impedance value between the signal processing system and the differential conversion unit.

16. The wireless communication circuit according to claim 15, characterized in that: The impedance matching unit includes: a first resistor, a second resistor, a third resistor and a first capacitor, wherein: The first end of the first resistor is respectively coupled to the output end of the second differential conversion module and the signal processing system, and the second end thereof is respectively coupled to the first end of the second resistor and the first end of the third resistor; The second end of the second resistor is coupled to the first end of the first capacitor; The second end of the first capacitor is grounded; The second end of the third resistor is coupled to the output end of the first differential conversion module and the signal processing system respectively.

17. A laser radar, characterized in that: include: a first circuit board; a second circuit board; The wireless communication circuit according to any one of claims 1 to 16, comprising a transmitting system and a receiving system, wherein the transmitting system and the receiving system are respectively arranged on the first circuit board and the second circuit board; one or more laser emitters configured to emit a probe beam into the environment; One or more detectors configured to receive and generate a response signal in response to an echo beam after the probe beam is reflected by one or more objects in the environment; The processor is coupled to the detector and configured to receive and process the response signal to obtain the distance and / or reflectivity information of the object.

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