Channel structure, signal processing method and laser radar system

Abstract

The invention provides a channel structure, a signal processing method and a laser radar system, and relates to the technical field of signal detection. The channel structure comprises a signal transmitting device, a signal receiving device, n signal channels and m balancing devices, n and m are positive integers, n > = 2, 1 < = m < n; an input port of each signal channel is connected with the signal transmitting device, and an output port of each signal channel is connected with the signal receiving device through the balancing device; the signal transmitting device is used for inputting an optical signal to the signal channel, and the signal channel is used for processing the optical signal to obtain a target signal; the balancing device is used for transmitting the target signal to the signal receiving device, and the signal receiving device is used for processing and outputting the target signal. According to the invention, by arranging the balancing devices with the number smaller than that of the channels, the plurality of signal channels in the channel structure can share one balancing device to carry out signal processing, so that the structural complexity and the device cost in the channel structure are effectively reduced.

Description

Technical Field

[0001] This application relates to the technical field of signal detection, and in particular, to a channel structure, a signal processing method, and a lidar system. Background Art

[0002] Lidar based on the FMCW (Frequency Modulated Continuous Wave) principle has the advantages of strong anti-interference ability, high measurement accuracy, and strong speed measurement ability, and has a wide range of applications in fields such as automotive radar, UAV obstacle avoidance, industrial automation, and security monitoring. For example, in the field of automotive radar, FMCW radar is applied to functions such as adaptive cruise control, automatic emergency braking, and blind spot monitoring. By detecting the distance and speed information of the vehicle ahead, the vehicle can automatically adjust its driving speed and maintain a safe distance, thereby improving driving safety and comfort.

[0003] Currently, due to the increasing measurement requirements of lidar, the number of channels designed inside it also increases accordingly. Correspondingly, the number of various devices required for the channels will also increase, resulting in a high device cost for lidar and a relatively complex internal structure of the devices, and the structure design cost is also high, which cannot meet various low-cost measurement requirements. Summary of the Invention

[0004] In view of this, the purpose of the embodiments of this application is to provide a channel structure, a signal processing method, and a lidar system to improve the problem of high device and structure design costs of lidar existing in the prior art.

[0005] To solve the above problems, in the first aspect, the embodiments of this application provide a channel structure, which includes: a signal transmitting device, a signal receiving device, n signal channels, and m balancing devices; where n and m are positive integers, n≥2, and 1≤m<n;

[0006] The input port of each signal channel is connected to the signal transmitting device, and the output port of each signal channel is connected to the signal receiving device through the balancing device;

[0007] The signal transmitting device is used to input an optical signal into the signal channel, and the signal channel is used to process the optical signal to obtain a target signal;

[0008] The balancing device is used to transmit the target signal to the signal receiving device, and the signal receiving device is used to process and output the target signal.

[0009] In the above implementation process, the processing, transmission, and output of optical signals can be achieved through the connection lines of the signal transmitting device, signal channels, balancing device, and signal receiving device. Moreover, when designing the balancing device, balancing devices with a quantity less than the number of channels can be set, so that multiple signal channels in the channel structure can share a pair of balancing devices to perform signal transmission processing, effectively reducing the number of required balancing devices and the design costs such as routing required for the structural design of the balancing device, reducing the structural complexity inside the channel structure, thereby effectively reducing the device cost and structural design cost inside the channel structure and meeting the measurement requirements of various low-cost measurement scenarios.

[0010] Optionally, at least a signal transmission ports are provided on the balancing device, and a / 2 of the signal channels share one balancing device, where a is a positive even number and a≥4.

[0011] In the above implementation process, more than 4 transmission ports can be set on the balancing device, where 2 transmission ports correspond to the transmission situation of one signal channel, so that 2 or more signal channels can share the same balancing device for signal transmission. By expanding the quantity structure of the transmission ports on the balancing device, the number of required balancing devices is reduced, and the structural complexity of multiple balancing devices is reduced, effectively reducing the device cost and structural design cost inside the channel structure.

[0012] Optionally, each signal channel includes a beam splitter and an optical switch device; the optical switch device is connected to the beam splitter;

[0013] The input port of the beam splitter is connected to the signal transmitting device, and the output port of the beam splitter is connected to the signal receiving device through the balancing device;

[0014] The optical switch device is used to control the signal power entering the beam splitter according to its own switch state.

[0015] In the above implementation process, each signal channel can include a beam splitter and an optical switch device. The beam splitter can be connected to the signal transmitting device, the balancing device, and the signal receiving device to perform corresponding processing on optical signals and achieve corresponding functional characteristics. Moreover, in order to control the working state of the beam splitter, an optical switch device connected to the beam splitter can also be set, so as to control the signal power entering the beam splitter based on the own switch state of the optical switch device, and control and adjust the working state of the beam splitter according to the magnitude of the signal power, effectively improving the controllability of the working states of each signal channel, thereby improving the effectiveness and accuracy of signal processing.

[0016] Optionally, the signal channel further includes a controller, which is connected to the n optical switch devices. The controller is configured to control each optical switch device to be turned on or off based on signal processing requirements and the functional characteristics of each optical splitter.

[0017] In the above implementation process, a corresponding controller can also be provided in the signal channel. The controller is respectively connected to multiple optical switch devices in multiple signal channels, and can control the on-off state of each optical switch device according to the actual signal processing requirements in the application scenario, combined with the functional characteristics of the optical splitters in each signal channel, so as to adjust the signal power entering the optical splitter by turning on or off the optical switch device, thereby controlling the working state of the signal channel. It is possible to select a suitable signal channel to process the signal according to the actual requirements, combined with the functional characteristics of each signal channel, effectively improving the effectiveness and real-time performance of the signal channel operation.

[0018] Optionally, among the multiple optical switch devices of multiple signal channels sharing one balance device at a working time node, the number of the optical switch devices in the on state is 1 or 0.

[0019] In the above implementation process, considering the situation where multiple signal channels share one balance device, in order to reduce the interference of signals in different signal channels, at a working time node, among the multiple optical switch devices of multiple signal channels sharing the same balance device, at most only 1 optical switch device is in the on state, that is, in the case of sharing a balance device, only one signal channel can be in the working state at the same time node, so as to distinguish the signals of multiple different signal channels and reduce the adverse situation of signal interaction between different signal channels, improving the effectiveness of each signal channel in processing and transmitting signals.

[0020] Optionally, the signal transmitting device includes n transmitting ports, and each transmitting port is connected to the input port of the corresponding signal channel;

[0021] The signal receiving device includes n receiving ports, and each receiving port is connected to the corresponding balance device.

[0022] In the above implementation process, in order to provide independent signal transmission and signal reception services for each signal channel, the signal transmitting device and the signal receiving device can be respectively provided with n transmitting ports and n output ports. Each transmitting port is connected to the input port of the signal channel, and each receiving port is connected to the output port of the signal channel through a balance device, which can reduce the adverse situation of signal interference or signal transmission error between different signal channels through independent signal transmission lines, so as to improve the effectiveness of each signal channel in processing and transmitting signals.

[0023] Optionally, when the functional characteristic of any one of the signal channels is linearization calibration, a delay line is provided between the transmitting port and the receiving port connected to the signal channel.

[0024] In the above implementation process, if the functional characteristic of any one signal channel is linearization calibration, a corresponding delay line can be provided between the transmitting port and the receiving port connected to the signal channel, so as to provide delay service for the calibration function through the delay line, thereby effectively improving the calibration accuracy and accuracy of the signal channel with linearization calibration for signal processing.

[0025] Optionally, the signal receiving device includes a signal amplifier and a signal converter. The signal amplifier is used to amplify a target signal to obtain an amplified signal;

[0026] The signal converter is used to perform conversion processing on the amplified signal to obtain an output signal.

[0027] In the above implementation process, in order to further process the target signal output by the signal channel, a corresponding signal amplifier and signal converter can be provided in the signal receiving device, so as to amplify the target signal through the signal amplifier to obtain an amplified signal, and perform conversion processing on the amplified signal through the signal converter to obtain a corresponding output signal, effectively reducing the noise of the signal and improving the gain and visibility of the output signal output to an external device.

[0028] In a second aspect, an embodiment of the present application further provides a signal processing method, and the method includes:

[0029] Determine corresponding signal processing requirements;

[0030] According to the signal processing requirements and the functional characteristics of each signal channel, turn on the target signal channel, and turn off the non-target signal channels sharing a balancing device with the target signal channel, and process the optical signal sent by the signal transmitting device through the target signal channel to obtain a target signal;

[0031] Transmit the target signal to the signal receiving device through the balancing device;

[0032] Process and output the target signal through the signal receiving device.

[0033] In the above implementation process, the actual signal processing requirements in the application scenario can be determined first, and then, according to the signal processing requirements and the functional characteristics of each signal channel, a signal channel whose functional characteristics correspond to the signal processing requirements is selected as the target signal channel and the target signal channel is turned on to make the target signal channel in a working state. Moreover, since multiple signal channels share the same balun device, in order to reduce the signal interference between different channels, the non-target signal channels that share the same balun device with the target signal channel can be turned off to make the non-target signal channels in a non-working state. The optical signal sent by the signal transmitting device is processed by the working target signal channel to obtain the corresponding target signal, and the target signal is transmitted to the signal receiving device through the balun device, and the target signal is processed and output by the signal receiving device. It is possible to select a suitable signal channel to process the signal according to the actual requirements in combination with the functional characteristics of each signal channel, and control the working states of different types of signal channels to reduce the mutual interference between different signal channels, effectively improving the effectiveness and accuracy of signal processing.

[0034] In a third aspect, an embodiment of the present application further provides a lidar system, and the system includes the channel structure described in any one of the above.

[0035] In summary, an embodiment of the present application provides a channel structure, a signal processing method, and a lidar system. By setting balun devices with a quantity less than the number of channels, multiple signal channels in the channel structure can share one balun device pair to transmit and process signals, effectively reducing the number of required balun devices and the design costs such as wiring required for the structural design of the balun device, so as to reduce the internal structural complexity of the channel structure, thereby effectively reducing the device cost and structural design cost inside the channel structure, and meeting the measurement requirements of various low-cost measurement scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 FIG. is a schematic structural diagram of a channel structure provided by an embodiment of the present application;

[0038] Figure 2 FIG. is a specific structural diagram of a channel structure provided by an embodiment of the present application;

[0039] Figure 3A schematic flowchart of a signal processing method provided by an embodiment of the present application.

[0040] Icons: 110 - signal transmitting device; 120 - signal receiving device; 130 - signal channel; 131 - input port; 132 - output port; 140 - balancing device; 141 - transmission port; 133 - optical splitter; 134 - optical switch device; 151 - controller; 111 - transmitting port; 121 - receiving port. Detailed implementation manners

[0041] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the embodiments of the present application.

[0042] Due to the increasing measurement requirements of lidar, the number of channels designed inside it also increases accordingly. Correspondingly, the number of various devices required in the current channel structure of lidar, such as BPD (Balance Photodiode), TIA (Trans-impedance Amplifier), and ADC (Analog-to-Digital Converter), etc., will also increase, resulting in a relatively high device cost for lidar, and the internal structure of the device is relatively complex, and the structure design cost is also relatively high, which cannot meet various low-cost measurement requirements.

[0043] To solve the above problems, an embodiment of the present application provides a channel structure, which is arranged in a lidar system. The lidar system can be a lidar system in the field of coherent reception detection based on the FMCW principle. The lidar system can be arranged in various types of measurement devices to achieve high-precision measurement work.

[0044] Please refer to Figure 1 , Figure 1 A schematic structural diagram of a channel structure provided by an embodiment of the present application. The channel structure may include: a signal transmitting device 110, a signal receiving device 120, n signal channels 130, and m balancing devices 140.

[0045] Among them, both n and m are positive integers, and n≥2, 1≤m<n, that is, the number of balancing devices 140 is less than the number of signal channels 130, and multiple signal channels 130 share the same balancing device 140. In the embodiments shown in the accompanying drawings of this application, only the structure with 2 signal channels 130 and 1 balancing device 140 is shown, and other quantities will not be elaborated.

[0046] It should be noted that the balancing device 140 has at least a signal transmission ports 141, and a / 2 signal channels 130 share one balancing device 140. a is a positive even number and a≥4. More than 4 transmission ports 141 can be provided on the balancing device 140. Among them, 2 transmission ports 141 correspond to the transmission situation of one signal channel 130, one transmission port 141 is connected to the output port 132 of the signal channel 130, and one transmission port 141 is connected to the signal receiving device 120, so that 2 or more signal channels 130 can share the same balancing device 140 for signal transmission. By expanding the quantity structure of the transmission ports 141 on the balancing device 140, the number of required balancing devices 140 is reduced, and the structural complexity of multiple balancing devices 140 is reduced, effectively reducing the device cost and structural design cost inside the channel structure.

[0047] Exemplarily, in the case of a = 4, 2 signal channels 130 can share the same balancing device 140. In the case of a = 6, 3 signal channels 130 can share the same balancing device 140. Moreover, multiple balancing devices 140 with different numbers of transmission ports 141 can be provided in the channel structure. For example, 4 transmission ports 141 are provided in the first balancing device 140, and 6 transmission ports 141 are provided in the second balancing device 140, etc. The number of balancing devices 140 and the number of transmission ports 141 of the balancing devices 140 provided in each balancing device 140 can be set and adjusted according to the actual number of signal channels 130 and the signal processing efficiency.

[0048] Optionally, the balancing device 140 can be set as various types of balanced detectors, such as BPD devices. A BPD is a special photodiode with a pair of highly reliable and low dark current photodetectors that can convert optical signals into electrical signals. The balancing device 140 features low noise, high gain, and high sensitivity, which can improve the measurement accuracy and signal-to-noise ratio of the lidar system. By integrating a pair of photodetectors, the BPD can achieve differential detection of photocurrents, effectively suppressing common-mode noise. Moreover, the BPD adopts a high-bandwidth and low-noise circuit design to ensure the quality of the received signals. By optimizing the circuit parameters, the BPD can also provide a high gain, thereby improving the detection sensitivity of the signals. In the lidar system, the BPD can receive the laser signals reflected in the signal channel 130, i.e., the target signals, convert them into electrical signals, and transmit the electrical signals to the signal receiving device 120 for subsequent processing.

[0049] Optionally, the signal transmitting device 110 can include various types of laser emitters, laser modulators, and laser power supplies, etc., which can convert electrical energy into laser energy and emit laser beam signals with specific wavelengths, waveforms, and powers. The laser modulator can also modulate the laser beam signals to generate specific waveforms or frequencies, which helps the lidar system distinguish target signals from background noise in complex environments and improve the detection accuracy and reliability of the lidar system. The signal receiving device 120 can include corresponding photodetectors, amplifier circuits, etc., to amplify and output the received signals.

[0050] Among them, the input port 131 of each signal channel 130 is connected to the signal transmitting device 110, and the output port 132 of each signal channel 130 is connected to the signal receiving device 120 through the balancing device 140. The signal transmitting device 110 is used to input optical signals into the signal channel 130, and the signal channel 130 is used to process the optical signals to obtain target signals; the balancing device 140 is used to transmit the target signals to the signal receiving device 120, and the signal receiving device 120 is used to process and output the target signals. The processing, transmission, and output of optical signals can be achieved through the connection lines of the signal transmitting device 110, signal channel 130, balancing device 140, and signal receiving device 120.

[0051] In Figure 1In the illustrated embodiment, by providing a balancing device 140 with a quantity less than the number of channels, multiple signal channels 130 in the channel structure can share one pair of balancing devices 140 to process signal transmission, effectively reducing the quantity of the required balancing devices 140 and the design costs such as routing required for the structural design of the balancing devices 140, thereby reducing the structural complexity inside the channel structure, effectively reducing the device cost and structural design cost inside the channel structure, and meeting the measurement requirements of various low-cost measurement scenarios.

[0052] Optionally, please refer to Figure 2 , Figure 2 which is a specific structural schematic diagram of a channel structure provided by an embodiment of the present application.

[0053] Among them, each signal channel 130 may include a splitter 133 and an optical switch device 134. The optical switch device 134 is connected to the splitter 133. The input port 131 of the splitter 133 is connected to the signal transmitting device 110. The output port 132 of the splitter 133 is connected to the signal receiving device 120 through the balancing device 140. The splitter 133 can be connected to the signal transmitting device 110, the balancing device 140, and the signal receiving device 120 to correspondingly process the optical signal and achieve corresponding functional characteristics.

[0054] Moreover, in order to control the working state of the splitter 133, an optical switch device 134 connected to the splitter 133 can also be provided. The optical switch device 134 is used to control the signal power entering the splitter 133 according to its own switch state, and can control and adjust the working state of the splitter 133 according to the magnitude of the signal power, effectively improving the controllability of the working states of the respective signal channels 130, thereby improving the effectiveness and accuracy of signal processing.

[0055] Optionally, when the optical switch device 134 is closed, the signal power entering the corresponding splitter 133 is 0 to close the signal channel 130 and make the signal channel 130 in a non-working state. When the optical switch device 134 is opened, the signal power entering the corresponding splitter 133 is the original power of the optical signal to open the signal channel 130 and make the signal channel 130 in a working state.

[0056] Exemplarily, the optical switch device 134 can be set as a corresponding optical switch or a variable optical attenuator (VOA), etc., which are devices capable of controlling the optical signal power. The variable optical attenuator has different implementation methods. For example, the commonly used on-chip thermo-optic MZI optical attenuator can control the optical power by adjusting the waveguide phase through the thermo-optic effect. The variable optical attenuator can also include an electro-optic MZI optical attenuation device, or a variable optical attenuator based on free carrier absorption, etc.

[0057] Exemplarily, the optical splitter 133 can be set as a device with various different functional characteristics. For example, the optical splitter 133 can include an intrinsic optical splitter 133, an emission optical splitter 133, a beam splitter capable of calibrating the frequency modulation linearization effect of the light source, and a beam splitter for measuring the distance and speed of an object, etc.

[0058] Optionally, the signal channel 130 can also include a controller 151. The controller 151 is connected to multiple optical switch devices 134. The controller 151 is used to control each optical switch device 134 to be turned on or off based on the signal processing requirements and the functional characteristics of each optical splitter 133. A corresponding controller 151 can also be set in the signal channel 130. The controller 151 is respectively connected to multiple optical switch devices 134 in multiple signal channels 130, and can control the on-off state of each optical switch device 134 according to the actual signal processing requirements in the application scenario, combined with the functional characteristics of the optical splitter 133 in each signal channel 130, so as to adjust the signal power entering the optical splitter 133 by turning on or off the optical switch device 134, thereby controlling the working state of the signal channel 130. It is possible to select a suitable signal channel 130 to process the signal according to the actual requirements, combined with the functional characteristics of each signal channel 130, effectively improving the effectiveness and real-time performance of the operation of the signal channel 130.

[0059] Optionally, the signal processing requirement can be requirement information parsed based on the user's needs. For example, when the user needs the lidar system to measure the speed of a certain object, the signal processing requirement is the speed measurement requirement. The controller 151 can control the optical switch device 134 of the signal channel 130 with the speed measurement function to be turned on, so that the optical signal enters the signal channel 130 for speed measurement processing.

[0060] Exemplarily, the controller 151 can be a control current source, a control circuit including electronic components such as an amplifier, a comparator, a microprocessor, etc., and an optical polarization controller 151, etc., which are various devices capable of controlling and adjusting the state of the optical switch device 134.

[0061] Optionally, taking the optical switch device 134 as an example of a tunable optical attenuator, the controller 151 can control the tunable optical attenuator to flexibly adjust the intensity of the transmitted optical signal according to the signal processing requirements, so as to precisely adjust the optical power by adjusting the optical signal energy and meet the requirements of different application scenarios.

[0062] It should be noted that considering the situation where multiple signal channels 130 share a single balancing device 140, in order to reduce the interference between signals in different signal channels 130, at a working time node, among the multiple optical switch devices 134 of the multiple signal channels 130 sharing a single balancing device 140, the number of optical switch devices 134 in the on state is 1 or 0. Among the multiple optical switch devices 134 of the multiple signal channels 130 sharing the same balancing device 140, at most only 1 optical switch device 134 is in the on state. That is, in the case of sharing the balancing device 140, only one signal channel 130 can be in the working state at the same time node, so as to distinguish the signals of multiple different signal channels 130, reduce the adverse situation of signal interference between different signal channels 130, and improve the effectiveness of each signal channel 130 in processing and transmitting signals.

[0063] Please continue to refer to Figure 2 , where the signal transmitting device 110 may include n transmitting ports 111, and each transmitting port 111 is connected to the input port 131 of the corresponding signal channel 130. The signal receiving device 120 may include n receiving ports 121, and each receiving port 121 is connected to the corresponding balancing device 140. In order to provide independent signal transmission and signal reception services for each signal channel 130, the signal transmitting device 110 and the signal receiving device 120 may be respectively provided with n transmitting ports 111 and n output ports 132. Each transmitting port 111 is connected to the input port 131 of the signal channel 130, and each receiving port 121 is connected to the output port 132 of the signal channel 130 through the balancing device 140, which can reduce the adverse situation of signal interference or signal transmission errors between different signal channels 130 through independent signal transmission lines, so as to improve the effectiveness of each signal channel 130 in processing and transmitting signals.

[0064] Optionally, the signal transmitting device 110 can generate or transmit corresponding front-end signals as optical signals according to actual signal processing requirements. For example, in ranging and velocity measurement, a normal FMCW frequency modulation signal is required, such as a triangular wave frequency modulation signal with a modulation speed of 100 kHz and a modulation amplitude of 1 GHz, etc., as the optical signal input to the signal channel 130. The signal transmitting device 110 may include a waveform generator, and the triangular wave modulation signal can be generated by the waveform generator and input to the laser driver in the form of current, and after driving, the frequency of the laser is modulated in the form of voltage.

[0065] Optionally, when the functional characteristic of any signal channel 130 is linearization calibration, a delay line is provided between the transmitting port 111 and the receiving port 121 connected to the signal channel 130. If the functional characteristic of any signal channel 130 is linearization calibration, a corresponding delay line can be provided between the transmitting port 111 and the receiving port 121 connected to this signal channel 130 to provide delay service for the calibration function through the delay line, thereby effectively improving the calibration accuracy and accuracy of the signal channel 130 with linearization calibration in processing signals.

[0066] Exemplarily, the delay line can include a long delay line. To ensure the accuracy and stability of the delay, materials with low loss, low dispersion, and stable characteristics, such as high-purity copper, low-loss coaxial cables, or optical fibers, can be selected as the delay line materials. Also, according to the temperature stability of the materials, it can be ensured that the delay line has consistent delay characteristics at different ambient temperatures. The length of the delay line can be determined according to the delay requirements of the optical splitter 133 for linearization calibration, and the corresponding delay amount can be calculated by combining the transmission speed of the signal and the length of the delay line to determine whether the delay amount meets the delay requirements. The delay line can be connected to the transmitting port 111 and the receiving port 121 through corresponding connectors or adapters, etc.

[0067] Optionally, in order to further process the target signal output by the signal channel 130, the signal receiving device 120 can include a signal amplifier and a signal converter. The signal amplifier is used to amplify the target signal to obtain an amplified signal, and the signal converter is used to convert the amplified signal to obtain an output signal, effectively reducing the noise of the signal and other situations, and improving the gain and visibility of the output signal output to external devices.

[0068] Exemplarily, a signal amplifier is a circuit that can amplify a current signal, convert a weak current signal into a voltage signal, and amplify it. The signal amplifier is connected to the balancing device 140 and is used to amplify the electrical signal converted by the balancing device 140. The signal amplifier may include a transimpedance amplifier and other devices with signal amplification functions. Through the amplification of the transimpedance amplifier, the target signal can have sufficient amplitude and signal-to-noise ratio in the subsequent processing. The transimpedance amplifier can provide a high gain to ensure the amplification effect of the signal. A low-noise circuit design can also be used for the transimpedance amplifier to avoid introducing additional noise during amplification. The transimpedance amplifier also has a wide frequency band response and can process high-speed laser signals. The signal converter may include an analog-to-digital converter, which can convert an analog signal into a digital signal. It can convert a continuously varying analog signal into a discrete digital signal. The signal converter can convert the voltage signal amplified by the signal amplifier into a digital signal for output for subsequent digital signal processing and analysis. Through the conversion of the signal amplifier, the lidar system can output high-precision digital measurement results. The signal amplifier has a high resolution, which can ensure that the converted digital signal has sufficient accuracy, and also has a high sampling rate, which can process analog signals that change at high speed. Advanced quantization algorithms and circuit designs can be used for the signal amplifier to reduce the noise introduced during quantization.

[0069] Please refer to Figure 3 , Figure 3 which is a schematic flowchart of a signal processing method provided by an embodiment of the present application. The method may include steps S210 - S240.

[0070] Step S210, determine the corresponding signal processing requirements.

[0071] Step S220, according to the signal processing requirements and the functional characteristics of each signal channel, turn on the target signal channel and turn off the non-target signal channels that share the balancing device with the target signal channel, and process the optical signal sent by the signal transmitting device through the target signal channel to obtain the target signal.

[0072] Step S230, transmit the target signal to the signal receiving device through the balancing device.

[0073] Step S240, process and output the target signal through the signal receiving device.

[0074] Among them, the actual signal processing requirements in the application scenario can be determined first, and then according to the signal processing requirements and the functional characteristics of each signal channel, a signal channel whose functional characteristics correspond to the signal processing requirements is selected as the target signal channel and the target signal channel is turned on, so that the target signal channel is in a working state. Moreover, since multiple signal channels share the same balancing device, in order to reduce signal interference between different channels, non-target signal channels sharing the same balancing device with the target signal channel can be turned off, so that the non-target signal channels are in a non-working state. The optical signal sent by the signal transmitting device is processed by the working target signal channel to obtain a corresponding target signal, and the target signal is transmitted to the signal receiving device through the balancing device, and the target signal is processed and output by the signal receiving device. It is possible to select an appropriate signal channel to process the signal according to the actual requirements in combination with the functional characteristics of each signal channel, and control the working states of different types of signal channels to reduce the mutual interference between different signal channels, effectively improving the effectiveness and accuracy of signal processing.

[0075] Since the principle of solving problems by the signal processing method in the embodiments of the present application is similar to that of the embodiments of the foregoing channel structure, the implementation of the signal processing method in this embodiment can refer to the description in the embodiments of the above channel structure, and the repeated parts will not be elaborated.

[0076] Exemplarily, taking the example that the first signal channel for calibrating the frequency modulation linearization effect of the light source and the second signal channel for ranging / velocity measurement share the same balancing device, the first signal channel includes a first optical switch device voa0 and a first optical splitter splitter0, and the second signal channel includes a second optical switch device voa1 and a second optical splitter splitter1. When it is necessary to calibrate the frequency modulation linearization of the light source, the controller can adjust voa1 to be closed so that the optical power entering splitter1 of the second signal channel is 0, taking the second signal channel as the non-target channel, and adjust voa0 to be open, taking the first signal channel as the target signal channel. Only the first signal channel has optical power, and the first signal channel can be used to calibrate the light source; after calibration, the controller can adjust voa0 to be closed and voa1 to be open, taking the first signal channel as the non-target channel and the second signal channel as the target signal channel to perform normal ranging and velocity measurement operations.

[0077] In several embodiments provided by the present application, it should be understood that the disclosed device can also be implemented in other ways. The structural embodiments described above are merely illustrative. For example, the block diagrams in the accompanying drawings show the possible architectures, functions, and operations of the device according to multiple embodiments of the present application. In this regard, each block in the block diagram can represent a module, a program segment, or a part of code, and the module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram, as well as combinations of block diagrams, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0078] In addition, each functional module in various embodiments of the present application can be integrated together to form an independent part, or each module can exist separately, or two or more modules can be integrated to form an independent part.

[0079] If the above functions are implemented in the form of software functional modules and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical disks, etc., which can store program codes.

[0080] The above description is only for the embodiments of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0081] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application.

[0082] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article or device including the said elements.

Claims

1. A channel structure, characterized in that: The channel structure includes: a signal transmitting device, a signal receiving device, n signal channels and m balancing devices; wherein n and m are positive integers, n≥2, 1≤m<n; The input port of each signal channel is connected to the signal transmitting device, and the output port of each signal channel is connected to the signal receiving device through the balancing device; The signal transmitting device is used to input an optical signal into the signal channel, and the signal channel is used to process the optical signal to obtain a target signal; The balancing device is used to transmit the target signal to the signal receiving device, and the signal receiving device is used to process and output the target signal.

2. The channel structure according to claim 1, characterized in that: in, The balancing device has at least a signal transmission ports, a / 2 of the signal channels share one balancing device, a is a positive even number and a≥4.

3. The channel structure according to claim 1 or 2, characterized in that: in, Each of the signal channels comprises an optical splitter and an optical switch device; the optical switch device is connected to the optical splitter; The input port of the optical splitter is connected to the signal transmitting device, and the output port of the optical splitter is connected to the signal receiving device through the balancing device; The optical switch device is used to control the signal power entering the optical splitter according to its own switch state.

4. The channel structure according to claim 3, characterized in that: in, The signal channel further includes a controller, which is connected to the plurality of optical switch devices. The controller is used to control each of the optical switch devices to turn on or off based on signal processing requirements and functional characteristics of each of the optical splitters.

5. The channel structure according to claim 3, characterized in that: in, At a working time node, among the multiple optical switch devices of the multiple signal channels that share one balancing device, the number of the optical switch devices in the on state is 1 or 0.

6. The channel structure according to claim 1 or 2, characterized in that: in, The signal transmitting device comprises n transmitting ports, each of which is connected to the input port of the corresponding signal channel; The signal receiving device includes n receiving ports, and each of the receiving ports is connected to a corresponding balancing device.

7. The channel structure according to claim 6, characterized in that: in, In the case where the functional characteristic of any of the signal channels is linear calibration, a delay line is provided between the transmitting port and the receiving port connected to the signal channel.

8. The channel structure according to claim 1 or 2, characterized in that: in, The signal receiving device comprises a signal amplifier and a signal converter, wherein the signal amplifier is used to amplify the target signal to obtain an amplified signal; The signal converter is used to convert the amplified signal to obtain an output signal.

9. A signal processing method, characterized in that: The method comprises: Determine the corresponding signal processing requirements; According to the signal processing requirements and the functional characteristics of each signal channel, the target signal channel is opened, and the non-target signal channel that shares the balancing device with the target signal channel is closed, and the optical signal sent by the signal transmitting device is processed through the target signal channel to obtain the target signal; The target signal is transmitted to the signal receiving device through the balancing device; The target signal is processed and outputted through the signal receiving device.

10. A laser radar system, characterized in that: The system comprises the channel structure according to any one of claims 1-8.

Images