Self-checking circuit and laser radar

Abstract

The invention provides a self-checking circuit and a laser radar, and the self-checking circuit is used for carrying out the self-checking of a voltage monitor, and comprises a voltage monitor, a power supply, and a processor. The voltage monitor is configured to monitor whether the working voltage output by the power supply is within a set range. The processor is configured to inject a pulse signal to an operating voltage. The working voltage and the pulse signal are coupled into a test signal. The voltage monitor is further configured to receive the test signal and generate an indication signal according to the test signal. By using the scheme of the invention, the self-inspection of the voltage monitor can be simply and conveniently realized, the power consumption is effectively reduced, and the hardware cost is saved.

Description

Technical Field

[0001] The present disclosure relates to the field of circuit technologies, and in particular, to a self-checking circuit and a lidar. Background Art

[0002] In some electronic devices such as computers, PDAs (Personal Digital Assistants), mobile phones, measuring instruments, lidars, vehicle driving, etc., a power supply is required to provide an adapted power supply voltage to supply power to the components within the device (for example, various different chips and functional modules). If the power supply voltage is abnormal (for example, outside the operating voltage range of the electrical appliance components), it may affect the normal operation of the components, reduce the device performance, and even cause the device function to fail. To monitor the power supply voltage in a timely manner, a voltage monitor can be set in the device to monitor the core power supply voltage in the device. To ensure the correct monitoring of the power supply voltage by the voltage monitor, it is also necessary to ensure the normal function of the voltage monitor. How to implement self-checking of the voltage monitor is a technical problem that needs to be solved in this field. Summary of the Invention

[0003] The present disclosure provides a self-checking circuit and a lidar, which can simply and conveniently implement self-checking of a voltage monitor, and effectively reduce power consumption and save hardware costs.

[0004] To this end, the present disclosure provides the following technical solutions:

[0005] On the one hand, the present disclosure provides a self-checking circuit for self-checking a voltage monitor, characterized in that the self-checking circuit includes: a voltage monitor, a power supply, and a processor;

[0006] The voltage monitor is configured to monitor whether the operating voltage output by the power supply is within a set range;

[0007] The processor is configured to inject a pulse signal into the operating voltage; the operating voltage and the pulse signal are coupled into a test signal;

[0008] The voltage monitor is further configured to receive the test signal and generate an indication signal according to the test signal.

[0009] Optionally, the amplitude of the test signal exceeds the set range.

[0010] Optionally, a coupler is connected between the voltage monitor and the processor; the processor injects the pulse signal into the operating voltage through the coupler.

[0011] Optionally, the coupler includes a capacitor.

[0012] Optionally, a plurality of the power supplies are included; the plurality of power supplies output a plurality of the operating voltages; the processor injects a plurality of the pulse signals into the plurality of operating voltages respectively.

[0013] Optionally, the processor injects the plurality of pulse signals into the plurality of operating voltages in a time-sharing manner.

[0014] Optionally, the plurality of power supplies are connected to a plurality of input ports of the voltage monitor; a plurality of output ports corresponding to the plurality of input ports of the voltage monitor are connected to each other to output the indication signal.

[0015] Optionally, the plurality of power supplies are connected to a plurality of input ports of the voltage monitor, and a plurality of the indication signals are respectively output from a plurality of output ports corresponding to the plurality of input ports of the voltage monitor.

[0016] Optionally, the indication signal is used to indicate the operating state of the voltage monitor.

[0017] Optionally, when the indication signal is different from a preset indication signal, the voltage monitor is in an abnormal operating state.

[0018] Optionally, the processor is configured to inject the pulse signal into the operating voltage multiple times.

[0019] Optionally, the self-checking circuit further includes: a controller;

[0020] The controller is configured to disconnect the connection between the indication signal and the backend circuit when performing a self-check on the voltage monitor.

[0021] On the other hand, the present disclosure also provides a lidar, the lidar includes a self-checking circuit, and the self-checking circuit includes: a power supply, a voltage monitor, and a processor;

[0022] The power supply is configured to provide an operating voltage for the lidar;

[0023] The voltage monitor is configured to monitor whether the operating voltage is within a set range;

[0024] The processor is configured to inject a pulse signal into the operating voltage; the operating voltage and the pulse signal are coupled into a test signal;

[0025] The voltage monitor is further configured to receive the test signal and generate an indication signal according to the test signal.

[0026] The self-checking circuit provided by the present disclosure can inject a pulse signal into the working voltage output by the power supply through a processor in the device, so that the working voltage and the pulse signal are coupled into a test signal. The voltage monitor can generate an indication signal according to the test signal, and the indication signal can indicate whether the voltage monitor is normal. The design of the self-checking circuit of the present disclosure is simple and easy to implement, and there is no need to provide additional hardware devices for the self-checking circuit of the voltage monitor, which can save hardware resources and costs.

[0027] The lidar provided by the present disclosure can realize self-checking of the voltage monitor through a processor in the lidar, ensure the effectiveness of the voltage monitor, and ensure the normal operation of the lidar. Without relying on an additional external power supply, it can save hardware resources and costs and reduce the power consumption of the lidar. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will introduce the drawings required to be used in the embodiments. The drawings described below are only the embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts. The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used to explain the present disclosure together with the embodiments of the present disclosure, and do not constitute a limitation to the present disclosure. In the drawings:

[0029] Figure 1 An exemplary block diagram of the self-checking circuit according to some embodiments of the present disclosure is shown.

[0030] Figure 2 An exemplary structural schematic diagram of the self-checking circuit according to some embodiments of the present disclosure is shown.

[0031] Figure 3 An exemplary schematic diagram of a pulse signal and a corresponding detection signal in the self-checking circuit according to some embodiments of the present disclosure is shown.

[0032] Figure 4 Another exemplary schematic diagram of a pulse signal and a corresponding detection signal in the self-checking circuit according to some embodiments of the present disclosure is shown.

[0033] Figure 5 Another exemplary structural schematic diagram of the self-checking circuit according to some embodiments of the present disclosure is shown.

[0034] Figure 6 Another exemplary structural schematic diagram of the self-checking circuit according to some embodiments of the present disclosure is shown.

[0035] Figure 7 Another exemplary structural schematic diagram of the self-checking circuit according to some embodiments of the present disclosure is shown.

[0036] Figure 8 Shows a schematic structural diagram of an exemplary lidar according to some embodiments of the present disclosure. Detailed implementation manners

[0037] To make the above objects, features and beneficial effects of the present disclosure more obvious and understandable, the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. Without departing from the spirit or scope of the present application, those skilled in the art can modify the described embodiments in various different ways. Therefore, the drawings and descriptions are considered to be exemplary rather than restrictive.

[0038] A self-checking circuit of a voltage monitor needs to set a power supply dedicated to the self-checking circuit. For example, the range of the power supply voltage monitored by the voltage monitor is [1V, 2V]. The power supply dedicated to the self-checking circuit in the self-checking circuit can be 0.9V and 2.1V, which are respectively used for the undervoltage detection and overvoltage detection of the voltage monitor. A switching switch is provided in the self-checking circuit for switching between the power supply voltage and the self-checking dedicated power supply. When the voltage monitor is self-checked, the switching switch switches to the self-checking dedicated power supply. When the self-check is over, the switching switch switches to the power supply voltage. During most of the time when no self-check is performed, this part of the external power supply circuit is idle, causing a certain waste of resources and increasing the hardware cost and power consumption.

[0039] Some embodiments of the present disclosure provide a self-checking circuit that can simply and conveniently implement the self-check of the voltage monitor without setting a dedicated power supply for the self-checking circuit.

[0040] Figure 1 Shows an exemplary block diagram of the self-checking circuit according to some embodiments of the present disclosure.

[0041] In some embodiments, the self-checking circuit 100 includes: a voltage monitor 101, a power supply 102, and a processor 103. The voltage monitor 101 can monitor whether the working voltage output by the power supply 102 is within a set range. The power supply can supply power to the electrical components in the device. The device can include, for example, devices such as lidar, computer, PDA, mobile phone, measuring instrument, vehicle domain controller, etc. The electrical components can include, for example, various chips and functional modules, circuits, motors, processors, memories, etc. in the device. The set range can be determined according to the adapted voltage range of the electrical device. For example, if the adapted voltage range of the electrical device is [1V, 2V], the set range can be set to [1V, 2V], [0.98V, 2.02V] or other ranges. When the working voltage provided by the power supply exceeds the set range, it may affect the performance of the electrical components, such as causing the electrical components to malfunction, output abnormally, irreversible damage, etc.

[0042] The voltage monitor can adopt any form of voltage monitoring device, such as a voltage monitoring circuit, a voltage monitoring chip, etc. The voltage monitor can have an input end and an output end. The operating voltage output by the power supply can be input to the input end of the voltage monitor. The voltage monitor responds according to the voltage value input to its input end and outputs an indication signal from its output end. The indication signal can be used to indicate whether the operating voltage output by the power supply is within the set range. For example, when the operating voltage is within the set range, the voltage monitor outputs a first indication signal, indicating that the operating voltage of the power supply is normal. When the operating voltage is not within the set range, the voltage monitor outputs a second indication signal, indicating that the operating voltage of the power supply is abnormal. The indication signal can be transmitted to backend devices, such as a processor, a resetter, a switch, etc. After receiving the indication signal, the backend device can perform corresponding actions. For example, when the backend device receives the first indication signal, it can control the device to start normally. When the backend device receives the second indication signal, it can perform at least one of the operations of controlling the device to reset, disconnecting the connection between the components in the device and the power supply, and sending an alarm message. The backend device can also store the indication signal. The backend device can also transmit the indication signal to other devices according to an instruction or according to a preset condition.

[0043] The processor 103 can inject a pulse signal into the operating voltage. Optionally, the pulse signal can be a positive pulse, a negative pulse, or a signal of a voltage value jump, etc. The processor can inject a pulse signal into the operating voltage according to an instruction or according to a self-check timing sequence. For example, when the processor receives a self-check instruction, it injects a pulse signal into the operating voltage. For instance, when the device starts up, the main control chip of the device can send a self-check instruction to the processor. Also, for example, when the time conforms to the self-check timing sequence, the processor injects a pulse signal into the operating voltage. The processor includes an output port, and the processor can inject a pulse signal into the operating voltage through the output port. The processor can output different signals through the output port according to an external instruction or internal configuration information to form a pulse signal. For example, the processor outputs a first signal through the output port at a first time, and the processor outputs a second signal through the output port at a second time, and the second signal is different from the first signal. The signal output by the output end of the processor has a jump from the first signal to the second signal, forming a pulse signal. Also, for example, the processor outputs a first signal through the output port at a first time, the processor outputs a second signal through the output port at a second time, and the processor outputs a first signal through the output port at a third time, and the second signal is different from the first signal. The signal output by the output end of the processor has a jump from the first signal to the second signal and a jump from the second signal to the first signal, forming a pulse signal. The first signal and the second signal can have a certain difference.

[0044] The working voltage and the pulse signal are coupled into a test signal. For example, the pulse signal can be directly or indirectly superimposed on the working voltage to change the amplitude of the working voltage. The changed working voltage forms the test signal. The test signal can be used to test the state of the voltage monitor. The amplitude of the test signal can exceed the set range of the working voltage. For example, if the set range of the working voltage is [1V, 2V], the test signal can be 0.8V, 2.3V, etc. The amplitude of the test signal can be determined according to the amplitude of the working voltage, the amplitude of the pulse signal, the parameters of the other devices in the self-checking circuit, etc.

[0045] The voltage monitor 101 can receive the test signal and generate an indication signal according to the test signal. The indication signal can indicate the working state of the voltage monitor. For example, when the indication signal is the same as the preset indication signal, it means that the voltage monitor is in a normal working state. When the indication signal is different from the preset indication signal, it means that the voltage monitor is in an abnormal working state. For instance, if the indication signal generated by the voltage monitor according to the test signal is a signal that jumps from a high level to a low level and is the same as the preset indication signal, it indicates that the voltage monitor is working normally. If the indication signal generated by the voltage monitor according to the test signal is a signal that jumps from a low level to a high level and is different from the preset indication signal, it indicates that the voltage monitor is working abnormally.

[0046] In some embodiments, the indication signal can be transmitted to the backend devices in the device, such as a processor, a master controller, a register, etc. The backend devices can judge the working state of the voltage monitor according to the preset indication signal and the indication signal. The backend devices can also store the indication signal. The backend devices can send the indication signal or the judgment result based on the indication signal according to the call command of the device, or send the indication signal or the judgment result based on the indication signal to the device itself or an external device according to the preset conditions.

[0047] In some embodiments, the processor 103 may inject pulse signals into the working voltage multiple times to perform multiple self-checks on the voltage monitor. According to the results of two or more self-checks, the working state of the voltage monitor can be comprehensively judged. For example, the processor injects three pulse signals into the voltage monitor at different times. Correspondingly, the voltage monitor can output three indication signals. The working state of the voltage monitor is judged according to the three indication signals. For instance, when two or more of the three indication signals are different from the preset indication signal, it indicates that the voltage monitor is malfunctioning. The processor's multiple self-checks on the voltage monitor can be executed each time the self-check of the voltage monitor is triggered, or when the first indication signal is different from the preset indication signal, the self-check of the voltage monitor is executed again. Each round of self-check performed by the processor on the voltage monitor can be multiple self-checks, or multiple self-checks can be performed in some rounds of self-checks. Multiple self-checks can avoid the influence of abnormal interference signals on the self-check results, improve the accuracy and robustness of the self-check results, and reduce the probability of false fault reports.

[0048] In some embodiments, the processor may be an original device within the equipment. For example, a control chip, circuit, etc. within the equipment. Optionally, the processor can be implemented by a central processing unit (CPU), a microprocessor, an FPGA (field programmable gate array), a microcontroller unit (MCU), or other processing chips, or can be implemented by an application-specific integrated circuit (ASIC), a digital-to-analog converter (DAC), a multiplexer (MUX), or one or more circuits configured to implement the embodiments of the present disclosure.

[0049] The self-check circuit provided by the embodiments of the present disclosure does not require a dedicated self-check power supply for the self-check of the voltage monitor. By reusing the original processor within the equipment, the processor injects pulse signals into the working voltage output by the power supply, causing the working voltage and the pulse signals to be coupled into a test signal, and generating an indication signal according to the test signal to indicate whether the voltage monitor is normal. The self-check of the voltage monitor can be simply and conveniently implemented.

[0050] In some embodiments, a coupler may be connected between the voltage monitor and the processor. The processor can inject pulse signals into the working voltage through the coupler.

[0051] Figure 2 The exemplary structural schematic diagram of the self-check circuit according to some embodiments of the present disclosure is shown. AsFigure 2 As shown, in a non-limiting embodiment, the coupler may include a capacitor C1. The processor and the voltage monitor form a charge-discharge loop through the capacitor C1. When the processor outputs a pulsed signal with a jump, based on the principle of a capacitor blocking DC and passing AC, the pulsed signal is AC-coupled and superimposed on the monitored operating voltage network through the capacitor C1, thereby instantaneously changing the amplitude of the operating voltage to form a test signal. The test signal can simulate real voltage faults, i.e., overvoltage or undervoltage conditions. The test signal is input to the voltage monitor, and the voltage monitor generates an indication signal based on the simulated voltage fault. If the operating state of the voltage monitor is normal, it can correctly identify the voltage fault, and the generated indication signal indicates the existence of a voltage fault. If the operating state of the voltage monitor is abnormal, it may not be able to correctly identify the voltage fault, and the generated indication signal indicates the non-existence of a voltage fault. Based on whether the indication signal indicates the existence of a voltage fault, it can be determined whether the voltage monitor can identify the voltage fault, and further determine the operating state of the voltage monitor.

[0052] Optionally, the characteristics of the pulsed signal (such as amplitude, pulse width, etc.) can be determined according to parameters such as the operating voltage output by the power supply, the set range of the operating voltage, the voltage range of the input port of the voltage monitor, and the coupler. For example, the pulse width of the pulsed signal can be determined according to the capacitance value of the capacitor C. An appropriate pulse width can achieve the simulation of overvoltage and undervoltage faults within one pulse period. The voltage monitor detects the test signal generated after injecting the pulsed signal, and performs self-check on the voltage monitor according to whether the response of the voltage monitor to the simulated fault injection is correct.

[0053] Figure 3 An exemplary diagram showing a pulsed signal and a corresponding detection signal in the self-check circuit of some embodiments of the present disclosure is shown.

[0054] Refer to Figure 3 As shown, assume that the set range of the operating voltage is 1.0V ± 0.032V, i.e., [0.968V, 1.032V]. During self-check, the processor 103 outputs a negative pulsed signal 31. The pulsed signal 31 jumps from 2.0V to 0V at time t1, generating a falling edge of the pulsed signal. At this time, the capacitor C1 is charged reversely. At time t1, the test signal 32 generated by coupling the pulsed signal to the operating voltage jumps from 1.0V to 0.69V, which is less than the lower limit 0.968V of the set range, simulating an undervoltage fault. When the voltage monitor 101 is operating normally, the voltage monitor 101 should output a corresponding indication signal. Subsequently, the capacitor C1 discharges, and the test signal 32 gradually rises back to 1.0V.

[0055] The pulse signal 31 jumps from 0V to 2.0V at time t2, generating a rising edge of the pulse signal. At this time, the capacitor C1 is charged positively. At time t2, the test signal 32 generated after the operating voltage couples the pulse signal jumps from 1.0V to 1.32V, which is greater than the upper limit 1.032V of the set range, simulating an overvoltage fault. When the voltage monitor 101 is operating normally, the voltage monitor 101 should output a corresponding indication signal. Subsequently, the capacitor C1 discharges, and the test signal 32 gradually drops back to 1.0V.

[0056] Figure 4 Another exemplary diagram showing a pulse signal and a corresponding detection signal in a self-checking circuit according to some embodiments of the present disclosure is shown.

[0057] Referring to Figure 4 As shown, it is assumed that the set range of the operating voltage is 1.0V ± 0.032V, that is, [0.968V, 1.032V]. When performing self-checking, the processor 103 outputs a positive pulse signal 41. The pulse signal 41 jumps from 0V to 2.0V at time t3, generating a rising edge of the pulse signal. At this time, the capacitor C1 is charged positively. At time t3, the test signal 42 generated after the operating voltage couples the pulse signal jumps from 1.0V to 1.32V, which is greater than the upper limit 1.032V of the set range, simulating an overvoltage fault. When the voltage monitor 101 is operating normally, the voltage monitor 101 should output a corresponding indication signal. Subsequently, the capacitor C1 discharges, and the test signal 42 gradually rises back to 1.0V.

[0058] The pulse signal 41 jumps from 2.0V to 0V at time t4, generating a falling edge of the pulse signal. At this time, the capacitor C1 is charged negatively. At time t4, the test signal 42 generated after the operating voltage couples the pulse signal jumps from 1.0V to 0.69V, which is less than the lower limit 0.968V of the set range, simulating an undervoltage fault. When the voltage monitor 101 is operating normally, the voltage monitor 101 should output a corresponding indication signal. Subsequently, the capacitor C1 discharges, and the test signal 32 gradually drops back to 1.0V.

[0059] In some embodiments, overvoltage and undervoltage detections can also be respectively performed through a positive pulse signal and a negative pulse signal to implement self-checking of the voltage monitor 101, and the embodiments of the present disclosure do not limit this.

[0060] Optionally, the discharge path of the capacitor C1 can be implemented through the internal circuit of the voltage monitor. It can also be implemented by AC grounding the input port of the voltage monitor. For example, a capacitor connected to the ground is provided at the input port where the voltage monitor is connected to the processor to form a discharge path for the capacitor C1.

[0061] In some embodiments, such as Figure 2As shown, a resistor R connected in series with the capacitor C1 can also be added to the coupler. The resistor R can play a role in current limiting and regulating the pulse signal.

[0062] In some embodiments, the power supply can be directly connected to the voltage monitor or indirectly connected to the voltage monitor. For different models of voltage monitors, the voltage ranges they can monitor will also be different. When the voltage range monitored by the voltage monitor is consistent with the set range of the operating voltage, the power supply can be directly connected to the voltage monitor. When the voltage range monitored by the voltage monitor is inconsistent with the set range of the operating voltage, the power supply can be indirectly connected to the voltage monitor. For example, the operating voltage output by the power supply is 1.8V, and the voltage range that the voltage monitor can monitor is 0.8V ± 0.032V. In order to enable the voltage monitor to monitor the voltage within the set range, a voltage-dividing resistor can be connected between the power supply and the voltage monitor, and the voltage value output by the power supply is adjusted through the voltage-dividing resistor and then input to the input port of the voltage monitor. For example, the 1.8V voltage output by the power supply voltage is adjusted to 0.8V.

[0063] In some embodiments, the number of power supplies can be multiple, and the multiple power supplies can output multiple operating voltages. The multiple power supplies can supply power to different components in the device or to different modules of the same component in the device. The multiple operating voltages output by the multiple power supplies can be the same or different. The voltage monitor can monitor the operating voltages output by the multiple power supplies through multiple monitoring channels. The processor can inject multiple pulse signals into the multiple operating voltages respectively. The multiple pulse signals can be the same or different. By injecting multiple pulse signals into the multiple operating voltages through the processor to form multiple test signals, it can be detected whether the monitoring status of the voltage monitor for different power supplies is normal.

[0064] In some embodiments, the processor can perform self-checks on the multiple monitoring channels of the voltage monitor through multiple output ports. Different output ports of the processor can be connected to the multiple input ports of the voltage monitor through different couplers.

[0065] Figure 5 Fig. shows another exemplary structural schematic diagram of the self-check circuit according to some embodiments of the present disclosure. Referring to Figure 5 , the voltage monitor 101 can monitor the operating voltages output by three power supplies V1, V2, and V3. In this example, the power supplies V1, V2, and V3 are indirectly connected to the voltage monitor, and through corresponding voltage-dividing resistors such as Figure 5The resistors R1 - R6 therein generate three working voltages corresponding to the power supplies V1, V2, and V3. The three working voltages are respectively output to the voltage monitor 101 via the input ports in1, in2, and in3 of the voltage monitor 101. The processor 103 can generate three test signals s1, s2, and s3 by injecting pulse signals into the working voltages output by the three power supplies V1, V2, and V3 respectively through the output ports a1, a2, and a3. The output ports out1, out2, and out3 of the voltage monitor 101 can respectively correspond to the input ports in1, in2, and in3 of the voltage monitor 101, constituting three monitoring channels for monitoring the three power supplies. The output ports out1, out2, and out3 of the voltage monitor 101 respectively output three indication signals generated by the voltage monitor 101 according to the three test signals s1, s2, and s3. Optionally, the resistors and capacitors (such as Figure 5 the capacitors C3 - C5 and resistors R7 - R9 therein) can be the same or different. The three pulse signals output by the processor can be the same or different. The processor performs self - checks on different monitoring channels of the voltage monitor through different self - check paths, which can avoid mutual interference, and the self - check time, self - check times, etc. of different self - check channels can be flexibly selected.

[0066] In some embodiments, the processor can perform self - checks on multiple monitoring channels of the voltage monitor through one output port. Optionally, one output port of the processor can be connected to multiple input ports of the voltage monitor through different couplers. Or, one output port of the processor can also be connected to multiple input ports of the voltage monitor through the same coupler.

[0067] Figure 6 shows another exemplary structural schematic diagram of the self - check circuit according to some embodiments of the present disclosure. Referring to Figure 6 , the processor 103 can inject multiple pulse signals into the three working voltages through one output port a1 to implement self - checks on the three monitoring channels of the voltage monitor 101, and thus complete the self - check of the voltage monitor 101. The output port a1 of the processor 103 injects multiple pulse signals into the three working voltages respectively through the same coupler (such as the capacitors and resistors shown in the figure). Optionally, the output port of the processor can also inject multiple pulse signals into the three working voltages respectively through multiple couplers. The multiple pulse signals can be the same or different. This method can save the output ports of the processor 103 and achieve a more efficient and concise self - check circuit design.

[0068] In some embodiments, the processor 103 can inject multiple pulse signals into multiple working voltages simultaneously or at different times. Continuing to refer to Figure 5, the processor 103 injects pulse signals into three working voltages, which can be injecting pulse signals into the three working voltages at the same time, or injecting pulse signals into the three working voltages at different times. Continue to refer to Figure 6 , the processor 103 can inject pulse signals into the three working voltages through one output port at different times.

[0069] In some embodiments, one input port of the voltage monitor corresponds to one output port. Multiple input ports can receive multiple test signals. Multiple output ports can output multiple indication signals. Optionally, the multiple output ports can be respectively connected to the same or different backend devices to transmit the multiple indication signals to the backend devices respectively. Alternatively, the multiple output ports can be interconnected and then connected to the backend device. For example, after being interconnected, the multiple output ports can be connected to the reset port of the device, and in the case of an abnormal monitoring channel of any voltage monitor, the device can be controlled to reset.

[0070] The voltage monitor in the self-checking circuit provided by the present disclosure can monitor multiple power supplies at the same time. In the case of multiple power supplies, multiple pulse signals can be flexibly injected into multiple working voltages in a simultaneous or time-sharing manner, effectively improving the flexibility of the application of the self-checking circuit.

[0071] In some embodiments, the output end of the voltage monitor can be connected to the backend device. The voltage monitor starts to monitor the power supply voltage. When monitoring the power supply voltage, when the power supply voltage is abnormal, in order to avoid affecting the electrical device, the backend device can be used to perform a safety operation, such as controlling the power supply to disconnect, or controlling the system to reset. When self-checking the voltage monitor, the amplitude of the test signal input to the voltage monitor exceeds the set range. The indication signal generated by the voltage monitor according to the test signal may trigger the backend device to perform a safety operation. In some embodiments, a controller can be connected between the voltage monitor and the backend device, and the controller can control the connection or disconnection of the line between the voltage monitor and the backend device.

[0072] Figure 7 Another exemplary structural schematic diagram of the self-checking circuit according to some embodiments of the present disclosure is shown. Refer to Figure 7 , the self-checking circuit 100 can include a controller 104. When self-checking the voltage monitor 101, the controller can disconnect the connection between the voltage monitor 101 and the backend device 200. The backend device 200 includes, for example, a reset circuit, such as a reset circuit of an MCU or an FPGA. This can avoid the normal operation of the device being affected during the self-checking process.

[0073] When the voltage monitor 101 is not self - tested, the controller 104 controls the voltage monitor 101 to be connected to the backend device 200. The processor 103 does not need to inject a pulse signal into the operating voltage output by the power supply 102. For example, the corresponding output port of the processor 103 is in a high - impedance state. The voltage monitor 101 monitors the operating voltage of the power supply 102. Once an over - voltage or under - voltage situation occurs in the operating voltage, the voltage monitor 101 will trigger the backend device 200 to act, such as a reset. When the voltage monitor 101 is self - tested, the processor 103 injects a pulse signal into the operating voltage output by the power supply 102, so that the test signal obtained by coupling the operating voltage with the pulse signal exceeds the set range, resulting in an over - voltage or under - voltage situation. At this time, the controller 104 disconnects the connection between the voltage monitor 101 and the backend device 200, and the indication signal output by the voltage monitor 101 will not be transmitted to the backend device 200. After the self - test of the voltage monitor 101 is completed, the controller 104 restores the connection between the voltage monitor 101 and the backend circuit 200.

[0074] In some embodiments, the controller can be implemented by a switching device or a chip. Optionally, the controller can be controlled by an enable signal. When the voltage monitor is not self - tested, the enable signal is valid, and the switching chip can connect the backend device to the output of the voltage monitor. When the voltage monitor is self - tested, the enable signal is invalid, and the switching chip can disconnect the backend device from the output of the voltage monitor. The indication signal output by the voltage monitor will not act on the backend device. Optionally, the controller can be controlled by setting a timing sequence. For example, when the preset self - test time arrives, the controller disconnects the backend device from the voltage monitor. After the preset self - test time ends, the controller connects the backend device to the voltage monitor.

[0075] The embodiments of the present disclosure also provide a lidar, as Figure 8 shown, which shows an exemplary structural schematic diagram of a lidar according to some embodiments of the present disclosure.

[0076] The lidar 800 includes a self-checking circuit. The self-checking circuit includes a power supply 801, a voltage monitor 101, and a processor 103. The power supply 801 can provide an operating voltage for the lidar 800. For example, the power supply 801 can supply power to one or more of the main controller, the transmitting circuit board, the receiving circuit board, the driver, or other electrical components in the lidar. The voltage monitor 101 can monitor whether the operating voltage is within a set range. Different electrical components can be adapted to different operating voltages, and the set range can be different. The processor 103 can inject a pulse signal into the operating voltage. The operating voltage and the pulse signal are coupled into a test signal. The voltage monitor 101 can receive the test signal and generate an indication signal according to the test signal. The processor 103 can be the main controller, and corresponding pulse signals are output from one or more IO ports of the main controller and injected into the corresponding operating voltage, and then coupled with the operating voltage into a test signal.

[0077] When the lidar needs to perform self-checking, such as power-on self-checking, the processor 103 can sequentially inject corresponding pulse signals into each operating voltage, and determine whether the voltage monitor 101 is in a normal state according to the indication signal output by the voltage monitor 101. After the self-checking of the voltage monitor 101 is completed, the power supply 801 continues to supply power to the electrical components in the lidar, and the voltage monitor 101 monitors whether the operating voltages of all paths of the power supply 801 are overvoltage or undervoltage. In the case of overvoltage or undervoltage, for example, an alarm signal can be output and / or the lidar can be triggered to perform a reset, etc.

[0078] The self-checking circuit in the lidar can adopt the self-checking circuit in any embodiment of the present disclosure. The voltage monitor 101 in the lidar can adopt the voltage monitor in any embodiment of the present disclosure. The processor 103 in the lidar can adopt the processor in any embodiment of the present disclosure.

[0079] The self-checking circuit in the lidar provided by the embodiments of the present disclosure can simply and conveniently perform self-checking on the voltage monitor, ensure the effectiveness of the voltage monitor, and then enable the voltage monitor to effectively monitor the operating voltages provided by the power supply, ensuring the normal operation of the lidar. The self-checking circuit does not need to set a dedicated self-checking power supply, which can save hardware resources and costs and reduce power consumption.

[0080] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article indicates that the associated objects before and after are in an "or" relationship. The "multiple" mentioned in the embodiments of the present disclosure refers to two or more. The "connection" mentioned in the embodiments of the present disclosure refers to various connection methods such as direct connection or indirect connection to achieve communication between devices, and the embodiments of the present disclosure do not make any limitations on this.

[0081] Although the present disclosure is disclosed as above, the present disclosure is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the scope defined by the claims.

Claims

1. A self-checking circuit for self-checking a voltage monitor, characterized in that, The self-checking circuit includes: a voltage monitor, a power supply, and a processor; The voltage monitor is configured to monitor whether the operating voltage output by the power supply is within a set range; The processor is configured to inject a pulse signal into the operating voltage; the operating voltage and the pulse signal are coupled into a test signal; The voltage monitor is further configured to receive the test signal and generate an indication signal according to the test signal.

2. The self-checking circuit according to claim 1, wherein The amplitude of the test signal exceeds the set range.

3. The self-checking circuit according to claim 1, wherein A coupler is connected between the voltage monitor and the processor; the processor injects the pulse signal into the operating voltage through the coupler.

4. The self-checking circuit according to claim 3, wherein The coupler includes a capacitor.

5. The self-checking circuit according to claim 1, characterized in that There are multiple power supplies; the multiple power supplies output multiple operating voltages; the processor injects multiple pulse signals into the multiple operating voltages respectively.

6. The self-checking circuit according to claim 5, wherein The processor injects the multiple pulse signals into the multiple operating voltages in a time-sharing manner.

7. The self-checking circuit according to claim 5, wherein The multiple power supplies are connected to multiple input ports of the voltage monitor; multiple output ports corresponding to the multiple input ports of the voltage monitor are connected to each other to output the indication signal.

8. The self-checking circuit according to claim 5, wherein, The multiple power supplies are connected to multiple input ports of the voltage monitor, and multiple output ports corresponding to the multiple input ports of the voltage monitor respectively output multiple indication signals.

9. The self-checking circuit according to claim 1, wherein The indication signal is used to indicate the operating state of the voltage monitor.

10. The self-checking circuit according to claim 9, wherein When the indication signal is different from a preset indication signal, the voltage monitor is in an abnormal operating state.

11. The self-checking circuit according to claim 1, wherein The processor is configured to inject the pulse signal into the operating voltage multiple times.

12. The self-checking circuit according to any one of claims 1 to 11, characterized in that, The self-checking circuit further includes: a controller; The controller is configured to disconnect the connection between the indication signal and the backend circuit when performing self-check on the voltage monitor.

13. A lidar, characterized in that, The lidar includes a self-checking circuit, and the self-checking circuit includes: a power supply, a voltage monitor, and a processor; The power supply is configured to provide an operating voltage for the lidar; The voltage monitor is configured to monitor whether the operating voltage is within a set range; The processor is configured to inject a pulse signal into the operating voltage; the operating voltage and the pulse signal are coupled into a test signal; The voltage monitor is further configured to receive the test signal and generate an indication signal according to the test signal.

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