Laser transmitting and receiving circuit and laser detection device
By processing the pulse signals of the control module and the receiving module in the laser detection device, the transmitter and receiver are synchronized, solving the synchronization problem, improving the accuracy and precision of the detection information, and reducing energy consumption.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2026-03-31
AI Technical Summary
In existing technologies, due to board delays and internal component delays, the timing of the transmitter emitting the laser beam and the timing of the receiver receiving the echo signal in the laser detection device cannot be synchronized, affecting the accuracy of the detection information.
The control module outputs a first pulse signal to the receiving module, which determines the receiving start time based on the pulse signal. The control module then outputs N third pulse signals to the transmitting module to synchronize the receiving start time with the laser emission time. The delay unit and logic operation unit are used to adjust the pulse signal to improve time resolution and accuracy.
The receiving module's reception start time is synchronized with the transmitting module's laser emission time, improving the accuracy and precision of the detection information, reducing energy consumption, and adjusting the detection information to improve accuracy under the influence of factors such as temperature changes.
Smart Images
Figure CN121763259A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of laser circuit technology, and in particular to a laser transceiver circuit and a laser detection device. Background Technology
[0002] Laser detection devices (such as lidar) are systems that use laser beams to detect the position, velocity, and other characteristics of a target object. Their working principle involves first emitting a detection laser beam (emitted by the transmitter) towards the target object, then comparing the received echo signal (received by the receiver) with the emitted signal. After appropriate processing, the detection information corresponding to the target object can be obtained, such as the target's distance, azimuth, altitude, velocity, and attitude. To maintain the accuracy of the obtained detection information, the time difference between the transmitter emitting the laser beam and the receiver receiving the echo signal must be a fixed value, thus synchronizing the two events.
[0003] The current operating method involves determining the start time for the receiver to receive the echo signal by the receiver's operating clock, and controlling the timing of the transmitter emitting the laser beam by the controller. In other words, the timing of the transmitter emitting the laser beam is determined by the controller's operating clock. However, due to delays caused by board delays (such as wiring delays) and delays from components within the receiver and controller (such as phase-locked loops), the actual operating clocks of the receiver and controller may be out of phase. This results in the transmitter emitting the laser beam and the receiver receiving the echo signal not being synchronized, ultimately leading to poor accuracy of the obtained detection information. Summary of the Invention
[0004] This application provides a laser transceiver circuit and a laser detection device, which can synchronize the time when the transmitting module emits laser and the time when the receiving module starts receiving, thereby improving the accuracy of the obtained detection information.
[0005] In a first aspect, embodiments of this application provide a laser transceiver circuit, including a control module, a receiving module, and a transmitting module. The control module is used to output a first pulse signal; the receiving module, connected to the control module, is used to receive the first pulse signal, output a second pulse signal based on the first pulse signal, and determine the receiving start time of the receiving module based on the second pulse signal, wherein the receiving module starts receiving the echo signal reflected by the target object from the receiving start time; the control module is also used to receive the second pulse signal and output N third pulse signals based on the second pulse signal, wherein N is an integer greater than or equal to 1; the transmitting module, connected to the control module, is used to receive the N third pulse signals and emit laser light towards the target object based on the N third pulse signals.
[0006] In this way, the receiving module's receiving start time and the transmitting module's laser emission time are both determined by the second pulse signal. This allows the time difference between the receiving module's receiving start time and the transmitting module's laser emission time to be a fixed value, thus synchronizing the receiving module's receiving start time with the transmitting module's laser emission time. This helps improve the accuracy of the obtained detection information.
[0007] In one or more embodiments, the receiving module is further configured to determine the receiving start time of the receiving module based on a time elapsed from the start time of the second pulse signal for a first preset duration.
[0008] In one or more embodiments, the control module is further configured to: delay for the Mth duration out of N durations starting from the start time of the second pulse signal, and output the Mth third pulse signal out of N third pulse signals at the end of the Mth duration, wherein one duration out of the N durations corresponds to one third pulse signal out of the N third pulse signals, and M is an integer greater than or equal to 1 and less than or equal to N.
[0009] In one or more embodiments, the control module is further configured to: obtain the Mth third pulse signal based on the second pulse signal, wherein the pulse width of the Mth third pulse signal is smaller than the pulse width of the second pulse signal.
[0010] By configuring the pulse width of the Mth third pulse signal to a smaller value, the time resolution of the laser transceiver circuit can be significantly improved, thereby increasing the accuracy of the obtained detection information. It can also reduce the energy emitted each time the laser is emitted, thereby reducing energy consumption.
[0011] In one or more embodiments, the control module includes a first delay unit, a first inverting unit, and a first AND unit; the input terminal of the first delay unit and the first input terminal of the first AND unit are both input with a second pulse signal, the output terminal of the first delay unit is connected to the input terminal of the first inverting unit, the output terminal of the first inverting unit is connected to the second input terminal of the first AND unit, and the output terminal of the first AND unit outputs the Mth third pulse signal.
[0012] In one or more embodiments, the control module includes a second delay unit, a second inverting unit, and a second AND unit; the input terminals of the second delay unit and the second inverting unit are both input with a second pulse signal, the output terminal of the second inverting unit is connected to the first input terminal of the second AND unit, the output terminal of the second delay unit is connected to the second input terminal of the second AND unit, and the output terminal of the second AND unit outputs the Mth third pulse signal.
[0013] In one or more embodiments, the control module includes a third delay unit, a fourth delay unit, a third inverting unit, and a third AND unit; the input terminal of the third delay unit receives a second pulse signal, the output terminal of the third delay unit is connected to the first input terminal of the third AND unit and the input terminal of the fourth delay unit, the output terminal of the fourth delay unit is connected to the input terminal of the third inverting unit, the output terminal of the third inverting unit is connected to the second input terminal of the third AND unit, and the output terminal of the third AND unit outputs the Mth third pulse signal.
[0014] In one or more embodiments, the control module includes a fifth delay unit, a sixth delay unit, a fourth inverting unit, and a fourth AND unit; the input terminal of the fifth delay unit receives a second pulse signal, the output terminal of the fifth delay unit is connected to the input terminals of the fourth inverting unit and the sixth delay unit respectively, the output terminal of the fourth inverting unit is connected to the first input terminal of the fourth AND unit, the output terminal of the sixth delay unit is connected to the second input terminal of the fourth AND unit, and the output terminal of the fourth AND unit outputs the Mth third pulse signal.
[0015] In one or more embodiments, the transmitting module is further configured to output N feedback signals to the control module in response to N third pulse signals, wherein, each time a laser is emitted in response to the Kth third pulse signal among the N third pulse signals, the Kth feedback signal among the N feedback signals is output to the control module based on the time of laser emission, where K is an integer greater than or equal to 1 and less than or equal to N; the control module is further configured to determine the time when the transmitting module emits the laser based on the Kth feedback signal, and adjust the detection information based on the difference between the time when the transmitting module emits the laser and the start time of the Kth third pulse signal, wherein the detection information is information corresponding to the target object determined by the control module based on the echo signal.
[0016] Secondly, embodiments of this application provide a laser detection device, including a housing and a laser transceiver circuit as described above, wherein the housing is used to mount the laser transceiver circuit.
[0017] The beneficial effects of this application are as follows: The laser transceiver circuit of this application includes a control module, a receiving module, and a transmitting module. The control module outputs a first pulse signal to the receiving module. The receiving module outputs a second pulse signal based on the first pulse signal and determines the receiving start time of the receiving module based on the second pulse signal. The control module receives the second pulse signal and outputs N third pulse signals to the transmitting module based on the second pulse signal. The transmitting module emits laser light towards the target object based on the N third pulse signals. It can be seen that the receiving start time of the receiving module and the laser emission time of the transmitting module are both determined by the second pulse signal, thus enabling the time difference between the receiving start time of the receiving module and the laser emission time of the transmitting module to be a fixed value, thereby synchronizing the receiving start time of the receiving module and the laser emission time of the transmitting module, which is beneficial to improving the accuracy of the obtained detection information. Attached Figure Description
[0018] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are not intended to limit the embodiments, and elements having the same reference numerals in the drawings are designated as similar elements.
[0019] Figure 1 This is a schematic diagram of the composition of the laser transceiver circuit provided in the embodiments of this application. Figure 1 ;
[0020] Figure 2 yes Figure 1 A schematic diagram of the signals in the laser transceiver circuit shown;
[0021] Figure 3 This is a schematic diagram of the composition of the laser transceiver circuit provided in the embodiments of this application. Figure 2 ;
[0022] Figure 4 This is a schematic diagram of the control module provided in the embodiments of this application. Figure 1 ;
[0023] Figure 5 yes Figure 4 A schematic diagram of the signals in the control module shown;
[0024] Figure 6 This is a schematic diagram of the control module provided in the embodiments of this application. Figure 2 ;
[0025] Figure 7 yes Figure 6 A schematic diagram of the signals in the control module shown;
[0026] Figure 8 This is a schematic diagram of the control module provided in the embodiments of this application. Figure 3 ;
[0027] Figure 9 yes Figure 8 A schematic diagram of the signals in the control module shown;
[0028] Figure 10 This is a schematic diagram of the control module provided in the embodiments of this application. Figure 4 ;
[0029] Figure 11 yes Figure 10 The diagram shows the signals in the control module. Detailed Implementation
[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and thoroughly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.
[0031] It should be noted that when an element is described as "connected" to another element, it can be directly connected to the other element, or there can be one or more intermediate elements between them.
[0032] Furthermore, the technical features involved in the various embodiments of this application described below can be combined with each other as long as they do not conflict with each other.
[0033] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the composition block of the laser transceiver circuit 100 provided in an embodiment of this application. Figure 1 As shown, the laser transceiver circuit 100 includes a control module 10, a receiving module 20, and a transmitting module 30. The control module 10 is connected to both the receiving module 20 and the transmitting module 30.
[0034] The control module 10 is used to output a first pulse signal PM1 to the receiving module 20. It is understood that in the embodiments of this application, each pulse signal (such as the first pulse signal PM1) can be in the form of voltage or current, characterized by rapidly switching from one level to another and then returning to its original state after a period of time. In some embodiments, each pulse signal is a rectangular wave pulse signal.
[0035] In some embodiments, the control module 10 may employ a field-programmable gate array (FPGA) or a microcontroller unit (MCU), etc.
[0036] The receiving module 20 is used to receive a first pulse signal PM1. Then, the receiving module 20 outputs a second pulse signal PM2 based on the first pulse signal PM1. For example, the receiving module 20 uses a time interval of a second preset duration elapsed from the start time of the first pulse signal PM1 as the start time of the second pulse signal PM2, and outputs the second pulse signal PM2 accordingly. Afterwards, the receiving module 20 determines its receiving start time based on the second pulse signal PM2, wherein the receiving module 20 begins receiving the echo signal reflected by the target object from the receiving start time. In some embodiments, the receiving module 20 determines its receiving start time based on a time interval of a first preset duration elapsed from the start time of the second pulse signal PM2.
[0037] Please refer to Figure 2 , Figure 2 An example is shown Figure 1 The diagram shows the signals in the laser transceiver circuit 100. Figure 2 As shown, the start time of the second pulse signal PM2 is the time elapsed after a second preset duration (i.e., duration TA) from the start time of the first pulse signal PM1 (i.e., time T1). This embodiment uses the example of the second pulse signal PM2 having the same pulse width as the first pulse signal PM1. In other embodiments, the pulse width of the second pulse signal PM2 can be set differently from the pulse width of the first pulse signal PM1. The duration TA ≥ 0, and the duration TA can be set based on the actual application scenario; this embodiment does not impose specific limitations on this. Subsequently, the receiving start time of the receiving module 20 is determined by the time elapsed after a first preset duration (i.e., duration TB) from the start time of the second pulse signal PM2 (i.e., time T2). That is, the receiving module 20 begins receiving the echo signal reflected by the target object from time T3.
[0038] Therefore, the receiving start time of the receiving module 20 is determined by the second pulse signal PM2. For example, the receiving start time of the receiving module 20 is determined by the time TB after the start time of the second pulse signal PM2.
[0039] It is understood that, in the embodiments of this application, the start time of each pulse signal refers to the moment when the pulse of the pulse signal begins to appear. For example, the start time of the second pulse signal PM2 is the moment T2 when the second pulse signal PM2 begins to appear. Correspondingly, the end time of each pulse signal refers to the moment when the pulse of the pulse signal ends.
[0040] In some embodiments, the receiving module 20 includes at least one receiving unit, and the receiving start time of each receiving unit is the same. The receiving module 20 includes a SPAD (Single-Photon Avalanche Diode) array. The SPAD array includes at least one SPAD unit, and the at least one SPAD unit is integrated on a plane to form a two-dimensional array, which is the SPAD array, and each SPAD unit is a receiving unit.
[0041] Please return to the reference. Figure 1 The control module 10 receives the second pulse signal PM2 and outputs N third pulse signals based on PM2, where N is an integer greater than or equal to 1. The N third pulse signals include the first third pulse signal PM3_1, the second third pulse signal PM3_2, ..., the Nth third pulse signal PM3_N. The pulse widths of the different third pulse signals among the first third pulse signal PM3_1, the second third pulse signal PM3_2, ..., the Nth third pulse signal PM3_N can be the same or different.
[0042] The transmitting module 30 receives N third pulse signals and emits laser light towards the target object based on the N third pulse signals. In some embodiments, the transmitting module 30 includes at least one transmitting unit, whereby each transmitting unit can emit laser light once based on one third pulse signal, or each transmitting unit can continuously emit laser light multiple times based on multiple third pulse signals. For example, in some embodiments, the transmitting module 30 includes N transmitting units, each transmitting laser light once based on one third pulse signal; in other embodiments, the transmitting module 30 includes one transmitting unit, which emits a first laser light based on a first third pulse signal PM3_1, a second laser light based on a second third pulse signal PM3_2, ..., and an Nth laser light based on the Nth third pulse signal PM3_N, thereby enabling the transmitting unit to continuously emit laser light N times.
[0043] In some embodiments, the emitting module 30 includes a VCSEL (Vertical-Cavity Surface-Emitting Laser) array. The VCSEL array includes at least one VCSEL unit, and the at least one VCSEL unit is integrated on a plane to form a two-dimensional array, which is the VCSEL array. Each VCSEL unit is an emitting unit.
[0044] In some embodiments, the control module 10 is further configured to: delay the Mth duration of N durations starting from the start time of the second pulse signal PM2, and output the Mth third pulse signal PM3_M of N third pulse signals at the end of the Mth duration, wherein one duration of the N durations corresponds to one third pulse signal of the N third pulse signals, and M is an integer greater than or equal to 1 and less than or equal to N.
[0045] Still with Figure 2 Let's take an example. When M=1, the first duration is duration TC_1; when M=2, the second duration is duration TC_2; ...; when M=N, the Nth duration is duration TC_N. Durations TC_1, TC_2, ..., and TC_N are all greater than or equal to 0, and any two durations can be the same or different. Starting from the beginning of the second pulse signal PM2 (i.e., time T2), the first duration TC_1 is delayed, and the first third pulse signal PM3_1 is output at the end of the first duration TC_1; starting from the beginning of the second pulse signal PM2, the second duration TC_2 is delayed, and the second third pulse signal PM3_2 is output at the end of the second duration TC_2; ...; starting from the beginning of the Nth pulse signal PMN, the Nth duration TC_N is delayed, and the Nth third pulse signal PM3_N is output at the end of the Nth duration TC_N. It is evident that the start time of each third pulse signal can be determined by the start time of the second pulse signal PM2 after a fixed duration; that is, each third pulse signal can be determined by the second pulse signal PM2. After each third pulse signal is input to the transmitting module 30, the transmitting module 30 will emit laser light; that is, the timing of laser emission by the transmitting module 30 is determined by each third pulse signal. Therefore, the timing of laser emission by the transmitting module 30 can be determined by the second pulse signal PM2.
[0046] In summary, the receiving start time of the receiving module 20 and the laser emission time of the transmitting module 30 can both be determined by the second pulse signal PM2. This allows the time difference between the receiving start time of the receiving module 20 and the laser emission time of the transmitting module 30 to be a fixed value, thereby synchronizing the receiving start time of the receiving module 20 and the laser emission time of the transmitting module 30, which is beneficial to improving the accuracy of the obtained detection information.
[0047] It is understood that in the embodiments of this application, the receiving start time of the receiving module 20 and the laser emission time of the transmitting module 30 are synchronized, that is, the time difference between the receiving start time of the receiving module 20 and the laser emission time of the transmitting module 30 is a fixed value. This fixed value can be any value, and can be set according to the actual application scenario.
[0048] In some embodiments, such as Figure 3As shown, the transmitting module 30 is further configured to output N feedback signals to the control module 10 in response to N third pulse signals. Specifically, when emitting laser light in response to the Kth third pulse signal among the N third pulse signals, the Kth feedback signal among the N feedback signals is output to the control module 10 based on the time of laser emission, where K is an integer greater than or equal to 1 and less than or equal to N. The control module 10 is further configured to determine the time of laser emission by the transmitting module 30 based on the Kth feedback signal, and adjust the detection information based on the difference between the time of laser emission by the transmitting module 30 and the start time of the Kth third pulse signal.
[0049] The detection information is the information corresponding to the target object determined by the control module 10 based on the echo signal, such as the target distance, azimuth, altitude, speed, and attitude. Taking the target distance as an example, the flight time can be obtained from the laser emission time and the echo signal reception time, thereby obtaining the distance from the target object to the location of the transmitting module 30.
[0050] Specifically, in practical applications, temperature changes and other factors may cause additional delays during signal transmission, resulting in a discrepancy between the timing of the receiving of the third pulse signal by the transmitting module 30 and the actual timing of laser emission. Figure 2 For example, starting from time T2, after the first duration TC_1, the first third pulse signal PM3_1 is input to the transmitting module 30. The transmitting module 30 should emit the laser at the end of the first duration TC_1. However, in actual applications, due to factors such as temperature changes, there may be additional delays in the signal transmission process, which may result in the actual laser emission time being after the end of the first duration TC_1.
[0051] Based on this, the embodiments of this application output a corresponding feedback signal to the control module 10 based on the time of each laser emission. Specifically, when K=1, the emission module 30 emits a laser in response to the first third pulse signal PM3_1, and outputs a first feedback signal to the control module 10 based on the time of laser emission; when K=2, the emission module 30 emits a laser in response to the second third pulse signal PM3_2, and outputs a second feedback signal to the control module 10 based on the time of laser emission; ...; when K=N, the emission module 30 emits a laser in response to the Nth third pulse signal PM3_N, and outputs the Nth feedback signal to the control module 10 based on the time of laser emission. The control module 10 can receive N feedback signals, and based on each feedback signal, it can determine the corresponding laser emission time. Specifically, the control module 10 can determine the time when the transmitting module 30 emits laser in response to the first third pulse signal PM3_1 based on the first feedback signal; the control module 10 can determine the time when the transmitting module 30 emits laser in response to the second third pulse signal PM3_2 based on the second feedback signal; ...; the control module 10 can determine the time when the transmitting module 30 emits laser in response to the Nth third pulse signal PM3_N based on the Nth feedback signal. Afterwards, when determining the detection information, the control module 30 can adjust the detection information accordingly based on the difference between the laser emission time of the transmitting module 30 and the start time of the corresponding third pulse signal. Specifically, after the transmitting module 30 emits a laser in response to the first third pulse signal PM3_1, the control module 30 adjusts the detection information corresponding to the target object determined based on the echo signal at this time, based on the difference between the time of laser emission and the start time of the first third pulse signal PM3_1; after the transmitting module 30 emits a laser in response to the second third pulse signal PM3_2, the control module 30 adjusts the detection information corresponding to the target object determined based on the echo signal at this time, based on the difference between the time of laser emission and the start time of the second third pulse signal PM3_2; ...; after the transmitting module 30 emits a laser in response to the Nth third pulse signal PM3_N, the control module 30 adjusts the detection information corresponding to the target object determined based on the echo signal at this time, based on the difference between the time of laser emission and the start time of the Nth third pulse signal PM3_N. Taking the detection information as the target distance as an example, the flight time obtained by the laser emission time and the echo signal reception time may be extended due to additional delays, which in turn leads to a longer target distance. In this case, after determining the target distance based on the flight time, the target distance can be reduced accordingly based on the difference between the obtained laser emission time and the start time of the corresponding third pulse signal. For example, the larger the difference, the greater the reduction in target distance; conversely, the smaller the difference, the less the reduction in target distance.
[0052] This enables adjustments to the detection information based on the actual situation of laser emission, which helps to reduce or even eliminate the adverse effects of additional delays caused by temperature changes and other factors, thereby improving the accuracy of the obtained detection information.
[0053] In some embodiments, the control module 10 is further configured to: obtain the Mth third pulse signal based on the second pulse signal, wherein the pulse width of the Mth third pulse signal is smaller than the pulse width of the second pulse signal. That is, the pulse width of each third pulse signal among the first third pulse signal PM3_1, the second third pulse signal PM3_2, ..., the Nth third pulse signal PM3_N can be determined by the second pulse signal, thereby allowing the pulse width of each third pulse signal to be configured as needed. For example, in some embodiments, the pulse width of each third pulse signal can be configured to be at the nanosecond level, for example, the pulse width of each third pulse signal can be configured to be in the range of several nanoseconds to tens of nanoseconds, thereby significantly improving the time resolution of the laser transceiver circuit 100, thereby improving the accuracy of the obtained detection information, and also reducing the energy emitted each time the laser is emitted, thereby reducing energy consumption.
[0054] In some embodiments, the control module 10 includes a delay array and a logic operation array. The delay array includes at least one delay unit, each delay unit providing a delay duration. The delay array can provide T delay durations, where the Jth delay duration among the T delay durations can be provided by one or more delay units. When the Jth delay duration among the T delay durations is provided by multiple delay units, the Jth delay duration is the sum of the delay durations provided by the multiple delay units, where T is an integer greater than or equal to 1, and J is an integer greater than or equal to 1 and less than or equal to T. It is understood that the durations provided by each delay unit can be the same or different. The logic operation array includes at least one logic operation unit, each logic operation unit implementing a logic operation, such as an AND operation or a NOT operation. The logic operations implemented by different logic operation units can be the same or different. Subsequently, after the second pulse signal is input to the control module 10, the combination of the delay array and the logic operation array can obtain N third pulse signals based on the second pulse signal PM2 through delay and pulse width adjustment.
[0055] It is understandable that there are multiple ways to achieve the result of obtaining any one of the N third pulse signals (i.e., the Mth third pulse signal PM3_M) based on the second pulse signal PM2 by combining a delay array and a logic operation array. The results achieved by different implementations can be the same or different. For example, the pulse width of the Mth third pulse signal PM3_M obtained by different implementations can be the same or different. Four implementation methods will be illustrated below.
[0056] Please refer to the above as well. Figure 4 and Figure 5 ,in, Figure 4 This is a first schematic diagram (i.e., a first implementation) of the block diagram of the control module 10 provided in the embodiments of this application. Figure 5 for Figure 4 A schematic diagram of each signal in the control module 10.
[0057] like Figure 4 and Figure 5 As shown, the control module 10 includes a first delay unit 11, a first inverting unit 12, and a first AND unit 13. That is, the delay array includes one delay unit, namely the first delay unit 11, and provides a delay duration (duration TD); the logic operation array includes two logic operation units, namely the first inverting unit 12 and the first AND unit 13.
[0058] The input terminal of the first delay unit 11 and the first input terminal of the first phase AND unit 13 are both input to the second pulse signal PM2. The output terminal of the first delay unit 11 is connected to the input terminal of the first inverting unit 12. The output terminal of the first inverting unit 12 is connected to the second input terminal of the first phase AND unit 13. The output terminal of the first phase AND unit 13 outputs the Mth third pulse signal PM3_M. The Mth third pulse signal PM3_M is any one of the first third pulse signal PM3_1, the second third pulse signal PM3_2, ..., the Nth third pulse signal PM3_N.
[0059] Specifically, the delay duration of the first delay unit 11 is duration TD. After the second pulse signal PM2 is delayed by the first delay unit 11, it outputs pulse signal PM2_1. The first inverting unit 12 performs an inverting logic operation on pulse signal PM2_1 to obtain pulse signal PM2_2. Both the second pulse signal PM2 and pulse signal PM2_2 are input to the first AND unit 13 to perform an AND logic operation to obtain the Mth third pulse signal PM3_M. The pulse width of the Mth third pulse signal PM3_M is duration TD. The start time of the Mth third pulse signal PM3_M is the start time of the second pulse signal PM2.
[0060] Please refer to the above as well. Figure 6 and Figure 7 ,in, Figure 6 This is a second schematic diagram (i.e., a second implementation) of the block diagram of the control module 10 provided in the embodiments of this application. Figure 7 for Figure 6 A schematic diagram of each signal in the control module 10.
[0061] like Figure 6 and Figure 7As shown, the control module 10 includes a second delay unit 14, a second inverting unit 15, and a second AND unit 16. That is, the delay array includes one delay unit, namely the second delay unit 14, and provides a delay duration (duration TE1); the logic operation array includes two logic operation units, namely the second inverting unit 15 and the second AND unit 16.
[0062] The second pulse signal PM2 is input to both the input terminal of the second delay unit 14 and the input terminal of the second inverting unit 15. The output terminal of the second inverting unit 15 is connected to the first input terminal of the second phase AND unit 16. The output terminal of the second delay unit 14 is connected to the second input terminal of the second phase AND unit 16. The output terminal of the second phase AND unit 16 outputs the Mth third pulse signal PM3_M.
[0063] Specifically, the delay duration of the second delay unit 14 is TE1. After the second pulse signal PM2 is delayed by the second delay unit 14, the output pulse signal PM2_3 is obtained. The second pulse signal PM2 is input to the second inverting unit 15, and after performing an inverting logic operation, the pulse signal PM2_4 is obtained. Both pulse signals PM2_3 and PM2_4 are input to the second AND unit 16 to perform an AND logic operation, obtaining the Mth third pulse signal PM3_M. The pulse width of the Mth third pulse signal PM3_M is TE3. Since the pulse width of the second pulse signal PM2 = TE1 + TE2 = TE2 + TE3, then TE3 = TE1, and the pulse width of the pulse signal PM3_M is TE1. The start time of the Mth third pulse signal PM3_M is the time when the start time of the second pulse signal PM2 is equal to the pulse width of the second pulse signal PM2. That is, the start time of the Mth third pulse signal PM3_M is the time when the start time of the second pulse signal PM2 is equal to the time when the duration TE1 and duration TE2 are equal.
[0064] Please refer to the above as well. Figure 8 and Figure 9 ,in, Figure 8 This is a third schematic diagram (i.e., a third implementation) of the block diagram of the control module 10 provided in the embodiments of this application. Figure 9 for Figure 8 A schematic diagram of each signal in the control module 10.
[0065] like Figure 8 and Figure 9As shown, the control module 10 includes a third delay unit 17, a fourth delay unit 18, a third inverting unit 19, and a third AND unit 11a. Specifically, the delay array includes two delay units, namely the third delay unit 17 and the fourth delay unit 18, and provides two delay durations (duration TF1 and duration TF2, respectively); the logic operation array includes two logic operation units, namely the third inverting unit 19 and the third AND unit 11a.
[0066] The third delay unit 17 receives the second pulse signal PM2 at its input terminal. The output terminal of the third delay unit 17 is connected to the first input terminal of the third phase AND unit 11a and the input terminal of the fourth delay unit 18. The output terminal of the fourth delay unit 18 is connected to the input terminal of the third inverting unit 19. The output terminal of the third inverting unit 19 is connected to the second input terminal of the third phase AND unit 11a. The output terminal of the third phase AND unit 19 outputs the Mth third pulse signal PM3_M.
[0067] Specifically, the delay duration of the third delay unit 17 is duration TF1. After the second pulse signal PM2 is delayed by the third delay unit 17, the output pulse signal PM2_5 is generated. The delay duration of the fourth delay unit 18 is duration TF2. After the pulse signal PM2_5 is delayed by the fourth delay unit 18, the output pulse signal PM2_6 is generated. The pulse signal PM2_6 is input to the third inverting unit 19, and after performing an inverting logic operation, the pulse signal PM2_7 is obtained. Both the pulse signals PM2_5 and PM2_7 are input to the third AND unit 11a to perform an AND logic operation, obtaining the Mth third pulse signal PM3_M. The pulse width of the Mth third pulse signal PM3_M is duration TF2. The start time of the Mth third pulse signal PM3_M is the time elapsed between the start time of the second pulse signal PM2 and duration TF1.
[0068] Please refer to the above as well. Figure 10 and Figure 11 ,in, Figure 10 This is a fourth schematic diagram (i.e., a fourth implementation) of the block diagram of the control module 10 provided in the embodiments of this application. Figure 11 for Figure 10 A schematic diagram of each signal in the control module 10.
[0069] like Figure 10 and Figure 11As shown, the control module 10 includes a fifth delay unit 12a, a sixth delay unit 13a, a fourth inverting unit 14a, and a fourth AND unit 15a. That is, the delay array includes two delay units, namely the fifth delay unit 12a and the sixth delay unit 13a, and provides two delay durations (duration TG1 and duration TG2, respectively); the logic operation array includes two logic operation units, namely the fourth inverting unit 14a and the fourth AND unit 15a.
[0070] The input terminal of the fifth delay unit 12a receives the second pulse signal PM2. The output terminal of the fifth delay unit 12a is connected to the input terminals of the fourth inverting unit 15a and the sixth delay unit 13a, respectively. The output terminal of the fourth inverting unit 15a is connected to the first input terminal of the fourth phase AND unit 14a. The output terminal of the sixth delay unit 13a is connected to the second input terminal of the fourth phase AND unit 14a. The output terminal of the fourth phase AND unit 14a outputs the Mth third pulse signal PM3_M.
[0071] Specifically, the delay duration of the fifth delay unit 12a is TG1. After the second pulse signal PM2 is delayed by the fifth delay unit 12a, the output pulse signal PM2_8 is generated. The delay duration of the sixth delay unit 13a is TG2. After the pulse signal PM2_8 is delayed by the sixth delay unit 13a, the output pulse signal PM2_9 is generated. The pulse signal PM2_8 is input to the fourth inverting unit 15a, and after performing an inverting logic operation, the pulse signal PM2_10 is obtained. Both the pulse signals PM2_9 and PM2_10 are input to the fourth AND unit 14a to perform an AND logic operation, obtaining the Mth third pulse signal PM3_M. The pulse width of the pulse signal PM3_M is TG2. The start time of the Mth third pulse signal PM3_M is the time when the start time of the second pulse signal PM2 is equal to the time when the duration TG1 and the pulse width of the second pulse signal PM2 are elapsed. In other words, the start time of the Mth third pulse signal PM3_M is the time when the start time of the second pulse signal PM2 is equal to the time when the duration TG1 and the duration TG3 are elapsed.
[0072] It should be noted that the above embodiments only exemplify four ways to obtain the Mth third pulse signal PM3_M based on the second pulse signal PM2. In other embodiments, other methods can also be used to obtain the Mth third pulse signal PM3_M based on the second pulse signal PM2. Furthermore, the pulse widths of different third pulse signals among a first third pulse signal PM3_1, a second third pulse signal PM3_2, ..., the Nth third pulse signal PM3_N can be the same or different; and different third pulse signals can be obtained in the same way or in different ways. For example, in some implementations, only when N=2, the first third pulse signal PM3_1 can be obtained through... Figure 4 The second and third pulse signals PM3_2 are obtained as shown. Figure 6 Obtained as shown.
[0073] This application also provides a laser detection device. The laser detection device includes a housing and a laser transceiver circuit 100 as described in any embodiment of this application, wherein the housing is used to mount the laser transceiver circuit 100.
[0074] In some implementations, the laser detection device can be a lidar, a signal processing device within a lidar, or any device with ranging and speed measurement functions, such as a ranging and speed measurement sensor or a ranging and speed measurement instrument.
[0075] In some implementations, when the laser detection device is a lidar, the lidar can be applied to any device that requires laser detection, such as a vehicle. Lidar can detect parameters such as the distance and speed of a vehicle relative to obstacles. The vehicle uses the lidar system to detect nearby obstacles, such as other cars, roadside objects, and suddenly approaching hovering objects, enabling the vehicle to plan its path based on the detected information and avoid collisions with obstacles.
[0076] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.
[0077] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order. Those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.
Claims
1. A laser transceiver circuit, characterized in that, The application relates to a laser radar, which comprises a control module, a receiving module, a transmitting module and a target object. The control module is used for outputting a first pulse signal. The receiving module is connected with the control module and is used for receiving the first pulse signal, outputting a second pulse signal based on the first pulse signal and determining a receiving starting time of the receiving module based on the second pulse signal, wherein the receiving module starts to receive echo signals reflected by the target object from the receiving starting time. The control module is also used for receiving the second pulse signal and outputting N third pulse signals based on the second pulse signal, wherein N is an integer greater than or equal to 1. The transmitting module is connected with the control module and is used for receiving the N third pulse signals and transmitting laser to the target object based on the N third pulse signals.
2. The laser transceiver circuit of claim 1, wherein, The receiving module is also used for determining the receiving starting time of the receiving module based on a time point at which a first preset time length elapses from a starting time of the second pulse signal.
3. The laser transceiver circuit according to claim 1 or 2, characterized in that The control module is also used for starting to delay for an M time length in N time lengths from the starting time of the second pulse signal and outputting an Mth third pulse signal in the N third pulse signals at a time point at which the M time length ends, wherein one time length in the N time lengths corresponds to one third pulse signal in the N third pulse signals, M is an integer greater than or equal to 1 and less than or equal to N.
4. The laser transceiver circuit of claim 3, wherein, The control module is also used for obtaining the Mth third pulse signal based on the second pulse signal, wherein a pulse width of the Mth third pulse signal is smaller than a pulse width of the second pulse signal.
5. The laser transceiver circuit of claim 4, wherein, The control module comprises a first delay unit, a first inverting unit and a first exclusive-OR unit. An input end of the first delay unit and a first input end of the first exclusive-OR unit input the second pulse signal, an output end of the first delay unit is connected with an input end of the first inverting unit, an output end of the first inverting unit is connected with a second input end of the first exclusive-OR unit, and an output end of the first exclusive-OR unit outputs the Mth third pulse signal.
6. The laser transceiver circuit of claim 4, wherein, The control module comprises a second delay unit, a second inverting unit and a second exclusive-OR unit. An input end of the second delay unit and an input end of the second inverting unit input the second pulse signal, an output end of the second inverting unit is connected with a first input end of the second exclusive-OR unit, an output end of the second delay unit is connected with a second input end of the second exclusive-OR unit, and an output end of the second exclusive-OR unit outputs the Mth third pulse signal.
7. The laser transceiver circuit of claim 4, wherein, The control module comprises a third delay unit, a fourth delay unit, a third inverting unit and a third exclusive-OR unit. An input end of the third delay unit inputs the second pulse signal, an output end of the third delay unit is connected with a first input end of the third exclusive-OR unit and an input end of the fourth delay unit respectively, an output end of the fourth delay unit is connected with an input end of the third inverting unit, an output end of the third inverting unit is connected with a second input end of the third exclusive-OR unit, and an output end of the third exclusive-OR unit outputs the Mth third pulse signal.
8. The laser transceiver circuit of claim 4, wherein, The control module comprises a fifth delay unit, a sixth delay unit, a fourth inverting unit and a fourth exclusive OR unit; An input end of the fifth delay unit inputs the second pulse signal, output ends of the fifth delay unit are connected with an input end of the fourth inverting unit and an input end of the sixth delay unit respectively, an output end of the fourth inverting unit is connected with a first input end of the fourth exclusive OR unit, an output end of the sixth delay unit is connected with a second input end of the fourth exclusive OR unit, and an output end of the fourth exclusive OR unit outputs the Mth third pulse signal.
9. The laser transceiver circuit of claim 1, wherein, The transmitting module is further configured to output N feedback signals to the control module in response to the N third pulse signals, wherein, when laser is emitted in response to a Kth third pulse signal in the N third pulse signals each time, a Kth feedback signal in the N feedback signals is output to the control module based on a time of emitting laser, K is an integer greater than or equal to 1 and less than or equal to N; The control module is further configured to determine a time of emitting laser by the transmitting module based on the Kth feedback signal, and adjust detection information based on a difference between the time of emitting laser by the transmitting module and a starting time of the Kth third pulse signal, wherein the detection information is information corresponding to the target object determined by the control module based on the echo signal.
10. A laser detection apparatus, characterized by, A laser transceiver circuit comprising a housing and a laser transceiver circuit as claimed in any one of claims 1-9, wherein the housing is configured to house the laser transceiver circuit.