Detection circuit, laser radar and vehicle

Abstract

The embodiment of the utility model provides a detection circuit, a laser radar and a vehicle, relates to the technical field of vehicles, is used for detecting whether a laser lightening loop successfully emits a laser beam or not, is low in cost, and does not affect the luminous efficiency of the laser lightening loop. The detection circuit comprises an input sub-circuit and a voltage division sub-circuit. The input sub-circuit is connected with the laser lightening loop, and the input sub-circuit is configured to change the voltage of the output end of the input sub-circuit into a first voltage under the condition that the laser lightening loop emits laser; the voltage division sub-circuit is connected with the input sub-circuit, a power supply voltage end and a grounding end, the voltage division sub-circuit is configured to respond to the first voltage and output a detection signal, and the voltage of the detection signal is in a target voltage range.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicles, in particular to a detection circuit, a laser radar and a vehicle. BACKGROUND

[0002] A laser product, for example, a laser radar is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting a laser beam. It is composed of a laser transmitter, an optical receiver, a turntable and an information processing system, etc. By emitting a laser beam to the target and receiving its reflected signal, the distance, direction, height, speed, attitude and even shape of the target are obtained after processing, so as to detect, track and identify the target.

[0003] Whether the laser beam is successfully emitted by the laser radar is the key to whether the laser radar can detect, track and identify the target. Therefore, after the laser radar is started, it is necessary to detect whether the laser beam is successfully emitted by the laser radar. CONTENT OF THE INVENTION

[0004] The purpose of the present disclosure is to provide a detection circuit, a laser radar and a vehicle for detecting whether the laser light-up loop successfully emits a laser beam, and the cost is low and does not affect the luminous efficiency of the laser light-up loop.

[0005] To achieve the above purpose, the present disclosure provides a detection circuit, comprising an input sub-circuit and a voltage division sub-circuit; the input sub-circuit is connected with the laser light-up loop, and the input sub-circuit is configured to change the voltage at the output end of the input sub-circuit to a first voltage in the case that the laser light-up loop emits a laser beam; the voltage division sub-circuit is connected with the input sub-circuit, a power voltage end and a ground end, and the voltage division sub-circuit is configured to output a detection signal in response to the first voltage, and the voltage of the detection signal is in a target voltage range.

[0006] The present disclosure has the beneficial effects that the detection circuit is a branch circuit of the laser light-up loop, i.e. the detection circuit is a circuit separately provided on the laser product, for example, the laser radar, and is connected with the laser light-up loop. In this way, the setting of the detection circuit does not affect the structure of the laser light-up loop itself, and does not affect the luminous efficiency of the laser light-up loop. At the same time, whether the laser light-up loop successfully emits a laser beam can be judged according to the detection signal output by the output end of the voltage division sub-circuit; and the detection circuit has a simple structure and low cost.

[0007] In some embodiments, the input sub-circuit comprises a first capacitor, a first end of the first capacitor is connected with the laser light-up loop, and a second end of the first capacitor is connected with the voltage division sub-circuit.

[0008] In some embodiments, the voltage dividing sub-circuit comprises a first voltage dividing unit, a second voltage dividing unit and a third voltage dividing unit; the first voltage dividing unit is connected with the second end of the first capacitor, the second voltage dividing unit is connected with the ground end, and the third voltage dividing unit is connected with the power voltage end; the first voltage dividing unit, the second voltage dividing unit and the third voltage dividing unit are connected with the output end of the voltage dividing sub-circuit.

[0009] In some embodiments, the first voltage dividing unit comprises a first resistor, the first end of the first resistor is connected with the second end of the first capacitor, and the second end of the first resistor is connected with the output end of the voltage dividing sub-circuit.

[0010] In some embodiments, the first voltage dividing unit further comprises a second capacitor, the first end of the second capacitor is connected with the second end of the first resistor, and the second end of the second capacitor is connected with the ground end.

[0011] In some embodiments, the second voltage dividing unit comprises a second resistor, the first end of the second resistor is connected with the output end of the voltage dividing sub-circuit, and the second end of the second resistor is connected with the ground end.

[0012] In some embodiments, the third voltage dividing unit comprises a third resistor, the first end of the third resistor is connected with the power voltage end, and the second end of the third resistor is connected with the output end of the voltage dividing sub-circuit.

[0013] In some embodiments, the detection circuit further comprises a protection sub-circuit connected with the voltage dividing sub-circuit, and the protection sub-circuit is configured to maintain the voltage of the detection signal within a target voltage range.

[0014] In some embodiments, the protection sub-circuit comprises a first protection unit connected between the power voltage end and the output end of the voltage dividing sub-circuit; the first protection unit is configured to keep the voltage of the detection signal output by the detection circuit less than or equal to a first threshold value.

[0015] In some embodiments, the first protection unit comprises a first diode, the positive electrode of the first diode is connected with the output end of the voltage dividing sub-circuit, and the negative electrode of the first diode is connected with the power voltage end.

[0016] In some embodiments, the protection sub-circuit comprises a second protection unit connected between the output end of the voltage dividing sub-circuit and the ground end; the second protection unit is configured to keep the voltage of the detection signal output by the detection circuit greater than or equal to a second threshold value.

[0017] In some embodiments, the second protection unit comprises a second diode, the positive electrode of the second diode is connected with the ground end, and the negative electrode of the second diode is connected with the output end of the voltage dividing sub-circuit.

[0018] The present disclosure also provides a laser radar, comprising a laser lighting circuit, a detection circuit as described above, and a controller; the detection circuit is connected with the laser lighting circuit; the controller is connected with the detection circuit, and the controller is configured to receive the detection signal output by the detection circuit and determine whether the laser lighting circuit successfully emits laser.

[0019] The laser radar has the same beneficial technical effects as the detection circuit provided in some embodiments, which will not be repeated here.

[0020] The present disclosure also provides a vehicle, comprising a vehicle body and a laser radar as described above mounted on the vehicle body.

[0021] The vehicle has the same beneficial technical effects as the laser radar provided in some embodiments, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the present disclosure, the drawings needed in some embodiments of the present disclosure will be briefly introduced below. Obviously, the drawings in the following description are only the drawings of some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art according to these drawings. In addition, the drawings in the following description can be regarded as schematic diagrams, and are not limited to the actual size, actual process, actual timing of signals, etc. of the products involved in the embodiments of the present disclosure.

[0023] Figure 1 A structural diagram of a detection circuit according to some embodiments;

[0024] Figure 2 A structural diagram of another detection circuit according to some embodiments;

[0025] Figure 3 A structural diagram of still another detection circuit according to some embodiments;

[0026] Figure 4 A structural diagram of still another detection circuit according to some embodiments;

[0027] Figure 5 A structural diagram of a laser radar according to some embodiments;

[0028] Figure 6 A structural diagram of a vehicle according to some embodiments.

[0029] Wherein, the output end 10 of the detection circuit 100-1 of the 200 laser lighting loop 100 detection circuit inputs the output end 20 of the input sub-circuit 10-1 of the input sub-circuit 10-1, the output end VCC of the voltage division sub-circuit 201 detects the signal 202 normal signal OUT, the voltage division sub-circuit output end, the power supply voltage end GND ground end C1 first capacitor C1-1 first end of the first capacitor C1-2 second end of the first capacitor 21 first voltage division unit 22 second voltage division unit 23 third voltage division unit R1 first resistor R1-1 first end of the first resistor R1-2 second end of the first resistor R2 second resistor R2-1 first end of the second resistor R2-2 second end of the second resistor R3 third resistor R3-1 first end of the third resistor R3-2 second end of the third resistor C2 second capacitor C2-1 first end of the second capacitor C2-2 second end of the second capacitor 30 protection sub-circuit 31 first protection unit 32 second protection unit D1 first diode D1-1 positive electrode of the first diode D1-2 negative electrode of the first diode D2 second diode D2-1 positive electrode of the second diode D2-2 negative electrode of the second diode 1000 laser radar 300 controller 10000 vehicle 10001 vehicle body. DETAILED DESCRIPTION

[0030] The technical solutions in some embodiments of the present disclosure will be described clearly and completely in combination with the drawings. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all. Based on the embodiments provided in the present disclosure, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present disclosure.

[0031] Unless otherwise required by the context, throughout the specification and claims, the term "comprising" is interpreted to mean "including, but not limited to". In the description of the specification, the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", or "some examples" are intended to mean that the particular feature, structure, material, or characteristic being described in connection with such embodiment or example includes in at least one embodiment or example of the present disclosure. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example. In addition, the particular features, structures, materials, or characteristics described can be included in any suitable way in any one or more embodiments or examples.

[0032] A laser product, such as a laser radar, includes a laser lighting circuit, which includes a laser transmitter, an optical receiver, a turntable, an information processing system, and the like, for detecting, tracking, and identifying a target. A detection circuit is provided on the laser radar, which can be used to detect whether the laser radar successfully emits a laser beam. However, the detection circuit provided in the laser lighting circuit affects the light emission signal quality of the laser beam and reduces the light emission efficiency of the laser radar. Hereinafter, the laser radar is taken as an example to describe the laser product, and the embodiments provided herein can be applied to other laser products except the laser radar.

[0033] As shown in Figure 1 The present disclosure provides a detection circuit 100, which includes an input sub-circuit 10 and a voltage division sub-circuit 20. The input sub-circuit 10 is connected with a laser lighting circuit 200, and the input sub-circuit 10 is configured to have a first voltage at an output end 10-1 of the input sub-circuit 10 when the laser lighting circuit 200 emits a laser. The voltage division sub-circuit 20 is connected with the input sub-circuit 10, a power voltage end VCC, and a ground end GND, and the voltage division sub-circuit 20 is configured to output a detection signal 201 in response to the first voltage, and the voltage of the detection signal 201 is in a target voltage range.

[0034] After the detection circuit 100 outputs the detection signal 201, an external detection device, such as a controller, can receive the detection signal 201, and determine whether the laser lighting circuit 200 successfully outputs a laser beam according to the detection signal 201. Based on this, the above-mentioned “target voltage range” can be a voltage range that can be detected by the controller, that is, the voltage division sub-circuit 20 converts the first voltage into a voltage that can be detected by the controller, so that the controller can determine whether the laser lighting circuit 200 successfully outputs a laser beam according to the voltage.

[0035] Exemplarily, as shown in Figure 1 When the laser lighting circuit 200 of the laser radar does not emit a laser beam, the input sub-circuit 10 is in an off state, and at the same time, the voltage division sub-circuit 20 divides the voltage of the power voltage end VCC into a range that can be detected by the controller and is output by an output end OUT of the voltage division sub-circuit 20. At this time, the output end OUT of the voltage division sub-circuit 20 outputs a normal signal 202. The normal signal 202 refers to a signal output by the output end OUT of the voltage division sub-circuit 20 when the laser radar is in a normal state, that is, a signal output by the output end OUT of the voltage division sub-circuit 20 when the laser lighting circuit 200 of the laser radar does not emit a laser beam. It can be understood that the voltage of the normal signal 202 is a voltage that can be detected by the controller.

[0036] Exemplarily, the controller can be a judgment logic IC or an MCU or a control circuit board, and the present disclosure is not limited thereto.

[0037] Exemplarily, when the laser lighting circuit 200 of the laser radar emits a laser beam, the voltage of the output end 10-1 of the input sub-circuit 10 changes to a first voltage, at the same time, the voltage of the output end OUT of the voltage dividing sub-circuit 20 is within a range that can be detected by the controller under the influence of the first voltage in response to the first voltage, and the voltage dividing sub-circuit 20 outputs the first voltage and the voltage of the power supply voltage end VCC to the range that can be detected by the controller, and outputs the detection signal 201 at this time. The detection signal 201 refers to the signal output by the output end OUT of the voltage dividing sub-circuit 20 when the laser lighting circuit 200 of the laser radar emits a laser beam. It can be understood that the voltage of the detection signal 201 is a voltage that can be detected by the controller, and the voltage of the detection signal 201 is different from the voltage of the normal signal 202.

[0038] Exemplarily, a controller, such as a judgment logic IC or an MCU or a control circuit board, etc., can be connected to the output end OUT of the voltage dividing sub-circuit 20 for receiving the signal output by the output end OUT of the voltage dividing sub-circuit 20. When the laser lighting circuit 200 of the laser radar does not emit a laser beam, the controller receives the normal signal 202, and according to the judgment logic inside the controller, the controller identifies and judges the voltage of the normal signal 202, for example, outputs as high level 1; when the laser lighting circuit 200 of the laser radar emits a laser beam, the controller receives the detection signal 201, and according to the judgment logic inside the controller, the controller identifies and judges the voltage of the detection signal 201, for example, outputs as low level 0.

[0039] Therefore, different signals output by the output end OUT of the voltage dividing sub-circuit 20 in different states of the laser lighting circuit 200 can be used to judge whether the laser radar successfully emits a laser beam by using the controller, etc.

[0040] It can be understood that the output end OUT of the voltage dividing sub-circuit 20 is the output end 100-1 of the detection circuit 100.

[0041] Exemplarily, the detection circuit 100 provided by the present disclosure is a branch circuit of the laser lighting circuit 200, that is, the detection circuit 100 is a circuit separately provided on a laser product, such as a laser radar, and connected with the laser lighting circuit 200, so that the setting of the detection circuit 100 does not affect the structure of the laser lighting circuit 200 itself and does not affect the light emitting efficiency of the laser lighting circuit 200. At the same time, whether the laser lighting circuit 200 successfully emits a laser beam can be judged according to the detection signal 201 output by the output end OUT of the voltage dividing sub-circuit 20; and the detection circuit 100 has simple structure and low cost.

[0042] In some embodiments, as Figure 2As shown, the input sub-circuit 10 includes a first capacitor C1, a first end C1-1 of the first capacitor C1 is connected with the laser lighting loop 200, and a second end C1-2 of the first capacitor C1 is connected with the voltage division sub-circuit 20.

[0043] Exemplarily, the capacitor has the characteristic of blocking direct current, that is, the characteristic of blocking direct current, and the principle is mainly based on the charging and discharging process of the capacitor. The role of the capacitor in the direct current circuit is to block the direct current. When the capacitor is connected to the direct current circuit, there will be a short charging process. When the positive and negative plates of the capacitor are fully charged, there will be no current flowing in the direct current circuit, that is, the capacitor is equivalent to an open circuit after being fully charged, which prevents the passage of direct current.

[0044] Exemplarily, the laser lighting of the laser radar needs to meet certain timing pulse triggering. In order to accurately identify the laser lighting moment and reduce the interference to the laser lighting loop 200, the characteristic of blocking direct current of the capacitor can be used to connect the capacitor with the laser lighting loop 200.

[0045] Exemplarily, when the laser lighting loop 200 of the laser radar does not emit a laser beam, the laser lighting loop 200 charges the first capacitor C1. When the first capacitor C1 is fully charged, the first capacitor C1 is equivalent to an open circuit, that is, the input sub-circuit 10 is in a disconnected state.

[0046] Exemplarily, when the laser lighting loop 200 of the laser radar emits a laser beam, the first end C1-1 of the first capacitor C1 is connected with the ground end in the laser lighting loop 200, for example, and the first capacitor C1 discharges to the laser lighting loop 200. Since the voltage across the capacitor cannot change abruptly, when the first end C1-1 of the first capacitor C1 is connected with the ground end in the laser lighting loop 200, the voltage at the first end C1-1 of the first capacitor C1 becomes the voltage at the ground end in the laser lighting loop 200, for example, 0V. At this time, since the first capacitor C1 is still discharging to the laser lighting loop 200, the voltage at the second end C1-2 of the first capacitor C1 will become a first voltage, and the first voltage is a negative voltage.

[0047] It can be understood that the second end C1-2 of the first capacitor C1 is the output end 10-1 of the input sub-circuit 10.

[0048] In some embodiments, as Figure 2 shown, the voltage division sub-circuit 20 includes a first voltage division unit 21, a second voltage division unit 22 and a third voltage division unit 23; the first voltage division unit 21 is connected with the second end C1-2 of the first capacitor C1, the second voltage division unit 22 is connected with the ground end GND, and the third voltage division unit 23 is connected with the power voltage end VCC; the first voltage division unit 21, the second voltage division unit 22 and the third voltage division unit 23 are all connected with the output end OUT of the voltage division sub-circuit 20.

[0049] Exemplarily, since the laser lighting circuit 200 often needs a high voltage when emitting a laser beam, but the controller connected to the output end OUT of the voltage dividing sub-circuit 20 can only detect a reduced voltage, for example, can detect a voltage of 0V-5V, therefore it is necessary to use the first voltage dividing unit 21, the second voltage dividing unit 22 and the third voltage dividing unit 23 to divide the voltage of the normal signal 202 and the voltage of the detection signal 201 to a range that can be recognized by the controller.

[0050] Exemplarily, as shown in Figure 2 , the voltage of the power supply voltage end VCC can be divided to a range that can be detected by the controller by using the second voltage dividing unit 22 and the third voltage dividing unit 23, so that the voltage of the normal signal 202 output by the output end OUT of the voltage dividing sub-circuit 20 can be detected by the controller. The first voltage and the voltage of the power supply voltage end VCC can be divided to a range that can be detected by the controller by using the first voltage dividing unit 21, the second voltage dividing unit 22 and the third voltage dividing unit 23, so that the voltage of the detection signal 201 output by the output end OUT of the voltage dividing sub-circuit 20 can be detected by the controller.

[0051] In some embodiments, as shown in Figure 2 , the first voltage dividing unit 21 includes a first resistor R1, a first end R1-1 of the first resistor R1 is connected with a second end C1-2 of a first capacitor C1, and a second end R1-2 of the first resistor R1 is connected with the output end OUT of the voltage dividing sub-circuit 20.

[0052] In some embodiments, as shown in Figure 2 , the second voltage dividing unit 22 includes a second resistor R2, a first end R2-1 of the second resistor R2 is connected with the output end OUT of the voltage dividing sub-circuit 20, and a second end R2-2 of the second resistor R2 is connected with the ground end GND.

[0053] In some embodiments, as shown in Figure 2 , the third voltage dividing unit 23 includes a third resistor R3, a first end R3-1 of the third resistor R3 is connected with the power supply voltage end VCC, and a second end R3-2 of the third resistor R3 is connected with the output end OUT of the voltage dividing sub-circuit 20.

[0054] Exemplarily, as shown in Figure 2 , the first end R3-1 of the third resistor R3 can be connected with the power supply voltage end VCC, the second end R3-2 of the third resistor R3 can be connected with the output end OUT of the voltage dividing sub-circuit 20, the first end R2-1 of the second resistor R2 can be connected with the output end OUT of the voltage dividing sub-circuit 20, and the second end R2-2 of the second resistor R2 can be connected with the ground end GND; in this way, the power supply voltage end VCC, the third resistor R3, the second resistor R2 and the ground end GND form a complete loop.

[0055] Exemplarily, when the laser illumination circuit 200 of the laser radar does not emit a laser beam, the first capacitor C1 is in an open state, at this time, the third resistor R3 and the second resistor R2 divide the voltage output by the power supply voltage terminal VCC to a range that can be detected by the controller, and output by the output terminal OUT of the voltage dividing sub-circuit 20.

[0056] Exemplarily, as shown in Figure 2 The first end R1-1 of the first resistor R1 is connected with the second end C1-2 of the first capacitor C1, and the second end R1-2 of the first resistor R1 is connected with the output terminal OUT of the voltage dividing sub-circuit 20; in this way, the first capacitor C1, the first resistor R1, the second resistor R2 and the ground terminal GND form a complete circuit.

[0057] Exemplarily, when the laser illumination circuit 200 of the laser radar emits a laser beam, the first capacitor C1 discharges to the laser illumination circuit 200, and the voltage of the second end C1-2 of the first capacitor C1 becomes the first voltage, that is, the voltage of the output terminal 10-1 of the input sub-circuit 10 becomes the first voltage, at this time, the first voltage is too large to be detected by the controller; at this time, the first resistor R1 and the second resistor R2 can divide the first voltage of the second end C1-2 of the first capacitor C1, so that the voltage of the output terminal OUT of the voltage dividing sub-circuit 20 is within a certain range.

[0058] Exemplarily, since the first voltage of the second end C1-2 of the first capacitor C1 is negative, after being divided by the first resistor R1 and the second resistor R2, the voltage output by the output terminal OUT of the voltage dividing sub-circuit 20 is also negative; since the controller, such as a judgment logic IC or an MCU or a control circuit board, cannot detect negative voltage and will be damaged by negative voltage, therefore, the negative voltage output by the output terminal OUT of the voltage dividing sub-circuit 20 at this time needs to be processed.

[0059] Exemplarily, the power supply voltage terminal VCC, the third resistor R3, the second resistor R2 and the ground terminal GND form a complete circuit, and the third resistor R3 and the second resistor R2 can divide the voltage of the power supply voltage terminal VCC to a range that can be detected by the controller; since the voltage of the power supply voltage terminal VCC is positive, the third resistor R3 can have the function of pulling up the voltage, and the third resistor R3 can be used to pull up the negative voltage in the circuit to a positive voltage that can be detected by the controller and output by the output terminal OUT of the voltage dividing sub-circuit 20.

[0060] Specifically, when the laser illumination circuit 200 of the laser radar does not emit a laser beam, the first capacitor C1 is in an open state; at the same time, in the voltage dividing sub-circuit 20, the power supply voltage terminal VCC, the third resistor R3, the second resistor R2, and the ground terminal GND form a complete circuit, the third resistor R3 and the second resistor R2 divide the voltage output by the power supply voltage terminal VCC to a range that can be detected by the controller, and output by the output terminal OUT of the voltage dividing sub-circuit 20. At this time, the output terminal OUT of the voltage dividing sub-circuit 20 outputs a normal signal 202, and the voltage of the normal signal 202 can be, for example, 3V. At this time, the controller judges that the voltage of the normal signal 202 is high level 1.

[0061] Specifically, when the laser illumination circuit 200 of the laser radar emits a laser beam, the first end C1-1 of the first capacitor C1 is connected to, for example, the ground terminal in the laser illumination circuit 200, and the first capacitor C1 discharges to the laser illumination circuit 200. At this time, the second end C1-2 of the first capacitor C1 becomes a first voltage, and the first voltage is a negative voltage. Since the third resistor R3 has the function of pulling up the voltage, the third resistor R3 can be used to pull up the negative voltage in the circuit to a positive voltage that can be detected by the controller, and output by the output terminal OUT of the voltage dividing sub-circuit 20. At this time, the output terminal OUT of the voltage dividing sub-circuit 20 outputs a detection signal 201, and the voltage of the detection signal 201 can be, for example, 0V. At this time, the controller judges that the voltage of the detection signal 201 is low level 0.

[0062] For example, when the laser illumination circuit 200 of the laser radar does not emit a laser beam, the controller outputs a high level 1; when the laser illumination circuit 200 of the laser radar emits a laser beam, the controller outputs a low level 0. If various problems such as damage to devices in the laser illumination circuit 200 cause the laser beam to fail to be normally emitted, the detection circuit 100 outputs the normal signal 202, and the controller outputs a high level 1, so that it can be known whether the laser radar successfully emits a laser beam.

[0063] In some embodiments, as shown in Figure 3 The first voltage dividing unit 21 further includes a second capacitor C2, a first end C2-1 of the second capacitor C2 is connected to a second end R1-2 of the first resistor R1, and a second end C2-2 of the second capacitor C2 is connected to the ground terminal GND.

[0064] For example, the first resistor R1 and the second capacitor C2 form a low-pass filter, which has a small impedance to low-frequency signals and a large impedance to high-frequency signals, thereby achieving a filtering effect. Specifically, when the input signal is a low-frequency signal, the capacitance effect of the capacitor dominates, forming a low impedance, thus allowing the signal to pass through the circuit; while when the input signal is a high-frequency signal, the resistance effect of the resistor dominates, forming a high impedance, thus preventing the signal from passing through the circuit. This arrangement smooths out signal spikes and oscillations in the circuit.

[0065] In some embodiments, such as Figure 3 As shown, the detection circuit 100 also includes a protection sub-circuit 30, which is connected to the voltage divider sub-circuit 20. The protection sub-circuit 30 is configured to maintain the voltage of the detection signal 201 within the target voltage range.

[0066] For example, when dealing with special scenarios, the LiDAR adjusts its power by changing the voltage in the laser illumination circuit 200. For instance, in scenarios involving close range, high reflection, or overexposure, the power can be adjusted by reducing the voltage in the laser illumination circuit 200. In this case, the voltage in the laser illumination circuit 200 is not fixed but varies. Thus, the voltage at the second terminal C1-2 of the first capacitor C1, after being divided by the first resistor R1 and the second resistor R2, and then pulled up by the third resistor R3, may result in a detection signal 201 output from the output terminal OUT of the voltage divider circuit 20 (i.e., the output terminal 100-1 of the detection circuit 100). This voltage may exceed the controller's voltage detection range, for example, being less than 0V. Consequently, the controller may fail to detect the detection signal 201 and could potentially be damaged.

[0067] Therefore, a protection sub-circuit 30 can be set in the detection circuit 100 to maintain the voltage of the detection signal 201 output by the output terminal 100-1 of the detection circuit 100 within the target voltage range. The target voltage range can be set according to the controller's own parameters. When the voltage of the detection signal 201 output by the output terminal 100-1 of the detection circuit 100 is within the target voltage range, it will not damage the controller and can be detected by the controller.

[0068] For example, such as Figure 4 As shown, the protection sub-circuit 30 is connected to the output terminal OUT of the voltage divider sub-circuit 20. The normal signal 202 or the detection signal 201 output from the output terminal OUT of the voltage divider sub-circuit 20 is transmitted to the output terminal 100-1 of the detection circuit 100 after passing through the protection sub-circuit 30. The protection sub-circuit 30 is used to protect the controller connected to the output terminal 100-1 of the detection circuit 100, preventing excessive or insufficient voltage from being transmitted to the controller and thus damaging it.

[0069] In some embodiments, such as Figure 4 As shown, the protection sub-circuit 30 includes a first protection unit 31, which is connected between the power supply voltage terminal VCC and the output terminal OUT of the voltage divider sub-circuit 20. The first protection unit 31 is configured to keep the voltage of the detection signal 201 output by the detection circuit 100 less than or equal to a first threshold.

[0070] For example, the first protection unit 31 prevents the voltage of the detection signal 201 output by the detection circuit 100 from being too high and damaging the controller.

[0071] In some embodiments, such as Figure 4 As shown, the first protection unit 31 includes a first diode D1. The positive terminal D1-1 of the first diode D1 is connected to the output terminal OUT of the voltage divider circuit 20, and the negative terminal D1-2 of the first diode D1 is connected to the power supply voltage terminal VCC. The first diode D1 keeps the voltage of the detection signal 201 output by the detection circuit 100 less than or equal to a first threshold.

[0072] For example, such as Figure 4 As shown, the positive terminal D1-1 of the first diode D1 is connected to the output terminal OUT of the voltage divider circuit 20, and the negative terminal D1-2 of the first diode D1 is connected to the power supply voltage terminal VCC. The first diode D1 conducts unidirectionally from the output terminal OUT of the voltage divider circuit 20 to the power supply voltage terminal VCC. Thus, when the voltage at the output terminal OUT of the voltage divider circuit 20 is greater than the voltage at the power supply voltage terminal VCC, the voltage at the output terminal 100-1 of the detection circuit 100 will be shaped to be the voltage at the power supply voltage terminal VCC plus the conduction voltage (V) of the first diode D1. CC +Vpn), meaning the first diode D1 makes the voltage of the detection signal 201 output from the output terminal 100-1 of the detection circuit 100 equal to the first threshold. The first threshold is the voltage at the power supply voltage terminal VCC plus the conduction voltage (Vpn) of the first diode D1. CC +Vpn).

[0073] In some embodiments, such as Figure 4 As shown, the protection sub-circuit 30 includes a second protection unit 32, which is connected between the output terminal OUT of the voltage divider sub-circuit 20 and the ground terminal GND. The second protection unit 32 is configured to keep the voltage of the detection signal 201 output by the detection circuit 100 greater than or equal to a second threshold.

[0074] For example, the second protection unit 32 prevents the controller from being damaged by the voltage of the detection signal 201 output by the detection circuit 100 being too low.

[0075] In some embodiments, such as Figure 4As shown, the second protection unit 32 includes a second diode D2. The positive terminal D2-1 of the second diode D2 is connected to the ground terminal GND, and the negative terminal D2-2 of the second diode D2 is connected to the output terminal OUT of the voltage divider circuit 20. The second diode D2 keeps the voltage of the detection signal 201 output by the detection circuit 100 greater than or equal to the second threshold.

[0076] For example, such as Figure 5 As shown, the positive terminal D2-1 of the second diode D2 is connected to the ground terminal GND, and the negative terminal D2-2 of the second diode D2 is connected to the output terminal OUT of the voltage divider circuit 20. The second diode D2 conducts unidirectionally from the ground terminal GND to the output terminal OUT of the voltage divider circuit 20. Therefore, when the voltage at the output terminal OUT of the voltage divider circuit 20 is less than the voltage at the ground terminal GND, the voltage at the output terminal 100-1 of the detection circuit 100 will be shaped to the voltage at the ground terminal GND minus the forward voltage (V) of the second diode D2. GND -Vpn), meaning the second diode D2 makes the voltage of the detection signal 201 output from the output terminal 100-1 of the detection circuit 100 equal to the second threshold. The second threshold is the voltage at the ground terminal GND minus the conduction voltage (Vpn) of the second diode D2. GND -Vpn).

[0077] Therefore, in some embodiments, the target voltage range can be: the second threshold to the first threshold, that is, the voltage at ground terminal GND minus the forward voltage of the second diode D2 (V). GND -Vpn) ~ The voltage at the power supply terminal VCC plus the conduction voltage of the first diode D1 (V VCC +Vpn).

[0078] For example, the first diode D1 and the second diode D2 can be diodes with low forward voltage. For instance, during circuit design, the resistance ratio can be controlled to reduce the current, thereby reducing the forward voltage of the first diode D1 and the second diode D2. The configuration of the first diode D1 and the second diode D2 can shape the voltage of the detection signal 201 output from the output terminal 100-1 of the detection circuit 100, preventing the voltage of the detection signal 201 output from the output terminal 100-1 of the detection circuit 100 from being too high or too low, thereby protecting the controller.

[0079] This disclosure also provides a lidar 1000, such as Figure 6 As shown, it includes a laser lighting circuit 200, a detection circuit 100 as described above, and a controller 300; the detection circuit 100 is connected to the laser lighting circuit 200; the controller 300 is connected to the detection circuit 100, and the controller 300 is configured to receive the detection signal 201 output by the detection circuit 100 and determine whether the laser lighting circuit 200 has successfully emitted laser light.

[0080] Exemplarily, the laser radar 1000 can realize the functions of environment perception around the vehicle, real-time measurement of distance between the vehicle and surrounding objects, high-precision acquisition of position and attitude information of the vehicle, and precise positioning combined with a positioning system, etc.

[0081] The present disclosure also provides a vehicle 10000, such as ​ as shown, comprising a vehicle body 10001 and a laser radar 1000 as described above mounted on the vehicle body 10001.

[0082] Exemplarily, the vehicle 10000 can be, for example, a pure electric vehicle, a hybrid electric vehicle, a plug-in hybrid electric vehicle, a range-extended electric vehicle, a fuel vehicle, etc. The vehicle can also be a sedan, a van, a bus, a truck, a trailer, etc.

[0083] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can think of changes or replacements within the technical scope disclosed by the present disclosure, which shall be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.

Claims

1. A detection circuit (100), characterized in that, The application relates to a detection circuit for a laser light circuit. The detection circuit comprises: an input sub-circuit (10) and a voltage division sub-circuit (20); the input sub-circuit (10) is connected with the laser light circuit (200), and the input sub-circuit (10) is configured to change the voltage of the output end (10-1) of the input sub-circuit (10) to a first voltage when the laser light circuit (200) emits laser light; 2. The detection circuit (100) according to claim 1, characterized in that the voltage division sub-circuit (20) is connected with the input sub-circuit (10), a power supply voltage end (VCC) and a ground end (GND), and the voltage division sub-circuit (20) is configured to output a detection signal (201) with a voltage in a target voltage range in response to the first voltage.

3. The detection circuit (100) according to claim 2, characterized in that The input sub-circuit (10) comprises a first capacitor (C1), a first end (C1-1) of the first capacitor (C1) is connected with the laser light circuit (200), and a second end (C1-2) of the first capacitor (C1) is connected with the voltage division sub-circuit (20). The voltage division sub-circuit (20) comprises a first voltage division unit (21), a second voltage division unit (22) and a third voltage division unit (23); the first voltage division unit (21) is connected with the second end (C1-2) of the first capacitor (C1), the second voltage division unit (22) is connected with the ground end (GND), and the third voltage division unit (23) is connected with the power supply voltage end (VCC); 4. The detection circuit (100) according to claim 3, characterized in that the first voltage division unit (21), the second voltage division unit (22) and the third voltage division unit (23) are all connected with an output end (OUT) of the voltage division sub-circuit (20).

5. The detection circuit (100) according to claim 4, characterized in that The first voltage division unit (21) comprises a first resistor (R1), a first end (R1-1) of the first resistor (R1) is connected with the second end (C1-2) of the first capacitor (C1), and a second end (R1-2) of the first resistor (R1) is connected with the output end (OUT) of the voltage division sub-circuit (20).

6. The detection circuit (100) according to claim 3, characterized in that The first voltage division unit (21) further comprises a second capacitor (C2), a first end (C2-1) of the second capacitor (C2) is connected with the second end (R1-2) of the first resistor (R1), and a second end (C2-2) of the second capacitor (C2) is connected with the ground end (GND).

7. The detection circuit (100) according to claim 3, characterized in that The second voltage division unit (22) comprises a second resistor (R2), a first end (R2-1) of the second resistor (R2) is connected with the output end (OUT) of the voltage division sub-circuit (20), and a second end (R2-2) of the second resistor (R2) is connected with the ground end (GND).

8. The detection circuit (100) according to any one of claims 1 to 7, characterized in that The third voltage division unit (23) comprises a third resistor (R3), a first end (R3-1) of the third resistor (R3) is connected with the power supply voltage end (VCC), and a second end (R3-2) of the third resistor (R3) is connected with the output end (OUT) of the voltage division sub-circuit (20). The application further relates to a laser light circuit. A protection sub-circuit (30) connected with the voltage division sub-circuit (20), the protection sub-circuit (30) is configured to maintain the voltage of the detection signal (201) in the target voltage range.

9. The detection circuit (100) according to claim 8, characterized in that The protection sub-circuit (30) comprises a first protection unit (31) connected between the power voltage terminal (VCC) and the output terminal (OUT) of the voltage division sub-circuit (20); the first protection unit (31) is configured to keep the voltage of the detection signal (201) output by the detection circuit (100) less than or equal to a first threshold value.

10. The detection circuit (100) according to claim 9, characterized in that The first protection unit (31) comprises a first diode (D1), the positive electrode (D1-1) of the first diode (D1) is connected with the output terminal (OUT) of the voltage division sub-circuit (20), and the negative electrode (D1-2) of the first diode (D1) is connected with the power voltage terminal (VCC).

11. The detection circuit (100) according to claim 8, characterized in that The protection sub-circuit (30) comprises a second protection unit (32) connected between the output terminal (OUT) of the voltage division sub-circuit (20) and the ground terminal (GND); the second protection unit (32) is configured to keep the voltage of the detection signal (201) output by the detection circuit (100) greater than or equal to a second threshold value.

12. The detection circuit (100) according to claim 11, characterized by The second protection unit (32) comprises a second diode (D2), the positive electrode (D2-1) of the second diode (D2) is connected with the ground terminal (GND), and the negative electrode (D2-2) of the second diode (D2) is connected with the output terminal (OUT) of the voltage division sub-circuit (20).

13. A lidar (1000), characterized by Comprise: A laser lighting circuit (200); The detection circuit (100) according to any one of claims 1-12, wherein the detection circuit (100) is connected with the laser lighting circuit (200); A controller (300) connected with the detection circuit (100), the controller (300) is configured to receive the detection signal (201) output by the detection circuit (100), and judge whether the laser lighting circuit (200) successfully emits laser.

14. A vehicle (10000), characterized in that Comprise a vehicle body (10001), and the laser radar (1000) according to claim 13 is installed on the vehicle body (10001). Comprise a vehicle body (10001), and the laser radar (1000) according to claim 13 is installed on the vehicle body (10001).

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