CN116908809A - Echo signal processing circuit of laser radar and laser radar - Google Patents
Echo signal processing circuit of laser radar and laser radar Download PDFInfo
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- CN116908809A CN116908809A CN202311027149.4A CN202311027149A CN116908809A CN 116908809 A CN116908809 A CN 116908809A CN 202311027149 A CN202311027149 A CN 202311027149A CN 116908809 A CN116908809 A CN 116908809A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The present disclosure relates to an echo signal processing circuit of a lidar and the lidar, the processing circuit comprising: the photoelectric conversion unit, the reference voltage supply unit and the square wave generation unit; the photoelectric conversion unit and the reference voltage supply unit are both connected to the input end of the square wave generation unit; the photoelectric conversion unit is used for performing photoelectric conversion based on the echo signal to generate an initial electric signal; the reference voltage providing unit is used for providing a reference voltage coupled with the initial electric signal so as to raise the characteristic voltage in the initial electric signal to the threshold value of the square wave generating unit; the square wave generating unit is used for generating square waves in response to the lifted electric signals based on the characteristics of the digital circuit. Therefore, the initial electric signal can be lifted to the vicinity of the threshold value of the square wave generating unit by utilizing the reference voltage, the square wave is generated according to the lifted electric signal by utilizing the self digital circuit characteristic of the square wave generating unit, analog devices such as a comparator and the like are avoided, the circuit structure of the radar is simplified, and the power consumption is saved.
Description
Technical Field
The disclosure relates to the technical field of laser detection, in particular to an echo signal processing circuit of a laser radar and the laser radar.
Background
Lidar is an active sensor that scans the surface of an object with a laser signal of a specific wavelength (e.g., ranging light pulses) to obtain information about the characteristics of the object surface. Compared with the common microwave radar, the laser radar has the advantages of high resolution, good concealment, strong anti-interference capability, small volume, light weight and the like.
Currently, a pulse laser is mostly adopted as a ranging scheme of a time-of-flight method (TimeOfFlight, TOF) of a transmitting end of the laser radar; correspondingly, the receiving end counts time based on the received echo pulse to realize ranging. In the echo signal processing circuit at the receiving end, an analog comparator is generally used to convert an echo signal into a square wave. Specifically, the analog comparator is an analog circuit element; one input end of the device is used for inputting echo signals or echo voltage signals corresponding to the amplified echo signals; the other input end is used for inputting threshold voltage and carrying out threshold control; by comparing the magnitude of the echo voltage signal with the magnitude of the threshold voltage, a high level or low level signal is output, thereby converting the analog echo into a square wave.
However, the power consumption is high due to the large size of the analog comparator; the echo signal processing circuit and the laser radar are large in size and high in power consumption.
Disclosure of Invention
To solve or at least partially solve the above technical problems, the present disclosure provides an echo signal processing circuit of a lidar and the lidar.
The present disclosure provides an echo signal processing circuit of a laser radar, comprising: a photoelectric conversion unit, a reference voltage supply unit, and a square wave generation unit;
the photoelectric conversion unit and the reference voltage supply unit are both connected to the input end of the square wave generation unit;
the photoelectric conversion unit is used for performing photoelectric conversion based on the echo signal to generate an initial electric signal; the reference voltage providing unit is used for providing a reference voltage, and the reference voltage is coupled with the initial electric signal to raise the characteristic voltage in the initial electric signal to the threshold value of the square wave generating unit; the square wave generating unit is used for generating square waves in response to the lifted electric signals based on the characteristics of the digital circuit.
In some alternative implementations, the reference voltage providing unit includes a direct current power supply.
In some alternative implementations, the reference voltage providing unit further includes a reference resistor and a reference capacitor;
one end of the reference resistor is connected with one end of the reference capacitor and is connected with a direct current power supply; the other end of the reference resistor is connected with the input end of the square wave generating unit, and the other end of the reference capacitor is connected with a fixed potential.
In some alternative implementations, the square wave generating unit is a digital circuit based on a complementary metal oxide semiconductor process.
In some alternative implementations, the relative magnitudes between the reference voltage V0 provided by the reference voltage providing unit, the threshold value 1/2VCC of the square wave generating unit, and the characteristic voltage VTH in the initial electrical signal satisfy:
VTH＝1/2VCC-V0。
in some alternative implementations, the square wave generating unit includes a complementary metal oxide semiconductor buffer, a gate, a level shifter, or an inverter.
In some optional implementations, the echo signal processing circuit of the lidar further comprises a first processing unit;
the first processing unit is connected with the square wave generating unit and is used for identifying the receiving time of the echo signal according to the square wave.
In some alternative implementations, the square wave generating unit is a second processing unit;
the second processing unit is used for generating a square wave based on the characteristics of the digital circuit and identifying the receiving time of the echo signal based on the square wave.
The disclosure also provides a lidar comprising any one of the echo signal processing circuits described above.
In some alternative implementations, the lidar further comprises:
a detection signal transmitting circuit for transmitting a detection signal; the detection signal is transmitted to the region to be detected and reflected by an object in the region to be detected to generate an echo signal.
Compared with the prior art, the technical scheme provided by the disclosure has the following advantages:
in the echo signal processing circuit of the laser radar and the laser radar provided by the disclosure, the echo signal processing circuit comprises a photoelectric conversion unit, a reference voltage providing unit and a square wave generating unit; the photoelectric conversion unit and the reference voltage supply unit are connected to the input end of the square wave generation unit; the photoelectric conversion unit can perform photoelectric conversion based on the echo signal to generate an initial electric signal; the reference voltage providing unit can provide a reference voltage coupled with the initial electric signal so as to raise the characteristic voltage in the initial electric signal to the threshold value of the square wave generating unit; the square wave generating unit is capable of generating a square wave in response to the elevated electrical signal based on characteristics of its own digital circuit. The square wave generating unit has the characteristic of a digital circuit, is applied to the echo signal processing circuit as a shaper with threshold voltage, and has lower self power consumption and smaller volume. In the echo signal processing circuit, the initial electric signal is lifted to the vicinity of the threshold value of the square wave generating unit by utilizing the reference voltage, the square wave is generated according to the lifted electric signal by utilizing the self digital circuit characteristic of the square wave generating unit, so that the digital circuit is utilized to replace an analog circuit device, the generation of the square wave by adopting the analog device such as a comparator and the like is avoided in the echo signal processing circuit, the circuit structure of the radar is simplified, and the circuit power consumption is saved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic diagram of the working principle of a comparator in a laser radar provided in the related art;
fig. 2 is a schematic structural diagram of an echo signal processing circuit of a lidar according to an embodiment of the disclosure;
fig. 3 is a schematic diagram of an operating principle of a square wave generating unit in an echo signal processing circuit of a lidar according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of an echo signal processing circuit of another lidar according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of an echo signal processing circuit of another lidar according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an echo signal processing circuit of another lidar according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a lidar according to an embodiment of the disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
Fig. 1 is a schematic diagram of the working principle of a comparator in a lidar provided in the related art, which shows an echo signal input to an analog comparator and a square wave output by the analog comparator; wherein L001 represents an analog echo, which is input to the first input 01 of the analog comparator; l002 represents a shaped square wave output by the output 03 of the analog comparator; the analog echo L001 and the square wave L002 are both changes in voltage with time, except that the analog echo L001 is represented as an analog signal, and the square wave L002 is represented as a digital signal having a high-low level; the second input 02 of the analog comparator is used for inputting the threshold voltage Vr0. Specifically, the analog comparator compares the magnitudes of the voltage signals corresponding to the first input terminal 01 and the second input terminal 02, and outputs a high-level or low-level signal at the output terminal 03. Illustratively, when the voltage at the first input terminal 01 is higher than the voltage at the second input terminal 02 by a certain threshold value, the output terminal 03 correspondingly generates a high level; conversely, output 03 outputs a low level. Referring to fig. 1, the analog comparator performs threshold control by using the second input terminal 02, performs pulse shaping on an original waveform (corresponding to L001) after the laser radar echo amplification to obtain a square wave L002, and performs processing by using a post-stage digital circuit to obtain echo pulse timing.
In the related art, an analog comparator used in the TOF lidar is a high-speed comparator, which can output a pulse signal with a width as low as 2ns, and has a large volume, high power consumption and high price.
The applicant has found that, from a principle analysis of the circuit operation, the above-mentioned analog comparator is used as a high-speed shaper with a threshold voltage in the echo signal processing circuit, which is also the main role of the analog comparator in the lidar. In view of this, an embodiment of the disclosure proposes an echo signal processing circuit, in which a square wave generating unit with digital circuit characteristics is used instead of an analog comparator in the related art, and because the square wave generating unit has digital circuit characteristics, its input terminal has a self-contained threshold voltage, that is, a signal input by the input terminal reaches the threshold voltage, the output terminal correspondingly outputs a level, and the signal input by the input terminal does not reach the threshold voltage, and the output terminal correspondingly outputs an inverted level, thereby realizing signal shaping and generating a square wave. The echo signal processing circuit avoids using an analog comparator, so that the power consumption can be reduced, the volume can be reduced, and the cost can be saved. The following is an exemplary description with reference to the accompanying drawings.
Fig. 2 is a schematic structural diagram of an echo signal processing circuit of a laser radar according to an embodiment of the disclosure. Referring to fig. 2, the echo signal processing circuit 10 includes: a photoelectric conversion unit 11, a reference voltage supply unit 12, and a square wave generation unit 13.
Wherein the photoelectric conversion unit 11 and the reference voltage supply unit 12 are both connected to the input terminal of the square wave generation unit 13. The photoelectric conversion unit 11 is configured to perform photoelectric conversion based on the echo signal to generate an initial electrical signal; the reference voltage providing unit 12 is configured to provide a reference voltage, and the reference voltage is coupled to the initial electrical signal to raise the characteristic voltage in the initial electrical signal to a threshold value of the square wave generating unit 13; the square wave generating unit 13 is configured to generate a square wave in response to the lifted electric signal based on the characteristics of the digital circuit itself.
Specifically, the echo signal is a laser signal, and the photoelectric conversion unit 11 receives the laser signal and performs photoelectric conversion to generate an initial electrical signal corresponding to the laser signal. The square wave generating unit 13 is capable of shaping corresponding to the initial electrical signal, generating a corresponding square wave. Meanwhile, the reference voltage providing unit 12 is configured to provide a reference voltage, and the reference voltage couples the initial electrical signal, so as to raise the initial electrical signal to a voltage range recognizable by the square wave generating unit 13, that is, the characteristic voltage in the initial electrical signal is raised to a threshold value of the square wave generating unit 13, so that the characteristic voltage is recognized, the level inversion is realized, and the corresponding square wave signal is generated.
Fig. 3 is a schematic diagram illustrating an operating principle of a square wave generating unit in an echo signal processing circuit of a lidar according to an embodiment of the present disclosure; the basic principle of voltage boosting and waveform shaping is shown. Referring to fig. 3, L1011 represents an initial electrical signal, L101 represents a raised initial electrical signal, L102 represents a square wave generated corresponding to the initial electrical signal, and the voltage on the initial electrical signal L101 corresponding to times t3 and t4 is a characteristic voltage in the initial electrical signal, the square wave generating unit 13 has an input terminal 131 and an output terminal 132, and a threshold value Vr1 thereof is 1/2VCC, which is higher than a threshold value Vr0 of an analog comparator in the related art. The lifted initial electric signal L101 is input into the input end 131 of the square wave generating unit 13, and the square wave L102 is output at the output end 132 of the square wave generating unit 13 after being shaped; illustratively, a high level signal is output corresponding to a portion reaching the threshold value Vr1, and a low level signal is output corresponding to a portion not reaching the threshold value Vr 1.
Illustratively, the circuit principle shown in comparison with fig. 1 and 3 is as follows.
In the related art, as shown in fig. 1, an analog comparator is adopted, by adjusting the threshold voltage Vr0 of the negative input end (i.e., the second input end 02) of the comparator, noise at the bottom of the echo voltage signal output by the pre-amplifier can be filtered, and only the normal signal with the amplitude exceeding the threshold voltage Vr0 is amplified in an open loop, so that the echo voltage signal is shaped into a square wave (i.e., a pulse) and can enter the post-stage for digital processing. The threshold voltage Vr0 of the negative input terminal can be adjusted according to the bottom noise level of the echo voltage signal, and the noise filtering is usually performed with respect to the noise near the reference voltage of 0V.
Whereas in the disclosed embodiment, referring to fig. 3, the square wave generating unit 13 has a digital circuit characteristic, the input terminal 131 of the square wave generating unit 13 has a natural decision threshold voltage, for example, may be around 1/2 VCC. Illustratively, output 132 will generate a level (e.g., low) when the input signal is below 1/2VCC and an inverted level (e.g., high) when the input signal is at or above 1/2VCC, such that a corresponding square wave L102 is output based on the lifted initial telecommunication L101.
In some alternative implementations, the relative magnitudes between the reference voltage V0 provided by the reference voltage providing unit 12, the threshold value 1/2VCC of the square wave generating unit 13, and the characteristic voltage VTH in the initial electrical signal satisfy: vth=1/2 VCC-V0.
In the square wave generating unit 13, since the threshold value corresponds to a fixed voltage value, and the initial electrical signal is smaller than the fixed voltage value, the dc component of the initial electrical signal connected to the input terminal 131 needs to be lifted to a voltage level near the fixed value, that is, the voltage is lifted integrally, and the dc potential difference between the dc component of the lifted initial electrical signal and the 1/2VCC threshold of the square wave generating unit 13 is the threshold voltage of the negative input terminal is adjusted when the comparator is used in the related art, so that the complete function of the analog comparator in the related art is realized.
It can be understood that in the circuit principle shown in fig. 1, the echo voltage signals between t1 and t2 are effective signals, and the echo voltage signals before t1 and after t2 are noise; in the circuit principle shown in fig. 3, the initial electrical signal between t3 and t4 is a valid signal, and the initial electrical signals before t3 and after t4 are noise. Based on this, in fig. 1 and 3, a high level is output corresponding to the effective signal and a low level is output corresponding to the noise; in other embodiments, the low level may be output in response to the effective signal, and the high level may be output in response to the noise, which is not limited herein.
In the echo signal processing circuit 10 provided in the embodiment of the present disclosure, the square wave generating unit 13 has a digital circuit characteristic, and is applied to the echo signal processing circuit 10 as a shaper with a threshold voltage, and has low self-power consumption and small volume. In this way, in the echo signal processing circuit 10, the initial electric signal is raised to the vicinity of the threshold value of the square wave generating unit 13 by using the reference voltage, and the square wave is generated according to the raised electric signal by using the digital circuit characteristic of the square wave generating unit 13, so that the digital circuit is used for replacing the analog circuit device, the generation of the square wave by adopting the analog device such as the comparator is avoided in the echo signal processing circuit 10, the circuit structure of the radar is simplified, and the circuit power consumption is saved.
In some alternative implementations, fig. 4 is a schematic structural diagram of an echo signal processing circuit of another lidar according to an embodiment of the disclosure. Referring to fig. 4 on the basis of fig. 2, the reference voltage supply unit 12 includes a dc power supply 120.
Specifically, the dc power supply 120 may be used to provide a reference voltage, where the reference voltage is a dc voltage, and the dc voltage is coupled with the initial electrical signal and is input to the square wave generating unit, and the dc voltage can raise the dc component of the initial electrical signal to the vicinity of the threshold value of the square wave generating unit, so that the square wave generating unit can identify the characteristic voltage in the initial electrical signal, implement shaping, and output a square wave corresponding to the initial electrical signal. In addition, the reference voltage supply unit 12 has a direct current power supply 120, and has a simple structure and small volume occupation.
In some alternative implementations, with continued reference to fig. 4, the reference voltage providing unit 12 may further include a reference resistor 121 and a reference capacitor 122; one end of the reference resistor 121 is connected with one end of the reference capacitor 122 and is connected with the direct current power supply 120; the other end of the reference resistor 121 is connected with the input end of the square wave generating unit 13, and the other end of the reference capacitor 122 is connected with a fixed potential, and optionally grounded.
Specifically, the reference resistor 121 and the reference capacitor 122 form an RC low-pass filter circuit, which can allow the dc component of the dc power supply 120 to be coupled and superimposed on the initial electrical signal, so as to realize the dc component lifting of the initial electrical signal; meanwhile, the RC low-pass filter circuit blocks alternating current signals, so that the crosstalk influence of the analog waveform input of the initial electric signal on direct current lifting voltage is avoided.
Meanwhile, since the equivalent resistance of the square wave generating unit 13 is very large, the resistance value of the reference resistor 121 is negligible with respect to the equivalent resistance of the square wave generating unit 13, and thus the reference resistor 121 does not have an effect on the magnitude of the dc boost voltage.
In the embodiment of the disclosure, the resistance value of the reference resistor 121 and the capacitance value of the reference capacitor 122 may be set according to the requirements of the reference voltage providing unit 12 and the echo signal processing circuit 10, which is not limited herein.
In some alternative implementations, the square wave generating unit 13 is a digital circuit based on a Complementary Metal Oxide Semiconductor (CMOS) process.
Specifically, the square wave generating unit 13 may be a digital integrated circuit based on a CMOS process, and the input terminal thereof has a 1/2VCC threshold attribute, and may implement waveform shaping based thereon to generate a square wave corresponding to the initial electrical signal.
In some alternative implementations, the square wave generating unit 13 includes a complementary metal oxide semiconductor buffer, a gate, a level shifter, or an inverter.
Specifically, the buffer, the gate circuit, the level converter or the inverter based on the CMOS process belong to a digital integrated circuit of the CMOS process, and the input end of the buffer, the gate circuit, the level converter or the inverter has self decision threshold voltage; the analog comparator in the related art can be replaced, and the power consumption and the cost can be reduced and the volume can be reduced under the condition that the shaping performance is almost equivalent.
Illustratively, the buffer, gate (e.g., AND gate), level shifter may generate a high level corresponding to the valid signal and a low level corresponding to the noise; the inverter (i.e., not gate) may generate a low level corresponding to the effective signal and a high level corresponding to the noise; whereby the buffers, gates, level shifters and inverters all generate square waves corresponding to the initial electrical signal shaping. The comparator is an analog circuit device, and has high power consumption, large occupied space and high cost; in the embodiment of the disclosure, the square wave generating unit 13 adopts a digital circuit device, which has low power consumption, small occupied space and low cost.
For example, the circuit device specifically adopted by the corresponding square wave generating unit 13 may also be set with respect to the performance of the comparator in the related art, for example, when the comparator is a high-speed comparator, the buffer may be set as a cache correspondingly to meet the performance requirements of the waveform shaping and echo signal processing circuit.
In the above embodiment, the specific implementation forms of the square wave generating unit 13, such as a buffer, a gate (e.g., an and gate), a level shifter, an inverter (e.g., a not gate), etc., may be any digital circuit or digital integrated circuit based on CMOS technology known to those skilled in the art, which is not limited herein.
In some alternative implementations, fig. 5 is a schematic structural diagram of an echo signal processing circuit of another lidar according to an embodiment of the disclosure. Referring to fig. 5 on the basis of fig. 2, the echo signal processing circuit 10 of the lidar further comprises a first processing unit 14; the first processing unit 14 is connected to the square wave generating unit 13 for identifying the reception time of the echo signal from the square wave.
In the embodiment of the disclosure, the square wave generating unit 13 only replaces a simulator in the related art, and the square wave output by the square wave generating unit 13 is utilized by the first processing unit 14 to identify the receiving time of the echo signal, so as to further calculate the laser pulse flight time of the TOF laser radar, and realize ranging.
In some alternative implementations, fig. 6 is a schematic structural diagram of an echo signal processing circuit of still another lidar according to an embodiment of the disclosure. On the basis of fig. 2, referring to fig. 6, the square wave generating unit 13 is a second processing unit 15; the second processing unit 15 is configured to generate a square wave based on characteristics of its own digital circuit, and identify a reception time of the echo signal based on the square wave.
In the echo signal processing circuit 10 provided in the embodiment of the present disclosure, shaping devices such as a comparator and a buffer are saved, and an initial electrical signal after voltage lifting is directly input into the second processing unit 15. Because the second processing unit 15 adopts a digital circuit or a digital integrated circuit based on a CMOS process, the input end of the second processing unit 15 also has the attribute of a 1/2VCC threshold, based on this, the second processing unit 15 can directly shape an initial electric signal with a direct current component raised to the vicinity of 1/2VCC into a square wave and perform subsequent processing, for example, identify the receiving time of a corresponding echo signal, thereby saving shaping devices such as a comparator, and simultaneously still realizing a considerable shaping function, reducing the power consumption and the cost of the echo signal processing circuit and reducing the volume thereof.
In the above embodiments, the specific implementation forms of the first processing unit 14 or the second processing unit 15 may include a digital integrated circuit based on CMOS technology, such as a micro control unit (Micro Controller Unit, MCU), a field programmable gate array (Field Programmable Gate Array, FPGA), and the like, which is not limited herein.
On the basis of the foregoing embodiments, the embodiments of the present disclosure further provide a laser radar, where the laser radar may include any one of the echo signal processing circuits provided in the foregoing embodiments, and has the corresponding beneficial effects, and may be understood with reference to the foregoing, so that repetition is avoided, and details are not repeated herein.
In some alternative implementations, fig. 7 is a schematic structural diagram of a lidar according to an embodiment of the disclosure. Referring to fig. 7, the lidar 20 may further include: a detection signal transmitting circuit 21 for transmitting a detection signal; the detection signal is transmitted to the region to be detected and reflected by an object in the region to be detected to generate an echo signal.
Specifically, the detection signal transmitting circuit 21 is configured to transmit laser pulses; the echo signal processing circuit 10 is capable of receiving an echo signal and recognizing the reception time of the echo signal; in the post-processing circuit, the flight time of the pulsed laser can be determined based on the emission time of the laser pulse and the reception time of the echo signal, thereby realizing ranging.
In other embodiments, the lidar 20 may also include other structural components known to those skilled in the art, and are not described in detail herein.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An echo signal processing circuit of a laser radar, comprising: a photoelectric conversion unit, a reference voltage supply unit, and a square wave generation unit;
the photoelectric conversion unit and the reference voltage supply unit are both connected to the input end of the square wave generation unit;
the photoelectric conversion unit is used for performing photoelectric conversion based on the echo signal to generate an initial electric signal; the reference voltage providing unit is used for providing a reference voltage, and the reference voltage is coupled with the initial electric signal to raise the characteristic voltage in the initial electric signal to the threshold value of the square wave generating unit; the square wave generating unit is used for generating square waves in response to the lifted electric signals based on the characteristics of the digital circuits.
2. The echo signal processing circuit of a lidar according to claim 1, wherein the reference voltage supply unit includes a direct current power supply.
3. The echo signal processing circuit of the lidar according to claim 2, wherein the reference voltage supply unit further comprises a reference resistor and a reference capacitor;
one end of the reference resistor is connected with one end of the reference capacitor and is connected with the direct current power supply; the other end of the reference resistor is connected with the input end of the square wave generating unit, and the other end of the reference capacitor is connected with a fixed potential.
4. An echo signal processing circuit for a lidar according to any of claims 1 to 3, wherein the square wave generating unit is a digital circuit based on a complementary metal oxide semiconductor process.
5. An echo signal processing circuit in a lidar according to any of claims 1 to 3, wherein the relative magnitudes between the reference voltage V0 provided by the reference voltage providing unit, the threshold value 1/2VCC of the square wave generating unit, and the characteristic voltage VTH in the initial electrical signal satisfy:
VTH＝1/2VCC-V0。
6. an echo signal processing circuit in a lidar according to any of claims 1 to 3, wherein the square wave generating unit comprises a complementary metal oxide semiconductor buffer, a gate, a level shifter or an inverter.
7. The echo signal processing circuit of the lidar of claim 6, further comprising a first processing unit;
the first processing unit is connected with the square wave generating unit and is used for identifying the receiving time of the echo signal according to the square wave.
8. An echo signal processing circuit for a lidar according to any of claims 1 to 3, wherein the square wave generating unit is a second processing unit;
the second processing unit is used for generating the square wave based on the characteristics of the digital circuit of the second processing unit and identifying the receiving time of the echo signal based on the square wave.
9. A lidar comprising an echo signal processing circuit according to any of claims 1 to 8.
10. The lidar of claim 9, further comprising:
a detection signal transmitting circuit for transmitting a detection signal; the detection signal is transmitted to a region to be detected and reflected by an object in the region to be detected to generate the echo signal.
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Citations (10)
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