CN117406200A - Laser radar receiving end circuit and laser radar equipment - Google Patents
Laser radar receiving end circuit and laser radar equipment Download PDFInfo
- Publication number
- CN117406200A CN117406200A CN202311667271.8A CN202311667271A CN117406200A CN 117406200 A CN117406200 A CN 117406200A CN 202311667271 A CN202311667271 A CN 202311667271A CN 117406200 A CN117406200 A CN 117406200A
- Authority
- CN
- China
- Prior art keywords
- circuit
- voltage
- receiver
- echo
- lidar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003990 capacitor Substances 0.000 claims description 18
- 238000006243 chemical reaction Methods 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 5
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 229910052710 silicon Inorganic materials 0.000 description 2
- 239000010703 silicon Substances 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005530 etching Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/489—Gain of receiver varied automatically during pulse-recurrence period
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4918—Controlling received signal intensity, gain or exposure of sensor
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The application relates to the technical field of laser radar, in particular to a laser radar receiving end circuit and laser radar equipment, comprising: an echo receiver for receiving a target reflected echo; the voltage input circuit comprises a positive voltage circuit and a negative voltage circuit, which are used for inputting positive voltage and negative voltage to the echo receiver respectively, wherein one of the positive voltage circuit and the negative voltage circuit comprises a voltage switching circuit, the other one of the positive voltage circuit and the negative voltage circuit comprises a voltage continuous circuit, the voltage switching circuit is used for switching and outputting a first voltage and a second voltage, and the voltage continuous circuit is used for outputting a third voltage; the absolute value of the second voltage is larger than that of the first voltage, and the values of the first voltage and the second voltage are opposite to that of the third voltage. In the application, the voltage input circuit provides two different bias voltages for the echo receiver, so that the echo receiver has two different gains. The detection requirement of the laser radar system on the short-distance signal and the long-distance signal is considered.
Description
Technical Field
The application relates to the technical field of laser radars, in particular to a laser radar receiving end circuit and laser radar equipment.
Background
With the development of laser radar technology, the laser radar system needs to have both the functions of short-range detection and long-range detection. Meanwhile, in the traditional laser detection process (especially in the near-distance detection process), a blind area can appear due to stray light. Stray light is the moment the lidar transmission system transmits laser light, which is received by the receiving end through internal structures in the system as an interfering signal.
Therefore, how to suppress the blind area of the laser radar system due to the occurrence of stray light is a problem to be solved.
Disclosure of Invention
Based on this, it is necessary to provide a lidar receiving-end circuit and a lidar apparatus.
A lidar receiver circuit comprising:
an echo receiver for receiving a target reflected echo;
the voltage input circuit comprises a positive voltage circuit and a negative voltage circuit, which are used for inputting a positive voltage and a negative voltage to the echo receiver respectively, wherein one of the positive voltage circuit and the negative voltage circuit comprises a voltage switching circuit, the other one of the positive voltage circuit and the negative voltage circuit comprises a voltage continuous circuit, the voltage switching circuit is used for switching and outputting a first voltage and a second voltage, and the voltage continuous circuit is used for outputting a third voltage;
the absolute value of the second voltage is larger than the absolute value of the first voltage, and the values of the first voltage and the second voltage are opposite to the value of the third voltage.
In one embodiment, the lidar receiver circuit further comprises:
a reference receiver connected in parallel with the echo receiver;
the input end of the filter circuit is connected with the output end of the echo receiver and the output end of the reference receiver, and the output end of the filter circuit is used for outputting signals;
the filter circuit processes signals received by the echo receiver and the reference receiver to filter interference signals in signals output by the echo receiver.
In one embodiment, the laser radar receiving end circuit further includes a first gating circuit and a second gating circuit, the laser radar receiving end circuit includes a plurality of echo receivers, the plurality of echo receivers are connected to a plurality of input ends of the first gating circuit, the reference receiver is connected to at least one input end of the second gating circuit, output ends of the first gating circuit and the second gating circuit are connected to an input end of the filter circuit, and an output end of the filter circuit is used for outputting signals.
In one embodiment, the first gating circuit is the same as the second gating circuit, and both are integrated on the same gating chip.
In one embodiment, the filter circuit is a balun filter.
In one embodiment, the lidar receiving-end circuit further includes a first amplifier, and the first amplifier is connected to the output end of the filtering circuit and amplifies a signal output by the output end of the filtering circuit.
In one embodiment, the voltage switching circuit includes:
the first control end is used for providing a first control signal;
and the two ends of the amplifying circuit are respectively connected with the first control end and the echo receiver and are used for amplifying the voltage of the first control signal to form a first analog signal and outputting the first analog signal to the echo receiver.
In one embodiment, the voltage switching circuit further comprises:
one end of the first capacitor is connected between the first control end and the amplifying circuit, and the other end of the first capacitor is connected with the grounding end;
and one end of the second capacitor is connected between the output end of the amplifying circuit and the echo receiver, and the other end of the second capacitor is connected with the grounding end.
In one embodiment, the voltage continuous circuit includes:
the second control end is used for providing a second control signal;
the digital-to-analog conversion chip is connected with the second control end and is used for converting a second control signal into a second analog signal;
the two ends of the boosting chip are respectively connected with the digital-to-analog conversion chip and the echo receiver, and are used for boosting the second analog signal and outputting the second analog signal to the echo receiver;
and the power end is connected with the boosting chip and is used for providing power supply voltage for the boosting chip.
A lidar apparatus comprising a lidar transmitting-side circuit and a lidar receiving-side circuit according to any of the embodiments.
In the laser radar receiving end circuit, the voltage input circuit provides bias voltage for the echo receiver. The voltage switching circuit switches and outputs a first voltage and a second voltage, and the voltage continuous circuit outputs a third voltage. The voltage difference between the first voltage and the third voltage is a first difference, and the voltage difference between the second voltage and the third voltage is a second difference. The first difference is different from the second difference in magnitude, so that the echo receiver has two different bias voltages, and further the echo receiver has two different gains. At this time, the laser radar receiving end circuit has a larger dynamic range, and the detection requirements of the laser radar system on the short-distance signal and the long-distance signal are considered.
Meanwhile, since the voltage input circuit provides two bias voltages for the echo receiver, the echo receiver has two different gains. When the stray light signal is input through the internal structure of the receiving end circuit, the gain of the receiving end circuit is set to be smaller, and the signal gain of the stray light signal is small, so that the stray light signal can be ignored. After the preset time, the target reflection echo reaches the receiving end circuit, the gain of the receiving end circuit is set to be larger, and the signal gain is carried out on the target reflection echo, so that the target reflection echo can be received by the receiving end circuit. Therefore, the adjustment of the gain of the echo receiver enables the receiving-end circuit in the embodiment to effectively suppress the influence of stray light.
Drawings
In order to more clearly illustrate the technical solutions of embodiments or conventional techniques of the present application, the drawings required for the descriptions of the embodiments or conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a block diagram showing a partial structure of a lidar receiver circuit according to an embodiment;
fig. 2 is a partial block diagram of a lidar receiver circuit according to another embodiment;
FIG. 3 is a block diagram of a voltage switching circuit according to an embodiment;
FIG. 4 is a block diagram of a lidar receiver circuit according to an embodiment;
fig. 5 is a block diagram of a laser radar receiving end circuit according to another embodiment.
Reference numerals illustrate: 100-voltage input circuit, 110-positive voltage circuit, 120-negative voltage circuit, 210-echo receiver, 220-reference receiver, 111-first control terminal, 112-amplifying circuit, 113-first capacitor, 114-second capacitor, 121-second control terminal, 122-digital-to-analog conversion chip, 123-boosting chip, 124-power terminal, 500-filter circuit, 610-first gating circuit, 620-second gating circuit, 700-laser radar receiving terminal circuit, 800-first amplifier.
Detailed Description
In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Examples of the present application are given in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another element. For example, a first resistance may be referred to as a second resistance, and similarly, a second resistance may be referred to as a first resistance, without departing from the scope of the present application. Both the first resistor and the second resistor are resistors, but they are not the same resistor.
It is to be understood that in the following embodiments, "connected" is understood to mean "electrically connected", "communicatively connected", etc., if the connected circuits, modules, units, etc., have electrical or data transfer between them.
It is understood that "at least one" means one or more and "a plurality" means two or more. "at least part of an element" means part or all of the element.
As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," and/or the like, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof. Also, the term "and/or" as used in this specification includes any and all combinations of the associated listed items.
In one embodiment, a lidar apparatus is provided that includes a lidar transmit-side circuit and a lidar receive-side circuit 700. The laser radar transmitting end circuit is used for transmitting a laser beam, the laser beam reaches a target object to be reflected, the laser radar receiving end circuit 700 is used for receiving a target reflection echo reflected by the target object and carrying out subsequent processing, and therefore the function of the laser radar device is completed.
In one embodiment, referring to fig. 1 and 2, a lidar receiver circuit 700 is provided, which includes an echo receiver 210 and a voltage input circuit 100.
The echo receiver 210 is configured to receive a target reflected echo, specifically, a signal of a laser beam reflected back by a target object. The echo receiver 210 has a photoelectric conversion function. As an example, the echo receiver 210 may be configured with avalanche photodiodes (Avalanche Photo Diode, APD), silicon photodiodes (Silicon Photomultiplier, SIPM), or the like.
The voltage input circuit 100 includes a positive voltage circuit 110 and a negative voltage circuit 120, which respectively input a positive voltage and a negative voltage to the echo receiver 210. One of the positive voltage circuit 110 and the negative voltage circuit 120 includes a voltage switching circuit, and the other includes a voltage continuous circuit. The voltage switching circuit is used for switching and outputting a first voltage and a second voltage, and the voltage continuous circuit is used for outputting a third voltage. The absolute value of the second voltage is larger than that of the first voltage, and the values of the first voltage and the second voltage are opposite to that of the third voltage.
The voltage difference between the first voltage and the third voltage is a first difference, and the voltage difference between the second voltage and the third voltage is a second difference. The first difference is different in magnitude from the second difference. If the first difference is smaller than the second difference, the voltage input circuit 100 provides a smaller gain for the echo receiver 210 when the voltage switching circuit outputs the first voltage; when the voltage switching circuit outputs the second voltage, the voltage input circuit 100 provides a larger gain for the echo receiver 210.
As an example, when the positive voltage circuit 110 is a voltage switching circuit and the negative voltage circuit 120 is a voltage continuous circuit, the first voltage may be 0V or more, the second voltage may be 0V or more, and the third voltage may be less than 0V.
As yet another example, when the positive voltage circuit 110 is a voltage continuous circuit and the negative voltage circuit 120 is a voltage switching circuit, the third voltage may be greater than 0V, and at this time, the first voltage may be equal to or less than 0V and the second voltage may be less than 0V.
It will be appreciated that the positive voltage circuit 110 in fig. 2 is a voltage switching circuit, and the negative voltage circuit 120 is a voltage continuous circuit. In other embodiments, the positive voltage circuit 110 may be a voltage continuous circuit, and the negative voltage circuit 120 is a voltage switching circuit.
In this embodiment, the voltage input circuit 100 provides a bias voltage to the echo receiver 210. The voltage switching circuit switches and outputs a first voltage and a second voltage, and the voltage continuous circuit outputs a third voltage. The voltage difference between the first voltage and the third voltage is a first difference, and the voltage difference between the second voltage and the third voltage is a second difference. The first difference is different from the second difference in magnitude, so that the echo receiver 210 has two different bias voltages, and thus the echo receiver 210 has two different gains. At this time, the laser radar receiving end circuit 700 has a larger dynamic range, and gives consideration to the detection requirements of the laser radar system for the short-distance signal and the long-distance signal.
Meanwhile, since the voltage input circuit 100 provides two bias voltages to the echo receiver 210, the echo receiver 210 has two different gains. When the stray light signal is incident on the receiving end circuit 700, the gain of the echo receiver 210 is set to be smaller, and the signal gain to which the stray light signal is subjected is smaller, at this time, the stray light signal can be ignored. After a preset time, the target reflected echo reaches the receiving end circuit 700, and the receiving end circuit 700 is set to have a larger increase, so that the signal gain is performed on the target reflected echo, and the target reflected echo can be received by the echo receiver 210. Therefore, the adjustment of the gain of the echo receiver 210 makes it possible for the receiving-end circuit 700 in the present embodiment to effectively suppress the influence of stray light.
In one embodiment, referring to fig. 4, the lidar receiver circuit 700 further includes a reference receiver 220 and a filter circuit 500.
The reference receiver 220 is in parallel with the echo receiver, it being understood that a voltage input circuit 100 is also connected. The reference receiver 220 does not receive the target reflected echo.
An input terminal of the filter circuit 500 is connected to an output terminal of the echo receiver 210 and an output terminal of the reference receiver 220, and an output terminal of the filter circuit 500 is used for outputting signals. As an example, the filter circuit 500 may be a balun filter.
The filtering circuit 500 may process the signals received by the echo receiver 210 and the reference receiver 220 to filter out interference signals in the signals output by the echo receiver 210.
In the process of switching the first voltage and the second voltage by the voltage switching circuit, an interference signal is generated in the receiving end circuit 700, specifically, the echo receiver 210 and the reference receiver 220 both generate an interference signal, and the interference signals are the same. When the reference receiver 220 does not receive the target reflected echo, the reference receiver 220 and the echo receiver 210 are connected to the filter circuit 500, and the filter circuit 500 outputs a differential mode signal of two signals of the echo receiver 210 and the reference receiver 220, that is, outputs the target reflected echo without an interference signal.
Further, as an example, the first amplifier 800 may be connected to the output terminal of the filter circuit 500, and the first amplifier 800 amplifies and outputs the received electric signal. For example, the first amplifier 800 may employ a transimpedance amplifier (Trans-Impedance Amplifier, TIA).
In this embodiment, the reference receiver 220 and the echo receiver 210 are respectively connected to the filter circuit 500, so as to eliminate the interference signal when the voltage switching circuit switches the output voltage for the receiving end circuit 700.
In one embodiment, referring to fig. 5, both the lidar receiver circuit 700 of the present embodiment and the echo receiver 210 of the lidar receiver circuit 700 of the previous embodiment have inputs of the voltage input circuit 100. In addition, the lidar receiving-end circuit 700 of the present embodiment further includes a first gating circuit 610 and a second gating circuit 620, and the lidar receiving-end circuit 700 includes a plurality of echo receivers 210. The first gating circuit 610 includes one output terminal and a plurality of input terminals. The plurality of echo receivers 210 are connected to a plurality of inputs of the first gating circuit 610. The second gating circuit 620 includes an output terminal and at least one input terminal. The reference receiver 220 is connected to at least one input of a second gating circuit 620. The output terminals of the first gating circuit 610 and the second gating circuit 620 are connected to the input terminal of the filter circuit 500, and the output terminal of the filter circuit 500 is used for outputting signals.
The plural number means two or more, and there is no limitation in the number of echo receivers 210. Meanwhile, the number of the reference receivers 220 is not limited, and may be identical to that of the echo receiver 210, or there may be only one reference receiver 220, and the output terminals of the reference receivers 220 are split, and each path is connected to the input terminal of the second gating circuit 620.
As an example, the first gating circuit 610 is identical to the second gating circuit 620, and both are integrated on the same gating chip. When the first and second gate circuits 610 and 620 are on the same chip, the matching degree of the first and second gate circuits 610 and 620 is better because the etching environments of the transistors included in the first and second gate circuits 610 and 620 are close.
The first gating circuit 610 selects one of the echo receivers 210, and inputs the target reflected echo received by the echo receiver 210 to the filter circuit 500. The first gating circuit 610 and the second gating circuit 620 may use the same gating circuit, so that the paths are completely matched, and the filtering effect of the filtering circuit 500 is ensured.
Further, as an example, the first amplifier 800 may be connected to the output terminal of the filter circuit 500, and the first amplifier 800 amplifies and outputs the received electric signal. For example, the first amplifier 800 may employ a transimpedance amplifier (Trans-Impedance Amplifier, TIA).
In one embodiment, referring to fig. 3, the voltage switching circuit includes a first control terminal 111 and an amplifying circuit 112.
The first control terminal 111 is configured to provide a first control signal. For example, the first control terminal 111 may be connected to an internal main control chip, or may be connected to an external control chip, which is not limited herein. The voltage switching circuit is controlled by the main control chip or the control chip to switch the first voltage and the second voltage.
The two ends of the amplifying circuit 112 are respectively connected to the first control end 111 and the echo receiver 210, and are used for amplifying the voltage of the first control signal to form a first analog signal, and outputting the first analog signal to the echo receiver 210. Specifically, the amplifying circuit 112 includes a second amplifier.
As an example, the first control signal provided by the first control terminal 111 may be a digital signal, and it may be understood that the first control signal may be a low level signal "0" or a high level signal "1". When the first control signal received by the amplifying circuit 112 is "0", the amplifying circuit 112 amplifies the voltage 0V corresponding to the first control signal to form a first analog signal of 0V, and outputs the first analog signal to the echo receiver 210. When the first control signal received by the amplifying circuit 112 is "1", the amplifying circuit 112 amplifies the voltage 3.3V corresponding to the first control signal to form a first analog signal of 10V, and outputs the first analog signal to the echo receiver 210. Specifically, when the amplifying circuit 112 amplifies the voltage corresponding to the first control signal, the amplification factor may be set according to the actual requirement, and at this time, the first analog signal may not be limited to 10V.
In this embodiment, the voltage switching circuit may complete switching of the voltage under the control of the first control signal.
In one embodiment, the voltage switching circuit further includes a first capacitor 113 and a second capacitor 114.
One end of the first capacitor 113 is connected between the first control terminal 111 and the amplifying circuit 112, and the other end is connected to the ground terminal. The first capacitor 113 is a capacitance to ground. The capacitance of the first capacitor 113 can adjust the rising and falling speeds of the signal edge of the first control signal, so as to adjust the switching speed of the first voltage and the second voltage output by the voltage switching circuit.
The second capacitor 114 has one end connected between the output terminal of the amplifying circuit 112 and the echo receiver 210, and the other end connected to the ground terminal. The second capacitor 114 is also a capacitor to ground, and its capacitance can be adjusted to switch the first analog signal.
In one embodiment, the voltage continuous circuit includes a second control terminal 121, a digital-to-analog conversion chip 122, a boost chip 123, and a power supply terminal 124.
The second control terminal 121 is configured to provide a second control signal. For example, the second control terminal 121 may be connected to an internal main control chip, or it may be connected to an external control chip, which is not limited herein. When the second control end 121 is connected to the main control chip, a temperature sensor may be further disposed in the receiving end circuit 700, the main control chip reads the temperature value of the temperature sensor, and adjusts the second control signal in real time according to the temperature in the receiving end circuit 700 according to the set temperature coefficient.
The digital-to-analog conversion chip 122 is connected to the second control end 121, and the digital-to-analog conversion chip 122 receives the second control signal provided by the second control end 121 and converts the second control signal into a second analog signal.
The two ends of the boost chip 123 are respectively connected with the digital-to-analog conversion chip 122 and the echo receiver 210, and the boost chip 123 receives the second analog signal of the digital-to-analog conversion chip 122, boosts the voltage, and outputs the boosted signal to the echo receiver 210.
In addition, the boost chip 123 is further connected to a power terminal 124, and the power terminal 124 provides a power voltage for the boost chip.
In other embodiments, the digital-to-analog conversion chip 122 may be replaced with a control signal having a certain duty cycle.
In the description of the present specification, reference to the term "some embodiments," "other embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A lidar receiver circuit, comprising:
an echo receiver for receiving a target reflected echo;
the voltage input circuit comprises a positive voltage circuit and a negative voltage circuit, which are used for inputting positive voltage and negative voltage to the echo receiver respectively, wherein one of the positive voltage circuit and the negative voltage circuit comprises a voltage switching circuit, the other one of the positive voltage circuit and the negative voltage circuit comprises a voltage continuous circuit, the voltage switching circuit is used for switching and outputting a first voltage and a second voltage, and the voltage continuous circuit is used for outputting a third voltage;
the absolute value of the second voltage is larger than the absolute value of the first voltage, and the values of the first voltage and the second voltage are opposite to the value of the third voltage.
2. The lidar receiver circuit of claim 1, further comprising:
a reference receiver connected in parallel with the echo receiver;
the input end of the filter circuit is connected with the output end of the echo receiver and the output end of the reference receiver, and the output end of the filter circuit is used for outputting signals;
the filter circuit processes signals received by the echo receiver and the reference receiver to filter interference signals in signals output by the echo receiver.
3. The lidar receiver circuit of claim 2, further comprising a first gating circuit and a second gating circuit, and wherein the lidar receiver circuit comprises a plurality of echo receivers coupled to a plurality of inputs of the first gating circuit, a reference receiver coupled to at least one input of the second gating circuit, and wherein outputs of the first gating circuit and the second gating circuit are coupled to inputs of the filtering circuit, and wherein outputs of the filtering circuit are configured to output signals.
4. The lidar receiver circuit of claim 3, wherein the first gating circuit is the same as the second gating circuit and is integrated on the same gating chip.
5. A lidar receiver circuit according to claim 2 or 3, wherein the filter circuit is a balun filter.
6. A lidar receiver circuit according to claim 2 or 3, wherein the lidar receiver circuit further comprises a first amplifier, which is connected to the output of the filter circuit and amplifies the signal output by the output of the filter circuit.
7. The lidar receiver circuit of claim 1, wherein the voltage switching circuit comprises:
the first control end is used for providing a first control signal;
and the two ends of the amplifying circuit are respectively connected with the first control end and the echo receiver and are used for amplifying the voltage of the first control signal to form a first analog signal and outputting the first analog signal to the echo receiver.
8. The lidar receiver circuit of claim 7, wherein the voltage switching circuit further comprises:
one end of the first capacitor is connected between the first control end and the amplifying circuit, and the other end of the first capacitor is connected with the grounding end;
and one end of the second capacitor is connected between the output end of the amplifying circuit and the echo receiver, and the other end of the second capacitor is connected with the grounding end.
9. The lidar receiver circuit of claim 1, wherein the voltage continuation circuit comprises:
the second control end is used for providing a second control signal;
the digital-to-analog conversion chip is connected with the second control end and is used for converting a second control signal into a second analog signal;
the two ends of the boosting chip are respectively connected with the digital-to-analog conversion chip and the echo receiver, and are used for boosting the second analog signal and outputting the second analog signal to the echo receiver;
and the power end is connected with the boosting chip and is used for providing power supply voltage for the boosting chip.
10. A lidar device characterized by comprising a lidar transmitting-side circuit and a lidar receiving-side circuit according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311667271.8A CN117406200A (en) | 2023-12-07 | 2023-12-07 | Laser radar receiving end circuit and laser radar equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311667271.8A CN117406200A (en) | 2023-12-07 | 2023-12-07 | Laser radar receiving end circuit and laser radar equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117406200A true CN117406200A (en) | 2024-01-16 |
Family
ID=89487355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311667271.8A Pending CN117406200A (en) | 2023-12-07 | 2023-12-07 | Laser radar receiving end circuit and laser radar equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117406200A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907873A (en) * | 2017-10-24 | 2018-04-13 | 天津大学 | A kind of echo acquirement system and method for array APD |
| CN110208775A (en) * | 2018-08-01 | 2019-09-06 | 王飞 | A kind of laser radar receives chip, laser radar chip and laser radar system |
| CN114114207A (en) * | 2021-11-25 | 2022-03-01 | 武汉万集光电技术有限公司 | Multi-line laser radar equipment and light-emitting power control method |
| WO2022140979A1 (en) * | 2020-12-28 | 2022-07-07 | 深圳市速腾聚创科技有限公司 | Laser receiving circuit and laser radar |
| CN115469295A (en) * | 2022-11-02 | 2022-12-13 | 北醒（北京）光子科技有限公司 | Laser radar receiving circuit, analog front end, laser radar and signal processing method |
| WO2023024492A1 (en) * | 2021-08-26 | 2023-03-02 | 上海禾赛科技有限公司 | Laser radar and method for performing three-dimensional detection using same |
| CN116148812A (en) * | 2021-11-23 | 2023-05-23 | 深圳市速腾聚创科技有限公司 | Method, device and storage medium for improving laser ranging capability of radar system |
| CN116413700A (en) * | 2021-12-29 | 2023-07-11 | 深圳市速腾聚创科技有限公司 | Signal processing method, device, laser radar and computer storage medium |
| CN219456505U (en) * | 2022-12-28 | 2023-08-01 | 睿创微纳(无锡)技术有限公司 | Laser radar system and receiving device thereof |
-
2023
- 2023-12-07 CN CN202311667271.8A patent/CN117406200A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107907873A (en) * | 2017-10-24 | 2018-04-13 | 天津大学 | A kind of echo acquirement system and method for array APD |
| CN110208775A (en) * | 2018-08-01 | 2019-09-06 | 王飞 | A kind of laser radar receives chip, laser radar chip and laser radar system |
| WO2022140979A1 (en) * | 2020-12-28 | 2022-07-07 | 深圳市速腾聚创科技有限公司 | Laser receiving circuit and laser radar |
| WO2023024492A1 (en) * | 2021-08-26 | 2023-03-02 | 上海禾赛科技有限公司 | Laser radar and method for performing three-dimensional detection using same |
| CN116148812A (en) * | 2021-11-23 | 2023-05-23 | 深圳市速腾聚创科技有限公司 | Method, device and storage medium for improving laser ranging capability of radar system |
| WO2023092722A1 (en) * | 2021-11-23 | 2023-06-01 | 深圳市速腾聚创科技有限公司 | Method and device for improving laser ranging capability of radar system and storage medium |
| CN114114207A (en) * | 2021-11-25 | 2022-03-01 | 武汉万集光电技术有限公司 | Multi-line laser radar equipment and light-emitting power control method |
| CN116413700A (en) * | 2021-12-29 | 2023-07-11 | 深圳市速腾聚创科技有限公司 | Signal processing method, device, laser radar and computer storage medium |
| CN115469295A (en) * | 2022-11-02 | 2022-12-13 | 北醒（北京）光子科技有限公司 | Laser radar receiving circuit, analog front end, laser radar and signal processing method |
| CN219456505U (en) * | 2022-12-28 | 2023-08-01 | 睿创微纳(无锡)技术有限公司 | Laser radar system and receiving device thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106817101B (en) | Trans-impedance amplifier and receiver with Self Adaptive Control gain Larger Dynamic scope | |
| US4724315A (en) | Optical receiver | |
| Zheng et al. | A linear dynamic range receiver with timing discrimination for pulsed TOF imaging LADAR application | |
| CN101852851A (en) | Gain-variable trans-impedance amplifier integrated circuit for pulse laser range finder echo receiver | |
| JPH118522A (en) | Digital receiving circuit | |
| CN102387317B (en) | Photo-electric conversion device, autofocus device and image picking system | |
| EP0177216A2 (en) | Optical receiver | |
| US10612972B2 (en) | Light receiver and method for reading out avalanche photodiodes in Geiger mode | |
| CN117406200A (en) | Laser radar receiving end circuit and laser radar equipment | |
| CN111342907B (en) | Circuit with wireless optical communication signal diversity and incident light angle estimation functions | |
| EP1503496A1 (en) | Photocurrent-to-voltage conversion apparatus including non-diode-connected clamping MOS transistor | |
| US7394994B2 (en) | Optical receiver circuit | |
| US6956195B2 (en) | Photoelectric current and voltage converting circuit | |
| CN113259014B (en) | QD light spot detection system and detection method based on data judgment correlation | |
| CN113852420A (en) | Adaptive filtering optical power detection circuit and method | |
| US3886351A (en) | Optical-to-electronic interface circuit | |
| EP3614582B1 (en) | Multiplexed integrating amplifier for loss of signal detection | |
| US7443208B2 (en) | Peak detector | |
| US7684518B2 (en) | Logic threshold acquisition circuits and methods using reversed peak detectors | |
| HU186327B (en) | Circuit arrangement for dampint electromagnetic disturbances in potical receivers | |
| CN110572133A (en) | Fully differential transimpedance amplifier circuit and communication device | |
| CN110687519A (en) | Laser radar signal noise reduction device and method | |
| CN116540214A (en) | Laser radar multichannel analog front-end circuit | |
| CN109212509B (en) | High-pass filter for laser radar receiver | |
| CN111313853A (en) | Dual-mode multi-channel trans-impedance amplifier |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |