CN214585956U - Control circuit and laser radar - Google Patents
Control circuit and laser radar Download PDFInfo
- Publication number
- CN214585956U CN214585956U CN202023170602.1U CN202023170602U CN214585956U CN 214585956 U CN214585956 U CN 214585956U CN 202023170602 U CN202023170602 U CN 202023170602U CN 214585956 U CN214585956 U CN 214585956U
- Authority
- CN
- China
- Prior art keywords
- sensor
- signal
- nand gate
- initialization
- pin
- 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.)
- Active
Links
Images
Landscapes
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the utility model provides a relate to radar detection system technical field, disclose a control circuit and laser radar. The control circuit comprises a main controller, a first sensor, a second sensor and a logic circuit, wherein the logic circuit is respectively connected with the main controller, the first sensor and the second sensor, sends a reference signal and a trigger signal to the logic circuit through the main controller, and then controls the first sensor and the second sensor to be initialized in sequence according to the reference signal and the trigger signal by the logic circuit. By performing initialization control on a plurality of sensors in this way, independent addresses can be conveniently allocated to the sensors.
Description
Technical Field
The embodiment of the utility model provides a relate to radar detection system technical field, especially relate to a control circuit and laser radar.
Background
With the development of economic society, laser radars are widely applied to the fields of automobile automatic driving, robot navigation, space environment mapping, security and protection and the like. The laser radar is a detection system for detecting information such as position, speed and the like of a target by emitting laser beams, and generally comprises three parts, namely an emitting module, a receiving module and a signal processing module.
The laser radar comprises a plurality of sensors, the plurality of sensors can detect or collect various environmental information through the laser detection module, and then the detected or collected various environmental information is transmitted to the main controller through the sensors to be processed. In order to assign independent addresses to a plurality of sensors in a laser radar, initialization control on the plurality of sensors is needed, and how to more conveniently perform initialization control on the plurality of sensors becomes a problem to be solved in the field.
SUMMERY OF THE UTILITY MODEL
In order to solve the above technical problem, an embodiment of the utility model provides a control circuit and laser radar can solve among the prior art and can't conveniently carry out the technical problem of initialization control to a plurality of sensors.
The embodiment of the utility model provides a for solving above-mentioned technical problem provides following technical scheme:
in a first aspect, an embodiment of the present invention provides a control circuit, including a main controller, a first sensor, a second sensor, and a logic circuit, where the logic circuit is connected to the main controller, the first sensor, and the second sensor, respectively; the main controller is used for sending a reference signal and a trigger signal to the logic circuit, and the logic circuit is used for controlling the first sensor and the second sensor to be initialized in sequence according to the reference signal and the trigger signal.
Optionally, when the logic circuit receives the reference signal and the trigger signal sent by the main controller, the logic circuit controls the first sensor to start initialization according to the reference signal and the trigger signal, when the initialization of the first sensor is completed, the logic circuit sends a first initialization completion signal to the logic circuit, and the logic circuit controls the second sensor to start initialization according to the reference signal and the first initialization completion signal.
Optionally, the first sensor includes a first enable pin and a digital output pin, and the second sensor includes a second enable pin; the logic circuit comprises a first NAND gate and a second NAND gate, wherein the first NAND gate and the second NAND gate comprise a first input end, a second input end and an output end; the master controller is respectively connected with a first input end and a second input end of the first NAND gate and a first input end of the second NAND gate, the first input ends of the first NAND gate and the second NAND gate are used for being input with the reference signal, the second input end of the first NAND gate is used for being input with the trigger signal, the output end of the first NAND gate is connected with a first enabling pin of the first sensor, a digital output pin of the first sensor is connected with a second input end of the second NAND gate, and the output end of the second NAND gate is connected with a second enabling pin of the second sensor.
Optionally, the digital output pin of the first sensor is configured to: before the initialization of the first sensor is completed, outputting a first level signal, and when the initialization of the first sensor is completed, outputting a second level signal, wherein the first level signal is different from the second level signal.
Optionally, the main controller includes a first control output pin and a second control output pin; and a first control output pin of the main controller is respectively connected with first input ends of the first NAND gate and the second NAND gate, and a second control output pin of the main controller is connected with a second input end of the first NAND gate.
Optionally, the first sensor and the second sensor are both radar sensors.
Optionally, the device further comprises a first indicating device; the first sensor further comprises a first signal control pin, the first signal control pin is electrically connected with the first indicating device, the first sensor is used for sending a first instruction to the first indicating device through the first signal control pin when the initialization of the first sensor is completed, so that the first indicating device outputs a first indicating signal, and the first sensor is further used for sending a second instruction to the first indicating device through the first signal control pin before the initialization of the first sensor is completed, so that the first indicating device outputs a second indicating signal, wherein the first indicating signal is different from the second indicating signal.
Optionally, a second indicating device is further included; the second sensor further comprises a second signal control pin, the second signal control pin is electrically connected with the second indicating device, the second sensor is used for sending a third instruction to the second indicating device through the second signal control pin when the initialization of the second sensor is completed, so that the second indicating device outputs a third indicating signal, and the second sensor is further used for sending a fourth instruction to the second indicating device through the second signal control pin before the initialization of the second sensor is completed, so that the second indicating device outputs a fourth indicating signal, wherein the third indicating signal is different from the fourth indicating signal.
Optionally, the reference signal is a first level signal, and the trigger signal is a second level signal.
In a second aspect, an embodiment of the present invention provides a laser radar, including as above control circuit, first laser detection module and second laser detection module, control circuit's first sensor with first laser detection module connects, control circuit's second sensor with second laser detection module connects.
The embodiment of the utility model provides a beneficial effect is: different from the related art, the control circuit and the laser radar are provided. The control circuit comprises a main controller, a first sensor, a second sensor and a logic circuit, wherein the logic circuit is respectively connected with the main controller, the first sensor and the second sensor, sends a reference signal and a trigger signal to the logic circuit through the main controller, and then controls the first sensor and the second sensor to be initialized in sequence according to the reference signal and the trigger signal by the logic circuit. By performing initialization control on a plurality of sensors in this way, independent addresses can be conveniently allocated to the sensors.
Drawings
The embodiments are illustrated by way of example only in the accompanying drawings, in which like reference numerals refer to similar elements and which are not to be construed as limiting the embodiments, and in which the figures are not to scale unless otherwise specified.
Fig. 1 is a schematic structural diagram of a control circuit according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a circuit structure of a control circuit according to an embodiment of the present invention;
FIG. 3 is a waveform diagram illustrating the operation timing of the control circuit provided in FIG. 2;
fig. 4 is a schematic diagram of a control circuit according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of the laser radar according to an embodiment of the present invention.
Detailed Description
To facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and detailed description. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic diagram of a control circuit according to an embodiment of the present invention. As shown in fig. 1, the control circuit 10 includes a main controller 11, a logic circuit 12, a first sensor 13, and a second sensor 14, and the logic circuit 12 is connected to the main controller 11, the first sensor 13, and the second sensor 14, respectively.
The main controller 11 may send a reference signal and a trigger signal to the logic circuit 12, and the logic circuit 12 may control the first sensor 13 and the second sensor 14 to initialize in sequence according to the reference signal and the trigger signal, so as to conveniently allocate independent addresses to the first sensor 13 and the second sensor 14.
In some embodiments, the first sensor 13 and the second sensor 14 are both radar sensors. In this particular embodiment, the radar sensor is model number VL53L 1X.
It should be noted that, when the logic circuit 12 is connected to a plurality of sensors (at least two sensors), as shown in fig. 1, the logic circuit 12 can still control all the sensors to initialize sequentially according to the reference signal and the trigger signal.
The reference signal is different from the trigger signal, and in some embodiments, the reference signal is a first level signal (e.g., a high level signal) and the trigger signal is a second level signal (e.g., a low level signal).
In the process of controlling the first sensor 13 and the second sensor 14 to be initialized sequentially by the logic circuit 12, when the logic circuit 12 receives the reference signal and the trigger signal from the main controller 11, the logic circuit 12 first controls the first sensor 13 to start initialization according to the reference signal and the trigger signal, and when the first sensor 13 completes initialization, immediately sends a first initialization completion signal to the logic circuit 12, and then the logic circuit 12 controls the second sensor 14 to start initialization according to the reference signal and the first initialization completion signal, when the logic circuit 12 controls the N sensors to initialize in sequence, and so on until the logic circuit 12 controls the nth sensor to initialize according to the reference signal and the N-1 initialization completion signal, thereby realizing that all the sensors start and complete initialization operation in sequence.
Specifically, as shown in fig. 2, the first sensor 13 includes a first enable pin XSHUT1 and a digital output pin GPIO1, and the second sensor 14 includes a second enable pin XSHUT 2.
The logic circuit 12 includes a first nand gate 121 and a second nand gate 122, the first nand gate 121 includes a first input a1, a second input B1 and an output Y1, and the second nand gate 122 includes a first input a2, a second input B2 and an output Y2.
The main controller 11 is respectively connected to the first input terminal a1 and the second input terminal B1 of the first nand gate 121, and the first input terminal a2 of the second nand gate 122, the first input terminal a1 of the first nand gate 121 and the first input terminal a2 of the second nand gate 122 are both inputted with the reference signal, the second input terminal B1 of the first nand gate 121 is inputted with the trigger signal, the output terminal Y1 of the first nand gate 121 is connected to the first enable pin XSHUT1 of the first sensor 13, the digital output pin GPIO1 of the first sensor 13 is connected to the second input terminal B2 of the second nand gate 122, and the output terminal Y2 of the second nand gate 122 is connected to the second enable pin XSHUT2 of the second sensor. In this particular embodiment, the first nand gate 121 and the second nand gate 122 are both model numbers SN74AHC1G00 DBVR.
In some embodiments, the digital output pin GPIO1 of the first sensor 13 is configured to output a first level signal (e.g., a high level signal) before the initialization of the first sensor 13 is completed and to output a second level signal (e.g., a low level signal) when the initialization of the first sensor 13 is completed, the first level signal being different from the second level signal.
When the first sensor 13 finishes initialization, the second level signal outputted therefrom is used as a first initialization completion signal, so that the logic circuit 12 controls the second sensor 14 to start initialization according to the first initialization completion signal and the reference signal. It will be appreciated that the second sensor 14 may also be configured with a digital output pin of similar function, such that when the second sensor 14 completes initialization, it sends an initialization complete signal to the logic circuit 12 to cause the logic circuit 12 to control the next sensor to start initialization.
In some embodiments, the main controller 11 includes a first control output pin INIT and a second control output pin GPIO. The first control output pin INIT of the main controller 11 is connected to the first input terminal a1 of the first nand gate 121 and the first input terminal B1 of the second nand gate 122, respectively, and the second control output pin GPIO of the main controller 11 is connected to the second input terminal B1 of the first nand gate 121. It is understood that the first control output pin INIT of the main controller 11 is used to output the reference signal, and the second control output pin GPIO of the main controller 11 is used to output the trigger signal.
In order to explain the present embodiment more clearly and in detail, the present embodiment is explained below with reference to fig. 2 and 3.
At time T0, the first control output pin INIT of the main controller 11 outputs a high-level signal of the reference signal to the first input terminal a1 of the first nand gate 121, the second control output pin GPIO of the main controller 11 outputs a low-level signal of the trigger signal to the second input terminal B1 of the first nand gate 121, the first nand gate 121 thus outputs a high signal at its output terminal Y1 based on the high signal and the low signal, this high signal is transmitted to the first enable pin XSHUT1 of the first sensor 13 so that the first sensor 13 is enabled and begins initialization, and, during initialization of the first sensor 13, the first digital output pin GPIO1 outputs a high-level signal all the time, so that both input terminals of the second nand gate 122 are input with high-level signals, so that its output terminal Y2 outputs a low level signal so that the second sensor 14 is not enabled.
When the initialization of the first sensor 13 is completed, that is, at time T1, the first digital output pin GPIO1 of the first sensor 13 changes from a high level signal to a low level signal, so that the two input terminals of the second nand gate 122 are respectively input with the high level signal and the low level signal, so that the output terminal Y2 thereof outputs a high level signal, and the high level signal is transmitted to the second enable pin XSHUT2 of the second sensor 14, so that the second sensor 14 is enabled and starts the initialization.
Therefore, in this way, when the previous sensor completes initialization, the initialization of the next sensor is started until all sensors can complete initialization, and the initialization process of each sensor is performed in sequence.
In order to more conveniently determine whether the first sensor 13 has completed initialization, in some embodiments, as shown in fig. 4, the control circuit 10 further includes a first indicating device 15, and accordingly, the first sensor 13 is configured with a first signal control pin (not shown), and the first signal control pin is electrically connected to the first indicating device 15.
When the initialization of the first sensor 13 is completed, a first instruction is sent to the first indicating device 15 through the first signal control pin, so that the first indicating device 15 outputs a first indicating signal, and before the initialization of the first sensor 13 is completed, a second instruction is sent to the first indicating device 15 through the first signal control pin, so that the first indicating device 15 outputs a second indicating signal, wherein the first indicating signal is different from the second indicating signal. In this way, it is possible to determine whether the first sensor 13 has completed initialization.
To facilitate determining whether the second sensor 14 has completed initialization, in some embodiments, as shown in fig. 4, the control circuit 10 further includes a first indication device 16, and accordingly, the second sensor 14 is configured with a second signal control pin (not shown), and the second signal control pin is electrically connected to the second indication device 16.
When the initialization of the second sensor 14 is completed, the first instruction is sent to the second indicating device 16 through the second signal control pin, so that the second indicating device 16 outputs a third indicating signal, and before the initialization of the second sensor 14 is completed, the second instruction is sent to the second indicating device 16 through the second signal control pin, so that the second indicating device 16 outputs a fourth indicating signal, wherein the third indicating signal is different from the fourth indicating signal. In this way, it is possible to determine whether the second sensor 14 has completed initialization.
As another embodiment of the present invention, an embodiment of the present invention provides a laser radar, as shown in fig. 5, the laser radar 100 includes a control circuit 10, a first laser detection module 20 and a second laser detection module 30, a first sensor 13 of the control circuit 10 is connected to the first laser detection module 20, and a second sensor 14 of the control circuit 10 is connected to the second laser detection module 30. The first sensor 13 and the first laser detection module 20 form one detection device, and the second sensor 14 and the second laser detection module 30 form the other detection device.
It will be understood that when the control circuit 10 comprises a plurality of sensors, each sensor is equipped with a laser detection module corresponding thereto, so as to constitute a plurality of detection means. Wherein the plurality of detection means are arranged to detect various information and to generate data information which can be used for further processing.
Finally, it is to be understood that the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, which are intended as additional limitations on the scope of the invention, as these embodiments are provided so that the disclosure will be thorough and complete. In addition, under the idea of the present invention, the above technical features are combined with each other continuously, and many other variations of the present invention in different aspects as described above are considered as the scope of the present invention; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A control circuit is characterized by comprising a main controller, a first sensor, a second sensor and a logic circuit, wherein the logic circuit is respectively connected with the main controller, the first sensor and the second sensor;
the main controller is used for sending a reference signal and a trigger signal to the logic circuit, and the logic circuit is used for controlling the first sensor and the second sensor to be initialized in sequence according to the reference signal and the trigger signal.
2. The control circuit of claim 1,
when the logic circuit receives the reference signal and the trigger signal sent by the main controller, the logic circuit controls the first sensor to start initialization according to the reference signal and the trigger signal, when the initialization of the first sensor is completed, the logic circuit sends a first initialization completion signal to the logic circuit, and the logic circuit controls the second sensor to start initialization according to the reference signal and the first initialization completion signal.
3. The control circuit of claim 2, wherein the first sensor comprises a first enable pin and a digital output pin, and the second sensor comprises a second enable pin;
the logic circuit comprises a first NAND gate and a second NAND gate, wherein the first NAND gate and the second NAND gate comprise a first input end, a second input end and an output end;
the master controller is respectively connected with a first input end and a second input end of the first NAND gate and a first input end of the second NAND gate, the first input ends of the first NAND gate and the second NAND gate are used for being input with the reference signal, the second input end of the first NAND gate is used for being input with the trigger signal, the output end of the first NAND gate is connected with a first enabling pin of the first sensor, a digital output pin of the first sensor is connected with a second input end of the second NAND gate, and the output end of the second NAND gate is connected with a second enabling pin of the second sensor.
4. The control circuit of claim 3, wherein the digital output pin of the first sensor is configured to: before the initialization of the first sensor is completed, outputting a first level signal, and when the initialization of the first sensor is completed, outputting a second level signal, wherein the first level signal is different from the second level signal.
5. The control circuit of claim 4, wherein the master controller comprises a first control output pin and a second control output pin;
and a first control output pin of the main controller is respectively connected with a first input end of the first NAND gate and a first input end of the second NAND gate, and a second control output pin of the main controller is connected with a second input end of the first NAND gate.
6. The control circuit of any one of claims 1 to 5, wherein the first and second sensors are radar sensors.
7. The control circuit according to any one of claims 1 to 5, further comprising a first indicating device;
the first sensor further comprises a first signal control pin, the first signal control pin is electrically connected with the first indicating device, the first sensor is used for sending a first instruction to the first indicating device through the first signal control pin when the initialization of the first sensor is completed, so that the first indicating device outputs a first indicating signal, and the first sensor is further used for sending a second instruction to the first indicating device through the first signal control pin before the initialization of the first sensor is completed, so that the first indicating device outputs a second indicating signal, wherein the first indicating signal is different from the second indicating signal.
8. The control circuit according to any one of claims 1 to 5, further comprising a second indicating device;
the second sensor further comprises a second signal control pin, the second signal control pin is electrically connected with the second indicating device, the second sensor is used for sending a third instruction to the second indicating device through the second signal control pin when the initialization of the second sensor is completed, so that the second indicating device outputs a third indicating signal, and the second sensor is further used for sending a fourth instruction to the second indicating device through the second signal control pin before the initialization of the second sensor is completed, so that the second indicating device outputs a fourth indicating signal, wherein the third indicating signal is different from the fourth indicating signal.
9. The control circuit according to any one of claims 1 to 5, wherein the reference signal is a first level signal and the trigger signal is a second level signal.
10. Lidar comprising a control circuit according to any of claims 1 to 9, a first laser detection module and a second laser detection module, wherein a first sensor of the control circuit is connected to the first laser detection module and a second sensor of the control circuit is connected to the second laser detection module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023170602.1U CN214585956U (en) | 2020-12-24 | 2020-12-24 | Control circuit and laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023170602.1U CN214585956U (en) | 2020-12-24 | 2020-12-24 | Control circuit and laser radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214585956U true CN214585956U (en) | 2021-11-02 |
Family
ID=78366691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023170602.1U Active CN214585956U (en) | 2020-12-24 | 2020-12-24 | Control circuit and laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214585956U (en) |
-
2020
- 2020-12-24 CN CN202023170602.1U patent/CN214585956U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110494866B (en) | Fusion of data of multiple sensors for object recognition | |
| US4200929A (en) | Input device for delivery of data from digital transmitters | |
| CN104237852A (en) | Method, device and system for processing radar signals | |
| US3949380A (en) | Peripheral device reassignment control technique | |
| EP3764339A1 (en) | Object detection device, object detection method, and recording medium | |
| CN110688732B (en) | Simulation test platform and method for speed and distance measuring system | |
| SE521603C2 (en) | Sensor device with pulse radar | |
| CN214585956U (en) | Control circuit and laser radar | |
| CN113223445A (en) | Data transmission method and system applied to LED chip and related assembly | |
| CN109715465B (en) | Method and device for operating a first vehicle | |
| US11368331B2 (en) | Communication apparatus and communication system | |
| CN214122448U (en) | Control circuit and laser radar | |
| CN112140878B (en) | Method and device for configuring vehicle combination instrument, storage medium and combination instrument | |
| CN116360853B (en) | Register mapping method, device, equipment and medium | |
| CN208125855U (en) | A kind of multichannel short-circuit detecting device and system | |
| CN115453551A (en) | Radar control method, device, terminal equipment and computer readable storage medium | |
| CN113671936A (en) | Driving assistance system test method and system, electronic device and storage medium | |
| US20210014038A1 (en) | Data transmission method, data transmission device, and computer readable storage medium | |
| CN110412517B (en) | Method for operating a first and a second radar section sensor and radar sensor system comprising a first and a second radar section sensor | |
| CN111142422A (en) | Sensor information processing method for ios system | |
| CN216014047U (en) | Driving auxiliary system test equipment and vehicle | |
| US11822506B2 (en) | Primary check system | |
| CN110320524B (en) | Cooperative distance measurement method and system for multiple optical distance measurement devices | |
| JPH11118897A (en) | Radar | |
| CN110268692A (en) | A kind of data processing method, device, controller and movable fixture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |