CN219143086U

CN219143086U - Laser radar signal decoding circuit, laser radar and mobile robot

Info

Publication number: CN219143086U
Application number: CN202222540683.2U
Authority: CN
Inventors: 曾广玺; 胡权; 陈光赐; 覃顺贵
Original assignee: Shenzhen Camsense Technologies Co Ltd
Current assignee: Shenzhen Huanchuang Technology Co ltd
Priority date: 2022-09-23
Filing date: 2022-09-23
Publication date: 2023-06-06
Anticipated expiration: 2032-09-23

Abstract

The embodiment of the utility model relates to the technical field of laser radars, and particularly discloses a laser radar signal decoding circuit, a laser radar and a mobile robot, wherein the laser radar signal decoding circuit comprises a signal input circuit and a main control chip, and the signal input circuit is connected with the main control chip; the signal input circuit is used for inputting an electric signal to the main control chip; the main control chip is used for sampling and decoding the electric signals. By the mode, the embodiment of the utility model does not need to arrange a special sampling circuit and a special decoding circuit to sample and decode signals. The sampling of the operational amplifier and the decoding of the comparator in the prior art are omitted, so that the decoding circuit has the characteristics of small number of electronic components and small volume of the whole decoding circuit.

Description

Laser radar signal decoding circuit, laser radar and mobile robot

Technical Field

The embodiment of the utility model relates to the technical field of laser radars, in particular to a laser radar signal decoding circuit, a laser radar and a mobile robot.

Background

Signal waveform shaping refers to: the waveform of the input signal is shaped, and a square wave is output for subsequent processing to resolve the processing mode of the original value. For example, general signal waveform shaping is: when the voltage of the signal is higher than half of the peak voltage, a high level is output, and when the voltage of the signal is lower than half of the peak voltage, a low level is output, so that a square wave signal output is formed.

The signal waveform shaping can be applied to a laser radar and a laser radar of a sweeping robot or a service robot.

The inventors of the present utility model found that, in the process of implementing the present utility model: when the signal waveform shaping is applied to the laser radar, the upper ranging information of the laser radar is usually transmitted to the lower part for receiving, the infrared decoding is generally finished by adopting a separated comparator and an operational amplifier, and the laser radar has the advantages of more required components, larger volume and higher cost.

Disclosure of Invention

In view of the above, embodiments of the present utility model provide a laser radar signal decoding circuit, a laser radar, and a mobile robot, which overcome or at least partially solve the above problems.

According to an aspect of the embodiment of the utility model, there is provided a laser radar signal decoding circuit, which comprises a signal input circuit and a main control chip, wherein the signal input circuit is connected with the main control chip; the signal input circuit is used for inputting an electric signal to the main control chip; the main control chip is used for sampling and decoding the electric signals.

In an alternative mode, the main control chip comprises a modulation module, a sampling module and a comparator; the sampling module is respectively connected with the signal input circuit and the modulation module and is used for receiving the electric signal output by the signal input circuit and sampling the electric signal to obtain an original value and a peak value of the original value; the modulation module is used for modulating the peak value so as to output a reference value; and the comparator is connected with the modulation module and is used for comparing the reference value with the original value to obtain a decoding serial port signal.

In an alternative manner, the signal input circuit includes a photodiode, an anode of the photodiode is connected to the sampling module, and a cathode of the photodiode is connected to a power supply.

In an alternative manner, the signal input circuit further includes a load resistor, one end of the load resistor is connected to the anode of the photodiode, and the other end of the load resistor is grounded.

In an alternative manner, the modulation module further includes a serial port communication pin, and the serial port communication pin is connected with the comparator.

In an optional manner, the modulation module further includes a signal output pin, configured to output the decoded serial signal.

In an alternative manner, the sampling module includes a sampling pin of the main control chip.

According to another aspect of the present utility model there is provided a lidar comprising a lidar signal decoding circuit as described above.

According to another aspect of the present utility model, there is provided a mobile robot comprising a lidar as described above.

The embodiment of the utility model has the beneficial effects that: compared with the prior art, the laser radar signal decoding circuit, the laser radar and the mobile robot provided by the embodiment of the utility model comprise a signal input circuit and a main control chip, and the main control chip is used for directly sampling and decoding the electric signals output by the signal input circuit without setting a special sampling circuit and decoding circuit for sampling and decoding the signals. The sampling of the operational amplifier and the decoding of the comparator in the prior art are omitted, so that the decoding circuit has the characteristics of small number of electronic components and small volume of the whole decoding circuit.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.

FIG. 1 is a schematic view of a laser radar according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a laser radar signal decoding circuit according to an embodiment of the present utility model;

FIG. 3 is a schematic circuit diagram of a laser radar signal decoding circuit according to an embodiment of the present utility model;

FIG. 4 is a schematic diagram of a rotating portion emitting infrared signals in accordance with an embodiment of the present utility model;

FIG. 5 is a schematic diagram of the original values sampled by an embodiment of the present utility model;

FIG. 6a is a schematic diagram of the peak values of the original values of an embodiment of the present utility model;

FIG. 6b is a schematic diagram of the sampling to peak value according to an embodiment of the present utility model;

FIG. 7 is a schematic diagram of reference values according to an embodiment of the present utility model;

fig. 8 is a schematic diagram of decoding a serial signal according to an embodiment of the present utility model.

Detailed Description

In order that the utility model may be readily understood, a more particular description thereof will be rendered by reference to specific embodiments that are illustrated in the appended drawings. It will be understood that when an element is referred to as being "fixed" to another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or one or more intervening elements may be present therebetween. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

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 utility model belongs. The terminology used in the description of the utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used in this specification includes any and all combinations of one or more of the associated listed items.

In addition, the technical features described below in the different embodiments of the present application may be combined with each other as long as they do not collide with each other.

The laser radar signal decoding circuit provided by the embodiment of the application can be applied to electronic equipment or devices needing to realize an infrared signal decoding communication function, such as a laser radar or a mobile robot with the laser radar, and when the laser radar signal decoding circuit provided by the embodiment of the application is applied to the electronic equipment or the laser radar, the decoding serial port signal waveform output by the decoding circuit used for signal processing in the electronic equipment or the laser radar has good stability and consistency, so that an original data signal can be well analyzed.

The laser radar is a detection system for detecting information such as the position and speed of a target by emitting a laser beam. The laser radar generally comprises a transmitting module, a receiving module and a signal processing module, wherein the working principle of the laser radar is that the transmitting module transmits a laser beam to a target as a detection signal, then the receiving module receives an echo signal reflected from the target, and the signal processing module can obtain relevant information of the target after properly processing the echo signal.

Referring to fig. 1 together, as shown in fig. 1, the lidar includes a rotating portion 10 and a fixed portion 20, wherein the rotating portion 10 includes an electro-optical conversion module 101, such as an infrared LED, for generating an infrared emission signal; the fixing portion 20 includes a photoelectric conversion module 201 for receiving an optical signal and converting the optical signal into an electrical signal, and a circuit board for processing the electrical signal. Wherein the rotating part 10 is rotatable with respect to the fixed part 20. The photoelectric conversion module 201 may be an infrared receiving tube, and converts an optical signal into an electrical signal.

In communication, communication information is transmitted from the radar rotating part 10 to the radar fixing part 20, firstly, the LEDs in the electro-optical conversion module 101 are driven by data to be converted into optical signals, the photoelectric conversion module 201 of the radar fixing part 20 receives the optical signals and converts the optical signals into corresponding electric signals, and then the electric signals are input to a laser radar signal decoding circuit in a circuit board, so that a laser radar infrared communication decoding function is realized, and the optical signals of the rotating part 10 as driving signals are restored.

Based on the above-mentioned lidar, the present application proposes a lidar signal decoding circuit 21, please refer to fig. 2, and fig. 2 is a schematic structural diagram of a lidar signal decoding circuit according to an embodiment of the present utility model. As shown in fig. 2, the laser radar signal decoding circuit 21 includes a signal input circuit 22 and a main control chip 23, wherein the signal input circuit 22 is used for inputting an electrical signal to the main control chip 23; and the main control chip 23 is used for sampling and decoding the electric signals.

In some embodiments, the master chip 23 includes a modulation module 231, a sampling module, and a comparator 232.

The signal input circuit 22 is a photoelectric conversion module 201 of the fixing portion 20, and converts an optical signal into an electrical signal, which is an infrared electrical signal in this embodiment.

The main control chip 23 comprises a modulation module 231 and a comparator 232, wherein the modulation module 231 comprises a sampling module 2311.

The sampling module may include a sampling pin 2311 of the main control chip 23, connected to the signal input circuit 22, for receiving the electrical signal output by the signal input circuit 21, and sampling the electrical signal to obtain an original value and a peak value of the original value.

The modulating module 231 is configured to modulate the peak value to output a reference value; wherein the reference value may be half of the peak value of the original value.

The comparator 232 is connected to the modulation module 231, and the comparator 232 is configured to compare the reference value with the voltage of the original value, so as to obtain a decoded serial signal. The obtained decoded serial signal restores the driving signal of the rotating section 10.

It can be understood that the main control chip 23 is a circuit module integrating the modulation module 231, the sampling module and the comparator 232, and the main control chip 23 can implement the processes of sampling, modulating, comparing, etc. the electric signal input by the signal input circuit 22, so as to implement the decoding of the electric signal.

In this embodiment, the laser radar signal decoding circuit 21 includes a signal input circuit 22 and a main control chip 23, and samples and decodes the electrical signal output by the signal input circuit 22 directly through the main control chip 23, without setting a special sampling circuit and decoding circuit to sample and decode the signal. The sampling of the operational amplifier and the decoding of the comparator in the prior art are omitted, so that the decoding circuit has the characteristics of small number of electronic components and small volume of the whole decoding circuit.

In some embodiments, as shown in fig. 3, fig. 3 is a circuit diagram of a lidar signal decoding circuit of the present application, a chip model of the modulation module 231 is N32G435GBQ7, and the chip of the modulation module 231 has pins 1 to 29, and the total number of pins is 29.

The connection relationship between the pins of the chip of the modulation module 231 and the signal input circuit 22 and the comparator 232 and the chip of the modulation module 231 are shown in fig. 3.

In some implementations, the comparator 232 is a voltage comparator.

In some embodiments, the voltage comparator has a chip model number of either LM339, LM 393.

In some embodiments, the signal input circuit 22 includes a photodiode PD, an anode of the photodiode PD is connected to the sampling pin 2311, and a cathode of the photodiode PD is connected to a power supply 3.3V. Sample pin 2311 is pin 11 of modulation module 231. The power supply is 3.3V, which can be obtained by a voltage conversion circuit.

In some embodiments, the signal input circuit 22 further includes a load resistor R2, one end of the load resistor R2 is connected to the anode of the photodiode PD, and the other end of the load resistor R2 is grounded. The photodiode PD may be PD15-22C/TR8 as shown in FIG. 3.

In some embodiments, the modulation module 231 further includes a serial communication pin 2312, and the serial communication pin 2312 is connected to the comparator 232. Serial port communication pin 2312 is pin 25 of modulation module 231.

In some embodiments, the modulation module 231 further includes a signal output pin 2313 for outputting the decoded serial signal. The signal output pin 2313 is pin 26 of the modulation module 231. And a load resistor R9 is connected to the signal output pin 2313.

In some embodiments, the modulation module 231 further includes a plurality of functional pins for connecting some peripheral circuits, such as a filtering circuit, a voltage conversion circuit, etc., and the comparator 232, the modulation module 231 and the peripheral circuits are integrated in one main control chip 23, and the principle and performance of the peripheral circuits are similar to those of the laser radar signal decoding circuit in the prior art, which is not described herein again.

Taking the comparator 232 with the chip model LM393 and the modulation module 231 with the chip model N32G435GBQ7 as an example, and the electric signal is an infrared signal of the laser radar, the sampling module 2311 of the modulation module 231 emits the infrared signal due to the connection with the output end of the signal input circuit 22, that is, the anode of the photodiode PD, and the electro-optical conversion module 101 of the rotating part 10 emits the infrared signal, as shown in fig. 4; the photodiode PD of the fixed portion 20 thus samples the waveform of the original value as shown in fig. 5. When the original value is obtained, the sampling module 2311 extracts the peak value of the original value, as shown in fig. 6; the modulation module 231 obtains the peak value, and modulates the peak value, for example, divides the voltage of the peak value to output a reference value, which may be half of the voltage of the peak value, as shown in fig. 7. The comparator 232 is connected to the serial communication pin 2312 of the modulation module 231, and the modulation module 231 outputs a reference value and an original value to the comparator 232 through the serial communication pin 2312, the comparator 232 compares the reference value with the original value after receiving the reference value and the original value, and the comparator 232 outputs a high level when the reference value is greater than the original value according to the principle of the voltage comparator 232; when the reference value is smaller than the original value, the comparator 232 outputs a low level, so that a voltage waveform in the form of a square wave output by the comparator 232 is obtained, and the decoded serial signal obtained by comparison of the comparator 232 is shown in fig. 8, so that the infrared signal of the rotating part 10 as the driving signal is restored and output through the signal output pin 2313 of the modulation module 231.

According to the embodiment of the application, the operational amplifier and the comparator can be saved, the laser communication peripheral devices of the laser radar can be reduced, the layout area of a PCB (printed circuit board) is saved, the quantity of BOM materials is simplified, the cost can be saved, and the laser communication reliability of the laser radar is improved.

In a second aspect, embodiments of the present utility model provide a lidar comprising a lidar signal decoding circuit as described above.

In a third aspect, embodiments of the present utility model provide a mobile robot comprising a lidar as described above.

The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.

Claims

1. The laser radar signal decoding circuit is characterized by comprising a signal input circuit and a main control chip, wherein the signal input circuit is connected with the main control chip; the signal input circuit is used for inputting an electric signal to the main control chip; the main control chip is used for sampling and decoding the electric signals.

2. The lidar signal decoding circuit of claim 1, wherein the master control chip comprises a modulation module, a sampling module, and a comparator;

the sampling module is respectively connected with the signal input circuit and the modulation module and is used for receiving the electric signal output by the signal input circuit and sampling the electric signal to obtain an original value and a peak value of the original value;

the modulation module is used for modulating the peak value so as to output a reference value;

and the comparator is connected with the modulation module and is used for comparing the reference value with the original value to obtain a decoding serial port signal.

3. The lidar signal decoding circuit of claim 2, wherein the signal input circuit comprises a photodiode, an anode of the photodiode is connected to the sampling module, and a cathode of the photodiode is connected to a power supply.

4. The lidar signal decoding circuit of claim 3, wherein the signal input circuit further comprises a load resistor, one end of the load resistor is connected to the anode of the photodiode, and the other end of the load resistor is grounded.

5. The lidar signal decoding circuit of claim 2, wherein the modulation module further comprises a serial communication pin, the serial communication pin being coupled to the comparator.

6. The lidar signal decoding circuit of claim 2, wherein the modulation module further comprises a signal output pin for outputting the decoded serial signal.

7. The lidar signal decoding circuit of claim 2, wherein the sampling module comprises a sampling pin of the master control chip.

8. A lidar comprising a lidar signal decoding circuit according to any of claims 1 to 7.

9. A mobile robot comprising the lidar of claim 8.