CN219456480U - Multi-signal-wire connecting circuit and mechanical laser radar - Google Patents

Abstract

The utility model discloses a multi-signal line connection circuit and a mechanical laser radar, wherein the multi-signal line connection circuit comprises: a main control module and a receiving-transmitting assembly; the transceiver module includes: a laser driving module and a receiving and amplifying module; the laser driving module includes: the receiving and amplifying module comprises a transmitting time-sharing multiplexing circuit, a K-path laser driving circuit and a K-path light emitting element, wherein the receiving and amplifying module comprises: the device comprises a receiving time-sharing multiplexing circuit, a Z-path receiving circuit and a Z-path photosensitive element; the main control module is connected with the transceiver component through a plurality of signal wires, and each signal wire provides control signals for at least two paths of laser driving circuits through the transmitting time-sharing multiplexing circuit or provides control signals for at least two paths of receiving circuits through the receiving time-sharing multiplexing circuit. According to the technical scheme, a time-sharing multiplexing mode is adopted, so that required control signals are provided for a laser driving circuit and a receiving circuit by using fewer signal lines, and the miniaturized design of the mechanical laser radar can be met.

Description

Multi-signal-wire connecting circuit and mechanical laser radar

Technical Field

The present utility model relates generally to the field of lidar technology. More particularly, the present utility model relates to a multi-signal line connection circuit and a mechanical lidar.

Background

Along with the technical development, the multi-line laser radar is developed to the directions of more and more scanning wire harnesses and smaller size, and the multi-line laser radar provides a foundation for the wide application of the multi-line laser radar. As one of the multi-line laser radars, the mechanical laser radar has a certain market position due to the advantages of large field angle, high measurement precision and the like. For the current development direction, the mechanical lidar generally meets the market demand by increasing the number of transmitting units and receiving units.

However, in the current mechanical lidar, the charging signal, the discharging signal, the power supply, the ground and the like required by each transmitting unit are configured with separate signal lines, and the high voltage (positive high voltage or negative high voltage), the echo signal (single-ended or differential), the operational amplifier source, the ground and the like required by each receiving unit are configured with separate signal lines, so that the number of the signal lines of the lidar is greatly increased, so that an originally tense internal space is more covered by the elbow, which is not beneficial to the miniaturization design of the mechanical lidar. Therefore, it is important to reduce the number of signal lines as much as possible on the basis of increasing the number of transmitting units and receiving units for the mechanical lidar to meet the miniaturization design of the mechanical lidar.

Disclosure of Invention

In order to at least solve one or more of the above-mentioned technical problems, embodiments of the present utility model provide a multi-signal-line connection circuit and a mechanical laser radar in various aspects, which utilize the concept of time-division multiplexing to reduce the number of signal lines, so as to meet the miniaturization design requirement of the mechanical laser radar.

In a first aspect, an embodiment of the present utility model provides a multi-signal line connection circuit, applied to a mechanical lidar, including: a main control module and a receiving-transmitting assembly; the transceiver module includes: a laser driving module and a receiving and amplifying module; the laser driving module includes: the receiving and amplifying module comprises a transmitting time-sharing multiplexing circuit, a K-path laser driving circuit and a K-path light emitting element, wherein the receiving and amplifying module comprises: the device comprises a receiving time-sharing multiplexing circuit, a Z-path receiving circuit and a Z-path photosensitive element; the main control module is connected with the transceiver component through a plurality of signal wires so as to provide required control signals for the K-path laser driving circuit and the Z-path receiving circuit, wherein each signal wire provides control signals for at least two paths of laser driving circuits through the transmitting time-sharing multiplexing circuit, or provides control signals for at least two paths of receiving circuits through the receiving time-sharing multiplexing circuit; the emission time-sharing multiplexing circuit is respectively connected with the K paths of laser driving circuits through internal wiring, and the laser driving circuits are connected with the light-emitting elements in a one-to-one correspondence manner; the receiving time-sharing multiplexing circuit is connected with the Z paths of receiving circuits respectively through internal wiring, and the receiving circuits are connected with the photosensitive elements in a one-to-one correspondence.

In a specific implementation manner of the embodiment of the present utility model, the main control module is connected to the laser driving module through the plurality of signal lines, a first connection terminal is disposed on the laser driving module, a second connection terminal is disposed on the receiving and amplifying module, the first connection terminal and the second connection terminal are connected through a flat cable, the first connection terminal is connected to the plurality of signal lines, and the second connection terminal is connected to the receiving and time-sharing multiplexing circuit.

In a specific implementation manner of the embodiment of the present utility model, the first connection terminal is further connected to the transmit time division multiplexing circuit.

In a specific implementation of the embodiment of the present utility model, the laser driving module further includes: and the first connection terminal is connected with the transmitting time-sharing multiplexing circuit through the control conversion circuit.

In a specific implementation manner of the embodiment of the present utility model, the receiving and amplifying module further includes: and each receiving circuit is connected with the second connecting terminal through the first amplifying circuit and the receiving time-sharing multiplexing circuit in sequence.

In a specific implementation manner of the embodiment of the present utility model, the receiving and amplifying module further includes: and each receiving circuit is connected with the second connecting terminal through the receiving time-sharing multiplexing circuit and the second amplifying circuit in sequence.

In a specific implementation manner of the embodiment of the present utility model, other circuits in the laser driving module except for the K-way laser driving circuit and the K-way light emitting element are integrated on the first field programmable gate array, and other circuits in the receiving amplifying module except for the Z-way receiving circuit and the Z-way light sensing element are integrated on the second field programmable gate array.

In a specific implementation manner of the embodiment of the present utility model, circuits of the laser driving module other than the K-way laser driving circuit and the K-way light emitting element are integrated on a first complex programmable logic device, and circuits of the receiving amplifying module other than the Z-way receiving circuit and the Z-way light sensitive element are integrated on a second complex programmable logic device.

In a specific implementation manner of the embodiment of the present utility model, the main control module is connected to the receiving and amplifying module through the plurality of signal lines, a first connection terminal is disposed on the laser driving module, a second connection terminal is disposed on the receiving and amplifying module, the first connection terminal and the second connection terminal are connected through a flat cable, the second connection terminal is connected to the plurality of signal lines, and the first connection terminal is connected to the transmitting time-sharing multiplexing circuit.

In a specific implementation manner of the embodiment of the present utility model, the main control module is connected to the laser driving module through a part of the plurality of signal lines, and is connected to the receiving and amplifying module through another part of the plurality of signal lines.

In a second aspect, an embodiment of the present utility model provides a mechanical lidar comprising the multiple signal line connection circuit of any of the first aspects.

With the multi-signal line connection circuit and the mechanical laser radar provided above, the multi-signal line connection circuit includes: a main control module and a receiving-transmitting assembly; the transceiver module includes: a laser driving module and a receiving and amplifying module; the laser driving module includes: the receiving and amplifying module comprises a transmitting time-sharing multiplexing circuit, a K-path laser driving circuit and a K-path light emitting element, wherein the receiving and amplifying module comprises: the device comprises a receiving time-sharing multiplexing circuit, a Z-path receiving circuit and a Z-path photosensitive element; the main control module is connected with the transceiver component through a plurality of signal wires to provide required control signals for the K-path laser driving circuit and the Z-path receiving circuit, wherein each signal wire provides control signals for at least two paths of laser driving circuits through the transmitting time-sharing multiplexing circuit or provides control signals for at least two paths of receiving circuits through the receiving time-sharing multiplexing circuit; the transmitting time-sharing multiplexing circuit is respectively connected with the K paths of laser driving circuits through internal wiring, and the laser driving circuits are connected with the light-emitting elements in a one-to-one correspondence manner; the receiving time-sharing multiplexing circuits are respectively connected with the Z-path receiving circuits through internal wiring, and the receiving circuits are connected with the photosensitive elements in a one-to-one correspondence. According to the technical scheme, a time-sharing multiplexing mode is adopted, each signal wire provides control signals for at least two paths of laser driving circuits or provides control signals for at least two paths of receiving circuits, so that fewer signal wires are used for providing required control signals for K paths of laser driving circuits and Z paths of receiving circuits, the number of terminals and the number of signal wires of the mechanical laser radar are greatly reduced, space is provided for board structure layout in the mechanical laser radar, and the miniaturized design of the mechanical laser radar can be met.

Drawings

The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present utility model will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. In the drawings, embodiments of the utility model are illustrated by way of example and not by way of limitation, and like reference numerals refer to similar or corresponding parts and in which:

fig. 1 shows a schematic structural diagram of a multi-signal-line connection circuit according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of another multi-signal line connection circuit according to an embodiment of the present utility model;

fig. 3 is a schematic structural diagram of another multi-signal line connection circuit according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of still another multi-signal-line connection circuit according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of another multi-signal-line connection circuit according to an embodiment of the present utility model;

fig. 6 is a schematic structural diagram of another multi-signal-line connection circuit according to an embodiment of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made more complete and clear to those skilled in the art by reference to the figures of the embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

For easy understanding, a multi-signal line connection circuit of a mechanical laser radar in the prior art is first shown and described. Referring to fig. 1, a schematic structure diagram of a multi-signal-line connection circuit according to an embodiment of the present utility model is shown. The multi-signal line connection circuit includes: a main control module 11 and a transceiver component 12. The transceiver module 12 includes: the K-way transmitting unit 121 and the Z-way receiving unit 122 are respectively connected with the main control module 11 through signal lines. In practical application, the mechanical laser radar using the multi-signal line connection circuit can be driven by pulse laser, namely, the laser emitted by the mechanical laser radar is pulse laser, and the values of K and Z are determined according to the line number of the mechanical laser radar.

More specifically, each of the transmitting units 121 includes a Laser driving circuit and an LD (Laser Diode) circuit, each of the receiving units 122 includes a receiving circuit and an APD (Avalanche Photon Diode, avalanche photodiode) circuit, each of the Laser driving circuits is connected to the main control module 11 through a signal line, and each of the receiving circuits is connected to the main control module 11 through a signal line. Each LD circuit needs a plurality of signals such as charging signals, discharging signals, power supply, ground and the like; each APD circuit requires multiple signals such as a high voltage signal (positive or negative high voltage), an echo signal (single ended or differential), an operational amplifier, ground, etc. If one signal line corresponds to one signal line between the laser driving circuit and the main control module 11 and between the receiving circuit and the main control module 11, the number of signal lines between the laser driving circuit and the main control module n=kx4, the number of signal lines between the receiving circuit and the main control module m=zx4, and the total number of signal lines will be very large. For example, a 128-wire mechanical laser radar is used for simple estimation, the number of signal wires of the laser driving circuit is 128×4=512, and the number of signal wires of the receiving circuit is 128×4=512. It can be seen that if the 128-wire mechanical lidar is used for transmitting and receiving signal wires in a one-to-one correspondence manner, the number of signal wires exceeds 1000, which is very unfavorable for miniaturization and high-harness design of the mechanical lidar. It should be noted that, in practical applications, the number of the receiving units 121 and the transmitting units 122 need not be equal, for example, one transmitting unit may correspond to two receiving units. It should be noted that, the main control module 11 directly sends control signals to the K-path transmitting unit 121 and the Z-path receiving unit 122, the laser driving circuit generates signals required by the LD circuit under the action of the corresponding control signals, and the receiving circuit generates signals required by the APD circuit under the action of the corresponding control signals and receives the echo signals.

In order to solve the technical problems, the embodiment of the utility model adopts the idea of time division multiplexing, and each signal wire can transmit more signals so as to save the number of the signal wires.

Having described the basic principles of the present utility model, various non-limiting embodiments of the utility model are described in detail below. Any number of elements in the figures are for illustration and not limitation, and any naming is used for distinction only and not for any limiting sense.

The principles and spirit of the present utility model are explained in detail below with reference to several representative embodiments thereof.

Referring to fig. 2, a schematic structure diagram of another multi-signal-line connection circuit according to an embodiment of the present utility model is shown. The multi-signal line connection circuit is applied to a mechanical laser radar, and specifically comprises: a main control module 21 and a transceiver component 22. In practical use, the main control module 20 may be a board card such as an FPGA (Field-Programmable Gate Array ) capable of implementing signal processing and control.

Specifically, the transceiver component 22 includes: a laser driving module 221 and a receiving amplifying module 222. Wherein the laser driving module 221 includes: an emission time-division multiplexing circuit 2211, a K-way laser driving circuit 2212, and a K-way light emitting element (not shown in the figure). The reception amplification module 222 includes: a receive time division multiplexing circuit 2221, a Z-way receive circuit 2222, and a Z-way photosensitive element (not shown in the figure). The values of K and Z are determined according to the line number of the mechanical lidar, for example, K may be 32, 64, 128, 256, etc., and Z may be 32, 64, 128, 256, etc. In the manifestation of the laser drive module 221 and the receive amplification module 222, in some embodiments, the laser drive module 221 is disposed on one PCB (Printed Circuit Board ) board and the receive amplification module 222 is disposed on another PCB board; in other embodiments, the transmit time division multiplexing circuit 2211 and the receive time division multiplexing circuit 2221 are disposed on one PCB board, and the K-way laser driving circuit 2212 and the K-way light emitting element, and the Z-way receiving circuit 2222 and the Z-way light sensitive element are disposed on another PCB board.

In addition, in practical applications, the light Emitting element may be represented by an LD circuit, an EEL (Edge Emitting Laser) circuit, a VCSEL (Vertical-Cavity Surface-Emitting Laser) circuit, a fiber Laser, or other commonly used light Emitting elements. The photosensitive element may take the form of a commonly used photosensitive element such as a PD (Photo-Diode) circuit, an APD circuit, a silicon photomultiplier, or the like.

Further, the main control module 21 is connected to the transceiver 22 through a plurality of signal lines to provide the K-path laser driving circuit 2212 and the Z-path receiving circuit 2222 with required control signals. Each signal line provides a control signal to at least two laser driving circuits 2212 through a transmitting time division multiplexing circuit 2211, or provides a control signal to at least two receiving circuits 2222 through a receiving time division multiplexing circuit 2221. In other words, each signal line provides a control signal to at least two laser driving circuits 2212 either through the transmitting time division multiplexing circuit 2211 or to at least two receiving circuits 2222 through the receiving time division multiplexing circuit 2221. It is apparent that the control signals required for the K-way laser driving circuit 2212 and the control signals required for the Z-way receiving circuit 2222 are not identical.

In practical use, in some embodiments, a plurality of signal lines are between the main control module 21 and the laser driving module 221, and the main control module 21 provides control signals for all the laser driving circuits 2212 through the plurality of signal lines; in other embodiments, a plurality of signal lines are between the main control module 21 and the receiving amplification module 222, and the plurality of signal lines provide control signals for all the receiving circuits 2222; in still other embodiments, a portion of the plurality of signal lines is connected to the laser driver module 221, another portion of the plurality of signal lines is connected to the receive amplifier module 222, i.e., a portion of the plurality of signal lines is between the master module 21 and the laser driver module 221, another portion of the plurality of signal lines is between the master module 21 and the receive amplifier module 222, a portion of the signal lines between the master module 21 and the laser driver module 221 provides control signals to all of the laser driver circuits 2212, and a portion of the signal lines between the master module 21 and the receive amplifier module 222 provides control signals to all of the receive circuits 2222. It should be noted that, the generation mode, content and transmission protocol of each control signal are the same as those of the prior art, and the operation mode of the laser driving circuit 2212 under the control signal, the connection relationship between the laser driving circuit 2212 and the light emitting element, the signal transmission mode, the operation mode of the receiving circuit 2222 under the control signal, the connection mode between the receiving circuit 2222 and the photosensitive element, and the signal transmission mode are also the prior art, and are not described herein again.

For easy understanding, different connection manners of the plurality of signal lines between the main control module 21 and the transceiver module 22 will be described below.

With continued reference to fig. 2, the plurality of signal lines are between the main control module 21 and the laser driving module 221, and the main control module 21 provides control signals for the laser driving circuit 2212 through the plurality of signal lines and the transmitting time-sharing multiplexing circuit 2211. More specifically, each signal line between the main control module 21 and the laser driving module 221 in fig. 2 provides a control signal for at least two paths of laser driving circuits 2212 through the emission time division multiplexing circuit 2211, and all signal lines between the main control module 21 and the laser driving module 221 provide a control signal for all laser driving circuits 2212. It should be noted that, the source of the control signal required by each laser driving circuit 2212 may be a plurality of signal lines, for example, for a certain laser driving circuit, the charging signal, the discharging signal, the power signal and the ground signal are respectively derived from different signal lines, and the reason why the number of signal lines can be reduced in the embodiment of the present utility model is that: each signal wire can send two or more control signals of the laser driving circuits 2212 to the transmitting time-division multiplexing circuit 2211, the transmitting time-division multiplexing circuit 2211 sends the required control signals to the corresponding laser driving circuits 2212 in a time-division multiplexing mode, so that each signal wire can provide control signals for the two or more laser driving circuits 2212, the number of signal wires is saved in a mode that each signal wire can only provide control signals for one laser driving circuit in the prior art, and the number of terminals is correspondingly reduced. Further, the laser driving circuit 2212 drives the electro-optical conversion devices of the corresponding circuits to emit laser pulses according to the time sequence requirement under the control of the emission time division multiplexing circuit 2211.

It should be noted that, when the embodiment shown in fig. 2 is adopted, the control signal required by the Z-path receiving circuit 2222 may be generated by the transmitting time-division multiplexing circuit 2211 and provided to the receiving time-division multiplexing circuit 2221, or the control signal may be generated by the main control module 21 and provided to the laser driving module 221 through a plurality of signal lines between the main control module 21 and the laser driving module 221, and forwarded to the receiving time-division multiplexing circuit 2221 by the laser driving module 221, where the receiving time-division multiplexing circuit 2221 provides the relevant control signal to the receiving circuit 2222 in a time-division multiplexing manner, so that the receiving circuit 2222 receives the echo signal of the corresponding path under the control signal of the receiving time-division multiplexing circuit 2221. Since the embodiment shown in fig. 2 requires communication between the laser driving module 221 and the receiving and amplifying module 222, and the main control module 21 needs to receive the echo signal received by the receiving and amplifying module 222, there should be a communication connection relationship between the laser driving module 221 and the receiving and amplifying module 222, specifically, a first connection terminal 2213 is disposed on the laser driving module 221, a second connection terminal 2223 is disposed on the receiving and amplifying module 222, the first connection terminal 2213 and the second connection terminal 2223 are connected by a flat cable, the first connection terminal 2213 is connected with a plurality of signal lines, and the second connection terminal 2223 is connected with the receiving and time-sharing multiplexing circuit 2221.

Further, when a control signal required for the Z-path receiving circuit 2222 is generated by the transmitting time-division multiplexing circuit 2211 and supplied to the receiving time-division multiplexing circuit 2221, the first connection terminal 2213 is also connected to the transmitting time-division multiplexing circuit 2211 to transmit the control signal generated by the transmitting time-division multiplexing circuit 2211 to the receiving time-division multiplexing circuit 2221 via the first connection terminal 2213 and the second connection terminal 2223. Correspondingly, when the control signal required by the Z-path receiving circuit 2222 is provided by the main control module 21, the corresponding control signal is sent to the receiving time-division multiplexing circuit 2221 via the first connection terminal 2213 and the second connection terminal 2223, but at this time, the first connection terminal 2213 is not required to be connected to the transmitting time-division multiplexing circuit 2211. The receiving time division multiplexing circuit 2221 is further configured to transmit the echo signal received from the Z-path receiving circuit 2222 to the laser driving module 221 via the flat cable between the first connection terminal 2213 and the second connection terminal 2223, and further transmit the echo signal to the main control module 21.

The connection between the main control module 21 and the transceiver module 22 is not limited to the connection shown in fig. 2. As shown in fig. 3, in some other embodiments, the plurality of signal lines are between the main control module 21 and the receiving amplifying module 222, and the main control module 21 provides signals to the receiving circuit 2222 through the plurality of signal lines and the receiving time-division multiplexing circuit 2221. More specifically, in fig. 3, each signal line between the main control module 21 and the receiving and amplifying module 222 provides a control signal for at least two receiving circuits 2222 through the receiving time division multiplexing circuit 2221, and all signal lines between the main control module 21 and the receiving and amplifying module 222 provide a control signal for all receiving circuits 2222. It should be noted that, the source of the control signal required by each receiving circuit 2222 may be a plurality of signal lines, for example, for a certain receiving circuit, the high voltage signal, the echo signal, the operational amplifier source signal and the ground signal are respectively derived from different signal lines, and the reason why the number of signal lines can be reduced in the embodiment of the present utility model is that: each signal line can send two or more control signals of the receiving circuits 2222 to the receiving time-division multiplexing circuit 2221, the receiving time-division multiplexing circuit 2221 sends the required control signals to the corresponding receiving circuits 2222 in a time-division multiplexing mode, so that each signal line can provide control signals for two or more receiving circuits 2222, and the number of signal lines is saved in a mode that each signal line can only provide control signals for one laser driving circuit in the prior art.

It should be noted that, when the embodiment shown in fig. 3 is adopted, the control signal required by the K-path laser driving circuit 2212 may be generated by the receiving time-division multiplexing circuit 2221 and provided to the transmitting time-division multiplexing circuit 2211, or the control signal may be generated by the main control module 21 and provided to the receiving amplifying module 222 through a plurality of signal lines between the main control module 21 and the receiving amplifying module 222, and forwarded to the transmitting time-division multiplexing circuit 2211 by the receiving amplifying module 222, and the transmitting time-division multiplexing circuit 2211 provides the relevant control signal to the laser driving circuit 2212 in a time-division multiplexing manner. Since the embodiment shown in fig. 3 also requires communication between the laser driving module 221 and the receiving and amplifying module 222, there should be a communication connection relationship between the laser driving module 221 and the receiving and amplifying module 222, specifically, a first connection terminal 2213 is disposed on the laser driving module 221, a second connection terminal 2223 is disposed on the receiving and amplifying module 222, the first connection terminal 2221 and the second connection terminal 2223 are connected by a flat cable, the second connection terminal 2223 is connected with a plurality of signal lines, and the first connection terminal 2213 is connected with the transmitting and time-sharing multiplexing circuit 2211. In practical applications, since the number and the spacing of the wires can be arbitrarily selected, the flat cable between the first connection terminal 2221 and the second connection terminal 2223 can be a soft flat cable, and it can be understood that, in principle, the flat cable between the first connection terminal 2221 and the second connection terminal 2223 can be a hard flat cable.

Further, when a control signal required for the K-way laser driving circuit 2212 is generated by the receiving time-division multiplexing circuit 2221 and supplied to the transmitting time-division multiplexing circuit 2211, the second connection terminal 2223 is also connected to the receiving time-division multiplexing circuit 2221 so as to transmit the control signal generated by the receiving time-division multiplexing circuit 2221 to the transmitting time-division multiplexing circuit 2211 via the second connection terminal 2223 and the first connection terminal 2213. Correspondingly, when the control signal required by the K-path laser driving circuit 2212 is provided by the main control module 21, the corresponding control signal is sent to the transmitting time division multiplexing circuit 2211 through the second connection terminal 2223 and the first connection terminal 2213, but at this time, the second connection terminal 2223 is not required to be connected to the receiving time division multiplexing circuit 2221. In this case, the receiving time division multiplexing circuit 2221 is also configured to transmit the echo signals received from the Z-path receiving circuit 2222 to the main control module 21 through a plurality of signal lines.

In another embodiment of the present utility model, referring to fig. 4, the main control module 21 is connected to the laser driving module 221 through one part of the plurality of signal lines, and is connected to the receiving amplifying module 222 through another part of the plurality of signal lines. At this time, the control signal required by the K-way laser driving circuit 2212 and the control signal required by the Z-way receiving circuit 2222 are provided by the main control module 21, and communication is not required between the laser driving module 221 and the receiving amplifying module 222. The transmitting time-division multiplexing circuit 2211 supplies the relevant control signals to the laser driving circuit 2212 in a time-division multiplexed manner, and the receiving time-division multiplexing circuit 2221 supplies the relevant control signals to the receiving circuit 2222 in a time-division multiplexed manner.

Further, the emission time division multiplexing circuit 2211 is connected to the K-path laser driving circuits 2212 through internal wirings, and the laser driving circuits 2212 are connected to the light emitting elements in a one-to-one correspondence. The receiving time division multiplexing circuits 2221 are respectively connected with the Z-path receiving circuits 2222 through internal wirings, and the receiving circuits 2222 are connected with the photosensitive elements in one-to-one correspondence. In practical applications, the internal wiring may be a common wiring manner between the laser driving circuit 2212 and the light emitting element or between the receiving circuit 2222 and the photosensitive element, such as PCB wiring.

In addition, it should be noted that, in each drawing of the present utility model, the number of signal lines between the main control module 21 and the laser driving module 221, between the main control module 21 and the receiving and amplifying module 222, and between the laser driving module 221 and the receiving and amplifying module 222 is 4, but this is merely illustrative, in practical application, the number of signal lines is determined according to the signal amount transmitted between the main control module 21 and the transceiver module 22, specifically, the signal transmission requirement can be met, more specifically, the signal transmission required by the laser driving module is completed within a set transmitting time period, the signal transmission required by the receiving and amplifying module is completed within a set receiving time period, and the transmitting time period and the receiving time period are determined according to the use requirement of the mechanical laser radar, and may be obtained through calibration, or may be an empirical value. In practical application, the host module 21, the transceiver module, etc. are represented by boards, so the signal lines may be represented by connection cables between boards.

According to the technical scheme, a time-sharing multiplexing mode is adopted, each signal wire provides control signals for at least two paths of laser driving circuits or provides control signals for at least two paths of receiving circuits, so that fewer signal wires are used for providing required control signals for K paths of laser driving circuits and Z paths of receiving circuits, the number of terminals and the number of signal wires of the mechanical laser radar are greatly reduced, space is provided for board structure layout in the mechanical laser radar, and the miniaturized design of the mechanical laser radar can be met.

Further, based on the embodiment shown in fig. 2, when the transmit time division multiplexing circuit 2211 provides a control signal to the receive time division multiplexing circuit, in some embodiments, the level of the control signal provided by the transmit time division multiplexing circuit 2211 does not match the level required by the receive time division multiplexing circuit 2221. To solve this problem, referring to fig. 5, the laser driving module 221 may further include: the control conversion circuit 2214, and the first connection terminal 2213 is connected to the transmission time division multiplexing circuit 2211 via the control conversion circuit 2214. The control conversion circuit 2214 performs level conversion on the control signal generated by the transmission time division multiplexing circuit 2211, and drives the reception time division multiplexing circuit 2221 to operate. It should be noted that, in other embodiments, the level of the control signal provided by the transmit time division multiplexing circuit 2211 is matched with the level required by the receive time division multiplexing circuit 2221, and the control conversion circuit 2214 is not required.

Further, based on the embodiment shown in fig. 2, in some embodiments, the echo signal directly obtained by the receiving circuit 2222 may not meet the signal size requirement of the main control module 21. To solve this problem, referring to fig. 5, the reception amplification module 222 further includes: each of the first amplifying circuits 2224 and the receiving circuits 2222 are connected to the second connection terminal 2223 via the first amplifying circuit 2224 and the receiving time division multiplexing circuit 2221 in this order. The first amplifying circuit 2224 is configured to amplify the echo signal directly acquired by the receiving circuit 2222, so as to transmit the echo signal to the main control module 21 via the receiving time division multiplexing circuit 2221, the second connection terminal 2223 and the first connection terminal 2213 for processing.

It will be appreciated that in other embodiments, the processing of amplifying the echo signal directly acquired by the receiving circuit 2222 may also be located after the receiving time division multiplexing circuit 2221. Referring to fig. 6, the reception amplification module 222 further includes: each of the receiving circuits 2222 is connected to the second connection terminal via the receiving time division multiplexing circuit 2221 and the second amplifying circuit 2225 in this order.

In other embodiments, the receiving circuit 2222 is internally designed with an amplifying function, and the amplifying circuit need not be separately provided.

Further, in the prior art, functions such as time division multiplexing, amplifying, level conversion and the like can be implemented on a programmable device. Therefore, in a specific implementation of the technical solution of the embodiment of the present utility model, part of the circuits in the laser driving module 221 and the receiving amplifying module 222 may also be integrated on the corresponding programmable device. For example, in some embodiments, other circuitry in the laser driver module 221 than the K-way laser driver circuit 2212 and the K-way light emitting element are integrated on a first field programmable gate array and other circuitry in the receive amplifier module 222 than the Z-way receive circuit 2222 and the Z-way light sensitive element are integrated on a second field programmable gate array. As another example, in other embodiments, other circuits of the laser driving module 221, except for the K-way laser driving circuit 2212 and the K-way light emitting element, are integrated on the first complex programmable logic device, and other circuits of the receiving amplifying module 222, except for the Z-way receiving circuit 2222 and the Z-way light sensitive element, are integrated on the second complex programmable logic device.

Further, corresponding to the embodiment shown in the multi-signal connection circuit, the embodiment of the utility model also provides a mechanical laser radar, which may include the laser radar multi-signal line connection circuit according to any one of the embodiments. It is obvious that, in practical applications, the mechanical lidar provided by the embodiment of the present utility model may further include other parts, for example, the mechanical lidar may further include a rotation system, etc.

It should be noted that, in practical application, the embodiment shown in fig. 3 may be provided with an amplifying circuit, a control conversion circuit, etc. as needed, and in practical application, the embodiment shown in fig. 4 may be provided with an amplifying circuit, etc. as needed.

It should be specifically noted that, in the case where the composition and connection relationship of each component, module, circuit, etc. are determined, the functions and operations performed by each component, module, circuit, etc. in the embodiments of the present utility model may be referred to the prior art or obvious to those skilled in the art.

Those skilled in the art will also appreciate from the foregoing description that terms such as "upper," "lower," "front," "rear," "left," "right," "length," "width," "thickness," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," "circumferential," "center," "longitudinal," "transverse," "clockwise," or "counterclockwise" and the like are used herein for the purpose of facilitating description and simplifying the description of the present utility model only, and do not necessarily require that the particular orientation, configuration and operation be construed or implied by the terms of orientation or positional relationship shown in the drawings of the present specification, and therefore the terms of orientation or positional relationship described above should not be interpreted or construed as limiting the scope of the present utility model.

In addition, the terms "first" or "second" and the like used in the present specification to refer to the numbers or ordinal numbers are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present specification, the meaning of "plurality" means at least two, for example, two, three or more, etc., unless specifically defined otherwise.

While various embodiments of the present utility model have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Many modifications, changes, and substitutions will now occur to those skilled in the art without departing from the spirit and scope of the utility model. It should be understood that various alternatives to the embodiments of the utility model described herein may be employed in practicing the utility model. The appended claims are intended to define the scope of the utility model and are therefore to cover all module forms, equivalents, or alternatives falling within the scope of the claims.

Claims (10)

1. A multiple signal line connection circuit for use in a mechanical lidar comprising: a main control module and a receiving-transmitting assembly;

the transceiver module includes: a laser driving module and a receiving and amplifying module;

the laser driving module includes: the receiving and amplifying module comprises a transmitting time-sharing multiplexing circuit, a K-path laser driving circuit and a K-path light emitting element, wherein the receiving and amplifying module comprises: the device comprises a receiving time-sharing multiplexing circuit, a Z-path receiving circuit and a Z-path photosensitive element; the main control module is connected with the transceiver component through a plurality of signal wires so as to provide required control signals for the K-path laser driving circuit and the Z-path receiving circuit, wherein each signal wire provides control signals for at least two paths of laser driving circuits through the transmitting time-sharing multiplexing circuit, or provides control signals for at least two paths of receiving circuits through the receiving time-sharing multiplexing circuit;

the emission time-sharing multiplexing circuit is respectively connected with the K paths of laser driving circuits through internal wiring, and the laser driving circuits are connected with the light-emitting elements in a one-to-one correspondence manner;

the receiving time-sharing multiplexing circuit is connected with the Z paths of receiving circuits respectively through internal wiring, and the receiving circuits are connected with the photosensitive elements in a one-to-one correspondence.

2. The multi-signal-wire connection circuit according to claim 1, wherein the main control module is connected with the laser driving module through the plurality of signal wires, a first connection terminal is provided on the laser driving module, a second connection terminal is provided on the receiving and amplifying module, the first connection terminal and the second connection terminal are connected through a flat cable, the first connection terminal is connected with the plurality of signal wires, and the second connection terminal is connected with the receiving and time-sharing multiplexing circuit.

3. The multiple signal line connection circuit according to claim 2, wherein the first connection terminal is further connected to the transmit time division multiplexing circuit.

4. The multiple signal line connection circuit of claim 3, wherein the laser driver module further comprises: and the first connection terminal is connected with the transmitting time-sharing multiplexing circuit through the control conversion circuit.

5. The multiple signal line connection circuit according to claim 2, wherein the reception amplification module further comprises: and each receiving circuit is connected with the second connecting terminal through the first amplifying circuit and the receiving time-sharing multiplexing circuit in sequence.

6. The multiple signal line connection circuit according to claim 2, wherein the reception amplification module further comprises: and each receiving circuit is connected with the second connecting terminal through the receiving time-sharing multiplexing circuit and the second amplifying circuit in sequence.

7. The multiple signal line connection circuit according to any one of claims 2 to 6, wherein the other circuits than the K-way laser driving circuit and the K-way light emitting element in the laser driving module are integrated on a first field programmable gate array, and the other circuits than the Z-way receiving circuit and the Z-way light sensing element in the receiving amplifying module are integrated on a second field programmable gate array.

8. The multiple signal line connection circuit according to any one of claims 2 to 6, wherein the other circuits than the K-way laser driving circuit and the K-way light emitting element in the laser driving module are integrated on a first complex programmable logic device, and the other circuits than the Z-way receiving circuit and the Z-way light sensing element in the receiving amplifying module are integrated on a second complex programmable logic device.

9. The multi-signal-wire connection circuit according to claim 1, wherein the main control module is connected with the receiving and amplifying module through the plurality of signal wires, a first connection terminal is arranged on the laser driving module, a second connection terminal is arranged on the receiving and amplifying module, the first connection terminal and the second connection terminal are connected through a flat cable, the second connection terminal is connected with the plurality of signal wires, and the first connection terminal is connected with the transmitting time-sharing multiplexing circuit.

10. A mechanical lidar, characterized in that it comprises a multiple signal line connection circuit according to any of claims 1 to 9.