WO2022000207A1 - 一种激光接收装置和激光雷达 - Google Patents

一种激光接收装置和激光雷达 Download PDF

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Publication number
WO2022000207A1
WO2022000207A1 PCT/CN2020/099033 CN2020099033W WO2022000207A1 WO 2022000207 A1 WO2022000207 A1 WO 2022000207A1 CN 2020099033 W CN2020099033 W CN 2020099033W WO 2022000207 A1 WO2022000207 A1 WO 2022000207A1
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WO
WIPO (PCT)
Prior art keywords
sensor
amplifier
board
receiving
groups
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PCT/CN2020/099033
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English (en)
French (fr)
Inventor
李彦民
张振
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深圳市速腾聚创科技有限公司
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Application filed by 深圳市速腾聚创科技有限公司 filed Critical 深圳市速腾聚创科技有限公司
Priority to PCT/CN2020/099033 priority Critical patent/WO2022000207A1/zh
Priority to EP20943524.7A priority patent/EP4174518A4/en
Priority to CN202080005458.XA priority patent/CN114207464B/zh
Priority to US17/551,012 priority patent/US11940561B2/en
Publication of WO2022000207A1 publication Critical patent/WO2022000207A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates

Definitions

  • the invention relates to the technical field of laser detection, in particular to a laser receiving device and a laser radar.
  • Lidar is a radar system that emits a laser beam to detect the position, speed and other characteristics of the target. Its working principle is to first emit a detection laser beam to the target, and then the receiver receives the signal reflected from the target, and finally the lidar will reflect the signal. Compared with the transmitted signal, the relevant information of the target can be obtained after proper processing, such as parameters such as target distance, azimuth, altitude, speed, attitude, and even shape.
  • Multi-line lidar can transmit and receive multiple laser beams at the same time. It is widely used due to its high scanning efficiency.
  • For the laser receiving device of multi-line lidar as the size of the radar decreases and the sensor array is densely placed in small size, how to improve the scanning efficiency? The signal-to-noise ratio of the laser receiver is an urgent problem to be solved at present.
  • An embodiment of the present invention provides a laser receiving device, which can enable multiple parallel receiving channels in a multi-line laser radar to form independent current loops, reduce noise and crosstalk between each signal receiving channel and improve the signal quality of the laser receiving device. noise ratio.
  • the present application provides a laser receiving device, comprising:
  • the photoelectric sensor assembly includes m receiving sensor boards and n sensor groups, the n sensor groups are arranged on the m receiving sensor boards, and when two adjacent sensor groups are arranged on the same receiving sensor board, A first isolation part for electromagnetic shielding is provided between the two adjacent sensor groups, and m is an integer greater than 0. n is an integer greater than 1, m ⁇ n;
  • the amplifying assembly includes k receiving amplifier boards and n amplifier groups, the n amplifier groups are arranged on the k receiving amplifier boards, and when two adjacent amplifier groups are arranged on the same receiving amplifier board, the phase A second isolation part for electromagnetic shielding is provided between two adjacent amplifier groups, the n amplifier groups are connected to the n sensor groups in a one-to-one manner, k is an integer greater than 0, and k ⁇ n;
  • a collection component including a collection board and n collection units, the n collection units are arranged on the collection board, and the n collection units and the n amplifier groups are connected in a one-to-one manner;
  • n power supply units for supplying power to the photoelectric sensing assembly and the amplifying assembly
  • the n power supply units are connected to the n amplifier groups in a one-to-one manner
  • the n power supply units are connected to
  • the n sensor groups are connected in a one-to-one manner, and the photoelectric sensing components and the amplifying components have the same ground plane.
  • n sensor groups are arranged on the same receiving sensor board, and a first isolation portion is arranged between any two sensor groups that are connected together.
  • each receiving amplifier board is provided with one amplifier group, and the n amplifier groups do not have two adjacent amplifier groups provided on the same receiving amplifier board.
  • the ground plane is set on the collection board.
  • the n power supply units are arranged on the collection board or the k receiver amplifier boards.
  • it further includes: a plurality of first connectors and a plurality of second connectors, the receiving amplifier board and the receiving sensor board are connected by the first connectors, and the receiving amplifier board and the collecting board are connected by the A second connector is connected, and the first connector and the second connector are board-to-board connectors, wires or flexible circuit boards.
  • the photoelectric sensing component and the amplifying component are grounded on the same ground plane through a magnetic bead or a 0-ohm resistor.
  • a filter element is used for isolation between two adjacent power supply units, and the filter element includes one or more of a low dropout voltage regulator, a passive filter and a magnetic bead.
  • the lengths of the signal transmission paths of each signal receiving channel are equal.
  • the present application provides a laser radar, including any one of the above-mentioned laser receiving devices.
  • the application discloses a laser receiving device, which includes: a photoelectric sensing component, an amplifying component, a collecting component, and n power supply units.
  • the photoelectric sensing component includes at least one receiving sensor board and a plurality of sensor groups, each receiving sensor board At least one sensor group is arranged on it, and when two adjacent sensor groups are arranged on the same receiving sensor board, a first isolation part for electromagnetic shielding is arranged between the two adjacent sensor groups.
  • the amplifying assembly includes at least one receiving amplifier board and a plurality of amplifier groups, each receiving amplifier board is provided with at least one amplifier group, and between two adjacent amplifier groups disposed on the same receiving amplifier board is provided for electromagnetic shielding.
  • the second isolation part, the collection component includes a collection board and a plurality of collection units arranged on the collection board, the n power supply units respectively supply power to the photoelectric sensor component and the amplifying component, and the photoelectric sensor component and the amplifying component are grounded through the same ground plane .
  • the laser receiving device includes n signal receiving channels, and each signal receiving channel includes a sensor group, an amplifier group, an acquisition unit and a power supply unit.
  • isolation components are arranged between multiple parallel sensor groups, And set multiple amplifier groups on different circuit boards, so that multiple parallel receiving channels in the lidar form independent current loops, reduce noise and crosstalk between each signal receiving channel and improve the signal of the laser receiving device. noise ratio.
  • FIG. 1 is a schematic structural diagram of a laser receiving device in the related art
  • FIG. 2 is a schematic structural diagram of a laser receiving device according to an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a 3D structure of a laser receiving device according to an embodiment of the present invention.
  • the following embodiments of the present invention provide a laser receiving device and a laser radar, wherein an isolation part is arranged between multiple parallel sensor groups, and multiple amplifier groups are respectively arranged on different circuit boards, so that multiple The parallel receiving channels each form an independent current loop, which reduces the noise crosstalk between the respective signal receiving channels and improves the signal-to-noise ratio of the laser receiving device.
  • FIG. 1 it is a schematic structural diagram of a laser receiving device in the related art.
  • the laser receiving device is arranged in a multi-line parallel laser radar, and the laser receiving device includes:
  • the power supply array including n power supply units, is used to supply power to each sensor in the sensor array and each amplifier in the amplifier array, where n is an integer greater than 1; the power supply array can be a switch unit with n output ports, which can simultaneously n output voltage.
  • the sensor array includes n sensor groups.
  • the n sensor groups and n power supply units are connected in a one-to-one manner to receive the echo laser signal, convert the echo laser signal into an electrical signal and output it to the amplifier array; the sensor can for the photodiode.
  • the amplifier array includes n amplifier groups, and the n amplifier groups and the n sensor groups are connected in a one-to-one manner for amplifying and shaping the electrical signals output by the sensor groups; the amplifier can be an operational amplifier.
  • the acquisition array includes n acquisition units, and the n acquisition units and n amplifier groups are connected in a one-to-one manner to collect the electrical signals output by the amplifier array.
  • the acquisition unit can be an analog-to-digital conversion unit and/or a time digital converter.
  • the lidar includes n signal receiving channels working in parallel, and each signal receiving channel corresponds to an amplifier group, a sensor group, an acquisition unit and a power supply unit.
  • the working mode is serial within the group and parallel between groups.
  • sensor group 1 contains sensor 1-1 and sensor 1-2
  • sensor group 2 includes sensor 2-1 and sensor 2-2
  • sensor 1-1 and sensor 1-2 work serially
  • sensor 1-1 and The sensors 2-1 operate in parallel.
  • the sensors and amplifiers in the group use the same power supply unit, acquisition unit and grounding unit, while the independent power supply unit and acquisition unit are used between the groups. Therefore, the laser receiving device includes n power supply units and n acquisition units in total. . The power supply array, sensor array and amplifier array are finally grounded on the acquisition array to form a closed current loop corresponding to each signal receiving channel.
  • multi-line lidar usually has more than two sensor groups working in parallel, but as the volume of lidar decreases, each sensor in the sensor array is densely distributed, and the isolation between each receiving channel decreases.
  • the amplifier cannot be placed nearby, and the signal needs to go through a long transmission path to reach the input end of the amplifier, so that there are coupled noise and electrical crosstalk signals between the parallel receiving channels on the transmission path, which greatly reduces the laser beam.
  • the signal-to-noise ratio and detection accuracy of the receiving device is very small.
  • the present application provides a laser receiving device, as shown in FIG. 2 , the laser receiving device of the present application includes: Sensing components, amplifying components, acquisition components and n power supply units.
  • the photoelectric sensor assembly includes m receiving sensor boards and n sensor groups, and the n sensor groups are arranged on the m receiving sensor boards.
  • the A first isolation part for electromagnetic shielding is provided between two adjacent receiving sensor groups, m is an integer greater than 0, n is an integer greater than 1, and m ⁇ n. Since the number of receiving sensor boards is less than or equal to the number of sensor groups, at least one sensor group is provided on one receiving sensor board.
  • a first isolation part for electromagnetic shielding is set between the two sensor groups, to prevent crosstalk between the two adjacent sensor groups through the metal lines on the receiving sensor board; if the adjacent two sensor groups are located in different receiving sensors Since each receiving sensor board has a certain interval, the possibility of crosstalk between two adjacent sensor groups is low, so there is no need to provide an isolation part.
  • the receiving sensor board may be a printed circuit board for carrying one or more sensor groups.
  • the photoelectric sensor assembly includes 2 receiving sensor boards and 3 sensor groups, the 2 receiving sensor boards are: receiving sensor board 1 and receiving sensor board 2, and the 3 sensor groups are: sensor group 1, sensor group 2 and sensor group 3, the sensor group 1 is arranged on the receiving sensor board 1, the sensor group 2 and the sensor group 3 are both arranged on the receiving sensor board 2, and an empty slot for electromagnetic shielding is arranged between the sensor group 2 and the sensor group 3 .
  • the photoelectric sensor assembly includes one receiving sensor board and three sensor groups, the three sensor groups are: sensor group 1, sensor group 2 and sensor group 3, sensor group 1, sensor group 2 and sensor group 3 Both are arranged on the same receiving sensor board, then a first isolation portion is provided between the sensor group 1 and the sensor group 2, and a first isolation portion is provided between the sensor group 2 and the sensor group 3.
  • the photoelectric sensor assembly includes 2 receiving sensor boards and 2 sensor groups, the 2 receiving sensor boards are: receiving sensor board 1 and receiving sensor board 2, and the 2 sensor groups are: sensor group 1 and sensor group 2.
  • the sensor group 1 is arranged on the receiving sensor board 1, and the sensor group 2 is arranged on the receiving sensor board 2. Since the sensor group 1 and the sensor group 2 are arranged on different receiving sensor boards, there is no need to set the first sensor between them. shielding section.
  • the amplifying component includes k receiving amplifier boards and n amplifier groups, and the n amplifier groups are arranged on the k receiving amplifier boards.
  • the adjacent A second isolation part for electromagnetic shielding is arranged between the two amplifier groups of , the n amplifier groups and the n sensor groups are connected in a one-to-one manner, k is an integer greater than or equal to 1, k ⁇ n.
  • the receive amplifier board may be a printed circuit board for carrying one or more amplifier banks. n amplifiers combined n sensor groups are connected in a one-to-one manner.
  • the acquisition component includes an acquisition board and n acquisition units, the n acquisition units are arranged on the acquisition board, and the n acquisition units and the n amplifier groups are connected in a one-to-one manner; the acquisition component is used to collect the output of the amplifying component.
  • n acquisition units implement parallel signal acquisition on n signal receiving channels, for example, the acquisition units include analog-to-digital converters and/or time-to-digital converters.
  • n power supply units are used to supply power to the photoelectric sensor components and amplifying components
  • n power supply units and n amplifier groups are connected in a one-to-one manner
  • n power supply units and n sensor groups are connected one-to-one.
  • each sensor combination and each amplifier group in the amplification section are combined to the same ground plane for grounding.
  • n sensor groups are arranged on the same receiving sensor board, and a first isolation portion is arranged between any two adjacent sensor groups.
  • sensor group 1 to sensor group n are all arranged on the same receiving sensor board
  • the first isolation part is an empty slot
  • an empty slot is set between sensor group 1 and sensor group 2
  • sensor group 2 and sensor group 2 are An empty slot is arranged between the sensor group 3
  • an empty slot is arranged between the sensor group n-1 and the sensor n.
  • the hollow slot is the hollow area on the receiving sensor board. Any wiring and copper laying are prohibited in the hollow area. It is also possible to mill an opening of a certain length and depth in the hollow area to realize wiring between two adjacent sensor groups.
  • the spatial isolation from the formation makes the current loop of each sensor group confined within the group.
  • each receiving amplifier board is provided with one amplifier group.
  • each amplifier group is arranged on different receiving amplifier boards
  • amplifier group 1 is arranged on the receiving amplifier board 1
  • amplifier group 2 is arranged on the receiving amplifier board 2
  • the amplifier group n is arranged on the receiving amplifier board 2.
  • the second isolation part may not be provided between two adjacent amplifier groups, and isolation is performed depending on the distance between the receiving amplifier boards.
  • the ground plane is on the acquisition board.
  • each sensor group in the photoelectric sensing component and each amplifier group in the amplifying component are combined to the ground plane on the acquisition board for grounding.
  • the n power supply units are arranged on the acquisition board or the k receiver amplifier boards.
  • n power supply units are set on the acquisition board to supply power to each amplifier group and each sensor group respectively, that is, power supply unit 1 supplies power to amplifier group 1 and sensor group 1, and power supply unit 2 supplies amplifier group 1. and sensor group 2, ..., power supply unit n supplies power to amplifier group n and sensor group n.
  • a filter element is used for isolation between two adjacent power supply units, and the filter element includes: one or more of a low dropout linear voltage regulator LDO, a passive filter and a magnetic bead, so as to reduce the power supply crosstalk between cells.
  • LDO low dropout linear voltage regulator
  • the filter element includes: one or more of a low dropout linear voltage regulator LDO, a passive filter and a magnetic bead, so as to reduce the power supply crosstalk between cells.
  • a plurality of first connectors and a plurality of second connectors are connected through the first connectors, and the receiver amplifier board and the acquisition board are connected by the first connectors. They are connected by the second connector, and the first connector and the second connector are board-to-board connectors, wires or flexible circuit boards (FPC).
  • FPC flexible circuit boards
  • one end of the receiving amplifier board is connected to the receiving sensor board through a connector, and the other end of the receiving amplifier board is also connected to the acquisition board through an electrical connection, so that the sensor group on the receiving sensor board and the receiving amplifier board are connected.
  • the amplifier group on the receiving amplifier board is electrically connected, and the amplifier group on the receiving amplifier board is electrically connected with the acquisition unit on the acquisition board.
  • the sensor group is arranged on the upper surface of the receiving sensor board, and the first connecting member is arranged on the lower surface of the receiving sensor board.
  • the sensor group is placed on the upper surface of the receiving sensor board, and the lower surface of the receiving sensor board is provided with a first connecting piece, and the first connecting piece can be a connector or a flexible wire, so that the sensor group can quickly transmit electrical signals through a shorter transmission path. to the receiver amplifier board, and also provides power and return paths for the sensors in the group through the first connector.
  • the signal transmission paths of each signal receiving channel are of equal length.
  • the signal receiving channel includes a sensor group, an amplifier group, a collection unit, and a power supply unit
  • the signal transmission path is the length of the signal passing through the sensor group and the amplifier group. To the length of the acquisition unit, it can maintain the consistency of each signal receiving channel and improve the synchronization performance.
  • the photoelectric sensing component includes a receiving sensor board 30 and There are n sensor groups, and the n sensor groups are all arranged on the same receiving sensor board 30, and an empty slot for electromagnetic shielding is arranged between two adjacent sensor groups;
  • the amplifying assembly includes n amplifier groups and n receiving amplifiers
  • the board 31, the n amplifier groups and the n amplifier boards 31 are in a one-to-one relationship, that is, only one amplifier group is set on each receiving amplifier board 31, and the n amplifier boards 31 are inserted into the receiving sensor board 30 in the manner of blades middle.
  • the laser receiving device further includes a collecting plate 32 and a diaphragm 33, the echo laser signal passes through the diaphragm 33, and the diaphragm 33 is used to reduce the problem of optical crosstalk when the laser receiving unit receives the laser signal.
  • electromagnetic shielding empty slots are arranged between the n sensor groups arranged on the same receiving sensor board, and the n amplifier groups are respectively arranged on different amplifier boards, which has a better isolation effect, so it can be The crosstalk between the amplifier groups can be reduced to a greater extent, the space inside the laser receiving device can be optimized, and the heat dissipation performance of each amplifier in the amplifier group can be improved.
  • the n power supply units respectively supply power to n amplifier groups in the amplifying assembly and n sensor groups in the photoelectric sensing assembly.
  • the sensor group includes a plurality of sensors, and only one sensor works at the same time.
  • the sensor is used to convert the echo laser signal into an electrical signal, and the sensor can be a photodiode.
  • the amplifier group includes a plurality of amplifiers, and the amplifiers are used for amplifying and rectifying the electrical signal output by the sensor; the acquisition unit is used for rectifying the electrical signal output by the amplifier.
  • the laser receiving device of the present application includes n signal receiving channels, and the n signal receiving channels respectively include a sensor group, an amplifier group, a collection unit, and a power supply unit. structure, each signal receiving channel forms an independent current loop, for example: as shown in Figure 2, circuit loop 1, current loop 2, ... current loop 3, which can reduce the noise crosstalk between each signal receiving channel And improve the signal-to-noise ratio of the laser receiver.
  • the sensors and amplifiers in each group are independent in the power supply and current loops, which effectively reduces the crosstalk noise coupled on the path from the sensor to the amplifier, and avoids mutual disturbance through the reference plane when the amplifiers work in parallel, effectively improving the amplifier
  • the stability of the work the realization of the signal-to-noise ratio of the laser receiver and the improvement of the laser measurement accuracy.
  • Optimize consistency After grouping, the sensor layout and amplifier board layout between groups are consistent, and the signal transmission paths from the sensor, amplifier to the acquisition unit are of equal length, and the receiving performance of all signal receiving channels is consistent.
  • the amplifier input path is optimized, and the amplifier cannot be placed next to the sensor in the structure of the related art in which the sensor is miniaturized and densely arranged.
  • the connector is directly placed on the lower surface of the receiving sensor board and below the sensor, so that the sensor can pass through a short time.
  • the transmission distance is quickly input to the input end of the amplifier, which greatly reduces the distributed capacitance and inductance coupled on the path, and improves the bandwidth and stability of the amplifier operation.
  • the heat dissipation performance is optimized, the sensor is temperature-sensitive, and the amplifier is the main heat source in the laser receiving device.

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  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
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  • Radar, Positioning & Navigation (AREA)
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  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种激光接收装置和激光雷达，在多个并行的传感器组之间设置隔离部件，以及在并行的多个放大器组之间设置隔离部件，使得激光雷达中多个并行的接收通道各自形成独立的电流环路，降低各个信号接收通道之间的噪声串扰以及提高激光接收装置的信噪比。

Description

一种激光接收装置和激光雷达 技术领域
本发明涉及激光探测技术领域，尤其涉及一种激光接收装置和激光雷达。
背景技术
激光雷达是以发射激光光束来探测目标的位置、速度等特征量的雷达系统，其工作原理是先向目标发射探测激光光束，然后接收器接收从目标反射回来的信号，最后激光雷达将反射信号与发射信号进行比较，作适当处理后就可获得目标的有关信息，例如目标距离、方位、高度、速度、姿态、甚至形状等参数。
多线激光雷达可以同时发射和接收多个激光光束，由于扫描效率高得到广泛应用，对于多线激光雷达的激光接收装置来说，随着雷达体积减小，传感器阵列密集小尺寸放置，如何提高激光接收装置的信噪比是目前亟待解决的问题。
发明内容
本发明实施例中提供了一种激光接收装置，可以使多线激光雷达中多个并行的接收通道各自形成独立的电流回路，降低各个信号接收通道之间的噪声串扰以及提高激光接收装置的信噪比。
为了解决上述技术问题，本发明实施例公开了如下技术方案：
第一方面，本申请提供了一种激光接收装置，包括：
光电传感组件，包括m个接收传感器板和n个传感器组，所述n个传感器组设置在所述m个接收传感器板上，在相邻的两个传感器组设置于同一接收传感器板时，该相邻的两个传感器组之间设置有用于电磁屏蔽的第一隔离部，m为大于0的整数。n为大于1的整数，m≤n；
放大组件，包括k个接收放大器板和n个放大器组，所述n个放大器组设置与所述k个接收放大器板上，在相邻的两个放大器组设置于同一接收放大器板时，该相邻的两个放大器组之间设置有用于电磁屏蔽的第二隔离部，所述n 个放大器组合所述n个传感器组采用一对一的方式连接，k为大于0的整数，k≤n；
采集组件，包括采集板和n个采集单元，所述n个采集单元设置于所述采集板上，所述n个采集单元合所述n放大器组采用一对一的方式连接；
n个供电单元，用于为所述光电传感组件和所述放大组件供电，所述n个供电单元与所述n个放大器组采用一对一的方式连接，以及所述n个供电单元与所述n个传感器组采用一对一的方式连接，所述光电传感组件和所述放大组件的具有相同的地平面。
可选的，m＝1，所述n个传感器组设置在同一接收传感器板上，任意相连的两个传感器组之间设置有第一隔离部。
可选的，k＝n，每个接收放大器板上设置有1个放大器组，所述n个放大器组不存在设置于同一接收放大器板上的相邻的两个放大器组。
可选的，所述地平面设置于所述采集板上。
可选的，所述n个供电单元设置于所述采集板上或所述k个接收放大器板上。
可选的，还包括：多个第一连接件和多个第二连接件，接收放大器板和接收传感器板之间通过所述第一连接件连接，接收放大器板和采集板之间通过所述第二连接件连接，所述第一连接件和所述第二连接件为板到板连接器、导线或柔性电路板。
可选的，所述光电传感组件和所述放大组件通过磁珠或0欧姆电阻在同一地平面接地。
可选的，相邻的两个供电单元之间采用滤波器件进行隔离，所述滤波器件包括：低压差稳压器、无源滤波器和磁珠中的一种或多种。
可选的，各个信号接收通道的信号传输路径长度相等。
第二方面，本申请提供了一种激光雷达，包括上述的任意一种激光接收装置。
本申请公开了一种激光接收装置，其包括：光电传感组件、放大组件、采集组件和n个供电单元，光电传感组件包括至少一个接收传感器板和多个传感器组，每个接收传感器板上设置有至少一个传感器组，在相邻的两个传感器组 设置于同一接收传感器板上时，该相邻的两个传感器组之间设置有用于电磁屏蔽的第一隔离部。放大组件包括至少一个接收放大器板和多个放大器组，每个接收放大器板上设置有至少一个放大器组，设置于同一接收放大器板上的相邻的两个放大器组之间设置有用于电磁屏蔽的第二隔离部，采集组件包括采集板和设置于采集板上的多个采集单元，n个供电单元分别为光电传感组件和放大组件供电，且光电传感组件和放大组件通过同一地平面接地。激光接收装置包含n个信号接收通道，各个信号接收通道包括1个传感器组、1个放大器组、1个采集单元和1个供电单元，本申请在多个并行的传感器组之间设置隔离部件，以及将多个放大器组分别设置在不同的电路板上，使得激光雷达中多个并行的接收通道各自形成独立的电流环路，降低各个信号接收通道之间的噪声串扰以及提高激光接收装置的信噪比。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1所示为相关技术中激光接收装置的结构示意图；
图2所示为本发明实施例所述的激光接收装置的结构示意图；
图3所示为本发明实施例所述的激光接收装置的3D结构示意图。
具体实施方式
本发明如下实施例提供了一种激光接收装置和激光雷达，在多个并行的传感器组之间设置隔离部，以及将多个放大器组分别设置在不同的电路板上，使得激光雷达中多个并行的接收通道各自形成独立的电流环路，降低各个信号接收通道之间的噪声串扰以及提高激光接收装置的信噪比。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整的描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造 性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1所示，为相关技术中激光接收装置的结构示意图，该激光接收装置设置于多线并行的激光雷达中，激光接收装置包括：
供电阵列，包括n个供电单元，用于为传感器阵列中的各个传感器和放大器阵列中的各个放大器供电，n为大于1的整数；供电阵列可以为开关单元，具有n个输出端口，可以同时n路输出电压。
传感器阵列，包括n个传感器组，n个传感器组和n个供电单元采用一对一的方式连接，用于接收回波激光信号，将回波激光信号转换为电信号输出至放大器阵列；传感器可以为光电二极管。
放大器阵列，包括n个放大器组，n个放大器组和n个传感器组采用一对一的方式连接，用于将传感器组输出的电信号进行放大和整形处理；放大器可以为运算放大器。
采集阵列，包括n个采集单元，n个采集单元和n个放大器组采用一对一的方式连接，用于对放大器阵列输出的电信号进行采集，采集单元可以为模数转换单元和/或时间数字转换器。
其中，激光雷达包括n个并行工作的信号接收通道，每个信号接收通道对应1个放大器组、1个传感器组、1个采集单元和1个供电单元。对于供电阵列、传感器阵列、放大器阵列和采集阵列来说，其工作方式为组内串行，组间并行。例如：传感器组1包含传感器1-1和传感器1-2，传感器组2包传感器2-1和传感器2-2，传感器1-1和传感器1-2是串行工作的，传感器1-1和传感器2-1是并行工作的。
基于上述的工作方式，组内的传感器和放大器使用共用的供电单元、采集单元和接地，组间则采用独立的供电单元和采集单元，因此激光接收装置共包含n个供电单元和n个采集单元。供电阵列、传感器阵列和放大器阵列最终在采集阵列上接地，形成各个信号接收通道对应的闭合电流环路。
在相关技术中，多线激光雷达通常会存在2路以上并行工作的传感器组，但是随着激光雷达体积减小，传感器阵列中的各个传感器分布密集，各接收通道之间隔离度降低。同时由于传感器之间间距太小，无法就近放置放大器，信 号需经过较长传输路径才能到达放大器的输入端，使得传输路径上并行的接收通道之间存在耦合噪声和电串扰信号，极大地降低激光接收装置的信噪比和检测准确性。
为解决相关技术中激光接收装置中各个信号接收通道之间相互串扰导致信噪比低的问题，本申请提供了一种激光接收装置，参见图2所示，本申请的激光接收装置包括：光电传感组件、放大组件、采集组件和n个供电单元。
其中，光电传感组件，包括m个接收传感器板和n个传感器组，n个传感器组设置在m个接收传感器板上，在相邻的两个传感器组设置在同一接收传感器板上时，该相邻的两个接收传感器组之间设置有用于电磁屏蔽的第一隔离部，m为大于0的整数，n为大于1的整数，m≤n。由于接收传感器板的数量小于或等于传感器组的数量，因此一个接收传感器板上设置有至少一个传感器组，在一个接收传感器板上设置有多个传感器组时，那么位于同一接收传感器板上相邻的两个传感器组之间设置有用于电磁屏蔽的第一隔离部，防止相邻的两个传感器组通过接收传感器板上的金属线路发生串扰；如果相邻的两个传感器组位于不同的接收传感器板，由于各个接收传感器板之间具有一定的间隔，相邻的两个传感器组发生串扰的可能性低，因此不需要设置隔离部。接收传感器板可以为印刷电路板，用于承载一个或多个传感器组。
举例来说，光电传感组件包括2个接收传感器板和3个传感器组，2个接收传感器板为：接收传感器板1和接收传感器板2，3个传感器组为：传感器组1、传感器组2和传感器组3，传感器组1设置在接收传感器板1上，传感器组2和传感器组3均设置在接收传感器板2上，且传感器组2和传感器组3之间设置有用于电磁屏蔽的空槽。
又举例来说，光电传感组件包括1个接收传感器板和3个传感器组，3个传感器组为：传感器组1、传感器组2和传感器组3，传感器组1、传感器组2和传感器组3均设置在同一接收传感器板上，那么传感器组1和传感器组2之间设置有第一隔离部，传感器组2和传感器组3之间设置有第一隔离部。
又举例来说，光电传感组件包括2个接收传感器板和2个传感器组，2个接收传感器板为：接收传感器板1和接收传感器板2，2个传感器组为：传感 器组1和传感器组2，传感器组1设置于接收传感器板1上，传感器组2设置于接收传感器板2上，由于传感器组1和传感器组2设置于不同的接收传感器板，因此二者之间可以不设置第一屏蔽部。
其中，放大组件，包括k个接收放大器板和n个放大器组，n个放大器组设置在k个接收放大器板上，在相邻的两个放大器组设置于同一接收放大器板上时，该相邻的两个放大器组之间设置有用于电磁屏蔽的第二隔离部，n个放大器组和n个传感器组采用一对一的方式连接，k为大于或等于1的整数，k≤n。由于接收放大器板的数量少于放大器组的数量，n个放大器组设置在k个接收放大器板时，一个接收放大器板上设置有至少一个放大器组；在一个接收放大器板上设置有多个放大器组时，位于同一接收放大器板上相邻的两个放大器组之间设置有用于电磁屏蔽的第二隔离部，防止相邻的两个放大器组通过接收放大器板上的金属线路发生串扰。在相邻的两个放大器组位于不同的接收放大器板时，由于不同接收放大器板之间具有一定间隔，相邻的两个放大器组之间发生串扰的可能性较低，因此二者之间可以不设置第二屏蔽部。接收放大器板可以为印刷电路板，用于承载一个或多个放大器组。n个放大器组合n个传感器组采用一对一的方式连接。
其中，采集组件，包括采集板和n个采集单元，n个采集单元设置于采集板上，n个采集单元和n个放大器组采用一对一的方式连接；采集组件用于采集放大组件输出的电信号，n个采集单元实现n个信号接收通道上的并行的信号采集，例如：采集单元包括模数转换器和/或时间数字转换器。
其中，n个供电单元，用于为光电传感组件和放大组件供电，n个供电单元与n个放大器组采用一对一的方式连接，n个供电单元与n个传感器组采用一对一的方式连接，光电传感组件中的各个传感器组合放大区间中的各个放大器组汇合到同一地平面进行接地。
在一个或多个可能的实施例中，m＝1，n个传感器组设置在同一个接收传感器板上，任意相邻的两个传感器组之间设置有第一隔离部。
例如：参见图2所示，传感器组1～传感器组n均设置在同一接收传感器板上，第一隔离部为空槽，传感器组1和传感器组2之间设置有空槽，传感器组2和传感器组3之间设置有空槽，…，传感器组n-1和传感器n之间设置有 空槽。空槽为接收传感器板上的挖空区域，该挖空区域内禁止任何布线和铺铜，也可以在挖空区域内铣一定长度和深度的开口，实现相邻的两个传感器组之间布线和地层在空间上的隔离，使各个传感器组的电流环路约束在组内。
在一个或多个可能的实施例中，k＝n，各个接收放大器板上设置有1个放大器组。
例如：参见图2所示，各个放大器组分别设置于不同的接收放大器板上，放大器组1设置于接收放大器板1上，放大器组2设置于接收放大器板2上，…，放大器组n设置于接收放大器板n上，相邻的两个放大器组之间可以不设置第二隔离部，依赖接收放大器板之间的距离进行隔离。
在一个或多个可能的实施例中，地平面位于采集板上。
例如：参见图2所示，光电传感组件中各个传感器组和放大组件中的各个放大器组均汇合到采集板上的地平面进行接地。
在一个或多个可能的实施例中，n个供电单元设置于采集板上或k个接收放大器板上。
例如：参见图2所示，n个供电单元设置在采集板上，分别为各个放大器组和各个传感器组供电，即供电单元1为放大器组1和传感器组1供电，供电单元2为放大器组1和传感器组2供电，…，供电单元n为放大器组n和传感器组n供电。
在n个供电单元设置于k个接收放大器板上时，由于k≤n，一个接收放大器板上设置一个或多个供电单元。
进一步的，相邻的两个供电单元之间采用滤波器件进行隔离，所述滤波器件包括：低压差线性稳压器LDO、无源滤波器和磁珠中的一种或多种，以降低供电单元之间的串扰。
在一个或多个可能的实施例中，多个第一连接件和多个第二连接件，接收放大器板和接收传感器板之间通过所述第一连接件连接，接收放大器板和采集板之间通过所述第二连接件连接，所述第一连接件和所述第二连接件为板到板连接器、导线或柔性电路板FPC。
例如：参见图2所示，接收放大器板的一端通过连接件与接收传感器板相连，接收放大器板的另一端也通过电连接与采集板连接，使接收传感器板上的 传感器组和接收放大器板上的放大器组电连接，以及接收放大器板上的放大器组和采集板上的采集单元电连接。
进一步的，传感器组设置在接收传感器板的上表面，第一连接件设置与接收传感器板的下表面。
其中，接收传感器板上表面放置传感器组，接收传感器板的下表面设置第一连接件，第一连接件可以是连接器或软线，这样传感器组可以将电信号通过更短的传输路径快速传输到接收放大器板上，同时也通过第一连接件为组内传感器供电和提供回流路径。
在一个或多个实施例中，各个信号接收通道的信号传输路径长度相等，例如：信号接收通道包括传感器组、放大器组、采集单元和供电单元，信号传输路径长度为信号经过传感器组、放大器组到采集单元的长度，这样可以保持各个信号接收通道的一致性，提高同步性能。
参见图3所示，为本申请实施例提供的激光接收装置的3D结构示意图，图3中m＝1，k＝n，即激光接收装置中，光电传感组件包括1个接收传感器板30和n个传感器组，n个传感器组均设置于同一个接收传感器板30上，相邻的两个传感器组之间设置有用于电磁屏蔽的空槽；放大组件包括n个放大器组和n个接收放大器板31，n个放大器组和n个放大器板31为一对一的关系，即每个接收放大器板31上仅设置1个放大器组，n个放大器板31以刀片的方式插入到接收传感器板30中。其中，激光接收装置还包括采集板32和光阑33，回波激光信号经过光阑33，光阑33用于减少激光接收单元接收激光信号时的光串扰的问题。图3中设置于同一接收传感器板的n个传感器组两两之间设置有电磁屏蔽的空槽，且n个放大器组分别设置于不同的放大器板上，这样具有更优的隔离效果，因此可以更大程度的降低放大器组之间的串扰，同时可以优化激光接收装置内部的空间，以及提高放大器组中各个放大器的散热性能。
本发明的实施例中公开的一种激光接收装置的使用过程中，n个供电单元分别为放大组件中的n个放大器组和光电传感组件中的n个传感器组供电。传感器组包括多个传感器，同一时刻仅有一个传感器工作，传感器用于将回波激光信号转换为电信号，传感器可以为光电二极管。放大器组包括多个放大器， 放大器用于对传感器输出的电信号进行放大和整流；采集单元用于对放大器输出的电信号进行整流。本申请的激光接收装置包括n个信号接收通道，n个信号接收通道分别包括1个传感器组、1个放大器组、1个采集单元和1个供电单元，根据本申请实施例中激光接收装置的结构，各个信号接收通道分别形成独立的电流环路，例如：图2所示的，电路环路1、电流环路2、…电流环路3，从而可以降低各个信号接收通道之间的噪声串扰以及提高激光接收装置的信噪比。
实施本申请的实施例，具有如下的有益效果：
优化串扰噪声，各组内的传感器、放大器在供电与电流环路上各自独立，从而有效大幅降低在传感器到放大器路径上耦合的串扰噪声，同时避免放大器并行工作时通过参考平面相互扰动，有效提高放大器工作的稳定性，实现激光接收装置的信噪比和提高激光测量准确率。优化一致性，分组后组间的传感器布局、放大器板布局保持一致，从传感器、放大器到采集单元的信号传输路径长度相等，实现所有信号接收通道的接收性能一致性。优化放大器输入路径，在相关技术的传感器小型化密集布局的架构中无法在传感器旁放置放大器，本申请将连接件直接放置在接收传感器板的下表面上且位于传感器的下方，实现传感器经过较短传输距离就快速输入放大器输入端，大幅降低在路径上耦合的分布电容和电感，实现放大器工作的带宽和稳定性提高。优化散热性能，传感器具有温度敏感的特性，放大器是激光接收装置中的主要热源，为降低放大器发热对传感器性能的影响，本申请实施例的每个放大器组中仅单个放大器工作，使得接收放大器板上的热源分布均匀，有利于板卡散热，从而降低激光接收装置整体温度，减少接收腔体内不同位置的温度差，提高分布在各位置器件的性能一致性。优化模块化设计，每个分组一致性高，只需要调整分组数量或者组内数量，可快速移植到不同产品线上，复用性高，开发修改难度成本低，大大缩短新产品开发的时间和费用，在量产产品上减少板卡种类，便于管理，缩短接收硬件故障的修复成本和时间。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之 处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述的本发明实施方式，并不构成对本发明保护范围的限定。任何在本发明的精神和原则之内所作的修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (12)

  1. 一种激光接收装置，其特征在于，包括：
    光电传感组件，包括m个接收传感器板和n个传感器组，所述n个传感器组设置在所述m个接收传感器板上，在相邻的两个传感器组设置于同一接收传感器板上时，该相邻的两个传感器组之间设置有用于电磁屏蔽的第一隔离部，m为大于0的整数，n为大于1的整数，m≤n；
    放大组件，包括k个接收放大器板和n个放大器组，所述n个放大器组设置在所述k个接收放大器板上，在相邻的两个放大器组设置于同一接收放大器板上时，该相邻的两个放大器组之间设置有用于电磁屏蔽的第二隔离部，所述n个放大器组和所述n个传感器组采用一对一的方式连接，k为大于或等于1的整数，k≤n；
    采集组件，包括采集板和n个采集单元，所述n个采集单元设置于所述采集板上，所述n个采集单元和所述n个放大器组采用一对一的方式连接；
    n个供电单元，用于为所述光电传感组件和所述放大组件供电，所述n个供电单元与所述n个放大器组采用一对一的方式连接，以及所述n个供电单元与所述n个传感器组采用一对一的方式连接；所述光电传感组件和所述放大组件通过同一地平面接地。
  2. 根据权利要求1所述的激光接收装置，其特征在于，m＝1，所述n个传感器组设置在同一个接收传感器板上，任意相邻的两个传感器组之间设置有第一隔离部。
  3. 根据权利要求1或2所述的激光接收装置，其特征在于，k＝n，各个接收放大器板上设置有1个放大器组。
  4. 根据权利要求1所述的激光接收装置，其特征在于，所述第一隔离部为位于所述接收传感器板上开设的空槽，所述第二隔离部为位于接收放大器板上开设的空槽。
  5. 根据权利要求1所述的激光接收装置，其特征在于，所述地平面位于所述采集板上。
  6. 根据权利要求1所述的激光接收装置，其特征在于，所述n个供电单元设置于所述采集板上或所述k个接收放大器板上。
  7. 根据权利要求1所述的激光接收装置，其特征在于，还包括：多个第一连接件和多个第二连接件，接收放大器板和接收传感器板之间通过所述第一连接件连接，接收放大器板和采集板之间通过所述第二连接件连接，所述第一连接件和所述第二连接件为板到板连接器、导线或柔性电路板FPC。
  8. 根据权利要求7所述的激光接收装置，其特征在于，所述传感器组设置在所述接收传感器板的上表面，所述第一连接件设置于所述接收传感器板的下表面。
  9. 根据权利要求1所述的激光接收装置，其特征在于，所述光电传感组件和所述放大组件通过磁珠或0欧姆电阻在同一地平面接地。
  10. 根据权利要求1所述的激光接收装置，其特征在于，相邻的两个供电单元之间采用滤波器件进行隔离，所述滤波器件包括：低压差线性稳压器LDO、无源滤波器和磁珠中的一种或多种。
  11. 根据权利要求1所述的激光接收装置，其特征在于，各个信号接收通道的信号传输路径长度相等。
  12. 一种激光雷达，其特征在于，包括如权利要求1-11任意一项所述的激光接收装置。
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