CN108700648A - A kind of amplifying circuit and laser measuring device for measuring, mobile platform - Google Patents
A kind of amplifying circuit and laser measuring device for measuring, mobile platform Download PDFInfo
- Publication number
- CN108700648A CN108700648A CN201780004466.0A CN201780004466A CN108700648A CN 108700648 A CN108700648 A CN 108700648A CN 201780004466 A CN201780004466 A CN 201780004466A CN 108700648 A CN108700648 A CN 108700648A
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- module
- operational amplifier
- amplifying circuit
- diode
- clamper
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- 238000010586 diagram Methods 0.000 description 24
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- 102100026134 Tissue factor pathway inhibitor 2 Human genes 0.000 description 3
- 230000002123 temporal effect Effects 0.000 description 3
- 101100219315 Arabidopsis thaliana CYP83A1 gene Proteins 0.000 description 2
- 101100269674 Mus musculus Alyref2 gene Proteins 0.000 description 2
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- 230000009471 action Effects 0.000 description 2
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- 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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/489—Gain of receiver varied automatically during pulse-recurrence period
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
- H03F3/00—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
- H03F3/00—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements
- H03F3/04—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements with semiconductor devices only
- H03F3/10—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements with semiconductor devices only with diodes
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03F—AMPLIFIERS
- H03F3/00—Amplifiers with only discharge tubes or only semiconductor devices as amplifying elements
- H03F3/20—Power amplifiers, e.g. Class B amplifiers, Class C amplifiers
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03G—CONTROL OF AMPLIFICATION
- H03G11/00—Limiting amplitude; Limiting rate of change of amplitude ; Clipping in general
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03G—CONTROL OF AMPLIFICATION
- H03G3/00—Gain control in amplifiers or frequency changers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Amplifiers (AREA)
Abstract
A kind of amplifying circuit (5) and the laser measuring device for measuring and mobile platform for including amplifying circuit (5).The amplifying circuit (5) includes operational amplifier module (21) and adjustment module (22);Adjustment module (22) is located at at least one in front stage circuits, late-class circuit or the feedback circuit of operational amplifier module (21), amplification factor for the input signal to amplifying circuit (5) is adjusted so that amplifying circuit (5) exports after being amplified to the energy of input signal with the amplification factor after adjustment.The amplification factor that amplifying circuit (5) may be implemented by the amplifying circuit (5) is adjusted according to the energy of input signal into Mobile state, and amplifier is avoided to be saturated.
Description
Technical field
The present invention relates to field of circuit technology more particularly to a kind of amplifying circuits and laser measuring device for measuring, mobile platform.
Background technology
Often it is related to being amplified to signal acquisition and to the signal of acquisition in some electronic equipments, such as laser radar
Processing, however the energy of the signal of laser radar acquisition usually has wider range, i.e.,:When obstacle distance laser radar compared with
When close, laser radar is larger by the energy for the signal that reception pipe is got;When obstacle distance laser radar farther out when, pass through
The energy for the signal that reception pipe is got is smaller.When the electric signal of amplifying circuit input is excessive, amplifying circuit may be caused
Amplifier is saturated, and saturation can cause the distortion of output signal, and then influences the measurement that laser radar is adjusted the distance;Moreover, swashing after saturation
Optical radar is restored to the normal need regular hour so that laser radar is unable to continuous response and generates measurement blind area.
Invention content
In a first aspect, an embodiment of the present invention provides a kind of amplifying circuits, including:Operational amplifier module and adjustment mould
Block;The adjustment module is located at least one in front stage circuits, late-class circuit or the feedback circuit of the operational amplifier module
Place, the amplification factor for the input signal to the amplifying circuit are adjusted so that after the amplifying circuit is to adjust
Amplification factor exports after being amplified to the energy of the input signal.
Optionally, adjustment of the adjustment module to the amplification factor so that when the input signal of the amplifying circuit
Energy be more than threshold value when, the energy of the input signal is bigger, amplification factor of the amplifying circuit to the input signal
It is smaller.
Optionally, the adjustment module includes the first clamper module, and the first clamper module is located at the operation amplifier
In the front stage circuits of device module, the first clamper module connects the first input end of the operational amplifier module;
The first clamper module is for being adjusted the input signal of the operational amplifier module.
Optionally, the first clamper module includes the first diode;Described in the first end connection of first diode
The first input end of operational amplifier module;The second end of first diode connects the first datum;The amplification electricity
The input terminal on road connects the common end of the first end of first diode and the first input end of the operational amplifier.
Optionally, the first clamper module includes the first diode and first resistor;The of first diode
One end connects the first input end of the operational amplifier module by the first resistor;The second end of first diode
Connect the first datum;The input terminal of the amplifying circuit connects the first end of first diode and the first resistor
Common end.
Optionally, the adjustment module includes the second clamper module;The second clamper module is located at the operation amplifier
On the late-class circuit of device module, the second clamper module connects the output end of the operational amplifier module;
The second clamper module is for being adjusted the output signal of the operational amplifier module.
Optionally, the second clamper module includes:Second diode;Described in the first end connection of second diode
The output end of operational amplifier module;The second end of second diode connects the second datum;The amplifying circuit
The common end of connection second diode and the output end of the operational amplifier module of output end.
Optionally, the second clamper module includes:Second diode and second resistance;The of second diode
One end connects the output end of the operational amplifier module by the second resistance;The second end of second diode connects
Second datum;The common end of connection second diode and the second resistance of the output end of the amplifying circuit.
Optionally, the adjustment module includes third clamper module, and the third clamper module is located at the operation amplifier
On the feedback circuit of device module;The first input end of the operational amplifier module connects the first end of the third clamper module
Mouthful;;Second input terminal of the operational amplifier module connects third datum;The output end of the amplifier module connects
The second port of the third clamper module;
The third clamper module is specifically used for:It is more than in the energy information for the signal for inputting the operational amplifier module
When first threshold, reduce amplification factor of the operational amplifier module to the input signal of the operational amplifier module.
Optionally, the third clamper module includes third diode;Described in the first end connection of the third diode
The first input end of operational amplifier module;The second end of the third diode connects the output of the operational amplifier module
End.
Optionally, the third clamper module includes third diode and 3rd resistor;The first of the third diode
End connects the first input end of the operational amplifier module;The second end of the third diode connects the operational amplifier
The output end of module;The 3rd resistor and the third diodes in parallel.
Optionally, the third clamper module includes third diode, 3rd resistor, the 4th resistance;Three or two pole
The first end of pipe is connected to the first input end of the amplifier module by the 3rd resistor, and the of the third diode
Two ends are connected to the output end of the operational amplifier module, the 4th resistance and the third diodes in parallel.
Compared to the prior art, amplifying circuit provided by the invention can pass through the prime electricity positioned at operational amplifier module
The adjustment module at least one in road, late-class circuit or feedback circuit, to the amplification factor of the input signal of amplifying circuit into
Row adjustment so that amplifying circuit exports after being amplified to the energy of input signal with the amplification factor after adjusting, and then realizes
The amplification factor of amplifying circuit is adjusted according to the energy of input signal into Mobile state.
Second aspect, the embodiment of the present invention additionally provide a kind of laser measuring device for measuring, and the laser measuring device for measuring includes the
Any amplifying circuit described in one side.
The third aspect, the embodiment of the present invention additionally provide a kind of mobile platform, and the mobile platform includes second aspect institute
Any laser measuring device for measuring and platform body stated, the laser measuring device for measuring are mounted on the platform body.
Optionally, the mobile platform includes at least one of unmanned vehicle, automobile and telecar.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is a kind of schematic frame diagram of laser radar provided in an embodiment of the present invention;
Fig. 2 is a kind of schematic frame diagram of amplifying circuit provided in an embodiment of the present invention;
Fig. 3 is a kind of the first wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention;
Fig. 4 is a kind of the second wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention;
Fig. 5 is a kind of third wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention;
Fig. 6 is a kind of the 4th wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention;
Fig. 7 is the effect diagram before and after the clamper of the first clamper module provided in an embodiment of the present invention;
Fig. 8 is a kind of the 5th wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention;
Fig. 9 is a kind of the 6th wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention;
Figure 10 is a kind of the 7th wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention;
Figure 11 is the effect diagram before and after the clamper of third clamper module provided in an embodiment of the present invention;
Figure 12 is a kind of the 8th wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is appreciated that the amplifying circuit that each embodiment of the present invention provides can be applied to laser measuring device for measuring, the laser
Measuring device can be the electronic equipments such as laser radar, Laser Distance Measuring Equipment.In one embodiment, laser measuring device for measuring is used
In sensing external environmental information, for example, the range information of environmental goals, angle information, Reflection intensity information, velocity information etc..
The laser measuring device for measuring can be laser radar.
In one embodiment, the laser measuring device for measuring of embodiment of the present invention can be applied to mobile platform, Laser Measuring
The platform body of mobile platform can be mounted on by measuring device.Mobile platform with laser measuring device for measuring can survey external environment
Amount, for example, mobile platform is measured at a distance from barrier for purposes such as avoidances, and two-dimentional or three-dimensional to external environment progress
Mapping.In some embodiments, mobile platform includes at least one of unmanned vehicle, automobile and telecar.Work as laser
When measuring device is applied to unmanned vehicle, platform body is the fuselage of unmanned vehicle.When laser measuring device for measuring is applied to vapour
Che Shi, platform body are the vehicle body of automobile.When laser measuring device for measuring is applied to telecar, platform body is the vehicle of telecar
Body.
Amplifying circuit provided in an embodiment of the present invention is described by taking laser radar as an example below.
Referring to Fig. 1, Fig. 1 is a kind of schematic frame diagram of laser radar provided in an embodiment of the present invention.The laser thunder
Up to may include:Controller 11, launch driving circuit 12, transmitting tube 13, reception pipe 14, amplifying circuit 15, comparison circuit 16, time
Digital quantizer (TDC (Time-to-Digital Converter) circuit) 17 etc..Controller 11 can connect transmitting driving electricity
Road 12, reception pipe 14, amplifying circuit 15, comparison circuit 16, TDC circuits 17 etc..Controller 11 can be to launch driving circuit 12
Send drive signal.Launch driving circuit 12 is according to the drive signal received to the transmission power of transmitting tube 13, transmitting laser
At least one of wavelength, the direction of the launch etc. controlled.It is appreciated that transmitting tube 13 is controlled by launch driving circuit,
Light pulse signal can be emitted to specific direction.After the light pulse signal that transmitting tube 13 emits encounters barrier, barrier is to this
Light pulse signal is reflected, and reception pipe 14 includes photosensitive sensor, for receiving the light pulse signal reflected, and by the reception
To the light pulse signal of reflection be converted into electric signal.The electric signal can be voltage signal or current signal.Reception pipe 14 will
The electric signal of conversion is adjusted the input signal as input signal input amplifying circuit 15, amplifying circuit, then will adjustment
Signal afterwards inputs comparison circuit 16.Comparison circuit 16 is used to that digital pulse signal will to be converted by amplified signal, and
The digital pulse signal is input to TDC circuits 17.TDC circuits 17 extract the temporal information that the digital pulse signal includes, and
Temporal information is sent to controller 11, controller 11 is calculated according to the temporal information at a distance from barrier.
Referring to Fig. 2, Fig. 2 is a kind of schematic frame diagram of amplifying circuit provided in an embodiment of the present invention.Such as Fig. 2 institutes
Show, which may include:Operational amplifier module 21 and adjustment module 22;The adjustment module 22 is located at the operation
In the front stage circuits of amplifier module 21, late-class circuit or feedback circuit at least one at, for the defeated of the amplifying circuit
The amplification factor for entering signal is adjusted so that the amplifying circuit is with the amplification factor after adjusting to the energy of the input signal
Amount exports after being amplified.
It is appreciated that the amplification factor of amplifying circuit is equal to the input signal of the output signal and amplifying circuit of amplifying circuit
Ratio.
It is appreciated that adjustment of the adjustment module 22 to the amplification factor so that when the input of the amplifying circuit
When the energy of signal is more than threshold value, the energy of the input signal is bigger, amplification of the amplifying circuit to the input signal
Multiple is smaller.
In the first embodiment of the present invention, the adjustment module 22 includes the first clamper module, the first clamper module
In the front stage circuits of the operational amplifier module 21, the first clamper module connects the operational amplifier module 21
First input end;Second input terminal of the operational amplifier module 21 can connect third datum REF3;Described
One clamper module passes through the operational amplifier mould for being adjusted to the input signal of the operational amplifier module 21
The output end output signal of block 21.
Optionally, when the input signal of amplifying circuit is voltage signal, the first clamper module may include the one or two pole
Pipe.Referring to Fig. 3, Fig. 3 is a kind of the first wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention.Fig. 3 is put with operation
Big device module 21 is illustrates the connection relation of amplifying circuit for operational amplifier IC, as shown in figure 3, being just in voltage signal
When voltage signal, first input end (the i.e. operation amplifier of the anode connection operational amplifier module 21 of the first diode D1
The reverse input end of device IC);The cathode of the first diode D1 connects the first datum REF1;The amplifying circuit it is defeated
Enter signal Uin to input by the anode of the first diode D1 and the common end of the reverse input end of operational amplifier IC;Fortune
The reverse input end for calculating amplifier IC is the output end Uout of amplifying circuit.Second input terminal of operational amplifier module 21
(i.e. the noninverting input of operational amplifier IC) connects the first datum REF1.
When the voltage signal of input amplifying circuit has been more than the conduction voltage drop of the first diode D1, the first diode D1 is led
It is logical, and then the voltage signal of input operational amplifier module 21 is limited near the conducting voltage of the first diode D1, it avoids
The saturation of input operational amplifier module 21.
It is appreciated that when the input signal of amplifying circuit is negative voltage signal, the connection of the positive and negative anodes of the first diode
The connection type of the positive and negative anodes of the first diode D1 is opposite in the amplifying circuit of mode as shown in figure 3.
Optionally, when the input signal of amplifying circuit is current signal, the first clamper module may include the one or two pole
Pipe and first resistor.Referring to Fig. 4, Fig. 4 is a kind of the second wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention.
Fig. 4 illustrates the connection relation of amplifying circuit so that operational amplifier module 21 is operational amplifier IC as an example.As shown in figure 4,
When current signal is positive current signal, the anode of the first diode D1 is put by the first resistor R1 connections operation
The first input end (i.e. the reverse input end of operational amplifier IC) of big device module 21;The cathode of the first diode D1 connects
First datum REF1;The anode and described that the input signal Uin of the amplifying circuit passes through the first diode D1
The common end of one resistance 2212 inputs;The reverse input end of operational amplifier IC is the output end Uout of amplifying circuit.Operation
The second input terminal (i.e. the noninverting input of operational amplifier IC) connection third datum REF3 of amplifier module 21.
When the current signal of input amplifying circuit increases, the pressure drop generated on first resistor R1 increases, and works as first resistor
When the pressure drop generated on R1 has been more than the conduction voltage drop of the first diode D1, the first diode D1 conductings, and then reducing will input
To the current signal of operational amplifier module 21, the saturation of input operational amplifier module 21 is avoided.
It is appreciated that when the input signal of amplifying circuit is negative current signal, the connection of the positive and negative anodes of the first diode
The connection type of the positive and negative anodes of first diode D1 is opposite in mode amplifying circuit as shown in fig. 4.
In the second embodiment of the present invention, the adjustment module 22 includes the second clamper module;The second clamper module
On the late-class circuit of the operational amplifier module 21, the second clamper module connects the operational amplifier module 21
Output end;The second clamper module is for being adjusted the output signal of the operational amplifier module 21.It can manage
Solution, the input signal of the amplifying circuit can be input to the first input end of the operational amplifier module;It can also pass through
The first clamper module is input to the first input end of the operational amplifier module 21;The of the operational amplifier module
Two input terminals connect third datum REF3.
Optionally, when the input signal of amplifying circuit is voltage signal, the second clamper module may include the two or two pole
Pipe.Referring to Fig. 5, Fig. 5 is a kind of third wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention.Fig. 5 is put with operation
Big device module 21 is illustrates the connection relation of amplifying circuit for operational amplifier IC, as shown in figure 5, being just in voltage signal
When voltage signal, the anode of the second diode D2 connects output end (the i.e. operation amplifier of the operational amplifier module 21
The output end of device IC);The cathode of the second diode D2 connects the second datum REF2;The output of the amplifying circuit is believed
Number Uout is exported from the common end of the second diode D2 and the output end of the operational amplifier IC.
When the voltage signal of output amplifier module 21 has been more than the conduction voltage drop of the second diode D2, the second diode
D2 is connected, and then the voltage signal for inputting rear class amplifier is limited near the conducting voltage of the second diode D2, avoids postscript
The saturation of amplifier.
It is appreciated that when the input signal of amplifying circuit is negative voltage signal, the connection of the positive and negative anodes of the second diode
Mode is opposite with the connection type of positive and negative anodes of the second diode D2 in amplifying circuit shown in fig. 5.
Optionally, when the input signal of amplifying circuit is current signal, the second clamper module may include:Second
Diode and second resistance.Referring to Fig. 6, the 4th wiring that Fig. 6 is a kind of amplifying circuit provided in an embodiment of the present invention is shown
It is intended to.Fig. 6 illustrates the connection relation of amplifying circuit so that operational amplifier module 21 is operational amplifier IC as an example, such as Fig. 6 institutes
Show, when current signal is positive current signal, the anode of the second diode D2 is by described in the second resistance R2 connections
The output end (i.e. the output end of operational amplifier IC) of operational amplifier module 21;The cathode connection the of the second diode D2
Two datum REF2;The output signal U out of the amplifying circuit is from the second diode D2's and second resistance R2
Common end exports.
When the current signal of output operational amplifier module 21 increases, the pressure drop generated on second resistance R2 increases, when
When the pressure drop generated on second resistance R2 has been more than the conduction voltage drop of the second diode D2, the second diode D2 conductings, and then drop
The low current signal by output avoids the saturation of postscript amplifier.
It is appreciated that when the input signal of amplifying circuit is negative current signal, the connection of the positive and negative anodes of the second diode
Mode is opposite with the connection type of positive and negative anodes of the second diode D2 in amplifying circuit shown in fig. 6.
It is appreciated that in Fig. 5 or shown in fig. 6 amplifying circuit wiring schematic diagrams, the input signal of the amplifying circuit
Uin can be directly inputted to the first input end (i.e. the reverse input end of operational amplifier IC) of operational amplifier module 21, fortune
Calculate the noninverting input connection third datum REF3 of amplifier IC.
Referring to Fig. 7, Fig. 7 be the first clamper module provided in an embodiment of the present invention clamper before and after effect diagram.
Solid line is actual signal in Fig. 7, and straight dashed line indicates that the conducting voltage of the first diode D1, imaginary curve indicate the signal after clamper.
Similarly, the effect before and after the clamper of the second clamper module is also as shown in Figure 7.
In the third embodiment of the present invention, the adjustment module 22 includes the second clamper module;The third clamper module
On the feedback circuit of the operational amplifier module 21;Described in the first input end connection of the operational amplifier module 21
The first port of third clamper module;The output end of the operational amplifier module 21 connects the second of the third clamper module
Port;The third clamper module is specifically used for:It is more than in the energy information for the signal for inputting the operational amplifier module 21
When first threshold, reduce times magnification of the operational amplifier module 21 to the input signal of the operational amplifier module 21
Number.
It is appreciated that the input signal of the amplifying circuit can be input to the operational amplifier module 21 it is first defeated
Enter end;The first input end of the operational amplifier module 21 can also be connected by the first clamper module;The operation
Second input terminal of amplifier module 21 can connect third datum REF3.
Optionally, third clamper module may include third diode and the 5th resistance.Referring to Fig. 8, Fig. 8 is this hair
A kind of 5th wiring schematic diagram of amplifying circuit that bright embodiment provides.Fig. 8 is operational amplifier with operational amplifier module 21
Illustrate the connection relation of amplifying circuit for IC, is put as shown in figure 8, the anode of the third diode D3 connects the operation
The first input end (i.e. the reverse input end of operational amplifier IC) of big device module 21;The cathode of the third diode D3 connects
The output end (i.e. the output end of operational amplifier IC) of the operational amplifier module 21.The second of operational amplifier module 21 is defeated
Enter end (i.e. the noninverting input of operational amplifier IC) connection third datum REF3.The input signal of the amplifying circuit
Uin can be input to the reverse input end of operational amplifier IC by the 5th resistance R5;The reverse input end of operational amplifier IC
The as output end Uout of amplifying circuit.
When the energy of the signal of input operational amplifier module 21 is smaller, the voltage at the both ends third diode D3 is smaller,
Third diode D3 is not turned on, and the resistance RD3 of third diode is larger, at this point, the amplification factor of operational amplifier module 21 is
RD3/R5, operational amplifier module 21 are amplified the signal of input operational amplifier module 21;Work as input operational amplifier
When the energy of the signal of module 21 is larger, the voltage at the both ends third diode D3 is more than the conducting voltage of third diode D3, the
Three diode D3 conductings, the resistance RD3 of third diode is smaller, at this point, the amplification factor RD3/R5 of operational amplifier module 21
Reduce, reduces the energy of the signal of output operational amplifier module 21, and then reduce the amplification factor of amplifying circuit.
Optionally, third clamper module may include third diode, 3rd resistor and the 5th resistance.Referring to Fig. 9,
Fig. 9 is a kind of the 6th wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention.Fig. 9 is fortune with operational amplifier module 21
Illustrate the connection relation of amplifying circuit for calculation amplifier IC, as shown in figure 9, the anode connection institute of the third diode D3
State the first input end (i.e. the reverse input end of operational amplifier IC) of operational amplifier module 21;The third diode D3's
Cathode connects the output end (i.e. the output end of operational amplifier IC) of the operational amplifier module 21;The 3rd resistor R3 with
The third diode D3 is in parallel.The second input terminal (i.e. the noninverting input of operational amplifier IC) of operational amplifier module 21
Connect third datum REF3.The input signal Uin of the amplifying circuit can be input to operation by the 5th resistance R5 and put
The reverse input end of big device IC;The reverse input end of operational amplifier IC is the output end Uout of amplifying circuit.
When the energy of the signal of input operational amplifier module 21 is smaller, the voltage at the both ends third diode D3 is smaller,
Third diode D3 is not turned on, and the resistance RD3 of third diode D3 is larger, third diode D3 it is in parallel with 3rd resistor R3 etc.
It is larger to imitate resistance R etc., at this point, the amplification factor of operational amplifier module 21 is R etc./R5, operational amplifier module 21 is to input
The signal of operational amplifier module 21 is amplified;When the energy of the signal of input operational amplifier module 21 is larger, third
The voltage at the both ends diode D3 is more than the conducting voltage of third diode D3, the D3 conductings of third diode, the electricity of third diode
It is smaller to hinder RD3, the reductions such as R reduce output operation amplifier at this point, amplification factor R of operational amplifier module 21 etc./R5 reduces
The energy of the signal of device module 21, and then reduce the amplification factor of amplifying circuit.
Optionally, third clamper module includes third diode, 3rd resistor, the 4th resistance and the 5th resistance;It please join
Figure 10 is read, Figure 10 is a kind of the 7th wiring schematic diagram of amplifying circuit provided in an embodiment of the present invention.Figure 10 is with operational amplifier
Module 21 is illustrates the connection relation of amplifying circuit for operational amplifier IC, as shown in Figure 10, the third diode D3
Anode the first input end of the operational amplifier module 21, the third diode are connected to by the 3rd resistor R3
The cathode of D3 is connected to the output end of the operational amplifier module 21, and the 4th resistance R4 and third diode D3 is simultaneously
Connection.The second input terminal (i.e. the noninverting input of operational amplifier IC) of operational amplifier module 21 connects third datum
REF3.The input signal Uin of the amplifying circuit can be input to the reversed input of operational amplifier IC by the 5th resistance R5
End;The reverse input end of operational amplifier IC is the output end Uout of amplifying circuit.
When the energy of the signal of input operational amplifier module 21 is smaller, the voltage at the both ends third diode D3 is smaller,
Third diode D3 is not turned on, and the resistance RD3 of third diode D3 is larger, third diode D3 and 3rd resistor R4 be connected in parallel on
The concatenated equivalent resistance R of R3 etc. are larger, at this point, the amplification factor of operational amplifier module 21 is R etc./R5, operational amplifier mould
Block 21 is amplified the signal of input operational amplifier module 21;When input operational amplifier module 21 signal energy compared with
When big, the voltage at the both ends third diode D3 is more than the conducting voltage of third diode D3, and third diode D3 is connected, and the three or two
The resistance RD3 of pole pipe is smaller, the reductions such as R, at this point, amplification factor R of operational amplifier module 21 etc./R5 reduces, reduces output
The energy of the signal of operational amplifier module 21, and then reduce the amplification factor of amplifying circuit.
It should be noted that in Fig. 8, Fig. 9 and embodiment shown in Fig. 10, the 5th resistance R5 is not third clamper mould
The necessary element of block can also be directly inputted to the operational amplifier IC that amplifier is stablized, the input signal Uin of amplifying circuit
The reverse input end of operational amplifier IC.
It is appreciated that in Fig. 8, Fig. 9 and embodiment shown in Fig. 10, the input signal of amplifying circuit is believed for positive current
Number or positive voltage signal, when the input signal of amplifying circuit be negative voltage signal or negative current signal when, third diode is just
The connection with the positive and negative anodes of third diode D3 in Fig. 8, Fig. 9 and amplifying circuit shown in Fig. 10 respectively of the connection type of cathode
Mode is opposite.
Please refer to Fig.1 the effect signal before and after the clamper that 1, Figure 11 is third clamper module provided in an embodiment of the present invention
Figure.Solid line is actual signal in Figure 11, and dotted line indicates the signal after clamper.It is bent on the right of Figure 11 when the energy of signal is smaller
Shown in line, third clamper module is amplified processing to the signal of input;When the energy of signal is larger, the curve on the right of Figure 12
Shown, the amplification factor of operational amplifier module 21 reduces, so that its output signal is no more than the electric conduction of third diode D3
Pressure.
In the fourth embodiment of the present invention, amplifying circuit can simultaneously include first clamper module the second clamper module and
Third clamper module.Please refer to Fig.1 the 8th wiring schematic diagram that 2, Figure 12 is a kind of amplifying circuit provided in an embodiment of the present invention.
Detailed description may refer to above-mentioned first clamper module the second clamper module and third clamper mould associated description in the block, this
Place repeats no more.
It should be noted that the first diode D1 and the second clamper mould the second diode in the block in the first clamper module
D2 can also use Zener diode either TVS diode at this point, diode conducting voltage be Zener diode or TVS
The breakdown voltage of diode.
It should also be noted that, in each embodiment of the present invention, the first datum, the second datum and third ginseng
Level is examined for distinguishing datum, wherein the first datum, the second datum or third datum can be identical,
It can be different.
Compared to the prior art, amplifying circuit provided by the invention can pass through the prime electricity positioned at operational amplifier module
The adjustment module at least one in road, late-class circuit or feedback circuit, to the amplification factor of the input signal of amplifying circuit into
Row adjustment so that amplifying circuit exports after being amplified to the energy of input signal with the amplification factor after adjusting, and then realizes
The amplification factor of amplifying circuit is adjusted according to the energy of input signal into Mobile state.
Technical term used in the embodiment of the present invention is merely to illustrate specific embodiment and is not intended to be limiting this hair
It is bright.Herein, singulative " one ", "the" and " described " for including plural form simultaneously, unless in context it is clear separately
Row explanation.Further, in the description used in for " include " and or " include " refer to there are the feature, entirety,
Step, operation, element and/or component, but it is not excluded that in the presence of or increase one or more of the other feature, entirety, step, behaviour
Work, element and/or component.
Counter structure, material, action and all devices or step and function element in the following claims
Equivalent form be intended to (if present) include combine other elements for being distinctly claimed be used to execute the function any structure,
Material or action.Description of the invention is not intended to exhaustive or will for embodiment and the purpose of description are presented
Disclosed form is limited in by invention.Without departing from the scope and spirit of the invention, a variety of modification and variation pair
It is obvious for those of ordinary skill in the art.Embodiment described in the present invention can preferably disclose this
The principle and practical application of invention, and those of ordinary skill in the art is made to can be appreciated that the present invention.
Flow chart described in the present invention is only one embodiment, right without deviating from the spirit of the present invention
This diagram or the present invention in step can there are many modification variation.For example, these steps of execution that can be in different order, or
Person can increase, delete or change certain steps.Those of ordinary skill in the art are appreciated that realize above-described embodiment
All or part of flow, and equivalent changes made in accordance with the claims of the present invention, still belong to the scope covered by the invention.
Claims (15)
1. a kind of amplifying circuit, is characterized in that, including:Operational amplifier module and adjustment module;
The adjustment module is located at least one in front stage circuits, late-class circuit or the feedback circuit of the operational amplifier module
Place, the amplification factor for the input signal to the amplifying circuit are adjusted so that after the amplifying circuit is to adjust
Amplification factor exports after being amplified to the energy of the input signal.
2. amplifying circuit as described in claim 1, is characterized in that, adjustment of the adjustment module to the amplification factor makes
When the energy of the input signal of the proper amplifying circuit is more than threshold value, the energy of the input signal is bigger, the amplification electricity
Road is smaller to the amplification factor of the input signal.
3. amplifying circuit as claimed in claim 1 or 2, is characterized in that, the adjustment module includes the first clamper module, described
First clamper module is located in the front stage circuits of the operational amplifier module, and the first clamper module connects the operation and puts
The first input end of big device module;
The first clamper module is for being adjusted the input signal of the operational amplifier module.
4. amplifying circuit as claimed in claim 3, is characterized in that, the first clamper module includes the first diode;It is described
The first end of first diode connects the first input end of the operational amplifier module;The second end of first diode connects
Connect the first datum;The input terminal of the amplifying circuit connects the anode of first diode and the operational amplifier
The common end of first input end.
5. amplifying circuit as claimed in claim 3, is characterized in that, the first clamper module includes the first diode and the
One resistance;The first end of first diode connects the first input of the operational amplifier module by the first resistor
End;The second end of first diode connects the first datum;The input terminal connection the described 1st of the amplifying circuit
The common end of the first end of pole pipe and the first resistor.
6. amplifying circuit as claimed in claim 1 or 2, is characterized in that, the adjustment module includes the second clamper module;It is described
Second clamper module is located on the late-class circuit of the operational amplifier module, and the second clamper module connects the operation and puts
The output end of big device module;
The second clamper module is for being adjusted the output signal of the operational amplifier module.
7. amplifying circuit as claimed in claim 6, is characterized in that, the second clamper module includes:Second diode;It is described
The first end of second diode connects the output end of the operational amplifier module;The second end connection the of second diode
Two datums;The output end of the amplifying circuit connects the output end of second diode and the operational amplifier module
Common end.
8. amplifying circuit as claimed in claim 6, is characterized in that, the second clamper module includes:Second diode and
Second resistance;The first end of second diode connects the output of the operational amplifier module by the second resistance
End;The second end of second diode connects the second datum;The connection described second of the output end of the amplifying circuit
The common end of diode and the second resistance.
9. amplifying circuit as claimed in claim 1 or 2, is characterized in that, the adjustment module includes third clamper module, described
Third clamper module is located on the feedback circuit of the operational amplifier module;The first input end of the operational amplifier module
Connect the first port of the third clamper module;The second input terminal connection third of the operational amplifier module is with reference to electricity
It is flat;The output end of the amplifier module connects the second port of the third clamper module;
The third clamper module is specifically used for:It is more than first in the energy information for inputting the signal of the operational amplifier module
When threshold value, reduce amplification factor of the operational amplifier module to the input signal of the operational amplifier module.
10. amplifying circuit as claimed in claim 9, is characterized in that, the third clamper module includes third diode;It is described
The first end of third diode connects the first input end of the operational amplifier module;The second end of the third diode connects
Connect the output end of the operational amplifier module.
11. amplifying circuit as claimed in claim 9, is characterized in that, the third clamper module includes third diode and
Three resistance;The first end of the third diode connects the first input end of the operational amplifier module;Three or two pole
The second end of pipe connects the output end of the operational amplifier module;The 3rd resistor and the third diodes in parallel.
12. amplifying circuit as claimed in claim 9, is characterized in that, the third clamper module includes third diode, third
Resistance, the 4th resistance;The first end of the third diode is connected to the of the amplifier module by the 3rd resistor
The second end of one input terminal, the third diode is connected to the output end of the operational amplifier module, the 4th resistance
With the third diodes in parallel.
13. a kind of laser measuring device for measuring, which is characterized in that including such as claim 1 to 12 any one of them amplifying circuit.
14. a kind of mobile platform, which is characterized in that including:
Laser measuring device for measuring described in claim 13;With
Platform body, the laser measuring device for measuring are mounted on the platform body.
15. mobile platform according to claim 14, which is characterized in that the mobile platform includes unmanned vehicle, vapour
At least one of vehicle and telecar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110391987.4A CN112965046A (en) | 2017-03-29 | 2017-03-29 | Laser radar and moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/078662 WO2018176289A1 (en) | 2017-03-29 | 2017-03-29 | Amplification circuit, laser measurement device, and mobile platform |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110391987.4A Division CN112965046A (en) | 2017-03-29 | 2017-03-29 | Laser radar and moving platform |
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| Publication Number | Publication Date |
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| CN108700648A true CN108700648A (en) | 2018-10-23 |
| CN108700648B CN108700648B (en) | 2021-05-04 |
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| CN202110391987.4A Pending CN112965046A (en) | 2017-03-29 | 2017-03-29 | Laser radar and moving platform |
| CN201780004466.0A Active CN108700648B (en) | 2017-03-29 | 2017-03-29 | Amplifying circuit, laser measuring device and mobile platform |
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| WO (1) | WO2018176289A1 (en) |
Cited By (2)
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| WO2020061970A1 (en) * | 2018-09-27 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Ranging device and mobile platform |
| WO2020142920A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Signal amplification method and device, distance measuring device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN112965046A (en) | 2021-06-15 |
| WO2018176289A1 (en) | 2018-10-04 |
| CN108700648B (en) | 2021-05-04 |
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Effective date of registration: 20210924 Address after: 518107 302, 1402, building 1, Senyang Electronic Science and Technology Park, west area, Guangming Gaoxin Park, Tianliao community, Yutang street, Guangming District, Shenzhen, Guangdong Patentee after: Shenzhen Dajiang Zhuojian Technology Co.,Ltd. Address before: 518057 Shenzhen Nanshan High-tech Zone, Shenzhen, Guangdong Province, 6/F, Shenzhen Industry, Education and Research Building, Hong Kong University of Science and Technology, No. 9 Yuexingdao, South District, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SZ DJI TECHNOLOGY Co.,Ltd. |
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Address after: 518107 302, 1402, building 1, Senyang Electronic Science and Technology Park, west area, Guangming Gaoxin Park, Tianliao community, Yutang street, Guangming District, Shenzhen, Guangdong Patentee after: Shenzhen Zhuojian Intelligent Manufacturing Co.,Ltd. Address before: 518107 302, 1402, building 1, Senyang Electronic Science and Technology Park, west area, Guangming Gaoxin Park, Tianliao community, Yutang street, Guangming District, Shenzhen, Guangdong Patentee before: Shenzhen Dajiang Zhuojian Technology Co.,Ltd. |