CN108700648B - Amplifying circuit, laser measuring device and mobile platform - Google Patents

Amplifying circuit, laser measuring device and mobile platform Download PDF

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Publication number
CN108700648B
CN108700648B CN201780004466.0A CN201780004466A CN108700648B CN 108700648 B CN108700648 B CN 108700648B CN 201780004466 A CN201780004466 A CN 201780004466A CN 108700648 B CN108700648 B CN 108700648B
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China
Prior art keywords
operational amplifier
diode
module
amplifier module
amplifying circuit
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CN201780004466.0A
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Chinese (zh)
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CN108700648A (en
Inventor
刘祥
占志鹏
蒲文进
洪小平
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Shenzhen Zhuojian Intelligent Manufacturing Co ltd
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SZ DJI Technology Co Ltd
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Priority to CN202110391987.4A priority Critical patent/CN112965046A/en
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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
    • G01S7/483—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
    • 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

An amplifying circuit (5) and a laser measuring device and a mobile platform comprising the amplifying circuit (5). The amplifying circuit (5) comprises an operational amplifier module (21) and an adjusting module (22); the adjusting module (22) is located at least one of a front-stage circuit, a rear-stage circuit or a feedback circuit of the operational amplifier module (21) and is used for adjusting the amplification factor of the input signal of the amplifying circuit (5), so that the amplifying circuit (5) amplifies the energy of the input signal by the adjusted amplification factor and outputs the amplified energy. The amplification factor of the amplification circuit (5) can be dynamically adjusted according to the energy of the input signal through the amplification circuit (5), and operational amplifier saturation is avoided.

Description

Amplifying circuit, laser measuring device and mobile platform
Technical Field
The invention relates to the technical field of circuits, in particular to an amplifying circuit, a laser measuring device and a mobile platform.
Background
In some electronic devices, such as lidar, the signal acquisition and the amplification of the acquired signal are often involved, however, the energy of the signal acquired by lidar generally has a wide range, that is: when the obstacle is close to the laser radar, the energy of the signal acquired by the laser radar through the receiving tube is larger; when the obstacle is far away from the laser radar, the energy of the signal acquired through the receiving tube is small. When the electric signal input by the amplifying circuit is too large, operational amplification saturation of the amplifying circuit can be caused, and the saturation can cause distortion of an output signal, so that the measurement of the laser radar on the distance is influenced; moreover, a certain time is required for the laser radar to return to normal after saturation, so that the laser radar cannot continuously respond and a measurement blind area is generated.
Disclosure of Invention
In a first aspect, an embodiment of the present invention provides an amplifying circuit, including: the device comprises an operational amplifier module and an adjusting module; the adjusting module is located at least one of a front-stage circuit, a rear-stage circuit or a feedback circuit of the operational amplifier module and is used for adjusting the amplification factor of the input signal of the amplifying circuit, so that the amplifying circuit amplifies the energy of the input signal by the adjusted amplification factor and outputs the amplified energy.
Optionally, the adjusting module adjusts the amplification factor, so that when the energy of the input signal of the amplifying circuit is greater than a threshold, the energy of the input signal is greater, and the amplification factor of the amplifying circuit on the input signal is smaller.
Optionally, the adjusting module includes a first clamping module, the first clamping module is located on a front-stage circuit of the operational amplifier module, and the first clamping module is connected to a first input end of the operational amplifier module;
the first clamping module is used for adjusting an input signal of the operational amplifier module.
Optionally, the first clamping module comprises a first diode; the first end of the first diode is connected with the first input end of the operational amplifier module; the second end of the first diode is connected with a first reference level; and the input end of the amplifying circuit is connected with the common end of the first diode and the first input end of the operational amplifier.
Optionally, the first clamping module comprises a first diode and a first resistor; the first end of the first diode is connected with the first input end of the operational amplifier module through the first resistor; the second end of the first diode is connected with a first reference level; and the input end of the amplifying circuit is connected with the first end of the first diode and the common end of the first resistor.
Optionally, the adjusting module comprises a second clamping module; the second clamping module is positioned on a post-stage circuit of the operational amplifier module and is connected with the output end of the operational amplifier module;
the second clamping module is used for adjusting the output signal of the operational amplifier module.
Optionally, the second clamping module comprises: a second diode; the first end of the second diode is connected with the output end of the operational amplifier module; a second end of the second diode is connected with a second reference level; and the output end of the amplifying circuit is connected with the common end of the second diode and the output end of the operational amplifier module.
Optionally, the second clamping module comprises: a second diode and a second resistor; the first end of the second diode is connected with the output end of the operational amplifier module through the second resistor; a second end of the second diode is connected with a second reference level; and the output end of the amplifying circuit is connected with the common end of the second diode and the second resistor.
Optionally, the adjusting module comprises a third clamping module, and the third clamping module is located on a feedback circuit of the operational amplifier module; the first input end of the operational amplifier module is connected with the first port of the third clamping module; (ii) a The second input end of the operational amplifier module is connected with a third reference level; the output end of the amplifier module is connected with the second port of the third clamping module;
the third clamping module is specifically configured to: when the energy information of the signal input into the operational amplifier module is larger than a first threshold value, the amplification factor of the operational amplifier module to the input signal of the operational amplifier module is reduced.
Optionally, the third clamping module comprises a third diode; the first end of the third diode is connected with the first input end of the operational amplifier module; and the second end of the third diode is connected with the output end of the operational amplifier module.
Optionally, the third clamping module comprises a third diode and a third resistor; the first end of the third diode is connected with the first input end of the operational amplifier module; the second end of the third diode is connected with the output end of the operational amplifier module; the third resistor is connected in parallel with the third diode.
Optionally, the third clamping module comprises a third diode, a third resistor, and a fourth resistor; the first end of the third diode is connected to the first input end of the amplifier module through the third resistor, the second end of the third diode is connected to the output end of the operational amplifier module, and the fourth resistor is connected with the third diode in parallel.
Compared with the prior art, the amplifying circuit provided by the invention can adjust the amplification factor of the input signal of the amplifying circuit through the adjusting module positioned at least one of the front-stage circuit, the rear-stage circuit or the feedback circuit of the operational amplifier module, so that the amplifying circuit amplifies the energy of the input signal by the adjusted amplification factor and then outputs the amplified signal, and further the amplification factor of the amplifying circuit is dynamically adjusted according to the energy of the input signal.
In a second aspect, an embodiment of the present invention further provides a laser measurement apparatus, where the laser measurement apparatus includes any one of the amplification circuits described in the first aspect.
In a third aspect, an embodiment of the present invention further provides a mobile platform, where the mobile platform includes any one of the laser measurement devices described in the second aspect and a platform body, and the laser measurement device is installed on the platform body.
Optionally, the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, and a remote control car.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic block diagram of a lidar in accordance with an embodiment of the present invention;
FIG. 2 is a schematic block diagram of an amplification circuit provided by an embodiment of the present invention;
fig. 3 is a first wiring diagram of an amplifying circuit according to an embodiment of the present invention;
FIG. 4 is a second wiring diagram of an amplifying circuit according to an embodiment of the present invention;
fig. 5 is a third wiring diagram of an amplifying circuit according to an embodiment of the present invention;
FIG. 6 is a fourth wiring diagram of an amplifying circuit according to an embodiment of the present invention;
fig. 7 is a schematic diagram illustrating effects before and after clamping of the first clamping module according to an embodiment of the present invention;
fig. 8 is a fifth wiring diagram of an amplifying circuit according to an embodiment of the present invention;
fig. 9 is a sixth wiring diagram of an amplifying circuit according to an embodiment of the present invention;
fig. 10 is a seventh wiring diagram of an amplifying circuit according to an embodiment of the present invention;
fig. 11 is a schematic diagram illustrating effects before and after clamping of the third clamping module according to the embodiment of the present invention;
fig. 12 is an eighth wiring schematic diagram of an amplifying circuit according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It can be understood that the amplifying circuit provided by the embodiments of the present invention can be applied to a laser measuring device, and the laser measuring device can be an electronic device such as a laser radar, a laser ranging device, and the like. In one embodiment, the laser measuring device is used to sense external environmental information, such as distance information, angle information, reflection intensity information, velocity information, etc., of an environmental target. The laser measuring device may be a lidar.
In one embodiment, the laser measuring device of the embodiment of the present invention may be applied to a mobile platform, and the laser measuring device may be mounted on a platform body of the mobile platform. The mobile platform with the laser measuring device can measure the external environment, for example, the distance between the mobile platform and an obstacle is measured for the purpose of avoiding the obstacle, and the external environment is mapped in two dimensions or three dimensions. In certain embodiments, the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, and a remote control car. When the laser measuring device is applied to the unmanned aerial vehicle, the platform body is a fuselage of the unmanned aerial vehicle. When the laser measuring device is applied to an automobile, the platform body is the automobile body of the automobile. When the laser measuring device is applied to the remote control car, the platform body is the car body of the remote control car.
The following describes an amplifying circuit provided in an embodiment of the present invention by taking a laser radar as an example.
Referring to fig. 1, fig. 1 is a schematic block diagram of a lidar according to an embodiment of the present invention. The laser radar may include: a controller 11, a transmission driving circuit 12, a transmitting tube 13, a receiving tube 14, an amplifying circuit 15, a comparing circuit 16, a Time-to-Digital Converter (TDC) circuit 17, and the like. The controller 11 may be connected to a transmission driving circuit 12, a receiving tube 14, an amplifying circuit 15, a comparing circuit 16, a TDC circuit 17, and the like. The controller 11 may send a driving signal to the emission driving circuit 12. The emission drive circuit 12 controls at least one of emission power, wavelength of emitted laser light, emission direction, and the like of the emission tube 13 in accordance with the received drive signal. It is understood that the transmitting tube 13 is controlled by the transmitting driving circuit, and can transmit the light pulse signal to a specific direction. The transmitting tube 13 transmits an optical pulse signal to an obstacle, and the obstacle reflects the optical pulse signal, and the receiving tube 14 includes a photosensor for receiving the reflected optical pulse signal and converting the received reflected optical pulse signal into an electrical signal. The electrical signal may be a voltage signal or a current signal. The receiver tube 14 inputs the converted electric signal as an input signal to an amplifier circuit 15, which adjusts the input signal and inputs the adjusted signal to a comparator circuit 16. The comparator circuit 16 is configured to convert the amplified signal into a digital pulse signal, and input the digital pulse signal to the TDC circuit 17. The TDC circuit 17 extracts time information included in the digital pulse signal and transmits the time information to the controller 11, and the controller 11 calculates a distance to an obstacle from the time information.
Referring to fig. 2, fig. 2 is a schematic block diagram of an amplifying circuit according to an embodiment of the present invention. As shown in fig. 2, the amplifying circuit may include: an operational amplifier module 21 and an adjustment module 22; the adjusting module 22 is located at least one of a front-stage circuit, a back-stage circuit or a feedback circuit of the operational amplifier module 21, and is configured to adjust an amplification factor of an input signal of the amplifying circuit, so that the amplifying circuit amplifies energy of the input signal by the adjusted amplification factor and outputs the amplified energy.
It will be appreciated that the amplification of the amplification circuit is equal to the ratio of the output signal of the amplification circuit to the input signal of the amplification circuit.
It is understood that the adjusting module 22 adjusts the amplification factor so that when the energy of the input signal of the amplifying circuit is greater than the threshold, the larger the energy of the input signal is, the smaller the amplification factor of the input signal by the amplifying circuit is.
In the first embodiment of the present invention, the adjusting module 22 includes a first clamping module, which is located on a front-stage circuit of the operational amplifier module 21 and connected to a first input terminal of the operational amplifier module 21; a second input of the operational amplifier module 21 may be connected to a third reference level REF 3; the first clamping module is configured to adjust an input signal of the operational amplifier module 21, and output a signal through an output end of the operational amplifier module 21.
Alternatively, when the input signal of the amplifying circuit is a voltage signal, the first clamping module may include a first diode. Referring to fig. 3, fig. 3 is a first wiring diagram of an amplifying circuit according to an embodiment of the invention. Fig. 3 illustrates the connection relationship of the amplifying circuit by taking the operational amplifier module 21 as an operational amplifier IC as an example, as shown in fig. 3, when the voltage signal is a positive voltage signal, the positive electrode of the first diode D1 is connected to the first input terminal of the operational amplifier module 21 (i.e. the inverting input terminal of the operational amplifier IC); the cathode of the first diode D1 is connected to a first reference level REF 1; an input signal Uin of the amplifying circuit is input through a common end of the anode of the first diode D1 and the inverting input end of the operational amplifier IC; the inverting input terminal of the operational amplifier IC is the output terminal Uout of the amplifying circuit. A second input of the operational amplifier module 21, i.e. the non-inverting input of the operational amplifier IC, is connected to a first reference level REF 1.
When the voltage signal inputted to the amplifying circuit exceeds the turn-on voltage drop of the first diode D1, the first diode D1 is turned on, so that the voltage signal inputted to the operational amplifier module 21 is limited to be close to the turn-on voltage of the first diode D1, thereby preventing the input operational amplifier module 21 from being saturated.
It can be understood that, when the input signal of the amplifying circuit is a negative voltage signal, the connection of the positive pole and the negative pole of the first diode is opposite to the connection of the positive pole and the negative pole of the first diode D1 in the amplifying circuit shown in fig. 3.
Alternatively, when the input signal of the amplifying circuit is a current signal, the first clamping module may include a first diode and a first resistor. Referring to fig. 4, fig. 4 is a second wiring diagram of an amplifying circuit according to an embodiment of the invention. Fig. 4 illustrates the connection relationship of the amplifier circuit by taking the operational amplifier module 21 as an operational amplifier IC as an example. As shown in fig. 4, when the current signal is a positive current signal, the anode of the first diode D1 is connected to the first input terminal of the operational amplifier module 21 (i.e., the inverting input terminal of the operational amplifier IC) through the first resistor R1; the cathode of the first diode D1 is connected to a first reference level REF 1; an input signal Uin of the amplifying circuit is input through the anode of the first diode D1 and the common terminal of the first resistor 2212; the inverting input terminal of the operational amplifier IC is the output terminal Uout of the amplifying circuit. A second input of the operational amplifier module 21, i.e. the non-inverting input of the operational amplifier IC, is connected to a third reference level REF 3.
When the current signal input to the amplifying circuit increases, the voltage drop generated across the first resistor R1 increases, and when the voltage drop generated across the first resistor R1 exceeds the turn-on voltage drop of the first diode D1, the first diode D1 is turned on, thereby reducing the current signal to be input to the operational amplifier module 21 and avoiding saturation of the input operational amplifier module 21.
It can be understood that, when the input signal of the amplifying circuit is a negative current signal, the connection of the positive pole and the negative pole of the first diode is opposite to the connection of the positive pole and the negative pole of the first diode D1 in the amplifying circuit shown in fig. 4.
In a second embodiment of the present invention, the adjustment module 22 comprises a second clamping module; the second clamping module is located on a post-stage circuit of the operational amplifier module 21, and the second clamping module is connected with the output end of the operational amplifier module 21; the second clamping module is used for adjusting the output signal of the operational amplifier module 21. It is understood that the input signal of the amplifying circuit may be input to the first input terminal of the operational amplifier module; the first clamping module can also be used for inputting the first input end of the operational amplifier module 21; a second input of the operational amplifier module is connected to a third reference level REF 3.
Alternatively, when the input signal of the amplifying circuit is a voltage signal, the second clamping module may include a second diode. Referring to fig. 5, fig. 5 is a third wiring schematic diagram of an amplifying circuit according to an embodiment of the invention. Fig. 5 illustrates the connection relationship of the amplifier circuit by taking the operational amplifier module 21 as an operational amplifier IC as an example, and as shown in fig. 5, when the voltage signal is a positive voltage signal, the positive electrode of the second diode D2 is connected to the output terminal of the operational amplifier module 21 (i.e., the output terminal of the operational amplifier IC); the cathode of the second diode D2 is connected with a second reference level REF 2; an output signal Uout of the amplifying circuit is output from a common terminal of the second diode D2 and an output terminal of the operational amplifier IC.
When the voltage signal of the output amplifier module 21 exceeds the conduction voltage drop of the second diode D2, the second diode D2 is turned on, so that the voltage signal input to the post-stage operational amplifier is limited to be near the conduction voltage of the second diode D2, and the saturation of the post-stage operational amplifier is avoided.
It can be understood that, when the input signal of the amplifying circuit is a negative voltage signal, the connection of the positive and negative electrodes of the second diode is opposite to the connection of the positive and negative electrodes of the second diode D2 in the amplifying circuit shown in fig. 5.
Optionally, when the input signal of the amplifying circuit is a current signal, the second clamping module may include: a second diode and a second resistor. Referring to fig. 6, fig. 6 is a fourth wiring schematic diagram of an amplifying circuit according to an embodiment of the invention. Fig. 6 illustrates the connection relationship of the amplifying circuit by taking the operational amplifier module 21 as an operational amplifier IC as an example, and as shown in fig. 6, when the current signal is a positive current signal, the anode of the second diode D2 is connected to the output terminal of the operational amplifier module 21 (i.e., the output terminal of the operational amplifier IC) through the second resistor R2; the cathode of the second diode D2 is connected with a second reference level REF 2; an output signal Uout of the amplifying circuit is output from a common terminal of the second diode D2 and the second resistor R2.
When the current signal of the output operational amplifier module 21 increases, the voltage drop generated across the second resistor R2 increases, and when the voltage drop generated across the second resistor R2 exceeds the conduction voltage drop of the second diode D2, the second diode D2 is turned on, thereby reducing the current signal to be output and avoiding the saturation of the after-mentioned operational amplifier.
It can be understood that, when the input signal of the amplifying circuit is a negative current signal, the connection manner of the positive pole and the negative pole of the second diode is opposite to the connection manner of the positive pole and the negative pole of the second diode D2 in the amplifying circuit shown in fig. 6.
It will be appreciated that in the amplification circuit wiring schematic shown in fig. 5 or fig. 6, the input signal Uin of the amplification circuit may be directly input to the first input terminal of the operational amplifier module 21 (i.e. the inverting input terminal of the operational amplifier IC), and the non-inverting input terminal of the operational amplifier IC is connected to the third reference level REF 3.
Referring to fig. 7, fig. 7 is a schematic diagram illustrating effects before and after clamping of the first clamping module according to an embodiment of the invention. In fig. 7, the solid line represents the actual signal, the broken straight line represents the on voltage of the first diode D1, and the broken curve represents the clamped signal. Similarly, the effect of the second clamping module before and after clamping is also shown in fig. 7.
In a third embodiment of the present invention, the adjustment module 22 comprises a second clamping module; the third clamping module is located on a feedback circuit of the operational amplifier module 21; a first input end of the operational amplifier module 21 is connected to a first port of the third clamping module; the output end of the operational amplifier module 21 is connected to the second port of the third clamping module; the third clamping module is specifically configured to: when the energy information of the signal input to the operational amplifier module 21 is greater than a first threshold, the amplification factor of the operational amplifier module 21 on the input signal of the operational amplifier module 21 is reduced.
It is understood that the input signal of the amplifying circuit may be input to a first input terminal of the operational amplifier module 21; the first clamping module can also be connected with the first input end of the operational amplifier module 21; a second input of the operational amplifier module 21 may be connected to a third reference level REF 3.
Optionally, the third clamping module may include a third diode and a fifth resistor. Referring to fig. 8, fig. 8 is a fifth wiring schematic diagram of an amplifying circuit according to an embodiment of the invention. Fig. 8 illustrates the connection relationship of the amplifying circuit by taking the operational amplifier module 21 as an operational amplifier IC as an example, and as shown in fig. 8, the anode of the third diode D3 is connected to the first input terminal of the operational amplifier module 21 (i.e., the inverting input terminal of the operational amplifier IC); the cathode of the third diode D3 is connected to the output of the operational amplifier module 21 (i.e., the output of the operational amplifier IC). A second input of the operational amplifier module 21, i.e. the non-inverting input of the operational amplifier IC, is connected to a third reference level REF 3. An input signal Uin of the amplifying circuit can be input to an inverting input terminal of the operational amplifier IC through a fifth resistor R5; the inverting input terminal of the operational amplifier IC is the output terminal Uout of the amplifying circuit.
When the energy of the signal input to the operational amplifier module 21 is small, the voltage across the third diode D3 is small, the third diode D3 is not turned on, and the resistor RD3 of the third diode is large, at this time, the amplification factor of the operational amplifier module 21 is RD3/R5, and the operational amplifier module 21 amplifies the signal input to the operational amplifier module 21; when the energy of the signal input to the operational amplifier module 21 is large, the voltage across the third diode D3 is larger than the turn-on voltage of the third diode D3, the third diode D3 is turned on, and the resistor RD3 of the third diode is small, at this time, the amplification factor RD3/R5 of the operational amplifier module 21 is reduced, the energy of the signal output to the operational amplifier module 21 is reduced, and the amplification factor of the amplification circuit is further reduced.
Optionally, the third clamping module may include a third diode, a third resistor, and a fifth resistor. Referring to fig. 9, fig. 9 is a sixth wiring schematic diagram of an amplifying circuit according to an embodiment of the invention. Fig. 9 illustrates the connection relationship of the amplifying circuit by taking the operational amplifier module 21 as an operational amplifier IC as an example, and as shown in fig. 9, the anode of the third diode D3 is connected to the first input terminal of the operational amplifier module 21 (i.e., the inverting input terminal of the operational amplifier IC); the cathode of the third diode D3 is connected to the output terminal of the operational amplifier module 21 (i.e., the output terminal of the operational amplifier IC); the third resistor R3 is connected in parallel with the third diode D3. A second input of the operational amplifier module 21, i.e. the non-inverting input of the operational amplifier IC, is connected to a third reference level REF 3. An input signal Uin of the amplifying circuit can be input to an inverting input terminal of the operational amplifier IC through a fifth resistor R5; the inverting input terminal of the operational amplifier IC is the output terminal Uout of the amplifying circuit.
When the energy of the signal input to the operational amplifier module 21 is small, the voltage across the third diode D3 is small, the third diode D3 is not turned on, the resistor RD3 of the third diode D3 is large, the equivalent resistor R of the third diode D3 and the third resistor R3 in parallel is large, at this time, the amplification factor of the operational amplifier module 21 is R equal/R5, and the operational amplifier module 21 amplifies the signal input to the operational amplifier module 21; when the energy of the signal input to the operational amplifier module 21 is large, the voltage across the third diode D3 is larger than the turn-on voltage of the third diode D3, the third diode D3 is turned on, the resistance RD3 of the third diode is small, R and the like are reduced, at this time, the amplification factor R and the like/R5 of the operational amplifier module 21 are reduced, the energy of the signal output to the operational amplifier module 21 is reduced, and the amplification factor of the amplification circuit is further reduced.
Optionally, the third clamping module includes a third diode, a third resistor, a fourth resistor, and a fifth resistor; referring to fig. 10, fig. 10 is a seventh wiring schematic diagram of an amplifying circuit according to an embodiment of the invention. Fig. 10 illustrates the connection relationship of the amplifying circuit by taking the operational amplifier module 21 as an operational amplifier IC as an example, as shown in fig. 10, the anode of the third diode D3 is connected to the first input terminal of the operational amplifier module 21 through the third resistor R3, the cathode of the third diode D3 is connected to the output terminal of the operational amplifier module 21, and the fourth resistor R4 is connected in parallel with the third diode D3. A second input of the operational amplifier module 21, i.e. the non-inverting input of the operational amplifier IC, is connected to a third reference level REF 3. An input signal Uin of the amplifying circuit can be input to an inverting input terminal of the operational amplifier IC through a fifth resistor R5; the inverting input terminal of the operational amplifier IC is the output terminal Uout of the amplifying circuit.
When the energy of the signal input to the operational amplifier module 21 is small, the voltage across the third diode D3 is small, the third diode D3 is not conductive, the resistor RD3 of the third diode D3 is large, the equivalent resistor R and the like in series with the resistor R3, which is connected in parallel with the third diode D3 and the third resistor R4, are large, at this time, the amplification factor of the operational amplifier module 21 is R and the like/R5, and the operational amplifier module 21 amplifies the signal input to the operational amplifier module 21; when the energy of the signal input to the operational amplifier module 21 is large, the voltage across the third diode D3 is larger than the turn-on voltage of the third diode D3, the third diode D3 is turned on, the resistance RD3 of the third diode is small, R and the like are reduced, at this time, the amplification factor R and the like/R5 of the operational amplifier module 21 are reduced, the energy of the signal output to the operational amplifier module 21 is reduced, and the amplification factor of the amplification circuit is further reduced.
In the embodiments shown in fig. 8, 9 and 10, the fifth resistor R5 is not an essential element of the third clamp module, and the input signal Uin of the amplifier circuit may be directly input to the inverting input terminal of the operational amplifier IC with stable operation and amplification.
It can be understood that in the embodiments shown in fig. 8, 9 and 10, the input signal of the amplifying circuit is a positive current signal or a positive voltage signal, and when the input signal of the amplifying circuit is a negative voltage signal or a negative current signal, the connection manner of the positive pole and the negative pole of the third diode is respectively opposite to the connection manner of the positive pole and the negative pole of the third diode D3 in the amplifying circuits shown in fig. 8, 9 and 10.
Referring to fig. 11, fig. 11 is a schematic diagram illustrating effects before and after clamping of the third clamping module according to an embodiment of the invention. In fig. 11, the solid line indicates an actual signal, and the broken line indicates a clamped signal. When the energy of the signal is small, as shown in the right curve of fig. 11, the third clamping module amplifies the input signal; when the energy of the signal is larger, as shown in the right curve of fig. 12, the amplification factor of the operational amplifier module 21 is reduced so that the output signal thereof does not exceed the turn-on voltage of the third diode D3.
In a fourth embodiment of the present invention, the amplifying circuit may include both the first clamping block, the second clamping block, and the third clamping block. Referring to fig. 12, fig. 12 is an eighth wiring schematic diagram of an amplifying circuit according to an embodiment of the present invention. For a detailed description, reference may be made to the related description of the first clamping module, the second clamping module, and the third clamping module, which are not described herein again.
It should be noted that the first diode D1 in the first clamping module and the second diode D2 in the second clamping module may also be zener diodes or TVS diodes, and at this time, the conduction voltage of the diodes is the breakdown voltage of the zener diodes or TVS diodes.
It should be further noted that, in various embodiments of the present invention, the first reference level, the second reference level, and the third reference level are used to distinguish the reference levels, where the first reference level, the second reference level, or the third reference level may be the same or different.
Compared with the prior art, the amplifying circuit provided by the invention can adjust the amplification factor of the input signal of the amplifying circuit through the adjusting module positioned at least one of the front-stage circuit, the rear-stage circuit or the feedback circuit of the operational amplifier module, so that the amplifying circuit amplifies the energy of the input signal by the adjusted amplification factor and then outputs the amplified signal, and further the amplification factor of the amplifying circuit is dynamically adjusted according to the energy of the input signal.
Technical terms used in the embodiments of the present invention are only used for illustrating specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, the use of "including" and/or "comprising" in the specification is intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or components.
The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below, if any, are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Various modifications and alterations to this invention will become apparent to those skilled in the art without departing from the scope and spirit of this invention. The embodiments described herein are further intended to explain the principles of the invention and its practical application and to enable others skilled in the art to understand the invention.
The flow chart described in the present invention is only an example, and various modifications can be made to the diagram or the steps in the present invention without departing from the spirit of the present invention. For instance, the steps may be performed in a differing order, or steps may be added, deleted or modified. It will be understood by those skilled in the art that all or a portion of the above-described embodiments may be practiced and equivalents thereof may be resorted to as falling within the scope of the invention as claimed.

Claims (11)

1. A laser measuring device, comprising:
a transmitting tube for transmitting the optical pulse signal;
the receiving tube is used for receiving the optical pulse signals reflected by the obstacles and converting the received reflected optical pulse signals into electric signals;
the amplifying circuit is used for adjusting the electric signal from the receiving tube;
the comparison circuit is used for converting the signal adjusted by the amplification circuit into a digital signal;
the controller is used for calculating the distance between the laser measuring device and the obstacle according to the digital signal;
the amplifying circuit comprises an operational amplifier module and an adjusting module; the adjusting module is located at least one of a front-stage circuit, a rear-stage circuit or a feedback circuit of the operational amplifier module and is used for adjusting the amplification factor of the input signal of the amplifying circuit, so that the amplifying circuit amplifies the energy of the input signal by the adjusted amplification factor and outputs the amplified energy;
the adjustment module comprises a first clamping module, wherein the first clamping module comprises a first diode and a first resistor; the first end of the first diode is connected with the first input end of the operational amplifier module through the first resistor; the second end of the first diode is connected with a first reference level; the input end of the amplifying circuit is connected with the first end of the first diode and the common end of the first resistor, when an input signal of the amplifying circuit exceeds the conduction voltage drop of the first diode, the first diode is conducted, and saturation of the operational amplifier module is further avoided, so that when the energy of the input signal of the amplifying circuit is larger than a threshold value, the energy of the input signal is larger, and the amplification factor of the amplifying circuit to the input signal is smaller.
2. The laser measuring device as claimed in claim 1, wherein the first clamping module is located on a front-stage circuit of the operational amplifier module, and the first clamping module is connected to a first input end of the operational amplifier module;
the first clamping module is used for adjusting an input signal of the operational amplifier module.
3. The laser measuring device of claim 1, wherein the adjustment module further comprises a second clamping module; the second clamping module is positioned on a post-stage circuit of the operational amplifier module and is connected with the output end of the operational amplifier module;
the second clamping module is used for adjusting the output signal of the operational amplifier module.
4. The laser measurement device of claim 3, wherein the second clamping module comprises: a second diode; the first end of the second diode is connected with the output end of the operational amplifier module; a second end of the second diode is connected with a second reference level; and the output end of the amplifying circuit is connected with the common end of the second diode and the output end of the operational amplifier module.
5. The laser measurement device of claim 3, wherein the second clamping module comprises: a second diode and a second resistor; the first end of the second diode is connected with the output end of the operational amplifier module through the second resistor; a second end of the second diode is connected with a second reference level; and the output end of the amplifying circuit is connected with the common end of the second diode and the second resistor.
6. The laser measurement device of claim 1, wherein the adjustment module further comprises a third clamping module, the third clamping module being located on a feedback circuit of the operational amplifier module; the first input end of the operational amplifier module is connected with the first port of the third clamping module; the second input end of the operational amplifier module is connected with a third reference level; the output end of the amplifier module is connected with the second port of the third clamping module;
the third clamping module is specifically configured to: when the energy information of the signal input into the operational amplifier module is larger than a first threshold value, the amplification factor of the operational amplifier module to the input signal of the operational amplifier module is reduced.
7. The laser measurement device of claim 6, wherein the third clamping module comprises a third diode; the first end of the third diode is connected with the first input end of the operational amplifier module; and the second end of the third diode is connected with the output end of the operational amplifier module.
8. The laser measurement device of claim 6, wherein the third clamping module comprises a third diode and a third resistor; the first end of the third diode is connected with the first input end of the operational amplifier module; the second end of the third diode is connected with the output end of the operational amplifier module; the third resistor is connected in parallel with the third diode.
9. The laser measurement device of claim 6, wherein the third clamping module comprises a third diode, a third resistor, a fourth resistor; the first end of the third diode is connected to the first input end of the amplifier module through the third resistor, the second end of the third diode is connected to the output end of the operational amplifier module, and the fourth resistor is connected with the third diode in parallel.
10. A mobile platform, comprising:
the laser measuring device of any one of claims 1 to 9; and
the laser measuring device is installed on the platform body.
11. The mobile platform of claim 10, wherein the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, and a remote control car.
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