CN112711011A - Laser radar system, optical signal receiving and processing device and optical signal receiving and processing method - Google Patents
Laser radar system, optical signal receiving and processing device and optical signal receiving and processing method Download PDFInfo
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- G—PHYSICS
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- 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
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Abstract
The invention relates to a laser radar system, belongs to the field of laser radars and laser ranging, and is used for solving the problem that the prior art is difficult to overcome the defects of weak signals, high frequency and complex background noise in a complex environment. The laser radar system includes: the device comprises an optical signal transmitting unit, an optical signal receiving and processing unit, a ranging processing unit and a main control processing unit; the main control unit is used for generating a laser trigger pulse signal to the optical signal transmitting unit; the optical signal receiving and processing unit comprises an optical receiver, a trans-impedance amplifier, a primary signal amplifier, a secondary adjustable gain amplifier and an adjustable threshold comparator which are connected in sequence; the main control processing unit can adjust the power supply voltage of the optical receiver, the amplification gain of the secondary adjustable gain amplifier and the threshold voltage of the adjustable threshold comparator according to the output result of the secondary adjustable gain amplifier. The invention also comprises an optical signal receiving and processing device and an optical signal receiving and processing method. One application of the present invention is in lidar system design.
Description
Technical Field
The invention relates to the field of laser radars and laser ranging, in particular to a laser radar system, an optical signal receiving and processing device and an optical signal receiving and processing method.
Background
The laser radar realizes the function of measuring the distance and the position of a target and is applied to the fields of accurate measurement, target positioning, automatic driving and the like. The laser radar has two modes of multi-line scanning and MEMS galvanometer scanning, and the mode of distance measurement by using a light flight measurement method is common, and the target distance is obtained by measuring the time difference of light receiving and transmitting and calculating.
The MEMS vibrating mirror mode has the advantages of small size and low cost, and is the main direction of the future design and development of the laser radar. The laser radar system is greatly influenced by environmental factors, and the measurement accuracy of the laser radar is greatly influenced by optical signals in the external environment. The realization of the laser radar electrical system relates to a photoelectric signal conversion technology, and the measurement performance is closely related to the design of a photoelectric signal conversion circuit. The electrical signal converted by the optical signal has the characteristics of weak signal, high signal frequency and complex background noise, and has high requirements on the gain, bandwidth and noise reduction performance of a signal processing system.
Disclosure of Invention
The invention aims to solve the problems that a laser radar system in the prior art is greatly influenced by the environment and is difficult to overcome the defects of weak signal, high frequency and complex background noise in a complex environment.
According to a first aspect of the present invention, there is provided a lidar system comprising: the device comprises an optical signal transmitting unit, an optical signal receiving and processing unit, a ranging processing unit and a main control processing unit; the main control unit is used for generating a laser trigger pulse signal to the optical signal transmitting unit, the optical signal transmitting unit drives the laser device to transmit the optical pulse signal, and simultaneously, the synchronous signal is transmitted to the distance measurement processing unit; the optical pulse signal is reflected by the surface of the target object and then converted into an electric signal by the optical signal receiving and processing unit; the optical signal receiving and processing unit comprises an optical receiver, a trans-impedance amplifier, a primary signal amplifier, a secondary adjustable gain amplifier and an adjustable threshold comparator which are connected in sequence; the main control processing unit can adjust the power supply voltage of the optical receiver, the amplification gain of the secondary adjustable gain amplifier and the threshold voltage of the adjustable threshold comparator according to the output result of the secondary adjustable gain amplifier.
Preferably, the adjustable range of the power supply voltage of the optical receiver is 40V-90V.
Preferably, the gain adjustable range of the two-stage adjustable gain amplifier is-10 dB-30 dB.
Preferably, the main control processing unit is configured to determine whether the output result meets a preset requirement, and if not, adjust the amplification gain of the secondary adjustable gain amplifier, the power supply voltage of the optical receiver, and the threshold voltage of the adjustable threshold comparator in sequence until the processed signal meets the preset requirement.
Preferably, whether the output result meets the preset requirement is judged according to the amplitude of the output result, the signal repetition frequency and the signal arrival time.
Preferably, the system further comprises a data communication unit, and the communication function between the main control processing unit and the upper computer is realized through the Ethernet drive chip and the Ethernet transceiver.
Preferably, the lidar system is used in cloudy and night light environments.
According to a second aspect of the present invention, an optical signal receiving and processing apparatus for a laser radar system is provided, which includes an optical receiver, a transimpedance amplifier, a primary signal amplifier, a secondary adjustable gain amplifier, and an adjustable threshold comparator, which are connected in sequence; the optical receiver can respond to a power supply voltage control signal from the main control unit to realize self power supply voltage regulation; the secondary adjustable gain amplifier can respond to a gain adjusting signal from the main control unit to realize gain adjustment; the adjustable threshold comparator can respond to a threshold adjusting signal from the main control unit to realize threshold adjustment.
Preferably, the adjustable range of the power supply voltage of the optical receiver is 40-90V; the gain adjustable range of the two-stage adjustable gain amplifier is-10 dB-30 dB.
According to a third aspect of the present invention, there is provided a method for receiving and processing an optical signal of a laser radar system, which is based on the apparatus for receiving and processing an optical signal of a laser radar system according to the second aspect of the present invention, the method comprising: and judging whether the output result of the secondary adjustable gain amplifier meets the preset requirement or not according to the amplitude of the output result, the signal repetition frequency and the signal arrival time, if not, sequentially adjusting the amplification gain of the secondary adjustable gain amplifier, the power supply voltage of the optical receiver and the threshold voltage of the adjustable threshold comparator until the processed signal meets the preset requirement.
The invention has the beneficial effects that:
1. the method can obviously improve the measurement precision of the laser radar system in a complex environment, such as normal measurement in a cloudy and night environment, and meets the complex use environment requirements of users. For example, under the condition of cloudiness, because stray light is more, the receiving unit can receive stray signals to enable a target measurement result to generate great fluctuation, a plurality of echo signals are continuously received in the signals to influence the measurement precision, the bias voltage reduction parameter is set and the gain is properly improved through a self-adaptive control and adjustment algorithm, and when the parameter configuration is proper, a noise signal generated by the stray light can be effectively inhibited, and the measurement precision is improved;
2. the parameters can be dynamically adjusted, and the parameter adjustment is controlled through a self-adaptive algorithm. The method can finish accurate measurement under the condition that ambient stray light is complex or the diffuse reflection on the surface of the target is not ideal. Under the condition, the self-adaptive control algorithm adjusts the bias voltage and the gain parameter ratio and adjusts the threshold value setting to improve the signal-to-noise ratio, obtain a target echo signal and finish the measurement;
3. the target position information can be measured with high precision, and the measurement precision can reach 5cm when the measurement distance of the target object is within 150 meters in a design example;
4. simple system design, small volume, easy realization and low system cost.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a schematic block diagram of a lidar system according to an embodiment of the present invention;
FIG. 2 is a circuit connection structure diagram of an optical signal receiving and processing unit according to an embodiment of the present invention;
fig. 3 is a flow chart of an adaptive control algorithm according to an embodiment of the present invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
< first embodiment >
The present embodiment provides a laser radar system, as shown in fig. 1, including:
the system comprises an optical signal transmitting unit 1, an optical signal receiving processing unit 2, a ranging processing unit 3 and a main control processing unit 4; the main control unit 4 is used for generating a laser trigger pulse signal to the optical signal transmitting unit 1, the optical signal transmitting unit 1 drives the laser device to transmit the optical pulse signal, and simultaneously, the synchronous signal is transmitted to the distance measurement processing unit 3; the optical pulse signal is reflected by the surface of the target object and then converted into an electrical signal by the optical signal receiving and processing unit 2. The optical signal receiving and processing unit 3 comprises an optical receiver, a trans-impedance amplifier, a primary signal amplifier, a secondary adjustable gain amplifier and an adjustable threshold comparator which are connected in sequence; the main control processing unit 4 can adjust the power supply voltage of the optical receiver, the amplification gain of the secondary adjustable gain amplifier and the threshold voltage of the adjustable threshold comparator according to the output result of the secondary adjustable gain amplifier.
The optical signal transmitting unit 1 drives the optical device to excite and generate an optical signal through the driving control circuit. The unit comprises a driving power supply and a signal driver, wherein the driving power supply provides power supply conditions required by the optical device, the signal driver drives the optical device to generate an optical signal according to a control signal and generates a synchronous signal for ranging processing, and the driver is composed of a MOSFET driving chip and a small number of resistance-capacitance devices.
The main functional components of the optical signal receiving unit 2 are: an optical receiver bias voltage generating circuit; a signal amplification processing circuit; and triggering a threshold control circuit by the signal. The bias voltage generating circuit of the optical receiver can dynamically adjust the bias voltage, and the voltage range can cover the working interval of the photoelectric device. The signal amplification processing circuit can dynamically adjust the signal amplification gain, and the gain range is-10 dB to 30 dB. The signal trigger threshold control circuit may dynamically adjust the trigger threshold. The dynamic adjustment process is controlled by the main control processing unit, so that the optical signal receiving and processing capacity is obviously improved, and the adaptability of the optical receiving unit in a complex light environment is improved.
The ranging processing unit 3 comprises a ranging resolving unit and a main control logic processing unit. The distance measurement calculating unit applies a highly integrated time measurement processing chip to measure the time difference between the light signal sending time of the laser signal sending unit and the light signal arrival time of the light signal receiving processing unit, stores the time difference in an internal data area, and provides distance measurement calculating data for the main control processing unit.
The main control processing unit 4 realizes the distance measurement data resolving and error compensation algorithm, and designs an environment adaptive parameter adjustment control algorithm, which is responsible for all control processing logics of the control system, and comprises: the method comprises the steps of generation of driving and transmitting signals, control of bias voltage of an optical receiver, control of signal amplification gain, control of signal trigger threshold, control and reading of time measuring process, realization of data algorithm and realization of data communication protocol. In the working process, the main control processing unit also receives and processes position signals of the MEMS driving control system, and the dynamic adjustment control is carried out on the control elements by using an algorithm, so that the functions of ranging and data transmission are realized.
One workflow of the present embodiment is: the main control processing unit 4 performs initial configuration on the optical signal transmitting unit 1, the optical signal receiving processing unit 2 and the ranging processing unit 3, after the configuration is completed, the main control processing unit 4 generates a trigger signal, the optical signal transmitting unit 1 drives the photoelectric conversion device to excite the photoelectric conversion device to generate an optical signal and the optical signal is emitted through the optical system, and meanwhile, the driving circuit outputs a synchronous electric signal to be sent to the ranging processing unit 3. The optical signal is reflected after reaching the target surface, and the photoelectric conversion device generates an electric signal after the reflected optical signal reaches the surface of the photoelectric device through the receiving optical system. The electrical signals are processed by the optical signal receiving and processing unit 2 and then sent to the distance measuring processing unit 3 and the main control processing unit 4 respectively, parameters of the optical signal receiving and processing unit 2 are adjusted according to a control algorithm after the signals are analyzed and processed by the main control processing unit 4, the distance measuring processing unit 3 is controlled to carry out distance measuring processing on the electrical signals transmitted by the optical signal transmitting unit 1 and the optical signal receiving and processing unit 2 after the signals meet requirements, and the notification of completion of processing is sent by the distance measuring processing unit 3. And when the main control processing unit 4 receives the notification sent by the ranging processing unit 3, the ranging data and the current position information of the MEMS driving system are read, and the current position information is cached after operation processing. When the cache data meets the sending requirement, the cache data is sent to the upper computer through the data communication unit according to the communication protocol to form point cloud data, and the scanning process is completed.
The optical signal reception processing unit 2 of the present embodiment further includes: the optical receiver, the trans-impedance amplifier, the primary signal amplifier, the secondary adjustable gain amplifier and the adjustable threshold comparator are connected in sequence; the main control processing unit can adjust the power supply voltage of the optical receiver, the amplification gain of the secondary adjustable gain amplifier and the threshold voltage of the adjustable threshold comparator according to the output result of the secondary adjustable gain amplifier.
As shown in fig. 2, the main control processing unit is connected to the power supply input terminal of the optical receiver, the output terminal of the second-stage adjustable gain amplifier, and the threshold setting terminal of the adjustable threshold comparator. The main control processing unit is used for judging whether the output result meets the preset requirement, if not, the amplification gain of the secondary adjustable gain amplifier, the power supply voltage of the optical receiver and the threshold voltage of the adjustable threshold comparator are adjusted in sequence until the processed signal meets the preset requirement. In fig. 2, the signal output by the secondary adjustable gain amplifier is divided into two paths of identical signals, one path of signal normally enters the comparator to be compared with a set threshold value, the other path of signal is sent to the main control processing unit to be used as a feedback signal, the main control processing unit can judge whether the signal meets the requirement according to the feedback signal, and if the signal does not meet the requirement, the gain, the voltage and the threshold value are adjusted to enable the output signal to meet the requirement. And judging whether the signal meets the requirement or not, wherein the judgment can be carried out according to the amplitude of the output result of the secondary adjustable gain amplifier, the signal repetition frequency and the signal arrival time. The determination may also be made by parametric characterization of other electrical signals. Namely, the embodiment can adaptively adjust the circuit parameters, so that the acquired signals are clear enough, and the ranging result can be accurately represented.
In one embodiment, the adjustable range of the power supply voltage of the optical receiver is 40V-90V; the gain adjustable range of the two-stage adjustable gain amplifier is-10 dB-30 dB.
The embodiment may further include a data communication unit, and the communication function between the main control processing unit and the upper computer is realized through the ethernet driver chip and the ethernet transceiver.
This embodiment is particularly useful for light environment such as cloudy and night, and when the optic fibre environment was relatively poor promptly, this system had better environmental suitability, can realize the accurate measurement under the complicated light environment, can improve the signal of telecommunication quality, had that signal processing control range is wide, adjust the characteristics that resolution ratio is high.
It should be noted that the main control processing unit sequentially adjusts the amplification gain, the power supply voltage, and the threshold, that is, when it is determined that the output result of the secondary adjustable gain amplifier needs to be adjusted, the amplification gain is adjusted first, if the output result after adjustment still does not meet the requirement, the power supply voltage is adjusted, and if the output result does not meet the requirement, the threshold is adjusted again. Through a plurality of experiments, the measurement process can be completed with higher speed and better precision by adjusting according to the sequence. Namely, one contribution of the present embodiment is that factors which have obvious influence on signal quality under a complex environment are found and adaptive adjustment is performed; and the importance of these influencing factors is determined in order to perform the signal conditioning process with optimal efficiency.
< second embodiment >
The present embodiment provides an optical signal reception processing apparatus for a laser radar system, as shown in fig. 2. The principle is similar to the first embodiment. This embodiment is a scheme in which a circuit configuration and control logic are combined. The method specifically comprises the following steps: the optical receiver, the trans-impedance amplifier, the primary signal amplifier, the secondary adjustable gain amplifier and the adjustable threshold comparator are connected in sequence; the optical receiver can respond to a power supply voltage control signal from the main control unit to realize self power supply voltage regulation; the secondary adjustable gain amplifier can respond to a gain adjusting signal from the main control unit to realize gain adjustment; the adjustable threshold comparator can respond to a threshold adjusting signal from the main control unit to realize threshold adjustment.
That is, the present embodiment is directed to providing a circuit configuration for receiving and processing an optical signal, so as to improve the accuracy of a finally obtained ranging result, and reduce the influence of an interference signal. The implementation means is that a power supply part of the optical receiver, the output and gain part of the two-stage adjustable gain amplifier and the threshold setting input end of the adjustable threshold comparator are all connected with the main control processing unit, so that the main control unit can adaptively adjust the output of the amplifier by adjusting the amplification gain, the power supply voltage and the threshold. The main control processing unit can judge whether the output result meets the preset requirement according to the amplitude of the output result, the signal repetition frequency and the signal arrival time. If the signal does not meet the preset requirement, the amplification gain of the secondary adjustable gain amplifier, the power supply voltage of the optical receiver and the threshold voltage of the adjustable threshold comparator are adjusted in sequence until the processed signal meets the preset requirement.
In a specific embodiment, the adjustable range of the power supply voltage of the optical receiver is 40V-90V; the gain adjustable range of the two-stage adjustable gain amplifier is-10 dB-30 dB.
An example of a signal processing procedure is: the optical receiver receives an optical signal which is sent by the optical transmitter and reflected by the target surface under a preset working voltage, the optical signal is sent to the trans-impedance amplifier, the primary signal amplifier and the secondary adjustable gain amplifier after photoelectric conversion, one path of the optical signal is sent to the comparator for threshold comparison when the optical signal is output, and the other path of the optical signal is sent to the main control processing unit as a feedback signal. And the main control processing unit sequentially adjusts the power supply voltage of the secondary adjustable gain amplifier and the optical receiver and the threshold value of the comparator according to the feedback signal and the priority level until the feedback signal meets the expected value.
< third embodiment >
The present embodiment provides an optical signal reception processing method for a laser radar system, which is based on the reception processing apparatus according to the second embodiment, and includes, as shown in fig. 3: and judging whether the output result of the secondary adjustable gain amplifier meets the preset requirement or not according to the amplitude of the output result, the signal repetition frequency and the signal arrival time, if not, sequentially adjusting the amplification gain of the secondary adjustable gain amplifier, the power supply voltage of the optical receiver and the threshold voltage of the adjustable threshold comparator until the processed signal meets the preset requirement.
< example >
The present embodiment includes a laser radar system, as shown in fig. 1, including an optical signal transmitting unit, an optical signal receiving unit, a signal processing unit, a ranging processing unit, a main control processing unit, a data communication unit, and an MEMS galvanometer and driving module.
The design adopts the time of flight method of light to measure the target location, and the main control processing unit adopts the STM32 chip to design, realizes that the function includes:
(1) the laser trigger signal is generated, the pulse width and the frequency of the signal are variable, setting and adjustment are carried out according to the characteristics of a laser device, and ns-level pulse width setting is supported.
(2) The power supply voltage adjustment of the optical receiver is controlled through a communication bus, the gain parameter of the adjusting amplifier and the comparison signal voltage of the comparator are output through a digital/analog (D/A) circuit, and the adjusting parameter is calculated through a signal processing algorithm.
(3) And receiving a signal fed back by the MEMS driving module, acquiring position information of the MEMS galvanometer, reading target distance information through communication with the ranging unit, and combining the position data through an algorithm to generate the position data of the target.
(4) And the Ethernet communication function is realized, and the measured target position information is transmitted to an upper computer through a data communication unit by using a UDP protocol to form three-dimensional point cloud data.
In this embodiment, the main control processing unit generates a laser trigger pulse signal and sends the laser trigger pulse signal to the optical signal transmitting unit, and the optical signal transmitting unit drives the laser device to transmit an optical pulse signal and sends a synchronization signal to the distance measurement processing unit. The transmitting unit realizes the static adjustable power supply output of 12V-25V and completes the drive control of the 75W laser device. The optical signal is processed by the optical system, focused and collimated, then refracted by the MEMS galvanometer, reflected by the surface of the target object, converged by the optical system again, and then converted into an electric signal by the light receiving device.
In this embodiment, the signal processing unit completes the processing of the electrical signal of the receiving unit, and includes a transimpedance amplifier, an adjustable gain operational amplifier, and an adjustable threshold comparator. As shown in fig. 2, the main control processing unit obtains the strength information of the electrical signal output by the secondary amplifier through a/D acquisition, calculates parameters such as power supply voltage, amplification gain, comparator threshold voltage and the like of the suitable optical receiver, and controls the signal processing unit to adjust. And multi-stage closed-loop control is formed and the dynamic adjustment of parameters is realized by software control.
The adaptive control algorithm operation flow chart is shown in fig. 3. The algorithm continuously reads and analyzes the received signals, carries out resolving processing on the signals such as the amplitude, the signal repetition frequency and the signal arrival time of the received signals to obtain a target value of signal parameter adjustment, carries out corresponding adjustment according to the adjustable range of each parameter, updates the parameter adjustment configuration result, adjusts the parameters which reach the adjustment extreme value, changes the adjustment strategy, and realizes that the configuration parameters are continuously adjustable until the signals meet the measurement requirements or return to the algorithm to be out of order.
The output signal of the comparator is connected to the distance measurement processing unit for distance measurement. The adjustable range of the power supply voltage of the optical receiver is 40V-90V, the operational amplifier has a two-stage amplification function, and the adjustable range of the gain of the two-stage amplification is-10 dB-30 dB.
In the embodiment, the ranging processing unit measures the target object distance data by transmitting the synchronization signal and comparing the output signal. The data can obtain high-precision distance information after algorithm compensation processing, and the target distance measurement precision within 150m can reach within 5 cm.
In this embodiment, the data communication unit is composed of a 100Mbit/s ethernet driver chip and an ethernet transceiver, and the main control processing unit implements a UDP protocol to implement a high-speed communication function with an upper computer.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. A lidar system, comprising:
the device comprises an optical signal transmitting unit, an optical signal receiving and processing unit, a ranging processing unit and a main control processing unit; the main control unit is used for generating a laser trigger pulse signal to the optical signal transmitting unit, the optical signal transmitting unit drives the laser device to transmit the optical pulse signal, and simultaneously, the synchronous signal is transmitted to the distance measurement processing unit; the optical pulse signal is reflected by the surface of the target object and then converted into an electric signal by the optical signal receiving and processing unit;
the optical signal receiving and processing unit comprises an optical receiver, a trans-impedance amplifier, a primary signal amplifier, a secondary adjustable gain amplifier and an adjustable threshold comparator which are connected in sequence; the main control processing unit can adjust the power supply voltage of the optical receiver, the amplification gain of the secondary adjustable gain amplifier and the threshold voltage of the adjustable threshold comparator according to the output result of the secondary adjustable gain amplifier.
2. The lidar system of claim 1, wherein the adjustable range of the supply voltage of the optical receiver is 40V to 90V.
3. The lidar system of claim 1, wherein the gain of the two-stage adjustable gain amplifier is adjustable in a range of-10 dB to 30 dB.
4. The lidar system of claim 1, wherein the main control processing unit is configured to determine whether the output result meets a preset requirement, and if not, adjust the amplification gain of the secondary adjustable gain amplifier, the power supply voltage of the optical receiver, and the threshold voltage of the adjustable threshold comparator in sequence until the processed signal meets the preset requirement.
5. The lidar system of claim 1, wherein the output result is determined to meet a predetermined requirement according to the amplitude of the output result, the signal repetition frequency, and the signal arrival time.
6. The lidar system of claim 1, further comprising a data communication unit, wherein the communication function between the main control processing unit and the upper computer is realized through the ethernet driver chip and the ethernet transceiver.
7. The lidar system of claim 1, wherein the lidar system is configured for use in cloudy and nighttime lighting environments.
8. An optical signal receiving and processing device for a laser radar system is characterized by comprising an optical receiver, a trans-impedance amplifier, a primary signal amplifier, a secondary adjustable gain amplifier and an adjustable threshold comparator which are sequentially connected;
the optical receiver can respond to a power supply voltage control signal from the main control unit to realize self power supply voltage regulation; the secondary adjustable gain amplifier can respond to a gain adjusting signal from the main control unit to realize gain adjustment; the adjustable threshold comparator can respond to a threshold adjusting signal from the main control unit to realize threshold adjustment.
9. The optical signal receiving and processing device for the lidar system according to claim 8, wherein a supply voltage of the optical receiver is adjustable in a range of 40V to 90V; the gain adjustable range of the two-stage adjustable gain amplifier is-10 dB-30 dB.
10. A method for receiving and processing an optical signal of a laser radar system, the method being based on the apparatus for receiving and processing an optical signal of a laser radar system according to claim 8 or 9, the method comprising:
and judging whether the output result of the secondary adjustable gain amplifier meets the preset requirement or not according to the amplitude of the output result, the signal repetition frequency and the signal arrival time, if not, sequentially adjusting the amplification gain of the secondary adjustable gain amplifier, the power supply voltage of the optical receiver and the threshold voltage of the adjustable threshold comparator until the processed signal meets the preset requirement.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113625247A (en) * | 2021-10-11 | 2021-11-09 | 北京一径科技有限公司 | Control method and device and laser radar |
| CN113917397A (en) * | 2021-09-17 | 2022-01-11 | 深圳市睿联技术股份有限公司 | Ranging method, ranging device, ranging system and computer-readable storage medium |
| CN114039672A (en) * | 2021-11-24 | 2022-02-11 | 北京卫星制造厂有限公司 | Space three-dimensional positioning photoelectric receiving system for manufacturing large-scale equipment |
| CN115877395A (en) * | 2023-02-01 | 2023-03-31 | 深圳煜炜光学科技有限公司 | Laser radar and ranging method thereof |
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