CN112986962B - Transmitting power adjusting circuit and method applied to laser transmitting module - Google Patents
Transmitting power adjusting circuit and method applied to laser transmitting module Download PDFInfo
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- CN112986962B CN112986962B CN202110194619.0A CN202110194619A CN112986962B CN 112986962 B CN112986962 B CN 112986962B CN 202110194619 A CN202110194619 A CN 202110194619A CN 112986962 B CN112986962 B CN 112986962B
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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
- G01S7/484—Transmitters
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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
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
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Abstract
The application discloses a transmitting power adjusting circuit and a transmitting power adjusting method applied to a laser transmitting module, wherein the circuit comprises a transmitting module and a receiving module, the transmitting module is used for receiving feedback signals and transmitting laser pulses with different intensities, the receiving module is used for amplifying the received signals, judging whether the signals are saturated or not after being amplified, feeding the judging result back to the transmitting module, and aiming at target objects with the same reflectivity and the same position, the transmitting module adjusts the intensity of pulse signals transmitted for the second time according to the judging result. The method is a regulating method applied to the circuit. The application can improve the dynamic measurement range of the laser radar system. The application can be widely applied to the laser ranging field.
Description
Technical Field
The application relates to the field of laser ranging, in particular to a transmitting power adjusting circuit and a transmitting power adjusting method applied to a laser transmitting module.
Background
Lidar is a basic principle of time-of-flight (TOF) ranging lidar that obtains a distance between the lidar and an object to be measured by measuring a time of flight of laser light back and forth between the lidar and the object to be measured. In recent years, as demand of the consumer market for unassisted detection, robot navigation systems and automatic driving systems becomes more and more severe, the laser radar system, especially the direct TOF pulse laser radar system, has received attention and favor from the capital market and the consumer market due to the advantages of long detection distance, high measurement accuracy, strong anti-interference performance, etc., and various laser radar products are beginning to enter into the markets of automobiles, robots, security protection, geographic detection, etc. The pulse laser radar transmits laser pulses with narrow pulse width and high peak power through a transmitting module, a receiving module converts received reflected light signals into electric signals through avalanche photodiode detectors (Avalanche Photo Diode, APD), and a signal processing system processes the electric signals to achieve a ranging function.
Since the surface reflectivities of different types of objects in nature are different, their absorption and reflection intensities of incident light are also different. I.e. when laser pulses of a certain intensity are directed to different target objects, the intensity of the reflected light is not the same, usually the intensity of the reflected light is indicated by the reflectivity. For a pulse laser radar, the same pulse laser energy, the reflectivity of a target object is different at the same distance, and the reflected energy is different; at the same reflectivity and different distances, the reflected energy will be different due to the optical path loss. Too much reflected energy can saturate the electrical signal converted by the APD, while too little reflected energy can drown the useful electrical signal in noise. The inaccuracy of timing treatment can be caused by the saturation caused by the overlarge reflected signal or the overlow signal-to-noise ratio caused by the overlarge reflected signal, namely the accuracy of laser ranging is affected, and the measurement with a large dynamic range can not be realized. The main processing method is automatic gain control (Automatic Gain Control, AGC), namely, the receiving end of the laser radar system adjusts the intensity of the reflected signal by controlling the amplifying gain of the rear-stage operational amplifier. However, due to the complexity of the post-stage circuit of the AGC scheme, different group delays exist under the condition of different gains, the timing precision is affected, and meanwhile, the adjusting speed is difficult to meet the requirement. In addition, the direct series connection of resistors on the power path to adjust the transmitting power is difficult to achieve, because a larger current needs to pass through the power path, so that the resistance value of the series connection resistor needs to be small, and the adjustment is difficult to achieve in practical situations.
Disclosure of Invention
In order to solve the technical problems, the application aims to provide a transmitting power adjusting circuit and a transmitting power adjusting method applied to a laser transmitting module so as to realize the measurement of a large dynamic range of a laser radar.
The first technical scheme adopted by the application is as follows: a transmit power adjustment circuit for a laser transmit module 1. Comprising a transmit module and a receive module, wherein:
the transmitting module is used for receiving the feedback signal and transmitting laser pulses with different intensities;
the receiving module is used for amplifying the received signal, judging whether the signal is saturated after being amplified, and feeding back the judging result to the transmitting module;
aiming at the target objects with the same reflectivity and the same position, the transmitting module adjusts the intensity of the pulse signal transmitted for the second time according to the judging result.
Specifically, for the target object with the same reflectivity and the same position, the transmitting module can adjust the intensity of the pulse signal transmitted for the second time by judging whether the signal is saturated or the signal to noise ratio of the signal is too low according to the first time when the receiving module receives the pulse signal, that is, the transmitting power of the next transmitting module is automatically adjusted by judging the signal intensity by the receiving module
Further, the emission module includes power module, controller module, logic circuit, transmission gate array, drive array, NMOS pipe drain voltage sampling submodule and voltage comparator, wherein:
the NMOS tube drain voltage sampling module and the voltage comparator are used for comparing the drain voltage of the NMOS tube with a set value, judging whether reverse current caused by peak voltage exists in a power path or not, and then outputting a logic signal to the controller module;
the controller module is used for receiving the feedback signal from the receiving module, the output signal of the voltage comparator and outputting the control signal of the logic circuit;
the logic circuit not only can determine the number of the NMOS tubes which are actually conducted according to the control signals output by the controller module, but also can determine the conduction sequence of the NMOS tubes in the actual conduction process according to the sampling result of the drain voltages of the NMOS tubes output by the controller.
Specifically, the logic circuit not only can determine the number of the NMOS tubes actually conducted according to the signal output by the controller to change the transmitting power, but also can determine the conduction sequence of the NMOS tubes during actual conduction according to the sampling result of the drain voltage of the NMOS tubes output by the controller, thereby relieving the sensitivity of parasitic inductance existing in a power path to larger di/dt
Further, the NMOS transistor array comprises 2 N NMOS tube 2 N 2 corresponding to the NMOS transistors one by one N Individual drive circuits 2 N 2 corresponding to the driving circuit arrays N Multiple transmission gatesArray and drive 2 N And a driving circuit for the transmission gate array.
Further, the logic circuit comprises a bus part, a register, a temperature code module, an AND gate array, an OR gate array and 2 N And the logic output result of the SR latch array is used for controlling the on and off of the transmission gate array.
The second technical scheme adopted by the application is as follows: a method for adjusting emission power applied to a laser emission module, comprising the steps of:
the transmitting module transmits a pulse signal;
the pulse signals are reflected back after being transmitted to the target object, and reflected signals are obtained;
after receiving the reflected signal, the receiving module amplifies the signal, judges whether the signal is saturated after being amplified, and feeds back a judgment result to the transmitting module;
the controller module in the transmitting module receives the feedback signal from the receiving module, judges the signal and outputs a control signal to the logic circuit;
the logic circuit receives the control signal from the controller module and outputs 2 N A logic control signal is sent to the control end of the transmission gate of the NMOS tube array according to 2 N The logic control signals are used for determining the actual conduction quantity of the NMOS tubes;
send a signal to the controller of the receiving module and allow the system to time the next pulse signal.
Further, the controller module in the transmitting module receives the feedback signal from the receiving module, judges the signal, and outputs a control signal to the logic circuit, which specifically includes:
after receiving the feedback signal from the receiving module, the controller module in the transmitting module judges whether the amplitude of the next pulse needs to be increased or decreased, and outputs a first determined binary value to the logic circuit through the bus ON [ N:0] after the judgment, wherein the binary value is the number of NMOS tubes which need to be conducted next time;
the controller module in the transmitting module also receives the logic value from the voltage comparator, so as to judge the turn-on or turn-off sequence of the NMOS tube when the pulse is transmitted next time, and after judging, outputs bus signals Rise [ N:0] and Fall [ N:0] to the logic circuit, and determines the turn-on or turn-off sequence of the NMOS tube next time.
Further, after the actual on-state number of the NMOS tubes is determined, the actual on-state or off-state sequence of the NMOS tubes is determined according to the bus signals Rise [ N:0] and Fall [ N:0] output by the controller module.
The method has the beneficial effects that: the NMOS tube array is integrated in the transmitting module, the on-resistance in the power path can be changed by changing the on-state quantity of the NMOS tubes, so that the transmitting module can obtain pulse signals with different amplitudes.
Drawings
FIG. 1 is a schematic diagram of a transmit module according to an embodiment of the present application;
FIG. 2 is a system block diagram of an embodiment of the present application;
FIG. 3 is a schematic diagram of a logic circuit in accordance with an embodiment of the present application;
FIG. 4 is a graph showing the time of transmission and the amplitude of the pulses of the two-shot pulse signal according to an embodiment of the present application;
FIG. 5 is a graph of reflected signal pulse amplitude versus time for a two pulse transmit signal in accordance with an embodiment of the present application;
fig. 6 is a flow chart of steps of a method for adjusting the emission power of the laser emission module.
Reference numerals: 1. a transmitting module; 2. a receiving module; 3. a target object.
Detailed Description
The application will now be described in further detail with reference to the drawings and to specific examples. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted according to the understanding of those skilled in the art.
Fig. 2 is a block diagram of a system for implementing an automatic transmission power adjustment technique, which includes a transmitting module 1, a receiving module 2, and a target object 3, wherein the transmitting module 1 transmits a narrow pulse signal to the target object, the signal is reflected by the target object 3 and then is acquired by the receiving module 2, at this time, the receiving module 2 amplifies the reflected signal, determines whether the signal is within a measurable range, and then transmits the determination result to the transmitting module, so as to determine whether the transmission power needs to be adjusted when the pulse is transmitted next time.
Referring to fig. 2, the application provides a transmitting power adjusting circuit applied to a laser transmitting module, which comprises a transmitting module and a receiving module, wherein:
the transmitting module 1 is used for receiving the feedback signal and transmitting laser pulses with different intensities;
the receiving module 2 is used for amplifying the received signal, judging whether the signal is saturated after being amplified, and feeding back the judging result to the transmitting module 1;
aiming at the target object 3 with the same reflectivity and the same position, the transmitting module 1 adjusts the intensity of the pulse signal transmitted for the second time according to the judging result.
Further as a preferred embodiment, the transmitting module 1 includes a power module, a controller module, a logic circuit, a transmission gate array, a driving array, an NMOS transistor drain voltage sampling submodule, and a voltage comparator, wherein:
the NMOS tube drain voltage sampling module and the voltage comparator are used for comparing the drain voltage of the NMOS tube with a set value, judging whether reverse current caused by peak voltage exists in a power path or not, and then outputting a logic signal to the controller module;
the controller module is used for receiving the feedback signal from the receiving module 2, the output signal of the voltage comparator and outputting the control signal of the logic circuit;
the logic circuit not only can determine the number of the NMOS tubes which are actually conducted according to the control signals output by the controller module, but also can determine the conduction sequence of the NMOS tubes in the actual conduction process according to the sampling result of the drain voltages of the NMOS tubes output by the controller.
Specifically, fig. 1 is a schematic diagram of a transmitting module, in which a power module is responsible for supplying power to each circuit module, a controller module can input signals from a receiving module 2 and a voltage comparator and output bus signals ON [ N:0] to a logic circuit, and the logic circuit controls the ON and off of a transmission gate array through the output logic signals, so as to determine the number of ON states of an NMOS transistor array when transmitting pulse signals; when the pulse signal is needed to be transmitted, the transmission gate array is configured by a logic circuit according to a set value, when the pulse signal arrives, each NMOS tube in the NMOS tube array is configured to be in a state of being turned on or off, pulse current flows out from the power supply module, passes through the laser diode and enters the NMOS tube array to finally reach the ground, and therefore a narrow pulse laser signal is generated. When the transmitting power of the transmitting module needs to be regulated, the control module outputs a signal to the logic circuit so as to redetermine the conduction condition of the transmission gate array, when the number of the NMOS transistors actually conducted in the NMOS transistor array is changed, the conduction resistance in the power path is also changed, and the amplitude of the pulse current can be changed
Further as a preferred embodiment, the NMOS transistor array comprises 2 N NMOS tube 2 N 2 corresponding to the NMOS transistors one by one N Individual drive circuits 2 N 2 corresponding to the driving circuit arrays N Multiple transmission gate arrays and method for driving 2 N And a driving circuit for the transmission gate array.
Further as a preferred embodiment, the logic circuit includes a bus portion, a register, a temperature code module, an AND gate array, an OR gate array, and 2 N An array of SR latches.
Specifically, as shown in fig. 3, in order to make the connection relationship in the figure clear, it should be noted that there is a connection relationship between the same name ports; the logic circuit works in the following principle that when the controller module determines the number of NMOS tube works when the next pulse is transmitted, signals are transmitted to the temperature decoding module B through the ON [ N:0] bus, and the temperature decoding module B transmits the decoding signals to the input ends of the AND gate array one by one; since the controller module in the transmitting module 1 determines the order of the on or off states of the NMOS transistors by outputting bus signals Rise [ N:0] and Fall [ N:0] in order to reduce the sensitivity of the parasitic inductance to excessive di/dt, the order signal of the on state of the NMOS transistor is transmitted to the Rise register via the Rise [ N:0] bus, and the order signal of the off state of the NMOS transistor is transmitted to the Fall register via the Fall [ N:0] bus. When the pulse control signal arrives, the turn-on sequence of the NMOS tubes needs to be determined, and the rising edge triggers the register, so that the Rise register transmits signals to the temperature decoding module A, the number of NMOS tubes needing to be turned on first is determined, the NMOS tubes behind are turned on in sequence by delay existing in the circuit, and the turn-off sequence of the NMOS tubes is determined in the same way, and is not repeated.
The circuit has the specific beneficial effects that:
in order to improve the dynamic measurement range of the lidar, an automatic gain control technology is conventionally adopted at a receiving circuit, however, the complexity of the circuit is increased, group delays with different sizes are introduced under different gains, and the timing precision is reduced. The application provides an automatic adjustable circuit and technology for transmitting power applied to a laser pulse transmitting module, which has simple structure and high adjusting speed, and a receiving circuit in the scheme does not need a complex automatic gain circuit, so that group delay is not introduced, and the distance measurement of a large dynamic range is realized.
In order to make the transmitting power of the transmitting module 1 adjustable, the application integrates an NMOS tube array in the transmitting module 1. The NMOS tube array is composed of N NMOS tubes, signals output by the controller module enter the logic circuit, and then the logic circuit outputs signals to determine the conduction quantity of the NMOS tubes when transmitting pulse signals. In addition, because the pulse current value in the power path is larger, a small resistance value is needed when the resistor is directly introduced into the path, and the actual requirement is not met.
For pulse lidar, in order to improve ranging accuracy, a transmitting module is often required to send out a narrow pulse signal in nanosecond level, and due to the existence of parasitic inductance in a channel, such rapid current transient may cause the parasitic inductance to generate a large induced electromotive force, which may introduce a large spike voltage at the drain of an NMOS tube, resulting in the existence of reverse current in the channel and burning out the laser diode. In order to solve the problems, the application reduces the adverse effect of parasitic inductance on the narrow pulse signal by dynamically adjusting the conduction sequence of the NMOS tube, namely adjusting the transient change di/dt of the current.
Referring to fig. 6, the method applied to the emission power adjusting circuit of the laser emission module includes the following steps:
s1, a transmitting module 1 transmits a pulse signal;
s2, transmitting the pulse signal to the target object 3 and then reflecting the pulse signal back to obtain a reflected signal;
s3, after the receiving module 2 receives the reflected signal, amplifying the signal, judging whether the signal is saturated after being amplified, and feeding back a judging result to the transmitting module 1;
s4, a controller module in the transmitting module 1 receives the feedback signal from the receiving module, judges the signal and outputs a control signal to the logic circuit;
s5, the logic circuit receives control signals from the controller module, outputs logic control signals to the transmission gate control end of the NMOS tube array, and determines the actual conduction quantity of the NMOS tubes according to the logic control signals;
s6, sending a signal to a controller of the receiving module 2, and allowing the system to time the next pulse signal, thereby realizing large dynamic range measurement.
Specifically, the receiving module 2 processes the received transmitting pulse to determine whether the intensity of the signal is within a measurable range, and feeds back the obtained result to the controller of the transmitting module, and the controller further adjusts the number of NMOS tubes to be turned on during the next laser pulse transmission through the logic circuit module, so that the intensity of the laser pulse signal at the next time is within the measurable range. Therefore, the dynamic range of laser radar measurement is improved, no extra resistance, capacitance and the like are needed to be introduced, the group delay phenomenon is avoided, and compared with a method for adjusting the power supply voltage to change the transmitting power, the method is faster in adjusting speed.
Further as a preferred embodiment, the step of the controller module in the transmitting module 1 receiving the feedback signal from the receiving module 2, judging the signal, and outputting the control signal to the logic circuit specifically includes:
after receiving the feedback signal from the receiving module 2, the controller module in the transmitting module 1 judges whether the amplitude of the next pulse needs to be increased or decreased, and outputs a first determined binary value to the logic circuit through the bus ON 0 after the judgment, wherein the binary value is the number of NMOS tubes which need to be conducted next time;
the controller module in the transmitting module 1 also receives the logic value from the voltage comparator, so as to judge the turn-on or turn-off sequence of the NMOS tube when the pulse is transmitted next time, and after judging, outputs bus signals Rise [ N:0] and Fall [ N:0] to the logic circuit, and determines the turn-on or turn-off sequence of the NMOS tube next time.
Further, as a preferred embodiment, after determining the actual on number of the NMOS transistors, not all the NMOS transistors of the determined number are directly turned on, but the sequence of actually turning on or off the NMOS transistors is determined according to the bus signals Rise [ N:0] and Fall [ N:0] output by the controller module, so as to avoid the sensitivity of the parasitic inductance in the power path to excessive di/dt, reduce the occurrence of spike voltage and reverse current, and further protect the laser diode from being damaged by the reverse current.
As shown in fig. 4 and fig. 5, the transmitting module 1 transmits a pulse signal to the same target object at the same position twice, after the first pulse signal E1 is transmitted, the reflected signal R1 obtained after the pulse signal is reflected by the target object is acquired by the receiving module, after the signal is amplified by the receiving module, the signal amplitude is judged whether to be within a measurable range (that is, whether the ratio < RA1< RAMAX is established) and the judging result is transmitted to the transmitting module, if not, the pulse signal R2 transmitted by the transmitting module for the second time is regulated, so that the reflected signal amplitude RA2 for the second time is within the measurable range (that is, the ratio < RA2< RAMAX is satisfied); as can be seen from the above, the time T between the two pulse transmissions is determined by the time when the first pulse signal is processed by the receiving module 2; if the second reflected signal is still not within the measurable range, the above process is repeated, and finally a large dynamic measurement range is realized. Wherein, E1 represents the pulse signal of the first transmission, E2 represents the pulse signal of the second transmission, EA1 represents the pulse signal amplitude of the first transmission, EA2 represents the pulse signal amplitude of the second transmission, and T represents the time of the interval between the two pulse transmissions; r1 represents a reflected signal corresponding to the first transmission pulse signal, R2 represents a reflected signal corresponding to the second transmission pulse signal, RA1 represents the amplitude of the first reflected signal, RA2 represents the amplitude of the second reflected signal, RAMAX represents the reflected signal saturation value, and RAMIN represents the noise amplitude.
While the preferred embodiment of the present application has been described in detail, the application is not limited to the embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the application, and these equivalent modifications and substitutions are intended to be included in the scope of the present application as defined in the appended claims.
Claims (5)
1. The utility model provides a transmit power adjusting circuit for laser emission module which characterized in that includes emission module and receiving module, wherein:
the transmitting module is used for receiving the feedback signal and transmitting laser pulses with different intensities;
the receiving module is used for amplifying the received signal, judging whether the signal is saturated after being amplified, and feeding back the judging result to the transmitting module;
aiming at the target objects with the same reflectivity and the same position, the transmitting module adjusts the intensity of the pulse signal transmitted for the second time according to the judging result;
the transmitting module comprises a power supply module, a controller module, a logic circuit, a transmission gate array, a driving array, an NMOS tube drain voltage sampling module and a voltage comparator, wherein:
the NMOS tube drain voltage sampling module and the voltage comparator are used for comparing the drain voltage of the NMOS tube with a set value, judging whether reverse current caused by peak voltage exists in a power path or not, and then outputting a logic signal to the controller module;
the controller module is used for receiving the feedback signal from the receiving module, the output signal of the voltage comparator and outputting the control signal of the logic circuit;
the logic circuit not only can determine the number of the NMOS tubes which are actually conducted according to the control signals output by the controller module, but also can determine the conduction sequence of the NMOS tubes in the actual conduction process according to the sampling result of the drain voltages of the NMOS tubes output by the controller module;
after receiving the feedback signal from the receiving module, the controller module in the transmitting module judges whether the amplitude of the next pulse needs to be increased or decreased, and outputs a first determined binary value to the logic circuit through the bus ON [ N:0] after the judgment, wherein the binary value is the number of NMOS tubes which need to be conducted next time;
the controller module in the transmitting module also receives the logic value from the voltage comparator, so as to judge the turn-on or turn-off sequence of the NMOS tube when the pulse is transmitted next time, and after judging, outputs bus signals Rise [ N:0] and Fall [ N:0] to the logic circuit, and determines the turn-on or turn-off sequence of the NMOS tube next time.
2. The transmit power adjustment circuit for a laser transmit module of claim 1, wherein the NMOS transistor array comprises 2 N NMOS tube 2 N 2 corresponding to the NMOS transistors one by one N Individual drive circuits 2 N 2 corresponding to the driving circuit arrays N Multiple transmission gate arrays and method for driving 2 N And a driving circuit for the transmission gate array.
3. A method according to claim 2The transmitting power regulating circuit applied to the laser transmitting module is characterized in that the logic circuit comprises a bus part, a register, a temperature code module, an AND gate array, an OR gate array and 2 N An array of SR latches.
4. The transmitting power adjusting method applied to the laser transmitting module is characterized by comprising the following steps of:
the transmitting module transmits a pulse signal;
the pulse signals are reflected back after being transmitted to the target object, and reflected signals are obtained;
after receiving the reflected signal, the receiving module amplifies the signal, judges whether the signal is saturated after being amplified, and feeds back a judgment result to the transmitting module;
the controller module in the transmitting module receives the feedback signal from the receiving module, judges the signal and outputs a control signal to the logic circuit;
the logic circuit receives the control signal from the controller module and outputs 2 N A logic control signal is sent to the control end of the transmission gate of the NMOS tube array according to 2 N The logic control signals are used for determining the actual conduction quantity of the NMOS tubes;
a controller for sending a signal to the receiving module and allowing the system to time the next pulse signal;
the controller module in the transmitting module receives the feedback signal from the receiving module, judges the signal and outputs a control signal to the logic circuit, which specifically comprises the following steps:
after receiving the feedback signal from the receiving module, the controller module in the transmitting module judges whether the amplitude of the next pulse needs to be increased or decreased, and outputs a first determined binary value to the logic circuit through the bus ON [ N:0] after the judgment, wherein the binary value is the number of NMOS tubes which need to be conducted next time;
the controller module in the transmitting module also receives the logic value from the voltage comparator, so as to judge the turn-on or turn-off sequence of the NMOS tube when the pulse is transmitted next time, and after judging, outputs bus signals Rise [ N:0] and Fall [ N:0] to the logic circuit, and determines the turn-on or turn-off sequence of the NMOS tube next time.
5. The method for adjusting the emission power of a laser emission module according to claim 4, wherein after determining the actual turn-on number of the NMOS transistor, the actual turn-on or turn-off sequence of the NMOS transistor is determined according to bus signals Rise [ N:0] and Fall [ N:0] output by the controller module.
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