CN114019482A - Photoelectric receiving circuit and laser ranging device with same - Google Patents
Photoelectric receiving circuit and laser ranging device with same Download PDFInfo
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- CN114019482A CN114019482A CN202111258141.XA CN202111258141A CN114019482A CN 114019482 A CN114019482 A CN 114019482A CN 202111258141 A CN202111258141 A CN 202111258141A CN 114019482 A CN114019482 A CN 114019482A
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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
- G01S7/4863—Detector arrays, e.g. charge-transfer gates
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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
- 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
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention discloses a photoelectric receiving circuit and a laser ranging device with the same, relates to the technical field of circuits, and is used for avoiding electric crosstalk generated by adjacent APDs. The photoelectric receiving circuit comprises a first avalanche photodiode and a second avalanche photodiode which are arranged in an array form, one end of each of the first avalanche photodiode and the second avalanche photodiode is connected to a bias power supply, a first RC filter circuit is arranged between the bias power supply and the first avalanche photodiode, and/or a second RC filter circuit is arranged between the bias power supply and the second avalanche photodiode.
Description
Technical Field
The invention relates to the technical field of circuits, in particular to a photoelectric receiving circuit and a laser ranging device with the same.
Background
The pulse laser radar mainly adopts an APD (avalanche photo diode) as a photoelectric detector of a receiving device, the sensitivity of the APD is high, weak laser pulse signals can be detected, and long-distance detection is realized. The APD array detection is adopted, the point cloud density of the laser radar can be improved, the angular resolution of the laser radar is improved, but for receiving optical pulse signals with large energy, signal crosstalk exists among APDs, namely, one APD receives the optical pulse signals with large energy, and can generate electric crosstalk signals for adjacent APDs, so that the APD which does not receive the optical pulse signals generates electric pulse signals.
Disclosure of Invention
In view of this, embodiments of the present invention provide a photo-receiving circuit capable of preventing adjacent APDs from generating electrical crosstalk and a laser ranging apparatus having the same.
In a first aspect, embodiments of the present invention provide a photoreceiving circuit, including a first avalanche photodiode and a second avalanche photodiode arranged in an array, where one end of each of the first avalanche photodiode and the second avalanche photodiode is connected to a bias power supply, a first RC filter circuit is arranged between the bias power supply and the first avalanche photodiode, and/or a second RC filter circuit is arranged between the bias power supply and the second avalanche photodiode.
With reference to the first aspect, in an implementation manner of the first aspect, the first RC filter circuit and the second RC filter circuit are both second-order RC filter circuits, and each second-order RC filter circuit includes a first filter resistor, a first filter capacitor, a second filter resistor, and a second filter capacitor, where:
one end of the first filter resistor is connected with the bias power supply, and the other end of the first filter resistor is grounded through the first filter capacitor;
the other end of the first filter resistor is simultaneously connected with one end of the second filter resistor, the other end of the second filter resistor is grounded through the second filter capacitor, and the other end of the second filter resistor is simultaneously connected with the first avalanche photodiode or the second avalanche photodiode.
With reference to the first aspect, in another implementation manner of the first aspect, a current limiting protection circuit is disposed between the first RC filter circuit and the first avalanche photodiode, and between the second RC filter circuit and the second avalanche photodiode, and the current limiting protection circuit includes a current limiting resistor.
With reference to the first aspect, in a further embodiment of the first aspect, the current limiting resistor has a resistance of 50 to 200 ohms, preferably 100 ohms.
With reference to the first aspect, in a further embodiment of the first aspect, the second filter capacitor is an energy storage capacitor, and a capacitance value of the second filter capacitor is 100-300pF, preferably 220 pF.
In a further embodiment of the first aspect in combination with the first aspect, the first filter resistor, the first filter capacitor and the second filter resistor constitute a charging circuit for charging the second filter capacitor, the capacitance value of the first filter capacitor is 5-20nF, preferably 10nF, and the resistance values of the first filter resistor and the second filter resistor are 5-15k ohm, preferably 10k ohm and 0.5-1.5k ohm, preferably 1k ohm, respectively.
In a second aspect, an embodiment of the invention provides a laser ranging device, which includes the above-mentioned photoelectric receiving circuit.
With reference to the second aspect, in one embodiment of the second aspect, the laser ranging device includes a laser emitting unit, a scanning unit, a receiving unit, and a control unit, wherein:
the laser emission unit is responsible for generating nanosecond narrow pulse laser and outputting the pulse laser in a collimation manner;
the scanning unit is used for realizing scanning detection of the laser radar in the horizontal and vertical directions;
the receiving unit comprises a receiving lens, a front-end receiving circuit and a signal conditioning circuit, wherein the front-end receiving circuit is used for receiving pulse echoes reflected by a target, and outputting the pulse echoes to the control unit to calculate the target distance after the pulse echoes are processed by the signal conditioning circuit; the front-end receiving circuit comprises the optical-electrical receiving circuit of any one of claims 1-6;
the control unit is responsible for controlling the laser emission unit to emit pulse laser, then controlling the scanning unit to scan to realize scanning detection of a target, and finally realizing point cloud display of the laser radar by reading pulse echo signals of the receiving unit and calculating the distance.
In another embodiment in combination with the second aspect, the scanning unit is composed of a polygon prism for realizing scanning in the horizontal direction and a galvanometer for realizing scanning in the vertical direction.
With reference to the second aspect, in a further implementation manner of the second aspect, a transimpedance amplifier circuit, a two-stage amplifier circuit, and a comparator circuit are sequentially connected to the front-end receiving circuit behind the photoelectric receiving circuit.
According to the photoelectric receiving circuit and the laser ranging device with the same, due to the fact that the RC filter circuit is adopted at the front end of the photoelectric detection units (namely avalanche photodiodes), on one hand, noise of a bias power supply can be reduced and coupled to the photoelectric detection units to influence output signals, on the other hand, coupling interference of electric signals among the photoelectric detection units can be eliminated, particularly, crosstalk signals of large pulse current signals generated after one photoelectric detection unit receives large-energy optical pulse signals to adjacent photoelectric detection units can be effectively filtered, false signal output of the crosstalk channels is prevented, and misjudgment influence generated by rear-end processing is eliminated.
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 circuit diagram of a photoelectric receiving circuit according to an embodiment of the present invention.
Fig. 2 is a schematic circuit structure diagram of an embodiment of a laser ranging device of the present invention.
Fig. 3 is a schematic structural diagram of the receiving unit in fig. 2, wherein (a) is a structural diagram of an APD photodetector, and (b) is a relative positional relationship diagram of a receiving lens and the APD photodetector.
Fig. 4 is a schematic circuit diagram of the receiving unit in fig. 2.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be understood that the described embodiments are only some embodiments of the invention, and not all 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.
In one aspect, an embodiment of the present invention provides a photo-receiving circuit, as shown in fig. 1, including a first avalanche photodiode D1/APD1 and a second avalanche photodiode D2/APD2 arranged in an array, where one end of each of the first avalanche photodiode D1 and the second avalanche photodiode D2 is connected to a bias voltage source VCC _ APD1 (illustrated in the figure that the cathode of the avalanche photodiode is connected to a positive bias voltage), a first RC filter circuit is disposed between the bias voltage source VCC _ APD1 and the first avalanche photodiode D1, and/or a second RC filter circuit is disposed between the bias voltage source VCC _ APD1 and the second avalanche photodiode D2.
In order to improve the filtering effect, preferably, the first RC filter circuit and the second RC filter circuit are both second-order RC filter circuits, and each second-order RC filter circuit includes a first filter resistor R1/R4, a first filter capacitor C1/C3, a second filter resistor R2/R5, and a second filter capacitor C2/C4, where:
one end of the first filter resistor is connected with a bias power supply, and the other end of the first filter resistor is grounded through the first filter capacitor;
the other end of the first filter resistor is simultaneously connected with one end of the second filter resistor, the other end of the second filter resistor is grounded through the second filter capacitor, and the other end of the second filter resistor is simultaneously connected with the first avalanche photodiode or the second avalanche photodiode.
In the embodiment shown in fig. 1, R1, C1, R2 and C2 form a second-order RC filter circuit of the first avalanche photodiode D1, R4, C3, R5 and C4 form a second-order RC filter circuit of the second avalanche photodiode D2, the bias voltage VCC _ APD1 of the APD is applied to the first avalanche photodiode D1 through the second-order RC filter circuit formed by R1, C1, R2 and C2 shown in fig. 1, and similarly, the bias voltage VCC _ APD1 of the APD is applied to the second avalanche photodiode D2 through the second-order RC filter circuit formed by R4, C3, R5 and C4 shown in fig. 1.
The second-order RC filter circuit composed of R1, C1, R2 and C2 can filter noise of the bias voltage power supply VCC _ APD1, reduce the noise of the bias voltage power supply VCC _ APD1 coupled to the photoelectric detection unit (namely avalanche photodiode) D1, and further reduce the noise output by the photoelectric detection unit D1;
the second-order RC filter circuit composed of R4, C3, R5 and C4 can filter noise of the bias voltage power supply VCC _ APD1, reduce the noise of the bias voltage power supply VCC _ APD1 coupled to the photoelectric detection unit (namely avalanche photodiode) D2, and further reduce the noise output by the photoelectric detection unit D2;
the second-order RC filter circuit formed by R1, C1, R2 and C2 and the second-order RC filter circuit formed by R4, C3, R5 and C4 can eliminate coupling interference between the photoelectric detection units D1 and D2. For example, when the photodetecting unit D1 receives a large light pulse, a large current pulse signal is generated, because the presence of the second-order RC filter circuit formed by R1, C1, R2, and C2 and the second-order RC filter circuit formed by R4, C3, R5, and C4 can eliminate the coupling interference to the photodetecting unit D2, and prevent the output of the interference signal at the output terminal of the photodetecting unit D2. Similarly, when the photodetection unit D2 receives a large light pulse and generates a large current pulse signal, the coupling interference to the photodetection unit D1 can be eliminated due to the presence of the RC filter circuit, and the output of the interference signal at the output terminal of the photodetection unit D1 is prevented.
According to the photoelectric receiving circuit provided by the embodiment of the invention, as the RC filter circuit is adopted at the front end of the photoelectric detection units (namely avalanche photodiodes), on one hand, the influence of the noise of a bias power supply coupled to the photoelectric detection units on output signals can be reduced, on the other hand, the coupling interference of electric signals among the photoelectric detection units can be eliminated, and particularly, the crosstalk signals of large pulse current signals generated after one photoelectric detection unit receives large-energy optical pulse signals to adjacent photoelectric detection units can be effectively filtered, the false signal output of a crosstalk channel is prevented, and the misjudgment influence generated by the rear-end processing is eliminated.
During research, the inventor finds that if the light pulse received by the APD is very strong, the APD can generate very large photogenerated carriers, and the PN junction of the APD is overheated to damage the APD. To avoid this problem, preferably, a current limiting protection circuit is provided between the first RC filter circuit and the first avalanche photodiode D1 and between the second RC filter circuit and the second avalanche photodiode D2, and the current limiting protection circuit includes current limiting resistors R3 and R6 connected in series. For better current limiting, the resistance of the current limiting resistors R3, R6 may be 50-200 ohms, preferably 100 ohms.
Because the front end of the photoelectric detection unit (namely the avalanche photodiode) adopts the current-limiting protection circuit, the photoelectric detection unit can be effectively prevented from generating a large pulse current signal after receiving a large-energy optical pulse signal, and the PN junction of the photoelectric detection unit is prevented from being burnt due to overheating.
In the embodiment shown in fig. 1, R3 is the current limiting resistor of the first avalanche photodiode D1, and R6 is the current limiting resistor of the second avalanche photodiode D2. When the APD photodetection unit D1 receives a large optical pulse and then generates a large current pulse signal, the current pulse will generate a voltage drop across the resistor R3, resulting in a decrease in the bias voltage applied across the anode and cathode of the APD photodetection unit D1, so that the gain of the APD photodetection unit D1 is reduced, the magnitude of the current pulse generated by D1 is limited, and the photodetection unit D1 is not damaged due to an excessive current, thereby playing a role in protection.
Similarly, when the APD photodetection unit D2 receives a large optical pulse and then generates a large current pulse signal, the current pulse will generate a voltage drop across the resistor R6, which results in a decrease in the bias voltage applied across the anode and cathode of the APD photodetection unit D2, so that the gain of the APD photodetection unit D2 is reduced, the magnitude of the current pulse generated by D2 is limited, and the photodetection unit D2 is not damaged due to an excessive current, thereby playing a role in protection.
In some embodiments, the second filtering capacitors C2, C4 are preferably energy storage capacitors, and the capacitance values of the second filtering capacitors C2, C4 may be 100-300pF, preferably 220 pF. The energy storage circuit can be formed, after the photoelectric detection unit (namely the avalanche photodiode) receives a large energy light pulse signal to generate a large pulse current signal, the pulse current can flow through the current-limiting resistor, voltage drop is generated on the current-limiting resistor, the bias voltage of the photoelectric detection unit can be pulled down, the energy storage circuit can rapidly provide electric charge before the next measurement period, the bias voltage of the photoelectric detection unit is recovered, and the photoelectric detection unit can be ensured to be recovered to a normal measurement state.
In the embodiment shown in fig. 1, C2 may be used as an energy storage capacitor, and when the APD photodetection unit D1 receives a large optical pulse and then generates a large current pulse signal, which results in a decrease in the bias voltage at both ends of D1, the energy storage capacitor C2 can rapidly provide charges before the next measurement period, recover the bias voltage at both ends of the photodetection unit D1, and ensure that the photodetection unit D1 can recover to a normal measurement state;
similarly, C4 may be used as an energy storage capacitor, and when the APD photodetection unit D2 receives a large optical pulse and then generates a large current pulse signal, which results in a decrease in the bias voltage across D2, the energy storage capacitor C4 can rapidly provide charges before the next measurement period, recover the bias voltage across the photodetection unit D2, and ensure that the photodetection unit D2 can recover to a normal measurement state.
In a further embodiment, the first filter resistor R1/R4, the first filter capacitor C1/C3 and the second filter resistor R2/R5 constitute a charging circuit for charging the second filter capacitor C2/C4, the capacitance of the first filter capacitor may be 5-20nF, preferably 10nF, and the resistances of the first filter resistor and the second filter resistor are 5-15k ohms, preferably 10k ohms and 0.5-1.5k ohms, preferably 1k ohms, respectively. After the photoelectric detection unit (namely the avalanche photodiode) receives a large energy light pulse signal to generate a large pulse current signal, and after the energy storage circuit formed by the current-limiting protection circuit and the energy storage capacitor acts, the capacitor charge of the energy storage circuit is reduced, and the charging circuit can quickly supplement the charge of the energy storage capacitor, so that the normal work of the photoelectric detection unit is ensured.
In the embodiment shown in fig. 1, R1, C1, and R2 constitute a charging circuit for charging C2, when the APD photodetection unit D1 receives a large optical pulse to generate a large current pulse signal, the charge of the storage capacitor C2 is reduced, and the charging circuit formed by R1, C1, and R2 can quickly replenish the charge of the storage capacitor C2, thereby ensuring the normal operation of the photodetection unit D1;
similarly, R4, C3, and R5 constitute a charging circuit for charging C4, and when the APD photodetection unit D2 receives a large optical pulse and generates a large current pulse signal, the charge of the storage capacitor C4 decreases, and the charging circuit formed by R4, C3, and R5 can quickly replenish the charge of the storage capacitor C4, thereby ensuring the normal operation of the photodetection unit D2.
On the other hand, an embodiment of the present invention provides a laser ranging apparatus, including the above-mentioned photoelectric receiving circuit. Since the structure of the photoelectric receiving circuit is the same as that of the above, it is not described herein again.
According to the laser ranging device provided by the embodiment of the invention, as the RC filter circuit is adopted at the front end of the photoelectric detection unit (namely, the avalanche photodiode), on one hand, the influence of the noise of the bias power supply coupled to the photoelectric detection unit on the output signal can be reduced, on the other hand, the coupling interference of the electric signals between the photoelectric detection units can be eliminated, and particularly, the crosstalk signal of a large pulse current signal generated after one photoelectric detection unit receives a large-energy optical pulse signal to an adjacent photoelectric detection unit can be effectively filtered, the false signal output of a crosstalk channel is prevented, and the misjudgment influence generated by the rear-end processing is eliminated.
As shown in fig. 2, preferably, the laser ranging apparatus (which may be specifically laser radar system 100) includes a laser emitting unit 200, a scanning unit 300, a receiving unit 400, and a control unit 500, wherein:
the laser emission unit 200 is responsible for generating nanosecond narrow pulse laser and collimating and outputting the pulse laser;
the scanning unit 300 is used for realizing scanning detection of the laser radar in the horizontal and vertical directions; the scanning unit 300 may specifically include a polygon prism and a vibrating mirror, the polygon prism is used for implementing scanning in the horizontal direction, the vibrating mirror is used for implementing scanning in the vertical direction, and the combination of the polygon prism and the vibrating mirror can implement scanning detection in the horizontal and vertical directions of the laser radar;
the receiving unit 400 includes a receiving lens, a front receiving circuit and a signal conditioning circuit, the front receiving circuit is used for receiving the pulse echo reflected by the target, and the pulse echo is processed by the signal conditioning circuit and then output to the control unit 500 to calculate the target distance; the front-end receiving circuit comprises the photoelectric receiving circuit;
the control unit 500 is responsible for controlling the laser emitting unit 200 to emit the pulse laser, then controlling the scanning unit 300 to scan to realize scanning detection of the target, and finally realizing point cloud display of the laser radar by reading the pulse echo signal of the receiving unit 400 and calculating the distance.
When the laser ranging device starts to work, the control unit 500 controls the laser emitting unit 200 to emit narrow pulse laser, the pulse laser is reflected by the vibrating mirror and the polygon prism and then emitted to a target, the pulse laser is reflected by the target and collected by the receiving lens, an echo signal is received by a photoelectric detector array in a receiving circuit at the front end of the receiving unit 400 and is output to the control unit 500 after being processed by the receiving unit 400, the target distance calculation is completed, meanwhile, the control unit 500 obtains angle data of the vibrating mirror and the prism, three-dimensional point cloud information of the target can be obtained through calculation, and finally point cloud data of the target can be displayed in real time by the upper computer through continuous scanning of the vibrating mirror and the prism, and the control unit 500 can calculate the point cloud information of the target in real time.
The photodetectors/units in the front-end receiving circuit of the receiving unit 400 may be photodetectors made of different materials such as silicon-based materials and InGaAs materials; the photoelectric detector can be various types of photoelectric detectors such as a linear photoelectric detector, an area array photoelectric detector and the like.
Fig. 3 is a schematic structural diagram of a receiving unit in a laser distance measuring device according TO an embodiment of the present invention, as shown in fig. 3, a photodetection circuit of the receiving unit 400 employs an APD photodetector/unit based on InGaAs, and may specifically employ a TO (transistor outline) package, and an APD photodetector 401 is formed by two APD chips 402 arranged linearly; the two APD chips 402 are arranged at a fixed center distance, and the receiving lens 403 converges the pulsed laser 404, which is reflected by the target, of the two laser beams of the laser emission unit 200 onto the light receiving surfaces of the two APD chips 402, respectively. The receiving lens 403 may be integrally fixed to the receiving structure; the position of receive lens 403 is unchanged and calibration of the receive APD optical axis and the transmit optical axis can be achieved by adjusting the three dimensional position of APD photodetector 401 relative to receive lens 403.
Fig. 4 is a schematic circuit diagram of a receiving unit in a laser ranging device according to an embodiment of the present invention, and as shown in fig. 4, a front end receiving circuit of the receiving unit 400 preferably includes the above-mentioned photo-receiving circuit (i.e., an APD photo-receiving circuit in the figure), a TIA circuit, a two-stage (gain) amplifying circuit, and a comparing circuit, where:
the APD photoelectric receiving circuit converts the optical pulse signal returned by the target into a current pulse signal;
the TIA circuit is a transimpedance amplification circuit and can amplify a current pulse signal output by the APD and convert the current pulse signal into a voltage signal for output;
the secondary amplification circuit can perform secondary amplification on the signal output by the TIA, so that the signal amplitude is improved;
after the APD, TIA and secondary amplification, the weak optical pulse signal returned from the target can be amplified into a pulse signal which can be detected by the comparison circuit, and the identification processing of the post-stage circuit is ensured.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment. For convenience of description, the above devices are described separately in terms of functional division into various units/modules. Of course, the functionality of the units/modules may be implemented in one or more software and/or hardware implementations of the invention.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A photoreceiving circuit comprising a first avalanche photodiode and a second avalanche photodiode arranged in an array, each of said first avalanche photodiode and said second avalanche photodiode having one end connected to a bias voltage supply, characterised in that a first RC filter circuit is provided between said bias voltage supply and said first avalanche photodiode and/or a second RC filter circuit is provided between said bias voltage supply and said second avalanche photodiode.
2. The photoelectric receiving circuit according to claim 1, wherein the first RC filter circuit and the second RC filter circuit are both second-order RC filter circuits including a first filter resistance, a first filter capacitance, a second filter resistance, and a second filter capacitance, wherein:
one end of the first filter resistor is connected with the bias power supply, and the other end of the first filter resistor is grounded through the first filter capacitor;
the other end of the first filter resistor is simultaneously connected with one end of the second filter resistor, the other end of the second filter resistor is grounded through the second filter capacitor, and the other end of the second filter resistor is simultaneously connected with the first avalanche photodiode or the second avalanche photodiode.
3. The photoreceiving circuit of claim 2, wherein a current limiting protection circuit is provided between the first RC filter circuit and the first avalanche photodiode and between the second RC filter circuit and the second avalanche photodiode, the current limiting protection circuit including a current limiting resistor.
4. The photoreceiving circuit of claim 3, wherein the current limiting resistor has a resistance of 50-200 ohms.
5. The optical receiver circuit of claim 3, wherein the second filter capacitor is a storage capacitor, and the capacitance of the second filter capacitor is 100-300 pF.
6. The optical receiver circuit according to claim 5, wherein the first filter resistor, the first filter capacitor and the second filter resistor constitute a charging circuit for charging the second filter capacitor, the first filter capacitor has a capacitance value of 5-20nF, and the first filter resistor and the second filter resistor have resistance values of 5-15k ohm and 0.5-1.5k ohm, respectively.
7. A laser ranging device comprising the photo-reception circuit of any one of claims 1 to 6.
8. The laser ranging device as claimed in claim 7, comprising a laser emitting unit, a scanning unit, a receiving unit and a control unit, wherein:
the laser emission unit is responsible for generating nanosecond narrow pulse laser and outputting the pulse laser in a collimation manner;
the scanning unit is used for realizing scanning detection of the laser radar in the horizontal and vertical directions;
the receiving unit comprises a receiving lens, a front-end receiving circuit and a signal conditioning circuit, wherein the front-end receiving circuit is used for receiving pulse echoes reflected by a target, and outputting the pulse echoes to the control unit to calculate the target distance after the pulse echoes are processed by the signal conditioning circuit; the front-end receiving circuit comprises the optical-electrical receiving circuit of any one of claims 1-6;
the control unit is responsible for controlling the laser emission unit to emit pulse laser, then controlling the scanning unit to scan to realize scanning detection of a target, and finally realizing point cloud display of the laser radar by reading pulse echo signals of the receiving unit and calculating the distance.
9. The laser ranging apparatus as claimed in claim 8, wherein the scanning unit is composed of a polygon prism for performing scanning in a horizontal direction and a galvanometer for performing scanning in a vertical direction.
10. The laser ranging device as claimed in claim 8, wherein a transimpedance amplifier circuit, a secondary amplifier circuit and a comparator circuit are connected in sequence behind the photoelectric receiving circuit in the front-end receiving circuit.
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| CN202111258141.XA CN114019482A (en) | 2021-10-27 | 2021-10-27 | Photoelectric receiving circuit and laser ranging device with same |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117347980A (en) * | 2023-12-04 | 2024-01-05 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117347980A (en) * | 2023-12-04 | 2024-01-05 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
| CN117347980B (en) * | 2023-12-04 | 2024-03-12 | 深圳市镭神智能系统有限公司 | Large-view-field laser radar and carrier |
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