CN115372940A - Laser radar transmitting and online diagnosing system - Google Patents
Laser radar transmitting and online diagnosing system Download PDFInfo
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- CN115372940A CN115372940A CN202211298472.0A CN202211298472A CN115372940A CN 115372940 A CN115372940 A CN 115372940A CN 202211298472 A CN202211298472 A CN 202211298472A CN 115372940 A CN115372940 A CN 115372940A
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- 238000001514 detection method Methods 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000003745 diagnosis Methods 0.000 claims description 13
- 239000003990 capacitor Substances 0.000 claims description 11
- 229910002601 GaN Inorganic materials 0.000 claims description 8
- 238000011217 control strategy Methods 0.000 claims description 7
- 230000000087 stabilizing effect Effects 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 2
- 230000009123 feedback regulation Effects 0.000 claims description 2
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000005070 sampling Methods 0.000 description 22
- 238000000034 method Methods 0.000 description 4
- 238000003491 array Methods 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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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
- G01S7/497—Means for monitoring or calibrating
Abstract
The invention discloses a laser radar transmitting and online diagnosing system; the device comprises an energy supply module, an emission module, a detection module and a control module, wherein the energy supply module is electrically connected to the control module, the emission module is electrically connected to the control module, the energy supply module is electrically connected to the emission module, the emission module is also electrically connected to the detection module, the detection module is electrically connected to a processor module, and the processor module is electrically connected to the control module; the detection circuit is added, so that the whole transmitting circuit has a feedback link, a closed-loop control flow is formed, current signals actually flowing through the laser diode are collected, and whether the laser diode works normally or not is diagnosed; and detecting the real-time power of the laser, and dynamically and adaptively adjusting the transmitting power of the laser according to the actual measurement requirement and the device parameters of the circuit.
Description
Technical Field
The invention belongs to the technical field of laser transmitting circuits, and particularly relates to a laser radar transmitting and online diagnosing system.
Background
The existing laser transmitting circuit generally comprises a control circuit and a transmitting circuit, wherein the control circuit provides a driving signal for the transmitting circuit, the transmitting circuit completes the transmission of laser, the system control is open-loop control, feedback and closed-loop cannot be realized, meanwhile, the difference of circuit devices is related to the transmitting power of the laser due to the distance of the detection distance of the laser, and the prior art cannot realize self-adaptive dynamic adjustment of the transmitting power of the laser.
A lidar transmission system as disclosed in publication No. CN114545367A, comprising a first lens, a second lens and a light source; wherein the first lens comprises a plurality of arrays of sub-lenses; the light source comprises a plurality of arrays of sub-light sources; the first lens and the second lens are coaxial and are sequentially arranged on the light emitting side of the light source; the sub super lens and the sub light source are in a mapping relation. Although the number of the lenses of the laser radar transmitting system is reduced by adopting the first lens and the second lens formed by the sub-lens array, the total length and the working distance of the system of the laser radar transmitting system are reduced, and the miniaturization and the light weight of the laser radar transmitting system are promoted, the problem that the existing laser transmitting circuit can only drive laser transmission but does not acquire and detect feedback, and if a laser diode is damaged, a processor cannot sense the laser diode is solved. The laser radar is influenced by factors such as detection distance, device aging and the like in the working process, a driving power supply transmitted by a laser device may need to be dynamically adjusted so as to achieve the purpose of dynamically adjusting the transmitting power of the laser device, and the prior art cannot be adaptive.
Disclosure of Invention
The present invention is directed to a lidar transmission and online diagnostic system to solve the above problems.
In order to achieve the purpose, the invention provides the following technical scheme: a laser radar transmitting and online diagnosing system comprises an energy supply module, a transmitting module, a detecting module and a control module, wherein the energy supply module is electrically connected to the control module, the transmitting module is electrically connected to the control module, the energy supply module is electrically connected to the transmitting module, the transmitting module is also electrically connected to the detecting module, the detecting module is electrically connected to a processor module, the processor module is electrically connected to the control module, the processor module is used for judging and analyzing according to a signal fed back by the detecting module and a diagnosing control strategy, and driving the control module to perform feedback regulation according to an analysis result;
the transmitting module is used for transmitting laser radar signals;
the control module is used for controlling the emission of the laser radar signal of the emission module;
the detection module is used for detecting the circuit working state of the transmitting module;
the transmitting module adopts a laser diode as a laser, and the processor module adjusts the control module according to the output signal of the detection module and the feedback of the diagnosis control strategy.
Preferably, the control module includes a MOS transistor Q100 therein, the gate of the MOS transistor Q100 is electrically connected to a driver U100, and the driver U100 is configured to drive the operation of the MOS transistor Q100.
Preferably, what MOS pipe Q100 adopted is the gallium nitride MOS pipe, MOS pipe Q100's drain electrode with energy supply module electric connection realizes the control of laser emission power.
Preferably, the control module further includes a MOS transistor Q101, a gate of the MOS transistor Q101 is electrically connected to a driver U101, the driver U101 is configured to drive the MOS transistor Q101 to operate, the MOS transistor Q101 is a gallium nitride MOS transistor, and a drain of the MOS transistor Q101 is electrically connected to the emission module to implement laser emission control.
Preferably, the detection module further comprises a high-speed ADC, one end of the high-speed ADC is electrically connected to one end of the resistor R101, the other end of the high-speed ADC outputs a detection signal to the processor, and the other end of the resistor R101 is electrically grounded.
Preferably, the emitting module includes a laser diode LD100 therein, the anode of the laser diode LD100 is electrically connected to the output of the energy supply module, and the cathode of the laser diode LD100 is electrically connected to the drain of the MOS transistor Q101.
Preferably, including laser instrument drive power supply in the energy supply module, laser instrument drive power supply with electric connection has protection circuit between the emission module.
Preferably, one side of the laser driving power supply is electrically connected to an inductor L100 and a diode D100, a drain of the MOS transistor Q100 is electrically connected between the inductor L100 and the diode D100, and a source of the MOS transistor Q100 is electrically grounded.
Preferably, the protection circuit includes a zener diode D101, a filter capacitor C100, and a charging current-limiting resistor R100, the zener diode D101 and the filter capacitor C100 are connected in parallel to the laser driving power supply, the other ends of the zener diode D101 and the filter capacitor C100 are electrically grounded, and the charging current-limiting resistor R100 is electrically connected to the anode of the laser diode LD 100.
Compared with the prior art, the invention has the beneficial effects that:
the invention adds the laser emission detection circuit, so that the whole emission circuit has a feedback link to form a closed-loop control flow, a processor can directly and really acquire the emission condition of the laser, meanwhile, the online diagnosis of the laser can be realized by sampling the current condition of the laser, the emission power and the time-of-flight starting point can be conveniently and flexibly controlled, and the flexibility of the system is greatly increased.
According to the invention, the detection feedback circuit is designed, and the current signal actually flowing through the laser diode is acquired, so that whether the laser diode works normally or not is directly diagnosed;
the detection circuit added in the invention can realize real-time power detection of the laser, and dynamically and adaptively adjust the transmitting power of the laser according to the actual measurement requirement and the device parameters of the circuit.
Drawings
FIG. 1 is a schematic block diagram of a system of the present invention;
FIG. 2 is a schematic circuit diagram of the system of the present invention;
FIG. 3 is an online diagnostic flow chart of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides a laser radar transmission and online diagnostic system, includes energy supply module, emission module, detection module and control module, the last electric connection of control module has the energy supply module, the last electric connection of control module has emission module, the energy supply module with emission module electric connection, emission module still with detection module electric connection, detection module and processor module electric connection, the processor module with control module electric connection, the processor module is according to detection module output signal and the adjustment of diagnosis control strategy feedback control module.
The transmitting module is used for transmitting laser radar signals;
the control module is used for controlling the emission of the laser radar signal of the emission module;
the detection module is used for detecting the circuit working state of the transmitting module;
the transmitting module adopts a laser diode as a laser, and the processor module adjusts the control module according to the output signal of the detection module and the feedback of the diagnosis control strategy.
In actual use, parameters of the transmitting circuit can be adjusted according to actual measurement needs, for example, the laser can automatically calculate the actually required transmitting power according to a radar equation according to the detection radius distance set by a user, if a use scene is a relatively narrow space to be measured, the actually required transmitting power is small, and the processor reduces the driving pulse frequency of the U100, so that the output voltage of the energy supply module is reduced, the transmitting power of the laser diode is reduced, and meanwhile, the sampling judgment threshold of the ADC is reduced. Similarly, if the actual use scene is that the measurement is wider in space and the actual emission power is high, the driving pulse frequency of the U100 is increased by the processor, so that the output voltage of the energy supply module is increased, the emission power of the laser diode is increased, and meanwhile, the ADC sampling judgment threshold value is increased.
In addition, because there are many discrete components in the circuit, the consistency of each component may have difference to influence the consistency of the emission power, the invention can judge the working current flowing through the laser diode through the monitoring circuit composed of the high-precision sampling resistor and the high-speed ADC, further calculate the actual emission power, compare the monitored actual emission power with the ideal emission power, if the actual emission power is lower than the ideal emission power, the driving pulse frequency of the U100 can be improved through the processor driving control module, so that the output voltage of the energy supply module is increased, thereby achieving the purpose of improving the emission power, otherwise, if the actual emission power is higher than the ideal emission power, the driving pulse frequency of the U100 can be reduced through the processor driving control module, so that the output voltage of the energy supply module is reduced, thereby achieving the purpose of reducing the emission power.
In order to control the power supply process and drive the MOS transistor Q100, in this embodiment, it is preferable that the control module includes the MOS transistor Q100, a gate of the MOS transistor Q100 is electrically connected to a driver U100, and the driver U100 is configured to drive the MOS transistor Q100 to operate.
In order to realize effective control and regulation of the energy supply module, in this embodiment, it is preferable that the MOS transistor Q100 is a gallium nitride MOS transistor, and a drain of the MOS transistor Q100 is electrically connected to the energy supply module to realize control of the laser emission power supply.
In order to realize control and regulation of the emission of the laser radar signal of the emission module and realize drive control, in this embodiment, preferably, the control module further includes a MOS transistor Q101, the gate of the MOS transistor Q101 is electrically connected to a driver U101, the driver U101 is used for driving the operation of the MOS transistor Q101, the MOS transistor Q101 adopts a gallium nitride MOS transistor, and the drain of the MOS transistor Q101 is electrically connected to the emission module to realize laser emission control.
In order to realize sampling of the laser current of the emission module to detect the emission state of the laser, in this embodiment, it is preferable that the detection module includes a sampling circuit, the sampling circuit adopts a resistor R101, and one end of the resistor R101 is electrically connected to the source of the MOS transistor Q101.
In order to realize transmitting the data information of sampling, realize feedback control and adjust, carry out quick sampling to sampling resistance voltage value to judge the laser instrument state according to sampling result and diagnostic strategy, in this embodiment, preferably, still including high-speed ADC among the detection module, high-speed ADC's one end and resistance R101's one end electric connection, high-speed ADC's other end output detection signal transmits for the treater, resistance R101's other end electrical property ground connection.
In order to realize transmitting laser radar information, realize laser detection, in this embodiment, preferably, including laser diode LD100 in the emission module, laser diode LD 100's positive pole with the output electric connection of energy supply module, laser diode LD 100's negative pole with MOS pipe Q101's drain electrode electric connection.
In order to realize the power supply operation to the emission module and realize safety protection, in this embodiment, preferably, the energy supply module includes a laser driving power supply therein, the laser driving power supply with electric connection has a protection circuit between the emission module.
In order to realize the control and adjustment of the power supply process of the energy supply module and maintain the stability of power supply, in this embodiment, preferably, one side of the laser driving power supply is electrically connected to an inductor L100 and a diode D100, a drain of the MOS transistor Q100 is electrically connected between the inductor L100 and the diode D100, and a source of the MOS transistor Q100 is electrically grounded.
In order to implement voltage stabilization protection on the voltage of the power supply and protect subsequent electronic components, in this embodiment, preferably, the protection circuit includes a zener diode D101, a filter capacitor C100 and a charging current-limiting resistor R100, the zener diode D101 and the filter capacitor C100 are connected in parallel to the laser driving power supply, the other ends of the zener diode D101 and the filter capacitor C100 are electrically grounded, and the charging current-limiting resistor R100 is electrically connected to the anode of the laser diode LD 100.
Referring to fig. 1-3, the working principle and the using process of the present invention are as follows:
the control module is the same as a conventional laser emitting circuit and mainly comprises:
the MOS tube Q100, which is usually a gallium nitride MOS tube, is connected with the energy supply module to realize the control of the laser emission power supply;
the driver U100 is connected with the MOS transistor Q100 and used for driving the MOS transistor Q100;
the MOS tube Q101, usually a gallium nitride MOS tube, is connected with the emission module to realize the control of laser emission;
the driver U101 is connected with the MOS transistor Q101 and used for driving the MOS transistor Q101;
and the protection circuit is connected between the energy supply circuit and the transmitting module and used for protecting the device. The circuit comprises a voltage stabilizing diode D101, a filter capacitor C100 and a charging current limiting resistor R100.
The transmitting module mainly comprises:
the laser diode LD100 has an anode connected with the output of the energy supply module and a cathode connected with the control module.
The detection module mainly includes:
after the MOS tube Q101 in the control circuit is conducted, the laser is connected with the sampling resistor in series, and the sampling resistor can sample the current of the laser to detect the emitting state of the laser.
And the high-speed ADC is used for quickly sampling the voltage value of the sampling resistor, judging the state of the laser according to the sampling result and a diagnosis strategy and further generating a solution.
Referring to fig. 2 and 3, when the laser diode LD100 emits light, the driving pulse frequency of the driver U100 in the control module can control the energy supply module to provide a suitable voltage required by the laser diode LD100 to emit light, and at the same time, the voltage stabilizing diode D101 and the filter capacitor C100 are used to perform clamping protection and filtering on the power supply, a driving pulse signal, which is usually a pulse width of several tens to several hundreds nanoseconds, is input from the input end of the driver U101 in the control module, and during the high level duration of the pulse signal, the MOS transistor Q101 is turned on to make the laser emit light.
In the conventional design, the source level of the MOS tube Q101 is directly grounded, and the source level of the MOS tube Q101 is connected with the sampling resistor, and the sampling resistor can sample a current signal flowing through the laser. The sampling resistor is connected to the input end of the high-speed ADC, the high-speed ADC samples signals during the emission period of the laser diode LD100 and transmits the sampling result to the processor, the processor can calculate the actual emission power of the laser and compare the actual power of the laser diode LD100 with the rated standard power designed by the system, and the driving pulse parameters of the driver U100 in the control module are dynamically adjusted through the diagnosis and control strategy of the laser diode LD100, so that the output voltage of the energy supply module is adjusted, and the effect of dynamically adjusting the emission power of the laser diode LD100 is achieved. Meanwhile, the processor can select ADC sampling data and output a sampling threshold value which is designed reasonably flexibly through software to start as laser flight time counting, so that the measurement is more flexible.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A laser radar transmitting and online diagnosing system is characterized by comprising an energy supply module, a transmitting module, a detecting module and a control module, wherein the energy supply module is electrically connected to the control module;
the transmitting module is used for transmitting laser radar signals;
the control module is used for controlling the emission of the laser radar signal of the emission module;
the detection module is used for detecting the circuit working state of the transmitting module;
the processor module is used for judging and analyzing according to the signal fed back by the detection module and the diagnosis control strategy and driving the control module to perform feedback regulation according to the analysis result;
the transmitting module adopts a laser diode as a laser, and the processor module adjusts the control module according to the output signal of the detection module and the feedback of the diagnosis control strategy.
2. The lidar transmission and online diagnosis system according to claim 1, wherein: the control module comprises an MOS tube Q100, a driver U100 is electrically connected to the grid electrode of the MOS tube Q100, and the driver U100 is used for driving the MOS tube Q100 to operate.
3. The lidar transmission and online diagnostic system of claim 2, wherein: MOS pipe Q100 adopts is the gallium nitride MOS pipe, MOS pipe Q100's drain electrode with energy supply module electric connection realizes the control of laser emission power.
4. The lidar transmission and online diagnostic system of claim 3, wherein: the control module further comprises an MOS tube Q101, the grid electrode of the MOS tube Q101 is electrically connected with a driver U101, the driver U101 is used for driving the MOS tube Q101 to operate, the MOS tube Q101 adopts a gallium nitride MOS tube, and the drain electrode of the MOS tube Q101 is electrically connected with the emission module to realize laser emission control.
5. The lidar transmission and online diagnosis system according to claim 4, wherein: the detection module is characterized by further comprising a high-speed ADC, one end of the high-speed ADC is electrically connected with one end of the resistor R101, the other end of the high-speed ADC outputs a detection signal to be transmitted to the processor, and the other end of the resistor R101 is electrically grounded.
6. The lidar transmission and online diagnosis system according to claim 5, wherein: the emitting module comprises a laser diode LD100, the anode of the laser diode LD100 is electrically connected with the output of the energy supply module, and the cathode of the laser diode LD100 is electrically connected with the drain of the MOS tube Q101.
7. The lidar transmission and online diagnostic system of claim 2, wherein: the energy supply module comprises a laser driving power supply, and a protection circuit is electrically connected between the laser driving power supply and the transmitting module.
8. The lidar transmission and online diagnosis system according to claim 7, wherein: one side of the laser driving power supply is electrically connected with an inductor L100 and a diode D100, the drain electrode of the MOS tube Q100 is electrically connected between the inductor L100 and the diode D100, and the source electrode of the MOS tube Q100 is electrically grounded.
9. The lidar transmission and online diagnostic system of claim 8, wherein: the protection circuit comprises a voltage stabilizing diode D101, a filter capacitor C100 and a charging current-limiting resistor R100, wherein the voltage stabilizing diode D101 and the filter capacitor C100 are connected in parallel on the laser driving power supply, the other ends of the voltage stabilizing diode D101 and the filter capacitor C100 are electrically grounded, and the charging current-limiting resistor R100 is electrically connected with the anode of the laser diode LD 100.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211298472.0A CN115372940A (en) | 2022-10-24 | 2022-10-24 | Laser radar transmitting and online diagnosing system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211298472.0A CN115372940A (en) | 2022-10-24 | 2022-10-24 | Laser radar transmitting and online diagnosing system |
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| CN202211298472.0A Pending CN115372940A (en) | 2022-10-24 | 2022-10-24 | Laser radar transmitting and online diagnosing system |
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| CN108781116A (en) * | 2017-11-30 | 2018-11-09 | 深圳市大疆创新科技有限公司 | A kind of power regulating method and laser measuring device for measuring |
| CN109742925A (en) * | 2018-12-25 | 2019-05-10 | 大族激光科技产业集团股份有限公司 | Laser control apparatus, system and method |
| CN110459955A (en) * | 2019-07-23 | 2019-11-15 | 天津大学 | A kind of semiconductor laser device driving circuit of high high-power Gao Zhongying |
| CN114594451A (en) * | 2020-12-04 | 2022-06-07 | 上海禾赛科技有限公司 | Laser emission driving circuit, laser radar and laser emission control method |
| CN114859324A (en) * | 2022-07-05 | 2022-08-05 | 天津光电集团有限公司 | Utilize TVS's laser radar transmission and detection circuitry |
-
2022
- 2022-10-24 CN CN202211298472.0A patent/CN115372940A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108781116A (en) * | 2017-11-30 | 2018-11-09 | 深圳市大疆创新科技有限公司 | A kind of power regulating method and laser measuring device for measuring |
| CN108445506A (en) * | 2018-05-11 | 2018-08-24 | 北醒（北京）光子科技有限公司 | A kind of driving radiating circuit, laser radar and measurement method |
| CN109742925A (en) * | 2018-12-25 | 2019-05-10 | 大族激光科技产业集团股份有限公司 | Laser control apparatus, system and method |
| CN110459955A (en) * | 2019-07-23 | 2019-11-15 | 天津大学 | A kind of semiconductor laser device driving circuit of high high-power Gao Zhongying |
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| CN114859324A (en) * | 2022-07-05 | 2022-08-05 | 天津光电集团有限公司 | Utilize TVS's laser radar transmission and detection circuitry |
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