CN116339434A - Voltage dynamic regulation circuit and laser radar - Google Patents
Voltage dynamic regulation circuit and laser radar Download PDFInfo
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- CN116339434A CN116339434A CN202310609238.3A CN202310609238A CN116339434A CN 116339434 A CN116339434 A CN 116339434A CN 202310609238 A CN202310609238 A CN 202310609238A CN 116339434 A CN116339434 A CN 116339434A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/10—Regulating voltage or current
- G05F1/46—Regulating voltage or current wherein the variable actually regulated by the final control device is dc
- G05F1/56—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
- G05F1/561—Voltage to current converters
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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
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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
- G01S7/489—Gain of receiver varied automatically during pulse-recurrence period
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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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4918—Controlling received signal intensity, gain or exposure of sensor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The application provides a voltage dynamic regulating circuit and a laser radar, wherein the voltage dynamic regulating circuit is applied to the laser radar and comprises a control unit and a voltage signal regulating unit, the control unit is connected with the voltage signal regulating unit, and the voltage signal regulating unit is also used for being connected with a photoelectric detector in the laser radar; the control unit is used for sending a control signal to the voltage signal adjusting unit in combination with the working period of the laser in the laser radar so as to adjust the level output signal of the voltage signal adjusting unit. It will be appreciated that the level output signal of the voltage signal conditioning unit is dynamically adjusted by combining the duty cycle of the laser in the lidar. The phenomenon that the main wave signal annihilates the reflected light signal of the near object can be avoided, the phenomenon of black hole and point cloud expansion can be avoided, and the measurement accuracy and the measurement distance of the laser radar can be improved.
Description
Technical Field
The application relates to the field of radars, in particular to a voltage dynamic adjusting circuit and a laser radar.
Background
The intelligent driving technology is widely applied in the automobile industry, and the laser radar is widely applied as a core sensor of the intelligent driving technology. The laser radar provides distance information of an environmental target for the whole vehicle, provides decision input data for intelligent driving of the whole vehicle, and is a product related to driving safety, so that accuracy of the distance information measured by the laser radar is fully ensured.
Disclosure of Invention
An object of the present application is to provide a voltage dynamic adjustment circuit and a laser radar, so as to at least partially improve the possible blind area problem of the laser radar, improve the point cloud expansion and black hole phenomena and improve the ranging capability.
In order to achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
in a first aspect, an embodiment of the present application provides a voltage dynamic adjustment circuit, where the voltage dynamic adjustment circuit is applied to a laser radar, and the voltage dynamic adjustment circuit includes a control unit and a voltage signal adjustment unit, where the control unit is connected to the voltage signal adjustment unit, and the voltage signal adjustment unit is further used to connect to a photodetector in the laser radar;
the control unit is used for sending a control signal to the voltage signal adjusting unit in combination with the working period of the laser in the laser radar so as to adjust the level output signal of the voltage signal adjusting unit.
It will be appreciated that the level output signal of the voltage signal conditioning unit is dynamically adjusted by combining the duty cycle of the laser in the lidar. The phenomenon that the main wave signal annihilates the reflected light signal of the near object can be avoided, the phenomenon of black hole and point cloud expansion can be avoided, and the measurement accuracy and the measurement distance of the laser radar can be improved.
Optionally, the voltage signal adjusting unit includes a first switching tube, a second switching tube and a first capacitor;
the first pole of the first switching tube is connected with a first power supply, the third pole of the first switching tube is connected with the first pole of the second switching tube, the third pole of the second switching tube is connected with a second power supply, and the second pole of the first switching tube and the second pole of the second switching tube are both connected with the control unit;
a wiring terminal is led out between the first switch tube and the second switch tube and is used for being connected with the photoelectric detector;
one pole of the first capacitor is grounded, and the other pole of the first capacitor is connected to the wiring terminal.
It should be understood that the first switching tube Q1, the second switching tube Q2 and the first capacitor C1 form an RC circuit, and the level output signal of the voltage signal adjusting unit is dynamically adjusted by charging and discharging the RC circuit, that is, the power supply voltage of the photodetector is dynamically adjusted.
Optionally, the voltage signal adjusting unit further comprises a first resistor and a second resistor;
one end of the first resistor is connected to a first pole of the first switching tube, and the other end of the first resistor is connected to the first power supply;
One end of the second resistor is connected to the third pole of the first switching tube, and the other end of the second resistor is connected to the first pole of the second switching tube.
It should be understood that by adjusting the values of the first resistor R1, the second resistor R2 and the first capacitor C1, the magnitude of the current in the charging and discharging process of the first capacitor C1 can be changed, and the charging time length and the discharging time length of the first capacitor C1 can be changed, so that the effect of dynamic change of the voltages at two ends of the first capacitor C1 can be achieved. For example, the charge time length is smaller than the discharge time length.
Optionally, the voltage signal adjusting unit further includes a fourth resistor, a fifth resistor, a second capacitor, and a third capacitor;
one end of the fourth resistor is connected with a second pole of the first switching tube, the other end of the fourth resistor is connected with the control unit, one pole of the second capacitor is grounded, and the other pole of the second capacitor is connected between the fourth resistor and the first switching tube;
one end of the fifth resistor is connected with the second pole of the second switching tube, the other end of the fifth resistor is connected with the control unit, one pole of the third capacitor is grounded, and the other pole of the third capacitor is connected between the fifth resistor and the second switching tube.
It should be understood that by changing the values of the fourth resistor R4, the fifth resistor R5, the second capacitor C2, and the third capacitor C3, the rising or falling speed of the voltage values at the two ends of the gate-source stages of the first switching tube Q1 and the second switching tube Q2 can be controlled, and the decreasing or rising speed of the drain-source resistor can be set, so that the speed of the first power supply VA charging the first capacitor C1 or the speed of the first capacitor C1 discharging the second power supply VB can be controlled, and the effect of the dynamic change of the voltage at the two ends of the first capacitor C1 can be achieved.
Optionally, the first power supply and the second power supply are negative power supplies, and the level of the second power supply is lower than the level of the first power supply;
alternatively, the first power supply and the second power supply are positive power supplies, and the level of the second power supply is higher than the level of the first power supply.
Optionally, the working period of the laser includes a first time period, a second time period, a third time period and a fourth time period which are sequentially arranged, and the laser emits a laser signal in the first time period;
the control unit sends a first type control signal to a second pole of the first switching tube in the first time period and the second time period, the first switching tube is opened, a second type control signal is sent to the second pole of the second switching tube, and the second switching tube is closed;
The control unit sends a second type control signal to a second pole of the first switching tube in the third time period, the first switching tube is closed, the first type control signal is sent to the second pole of the second switching tube, and the second switching tube is opened;
and the control unit sends a first type control signal to a second pole of the first switching tube in the fourth time period, the first switching tube is opened, and sends a second type control signal to a second pole of the second switching tube, and the second switching tube is closed.
It should be understood that the voltage difference between the two ends of the first capacitor C1 in the first time period t1 and the second time period t2 is slowly increased, and the laser emits a laser signal in the first time period t1, so that it can be known that the operation of the photoelectric detector is ensured in the main signal stage and the reflected light signal stage of the near object, the voltage difference between the two ends of the photoelectric detector is not excessively large, the recovery speed of the photoelectric detector is high, and the problem of blind area or point cloud expansion is avoided. At the later stage of the second time period t2, the voltage difference between the two ends of the photoelectric detector (and the first capacitor C1) is gradually increased to the second power supply VB, and at the moment, the reflected light signal of the distant object enters the photoelectric detector, so that the detection precision of the distant object is ensured.
Optionally, the working period of the laser includes a fifth time period, a sixth time period, a seventh time period and an eighth time period which are sequentially arranged, and the laser emits a laser signal in the fifth time period;
the control unit sends a second type control signal to a second pole of the first switching tube in the fifth time period and the sixth time period, the first switching tube is closed, a first type control signal is sent to the second pole of the second switching tube, and the second switching tube is opened;
the control unit sends a first type control signal to a second pole of the first switching tube in the seventh time period, the first switching tube is opened, and sends a second type control signal to a second pole of the second switching tube, and the second switching tube is closed;
and the control unit sends a second type control signal to a second pole of the first switching tube in the eighth time period, the first switching tube is closed, the first type control signal is sent to the second pole of the second switching tube, and the second switching tube is opened.
It should be understood that in the fifth time period t5 and the sixth time period t6, corresponding to the receiving phase of the main wave signal, the voltage difference at two ends of the first capacitor C1 is kept smaller than the trigger threshold of the photoelectric detector, and the photoelectric detector does not work, so that the main wave signal is prevented from being received, and the problem of the dead zone caused by the main wave signal is solved.
Optionally, the voltage signal adjusting unit includes a third switch tube, a sixth resistor, a seventh resistor and a fourth capacitor;
one end of the sixth resistor is connected to the first pole of the third switching tube, and the other end of the sixth resistor is connected to a first power supply;
one end of the seventh resistor is connected to a third pole of the third switching tube, and the other end of the seventh resistor is connected to a first power supply;
the second pole of the third switching tube is connected with the control unit;
a wiring terminal is led out between the third switching tube and the seventh resistor and is used for being connected with the photoelectric detector;
one pole of the fourth capacitor is grounded, and the other pole of the fourth capacitor is connected to the wiring terminal.
Optionally, the voltage dynamic adjustment circuit further comprises a power amplification unit;
the first input end of the power amplification unit is connected with the output end of the voltage signal adjusting unit, and the output end of the power amplification unit is used for being connected with the photoelectric detector;
the power amplifying unit is used for amplifying the input current of the photoelectric detection.
It is understood that the power supply voltage fluctuation of the photoelectric detector can be effectively reduced through the power amplification unit; besides the electricity consumption of the photoelectric detector, the whole circuit has no extra energy consumption, and the efficiency is greatly improved.
In a second aspect, an embodiment of the present application provides a lidar including the voltage dynamic adjustment circuit described above.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting in scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a voltage dynamic adjustment circuit according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a voltage signal adjusting unit according to an embodiment of the present disclosure;
FIG. 3 is a second schematic diagram of a voltage signal adjusting unit according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a timing sequence of control signals in an ith duty cycle according to an embodiment of the present disclosure;
FIG. 5 is a second schematic diagram of the timing of the control signal in the ith duty cycle according to the embodiment of the present application;
Fig. 6 is a schematic diagram illustrating a voltage difference between two ends of a first capacitor C1 according to an embodiment of the present disclosure;
FIG. 7 is a third schematic diagram of a voltage signal adjusting unit according to an embodiment of the present disclosure;
fig. 8 is a second connection schematic diagram of the voltage dynamic adjusting circuit according to the embodiment of the present application.
In the figure: 101-a control unit; 102-a voltage signal conditioning unit; 103-a power amplifying unit; 201-a photodetector; 202-a post-stage module; 301-laser.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
It is noted that relational terms such as first and second, and the like are 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. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that, the terms "upper," "lower," "inner," "outer," and the like indicate an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, or an orientation or a positional relationship conventionally put in use of the product of the application, merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art in a specific context.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The photoelectric detector is an important component of the laser radar, taking a novel high-performance semiconductor photoelectric detector Sipm as an example, the Sipm is formed by an array of a plurality of pixels which are mutually connected in parallel and work in a Geiger mode, and each pixel is formed by connecting an avalanche photodiode and a quenching resistor in series; geiger mode refers to an operating state in which the SiPM is reverse biased above its breakdown voltage.
The magnitude of the Sipm supply voltage (the difference of GND-HVDD shown in the lower graph) directly determines the gain of photoelectric amplification of the Sipm supply voltage, and the larger the supply voltage is, the higher the amplification factor is; the smaller the supply voltage, the lower the amplification.
The ranging principle of TOF laser radar is: the time difference between the moment when the laser emits laser light and the moment when the receiver receives the laser light reflected by the object is compared, and the time difference is multiplied by the speed of light and divided by 2, so that the distance between the object and the laser radar is the distance. In addition to the laser light emitted from the laser, some of the laser light scattered and refracted inside the laser light directly enters the receiver, and the light directly entering the receiver is hereinafter referred to as a dominant wave.
In general, the light reflected by the near object is strong, the light reflected by the far object is weak, and in order to obtain a far ranging range, a large voltage is usually supplied to two ends of Sipm to obtain a high photoelectric amplification gain, so that the optical signal reflected by the far object can be distinguished. However, the high voltage value can enhance the signal generated by the main wave irradiated to the Sipm, so that the signal generated by the reflected light of the near object is annihilated and indistinguishable, and a large blind area is generated. In addition, the reflected light of the near object is strong, sipm is easy to saturate and form long tail at high voltage value, and black hole and point cloud expansion occur.
In order to overcome the above problems, embodiments of the present application provide a voltage dynamic adjustment circuit that is applied to a lidar. Referring to fig. 1, fig. 1 is a schematic connection diagram of a voltage dynamic adjusting circuit according to an embodiment of the present application. As shown in fig. 1, the voltage dynamic adjusting circuit comprises a control unit 101 and a voltage signal adjusting unit 102, wherein the control unit 101 is connected with the voltage signal adjusting unit 102, and the voltage signal adjusting unit 102 is also used for being connected with a photoelectric detector 201 in the laser radar.
In addition to the silicon photomultiplier (Sipm, silicon photomultiplier), the photodetector 201 may be replaced by an APD detector, a single photon avalanche diode detector (SPAD, single Photon Avalanche Diode), or the like; the same problem exists in APD and SPAD, when the voltage is set to be low, the APD and SPAD are insensitive to far-distance reflected light, the distance measurement capability is limited, the voltage is set to be high, the device is easily saturated by the main wave and near reflected light, and the blind area is large.
As shown in fig. 1, one end of the photodetector 201 is connected to the voltage signal adjusting unit 102, the other end of the photodetector 201 is connected to one end of the third resistor R3, and the other end of the third resistor R3 is grounded. The laser radar is also provided with a rear-stage module 202 for collecting the output signal of the photodetector 201, thereby completing ranging. The back-end module 202 may include, but is not limited to, an op-amp unit. The rear module 202 and the photodetector 201 function as part of a receiver (or receiving module) of the lidar.
In one possible implementation, the control unit 101 includes a central control platform and a driving control circuit, where the central control platform is further connected to the laser 301 in the laser radar, and the central control platform may send a level driving signal to the laser 301, for example, when the laser 301 receives a high level driving signal, light emission starts. It should be noted that the central control platform and the driving control circuit may be integrally or separately disposed.
The control unit 101 is configured to send a control signal to the voltage signal adjustment unit 102 in combination with a duty cycle of the laser 301 in the lidar, so as to adjust a level output signal of the voltage signal adjustment unit 102.
It should be appreciated that the duty cycle of the laser 301 is the time interval between two adjacent shots of laser 301. In the initial stage of the working period of the laser 301, the laser light emitted by the laser 301 is internally reflected back to the photodetector 201 by the near object or the laser radar, so as to avoid the phenomenon that the main wave signal annihilates the reflected light signal of the near object and also avoid the phenomenon that the black hole and the point cloud expand, the level output signal of the voltage signal adjusting unit 102 can be adjusted to be in the first stage of a lower level. At the end of the working cycle of the laser 301, the laser light emitted by the laser 301 is reflected back to the photodetector 201 by a distant object, and in order to improve the measurement accuracy and the measurement distance thereof, the level output signal of the voltage signal adjusting unit 102 may be adjusted so as to be in the second stage of a higher level.
It will be appreciated that the level output signal of the voltage signal conditioning unit 102 is dynamically adjusted by combining the duty cycle of the laser 301 in the lidar. The phenomenon that the main wave signal annihilates the reflected light signal of the near object can be avoided, the phenomenon of black hole and point cloud expansion can be avoided, and the measurement accuracy and the measurement distance of the laser radar can be improved.
In one possible implementation, the duty cycle of the laser 301 includes a first period of time, a second period of time, a third period of time, and a fourth period of time in sequence, as shown in fig. 4, with the laser 301 emitting a laser signal during the first period of time.
The control unit 101 is configured to adjust the level output signal to ramp from the first level at the first speed during a fourth period of the i-1 th duty cycle, and the level output signal reaches a trigger threshold of the photodetector 201 at an end of the fourth period of the i-1 th duty cycle; the first level is smaller than the trigger threshold of the photodetector 201 (here, the level value is compared regardless of the positive and negative), and is, for example, a level corresponding to the first power supply VA hereinafter.
The control unit 101 is configured to adjust the level output signal to continue to ramp at a first speed during a first period and a second period of the ith duty cycle, and the level output signal reaches a second level at the end of the second period of the ith duty cycle; the second level is greater than the trigger threshold of the photodetector 201 (here, the level value is compared regardless of the positive and negative), and is, for example, a level corresponding to the second power supply VB hereinafter.
The control unit 101 is configured to adjust the level output signal to decrease at a second speed during a third period of the ith duty cycle, the second speed having a value greater than the first speed, and the level output signal reaching the first level at the end of the third period of the ith duty cycle.
The control unit 101 is configured to adjust the level output signal to ramp from the first level at the first speed during a fourth period of the ith duty cycle, and the level output signal reaches the trigger threshold of the photodetector 201 at the end of the fourth period of the ith duty cycle.
The first level is set to be equal to the second level, and the second level is set to be equal to the first level.
In one possible implementation, the duty cycle of the laser 301 includes a fifth time period, a sixth time period, a seventh time period, and an eighth time period, which are sequentially arranged, and as shown in fig. 5, the laser 301 emits a laser signal in the fifth time period.
The control unit 101 is configured to adjust the level output signal to be maintained at a first level during a fifth period and a sixth period of the ith duty cycle, the first level being less than a trigger threshold of the photodetector 201.
The control unit 101 is configured to adjust the level output signal to ramp from the first level at the first speed during a seventh period of the ith duty cycle, and to reach a second level at the end of the seventh period of the ith duty cycle, the second level being greater than the trigger threshold of the photodetector 201.
The control unit 101 is configured to adjust the level output signal to decrease at a second speed during an eighth period of the ith duty cycle, the second speed having a value greater than the first speed, and the level output signal reaching the first level at the end of the eighth period of the ith duty cycle. With reference to fig. 1, for a specific structure of the voltage signal adjusting unit 102, a possible implementation manner is further provided in the embodiment of the present application, and referring to fig. 2, fig. 2 is a schematic structural diagram of the voltage signal adjusting unit provided in the embodiment of the present application. As shown in fig. 2, the voltage signal adjusting unit 102 includes a first switching tube Q1, a second switching tube Q2, and a first capacitor C1.
The first pole of the first switching tube Q1 is connected to the first power VA, the third pole of the first switching tube Q1 is connected to the first pole of the second switching tube Q2, the third pole of the second switching tube Q2 is connected to the second power VB, and the second pole of the first switching tube Q1 and the second pole of the second switching tube Q2 are both connected to the control unit 101.
A connection terminal is led out between the first switching tube Q1 and the second switching tube Q2 for connection to the photodetector 201.
One pole of the first capacitor C1 is grounded, and the other pole of the first capacitor C1 is connected to the wiring terminal.
Note that VA is not equal to VB, and when the switching states of the first switching transistor Q1 and the second switching transistor Q2 are switched, the voltage difference of the first capacitor C1 changes, that is, the power supply voltage of the photodetector 201 changes.
It should be understood that the first switching tube Q1, the second switching tube Q2, and the first capacitor C1 form an RC circuit, and the level output signal of the voltage signal adjusting unit 102 is dynamically adjusted by charging and discharging the RC circuit, that is, the supply voltage of the photodetector 201 is dynamically adjusted.
In one possible implementation, the first power supply VA and the second power supply VB are negative power supplies, and the level of the second power supply VB is lower than the level of the first power supply VA; alternatively, the first power VA and the second power VB are positive power, and the level of the second power VB is higher than that of the first power VA. Because of the voltage difference between the first power supply VA and the second power supply VB, the first capacitance C1 can be changed between the first power supply VA and the second power supply VB, thereby dynamically adjusting the power supply voltage of the photodetector 201.
In some possible implementations, the first power supply VA and the second power supply VB are negative power supplies, the first switch tube Q1 and the second switch tube Q2 are NMOS tubes, the first pole of the first switch tube Q1 is the drain electrode D of the NMOS tube, the third pole of the first switch tube Q1 is the source electrode S of the NMOS tube, the first pole of the second switch tube Q2 is the drain electrode D of the NMOS tube, the third pole of the second switch tube Q2 is the source electrode S of the NMOS tube, and the second pole of the first switch tube Q1 and the second pole of the second switch tube Q2 are the gate electrode G of the NMOS tube. When the first power VA and the second power VB are negative power, the internal parasitic capacitance of the photodetector 201 is smaller.
It should be understood that, to flexibly set the voltage change speed of the first capacitor C1, the embodiment of the present application further provides a possible implementation manner, please continue to refer to fig. 3, and fig. 3 is a second schematic diagram of the voltage signal adjusting unit provided in the embodiment of the present application. The voltage signal adjusting unit 102 further includes a first resistor R1 and a second resistor R2;
one end of the first resistor R1 is connected to a first pole of the first switching tube Q1, and the other end of the first resistor R1 is connected to the first power supply VA;
One end of the second resistor R2 is connected to the third pole of the first switching tube Q1, and the other end of the second resistor R2 is connected to the first pole of the second switching tube Q2.
In some possible real-time modes, the first power supply VA and the second power supply VB are negative power supplies, and when the first switching tube Q1 is opened and the second switching tube Q2 is closed, the first capacitor C1 discharges to the second power supply VB until the voltage of the first capacitor C1 is equal to the second power supply VB, at which time the voltage difference across the first capacitor C1 is the largest, i.e. the voltage difference across the photodetector 201 is the largest. When the first switching tube Q1 is closed and the second switching tube Q2 is opened, the first power supply VA charges the first capacitor C1 until the voltage of the first capacitor C1 is equal to the first power supply VA, and at this time, the voltage difference across the first capacitor C1 is minimum, that is, the voltage difference across the photodetector 201 is minimum.
As shown in fig. 3, by adjusting the values of the first resistor R1, the second resistor R2 and the first capacitor C1, the current magnitude in the charging and discharging process of the first capacitor C1 can be changed, and the charging time length and the discharging time length of the first capacitor C1 can be changed, so that the effect of dynamic change of the voltages at two ends of the first capacitor C1 can be achieved. For example, the charge time length is smaller than the discharge time length.
It should be understood that, to flexibly set the voltage change speed of the first capacitor C1, the embodiment of the present application further provides a possible implementation manner, please continue to refer to fig. 3, where the voltage signal adjusting unit 102 further includes a fourth resistor R4, a fifth resistor R5, a second capacitor C2, and a third capacitor C3.
One end of the fourth resistor R4 is connected to the second pole of the first switching tube Q1, the other end of the fourth resistor R4 is connected to the control unit 101, one pole of the second capacitor C2 is grounded, and the other pole of the second capacitor C2 is connected between the fourth resistor R4 and the first switching tube Q1.
One end of the fifth resistor R5 is connected to the second pole of the second switching tube Q2, the other end of the fifth resistor R5 is connected to the control unit 101, one pole of the third capacitor C3 is grounded, and the other pole of the third capacitor C3 is connected between the fifth resistor R5 and the second switching tube Q2.
It should be understood that the first switching transistor Q1 and the second switching transistor Q2 are field effect transistors, and the resistance value of both source-drain terminals of the field effect transistors is inversely proportional to the voltage value of both gate-source terminals, and the higher the gate-source voltage is, the smaller the source-drain resistance is, the lower the gate-source voltage is, and the larger the source-drain resistance is. As shown in fig. 3, by changing the values of the fourth resistor R4, the fifth resistor R5, the second capacitor C2 and the third capacitor C3, the rising or falling speed of the voltage values at the two ends of the gate-source stages of the first switching tube Q1 and the second switching tube Q2 can be controlled, and the decreasing or rising speed of the drain-source resistor can be set, so that the speed of the first power supply VA charging the first capacitor C1 or the speed of the first capacitor C1 discharging the second power supply VB can be controlled, and the effect of the dynamic change of the voltage at the two ends of the first capacitor C1 can be realized.
On the basis of fig. 2, regarding how the control unit 101 sends a control signal to the voltage signal adjusting unit 102 in conjunction with the working period of the laser 301 in the laser radar to adjust the level output signal of the voltage signal adjusting unit 102, the embodiment of the present application further provides a possible implementation manner, specifically, please refer to fig. 4, fig. 4 is one of the timing diagrams of the control signal in the ith working period provided in the embodiment of the present application. As shown in fig. 4, each of the operation cycles of the laser 301 includes a first period t1, a second period t2, a third period t3, and a fourth period t4, which are sequentially arranged. Taking the working period length of 2.5us as an example, the time of the fourth time period t4 is about 100ns, the range of the first time period t1 is 3-20 ns, the time of the second time period t2 is 2us, the time of the third time period t3 is 500ns-t1-t4, if the working period is prolonged, the time of the second time period t2 is increased, and the time of the first time period t1, the third time period t3 and the fourth time period t4 is basically unchanged. The laser 301 receives the driving signal of the high level in the first period t1, emits the laser signal, and stops emitting the laser signal in the second period t2, the third period t3, and the fourth period t4.
The control unit 101 sends a first type control signal to the second pole of the first switching tube Q1 in the first time period t1 and the second time period t2, the first switching tube Q1 is opened, and sends a second type control signal to the second pole of the second switching tube Q2, and the second switching tube Q2 is closed.
It should be noted that, after the fourth period t4 of the i-1 th working period passes, the voltage difference between the two ends of the first capacitor C1 is already greater than the trigger threshold (for example, the avalanche threshold of SIPM) of the photodetector 201, the voltage difference between the two ends of the first capacitor C1 in the first period t1 and the second period t2 is slowly increased, and the laser 301 emits the laser signal in the first period t1, so that it is known that the photodetector 201 works in the main signal stage and the reflected light signal stage of the near object, the voltage difference between the two ends of the photodetector is not too large, the recovery speed of the photodetector 201 is fast, and the problem of dead zone or point cloud expansion is avoided. At the later stage of the second period t2, the voltage difference between the two ends of the photodetector 201 (and the first capacitor C1) gradually increases to the second power supply VB, and at this time, the reflected light signal of the distant object enters the photodetector 201, thereby guaranteeing the detection accuracy of the distant object.
The control unit 101 sends a second type control signal to the second pole of the first switching tube Q1 in the third time period t3, the first switching tube Q1 is closed, and sends a first type control signal to the second pole of the second switching tube Q2, and the second switching tube Q2 is opened.
It should be appreciated that at the end of each duty cycle, the voltage difference across the first capacitor C1 needs to be reduced, i.e. during the third period t3, the voltage difference across the first capacitor C1 is rapidly reduced until the voltage difference across the first capacitor C1 is equal to the first power VA. The first power source VA is less than the trigger threshold of the photodetector 201, when the photodetector 201 is not operating.
In the fourth period t4, the control unit 101 sends a first type control signal to the second pole of the first switching tube Q1, the first switching tube Q1 is opened, and sends a second type control signal to the second pole of the second switching tube Q2, and the second switching tube Q2 is closed.
It should be appreciated that in the fourth period t4, the voltage difference across the first capacitor C1 gradually increases until the voltage difference across the first capacitor C1 is greater than the trigger threshold of the photodetector 201, so as to ensure that the main light signal and the reflected light signal of the near object can be received in the next working period without generating the above-mentioned interference problem.
On the basis of fig. 2, regarding how the control unit 101 sends a control signal to the voltage signal adjusting unit 102 in conjunction with the working period of the laser 301 in the laser radar to adjust the level output signal of the voltage signal adjusting unit 102, a possible implementation manner is further provided in the embodiments of the present application, specifically, please refer to fig. 5, fig. 5 is a second timing diagram of the control signal in the ith working period provided in the embodiments of the present application. As shown in fig. 5, the duty cycle of the laser 301 includes a fifth period t5, a sixth period t6, a seventh period t7, and an eighth period t8, which are sequentially arranged, and the laser 301 emits a laser signal in the fifth period t5, when the laser 301 receives a high-level driving signal. Taking the working period length of 2.5us as an example, the range of the fifth time period t5 is 3-20 ns, the time of the sixth time period t6 is t5+2ns, the time of the seventh time period t7 is 2us, the time of the eighth time period t8 is 500ns-t5-t6, if the period is lengthened, the time of the seventh time period t7 is increased, and the time of the fifth time period t5, the sixth time period t6 and the eighth time period t8 is basically unchanged. The control unit 101 sends a second type control signal to the second pole of the first switching tube Q1 in the fifth time period t5 and the sixth time period t6, the first switching tube Q1 is closed, and sends a first type control signal to the second pole of the second switching tube Q2, and the second switching tube Q2 is opened.
It should be noted that, after the fourth period t8 of the i-1 th working period passes, the voltage difference between the two ends of the first capacitor C1 is already smaller than the trigger threshold of the photodetector 201, that is, in the fifth period t5 and the sixth period t6, the voltage difference between the two ends of the first capacitor C1 is kept smaller than the trigger threshold of the photodetector 201 corresponding to the receiving stage of the main signal, and the photodetector 201 does not work, so as to avoid receiving the main signal and solve the blind area problem caused by the main signal.
The control unit 101 sends a first type control signal to the second pole of the first switching tube Q1 in the seventh time period t7, the first switching tube Q1 is opened, and a second type control signal is sent to the second pole of the second switching tube Q2, and the second switching tube Q2 is closed.
It should be understood that, in the seventh period t7, the voltage difference across the first capacitor C1 gradually increases until the voltage difference is greater than the trigger threshold of the photodetector 201, at this time, the photodetector 201 starts to operate, and receives the reflected light signal of the near object, and in the initial stage of the seventh period t7, the voltage difference across the first capacitor C1 is smaller, and the recovery speed of the photodetector 201 is fast, so as to avoid the problem of point cloud expansion. At the later stage of the seventh period t7, the voltage difference between the two ends of the photodetector 201 (and the first capacitor C1) gradually increases to the second power supply VB, and at this time, the reflected light signal of the distant object enters the photodetector 201, thereby ensuring the detection accuracy of the distant object.
In the eighth time period t8, the control unit 101 sends a second type control signal to the second pole of the first switching tube Q1, the first switching tube Q1 is closed, and sends a first type control signal to the second pole of the second switching tube Q2, and the second switching tube Q2 is opened.
It should be appreciated that at the end of each duty cycle, the voltage difference across the first capacitor C1 needs to be reduced, i.e., during the eighth time period t8, the voltage difference across the first capacitor C1 is rapidly reduced until the voltage difference across the first capacitor C1 is less than the trigger threshold of the photodetector 201, at which time the photodetector 201 does not operate.
On the basis of fig. 2, the first type of control signal may be a low level signal, and the second type of control signal may be a high level signal.
Referring to fig. 6, fig. 6 is a schematic diagram illustrating a voltage difference change between two ends of a first capacitor C1 according to an embodiment of the present disclosure. As shown in fig. 6, the process from m15 to m16 corresponds to the fourth period t4 of the i-1 th duty cycle to the second period t2 of the i-1 th duty cycle in fig. 4, the voltage difference across the first capacitor C1 increases slowly, and the process from m16 to m17 corresponds to the second period t3 of the i-1 th duty cycle, the voltage difference across the first capacitor C1 decreases rapidly.
The process from m15 to m16 corresponds to the seventh period t7 of the ith duty cycle in fig. 5, the voltage difference across the first capacitor C1 increases slowly, and the process from m16 to m17 corresponds to the eighth period t8 of the ith duty cycle to the sixth period t6 of the ith to +th duty cycle, the voltage difference across the first capacitor C1 decreases rapidly.
With reference to fig. 1, for a specific structure of the voltage signal adjusting unit 102, a possible implementation manner is further provided in the embodiment of the present application, and referring to fig. 7, fig. 7 is a third schematic structure diagram of the voltage signal adjusting unit provided in the embodiment of the present application. The voltage signal adjusting unit 102 includes a third switching tube Q3, a sixth resistor R6, a seventh resistor R7, and a fourth capacitor C4;
one end of the sixth resistor R6 is connected to the first pole of the third switching transistor Q3, and the other end of the sixth resistor R6 is connected to the first power supply VA.
One end of the seventh resistor R7 is connected to the third pole of the third switching tube Q3, and the other end of the seventh resistor R7 is connected to the first power supply VA.
The second pole of the third switching tube Q3 is connected to the control unit 101.
A connection terminal is led out between the third switching tube Q3 and the seventh resistor R7 for connection to the photodetector 201.
One pole of the fourth capacitor C4 is grounded, and the other pole of the fourth capacitor C4 is connected to the connection terminal.
It should be understood that, for the control signal timing of the third switching transistor Q3 in the voltage signal adjusting unit corresponding to fig. 7, reference may be made to the control signal of Q1 in fig. 4 and 5.
It will be appreciated that when the third switching tube Q3 is turned off, the fourth capacitor C4 discharges to the second power supply VB until the fourth capacitor C4 is equal to the second power supply VB. When the third switching tube Q3 is closed, the voltage dividing values of the first power supply VA and the second power supply VB charge the fourth capacitor C4 until the fourth capacitor C4 is equal to the voltage dividing values va×r7/(r6+r7) +vb×r6/(r6+r7), the voltage rising time is about 3×r7×c4, the voltage falling time is about 3×r6×r7×c4/(r7+r6), and the effect of dynamically changing the voltage difference between the two ends of Sipm can be achieved by adjusting the sixth resistor R6, the seventh resistor R7 and the fourth capacitor C4.
The third switching tube Q3 in the application can adopt a PMOS tube, the first electrode of the third switching tube Q3 is the source electrode of the PMOS tube, the second electrode of the third switching tube Q3 is the grid electrode of the PMOS tube, and the third electrode of the third switching tube Q3 is the drain electrode of the PMOS tube.
It should be noted that, in the embodiment of the present application, the first switching tube Q1, the second switching tube Q2, and the third switching tube Q3 may be a field effect tube, a triode, or a gallium nitride tube.
It should be understood that the voltage dynamic adjustment circuit shown in fig. 2 or fig. 7 can achieve the effect that the voltage difference between two ends of the photodetector 201 changes slowly from low to high in the ranging process, and the speed of the voltage change between two ends of the photodetector 201 can be controlled by selecting the value of the resistor and the capacitor.
Specifically, the photodetector 201 is in the beginning stage when receiving the main wave (the main wave is the light directly entering the receiver after the laser emits light, and the propagation path is shortest, so the signal output by the photodetector 201 is the main wave, when the receiver receives the main wave, the voltage at both ends of the photodetector 201 is low, the number of photons excited by the main wave is small, the photodetector 201 can quickly recover, the reflected light of the near object is not affected, the dead zone is small, the voltage is at the lowest, the gain of the photoelectric amplification is the lowest, the recovery speed of the signal intensity output by the photodetector 201 is high, the reflected light of the near object is not affected, when the photodetector 201 receives the reflected light of the near object, the voltage is still in a relatively low state, the signal output by the photodetector 201 is not easy to saturate, the recovery speed is high, the reflectivity test precision is high, and the voltage is in a relatively high state when the reflected light of the far object is received by the photodetector 201, the sufficient amplification gain can be obtained, the far signal is received as far as possible, the range is reduced, and the range of the range is also increased.
Referring to fig. 3, taking Sipm as an example of the photodetector 201, the transient power of the Sipm when receiving strong light is about 200mA, because the second resistor R2 exists, the second power supply VB cannot directly supply power to the Sipm, and the Sipm device is a device sensitive to the power supply voltage, so in order to maintain the voltage across the Sipm stable enough, a large first capacitor C1 is often required, so that the voltage across the Sipm is ensured not to drop at the moment when the Sipm receives light. In addition, sipm also has the situation that multiple reflected lights are received in one period during the use process, so that the capacity requirement of the first capacitor C1 is higher. In the process that the first switching tube Q1 is turned on, the second switching tube Q2 is turned off, or the second switching tube Q2 is turned on, the voltage of the first capacitor C1 is continuously switched between VA and VB, which means that energy of (VB-VA) C1/2 is consumed in each period according to the capacitance energy storage formula w=u C1/2, and as the first capacitor C1 is larger, more energy is consumed, resulting in low circuit efficiency and serious heat generation.
In order to overcome this problem, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 8, fig. 8 is a second schematic diagram of the connection of the voltage dynamic adjustment circuit provided in the embodiment of the present application. As shown in fig. 8, the voltage dynamic adjustment circuit further includes a power amplification unit 103.
The first input end of the power amplification unit 103 is connected to the output end of the voltage signal adjustment unit 102, and the output end of the power amplification unit 103 is used for being connected to the photodetector 201.
The power amplifying unit 103 is used for amplifying the photodetection input current.
The voltage at the first input of the power amplifying unit 103 and the voltage at the output of the power amplifying unit 103 may be the same, or may be different.
As shown in fig. 8, the voltage dynamic adjusting circuit mainly comprises a voltage signal adjusting unit 102 and a power amplifying unit 103, wherein the voltage signal adjusting unit 102 is used for generating a power supply curve, the first capacitor C1 does not need to supply power to the photodetector 201 at the back end, the first capacitor C1 with a small capacitance value can be used, and the power consumption is extremely small according to a formula, and the first capacitor C1 can reach the pF level.
The power amplifying unit 103 is configured to power the photodetector 201 after amplifying the power of the power supply curve generated by the previous stage. The power amplifying unit 103 may be a high-bandwidth and high-current operational amplifier, or may be a high-bandwidth and high-current Buffer chip, and is configured to amplify power of a power supply curve of a front stage and then supply power to the photodetector 201, because of the high-bandwidth and high-current characteristics, when the photodetector 201 receives reflected light, enough current can be provided at a moment, so that supply voltage fluctuation of the photodetector 201 can be effectively reduced; the whole circuit has no extra energy consumption except the electricity consumption of the photoelectric detector 201, and the efficiency is greatly improved.
When the power amplification unit 103 adopts the operational amplifier U1, the first input end of the power amplification unit 103 is the non-inverting input end of the operational amplifier U1, the output end of the power amplification unit 103 is the output end of the operational amplifier U1, and the output end of the operational amplifier U1 is also connected with the inverting input end of the operational amplifier U1. In some possible implementations, the inverting input of op-amp U1 may not be connected to the output of op-amp U1, directly to the reference level, thereby changing the output of op-amp U1.
The embodiment of the application also provides a laser radar which comprises the voltage dynamic adjusting circuit.
The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the same, but rather, various modifications and variations may be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (12)
1. The voltage dynamic regulating circuit is characterized by being applied to a laser radar, and comprises a control unit and a voltage signal regulating unit, wherein the control unit is connected with the voltage signal regulating unit, and the voltage signal regulating unit is also used for being connected with a photoelectric detector in the laser radar;
the control unit is used for sending a control signal to the voltage signal adjusting unit in combination with the working period of the laser in the laser radar so as to adjust the level output signal of the voltage signal adjusting unit.
2. The voltage dynamic adjustment circuit of claim 1, further comprising a power amplification unit;
the first input end of the power amplification unit is connected with the output end of the voltage signal adjusting unit, and the output end of the power amplification unit is used for being connected with the photoelectric detector;
the power amplifying unit is used for amplifying the input current of the photoelectric detection.
3. The voltage dynamic adjustment circuit according to claim 1 or 2, wherein the duty cycle of the laser includes a first period, a second period, a third period, and a fourth period arranged in this order, the laser emitting a laser signal during the first period;
The control unit is used for adjusting the level output signal to rise from the first level at a first speed in a fourth time period of the i-1 th working period, and the level output signal reaches a trigger threshold value of the photoelectric detector at the end of the fourth time period of the i-1 th working period;
the control unit is used for adjusting the level output signal to continuously climb at the first speed in a first time period and a second time period of an ith working period, and the level output signal reaches a second level when the second time period of the ith working period is finished;
the control unit is used for adjusting the level output signal to decrease at a second speed in a third time period of an ith working period, the value of the second speed is larger than that of the first speed, and the level output signal reaches the first level at the end of the third time period of the ith working period;
the control unit is used for adjusting the level output signal to rise from the first level at a first speed in a fourth time period of the ith working period, and the level output signal reaches a trigger threshold value of the photoelectric detector at the end of the fourth time period of the ith working period.
4. The voltage dynamic adjustment circuit according to claim 1 or 2, wherein the duty cycle of the laser includes a fifth period, a sixth period, a seventh period, and an eighth period, which are sequentially arranged, and the laser emits a laser signal in the fifth period;
the control unit is used for adjusting the level output signal to be kept at a first level in a fifth time period and a sixth time period of an ith working period, and the first level is smaller than a trigger threshold value of the photoelectric detector;
the control unit is used for adjusting the level output signal to rise from the first level at a first speed in a seventh time period of an ith working period, and the level output signal reaches a second level at the end of the seventh time period of the ith working period, wherein the second level is larger than a trigger threshold value of the photoelectric detector;
the control unit is configured to adjust the level output signal to decrease at a second speed in an eighth time period of the ith duty cycle, where the value of the second speed is greater than the value of the first speed, and the level output signal reaches the first level at the end of the eighth time period of the ith duty cycle.
5. The voltage dynamic adjustment circuit according to claim 1 or 2, characterized in that the voltage signal adjustment unit comprises a first switching tube, a second switching tube and a first capacitor;
the first pole of the first switching tube is connected with a first power supply, the third pole of the first switching tube is connected with the first pole of the second switching tube, the third pole of the second switching tube is connected with a second power supply, and the second pole of the first switching tube and the second pole of the second switching tube are both connected with the control unit;
a wiring terminal is led out between the first switch tube and the second switch tube and is used for being connected with the photoelectric detector;
one pole of the first capacitor is grounded, and the other pole of the first capacitor is connected to the wiring terminal.
6. The voltage dynamic adjustment circuit of claim 5, wherein the voltage signal adjustment unit further comprises a first resistor and a second resistor;
one end of the first resistor is connected to a first pole of the first switching tube, and the other end of the first resistor is connected to the first power supply;
one end of the second resistor is connected to the third pole of the first switching tube, and the other end of the second resistor is connected to the first pole of the second switching tube.
7. The voltage dynamic adjustment circuit of claim 5, wherein the voltage signal adjustment unit further comprises a fourth resistor, a fifth resistor, a second capacitor, and a third capacitor;
one end of the fourth resistor is connected with a second pole of the first switching tube, the other end of the fourth resistor is connected with the control unit, one pole of the second capacitor is grounded, and the other pole of the second capacitor is connected between the fourth resistor and the first switching tube;
one end of the fifth resistor is connected with the second pole of the second switching tube, the other end of the fifth resistor is connected with the control unit, one pole of the third capacitor is grounded, and the other pole of the third capacitor is connected between the fifth resistor and the second switching tube.
8. The voltage dynamic adjustment circuit of claim 5, wherein the first power supply and the second power supply are negative power supplies, the second power supply having a level lower than the level of the first power supply;
alternatively, the first power supply and the second power supply are positive power supplies, and the level of the second power supply is higher than the level of the first power supply.
9. The voltage dynamic adjustment circuit of claim 8, wherein the duty cycle of the laser includes a first period of time, a second period of time, a third period of time, and a fourth period of time in sequence, the laser emitting a laser signal during the first period of time;
The control unit sends a first type control signal to a second pole of the first switching tube in the first time period and the second time period, the first switching tube is opened, a second type control signal is sent to the second pole of the second switching tube, and the second switching tube is closed;
the control unit sends a second type control signal to a second pole of the first switching tube in the third time period, the first switching tube is closed, the first type control signal is sent to the second pole of the second switching tube, and the second switching tube is opened;
and the control unit sends a first type control signal to a second pole of the first switching tube in the fourth time period, the first switching tube is opened, and sends a second type control signal to a second pole of the second switching tube, and the second switching tube is closed.
10. The voltage dynamic adjustment circuit of claim 8, wherein the duty cycle of the laser includes a fifth time period, a sixth time period, a seventh time period, and an eighth time period in sequence, the laser emitting a laser signal during the fifth time period;
the control unit sends a second type control signal to a second pole of the first switching tube in the fifth time period and the sixth time period, the first switching tube is closed, a first type control signal is sent to the second pole of the second switching tube, and the second switching tube is opened;
The control unit sends a first type control signal to a second pole of the first switching tube in the seventh time period, the first switching tube is opened, and sends a second type control signal to a second pole of the second switching tube, and the second switching tube is closed;
and the control unit sends a second type control signal to a second pole of the first switching tube in the eighth time period, the first switching tube is closed, the first type control signal is sent to the second pole of the second switching tube, and the second switching tube is opened.
11. The voltage dynamic adjustment circuit according to claim 1 or 2, characterized in that the voltage signal adjustment unit comprises a third switching tube, a sixth resistor, a seventh resistor and a fourth capacitor;
one end of the sixth resistor is connected to the first pole of the third switching tube, and the other end of the sixth resistor is connected to a first power supply;
one end of the seventh resistor is connected to a third pole of the third switching tube, and the other end of the seventh resistor is connected to a first power supply;
the second pole of the third switching tube is connected with the control unit;
a wiring terminal is led out between the third switching tube and the seventh resistor and is used for being connected with the photoelectric detector;
One pole of the fourth capacitor is grounded, and the other pole of the fourth capacitor is connected to the wiring terminal.
12. A lidar comprising a voltage dynamics regulation circuit according to any of claims 1 to 11.
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