CN209280923U - It is a kind of for the receiving terminal circuit of laser radar, reception device and laser radar - Google Patents
It is a kind of for the receiving terminal circuit of laser radar, reception device and laser radar Download PDFInfo
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- CN209280923U CN209280923U CN201821677733.9U CN201821677733U CN209280923U CN 209280923 U CN209280923 U CN 209280923U CN 201821677733 U CN201821677733 U CN 201821677733U CN 209280923 U CN209280923 U CN 209280923U
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Abstract
The utility model relates to laser radar fields, propose a kind of for the receiving terminal circuit of laser radar, reception device and laser radar.The receiving terminal circuit for laser radar includes photoelectric detection module and signal processing integrated circuit, there is temperature detecting module, digital analog converter and control module on the signal processing integrated circuit, wherein temperature detecting module can obtain environment temperature, control module is according to environment temperature, send a signal to digital analog converter, digital analog converter exports bias, controls the voltage at photoelectric detection module both ends.The voltage that the receiving terminal circuit under different environment temperatures, can adjust photoelectric detection module both ends improves the accuracy of detections of radar.
Description
Technical field
The utility model relates to laser radar field more particularly to a kind of receiving terminal circuits for laser radar, reception
Device and laser radar.
Background technique
With the fast development of artificial intelligence technology, the application scenarios such as automatic Pilot, recognition of face, 3D take pictures gradually at
It is ripe.And the three-dimensional imaging induction interface that laser radar is important as one, it may be said that be the base that these application directions are able to develop
This condition.Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.Its working principle
Be to objective emission detectable signal (laser beam), then by the reflected signal of slave target (target echo) received with
Transmitting signal is compared, after making proper treatment, so that it may target is obtained for information about, such as target range, orientation, height, speed
Degree, posture, the even parameters such as shape.
Laser radar is affected when working by temperature and atmosphere, in order to guarantee the robustness of sorts of systems and reliable
Property, needing laser radar that can offset extraneous bring influences, and finally under different external condition, protects between different individuals
Demonstrate,prove the accuracy detected for same object.
Photo-translating system in laser radar can receive optical signal, and convert optical signals to electric signal, therefore photoelectricity
Converting system has certain influence to the accuracy of laser radar.
And at present in the test side technical solution of mainstream, photo-translating system (including photodetector etc.) will receive device
Individual difference, variation of ambient temperature of part etc. influence.Will lead to detection object apart from when, generate deviation, to influence
The precision of laser radar.The precision of laser radar detection how is improved, realizes detection accuracy high consistency, and to environment
The problem of temperature is immune, always is industry concern.
Utility model content
The problem of the technical problems to be solved in the utility model is the precision of laser radar detection.In order to solve above-mentioned ask
Topic, the utility model proposes a kind of for the receiving terminal circuit of laser radar, reception device and laser radar, the utility model
Specifically realized with following technical solution:
The first aspect of the utility model proposes a kind of receiving terminal circuit for laser radar, the receiving end electricity
Road includes: photoelectric detection module and signal processing integrated circuit, the signal processing integrated circuit include temperature detecting module, across
Hinder amplification module, D/A converter module and control module；
The photoelectric detection module, including at least one photodetector, the photodetector can be photoelectricity snowslide
The optical signal for detecting the optical signal received, and is converted into current signal and exported to across resistance amplification module by diode；
The temperature detecting module, for detecting the operating ambient temperature of the photoelectric detection module, and by the work
Environment temperature is converted into temperature signal and exports to control module；
It is described across resistance amplification module, including at least one across resistance amplifying unit, for receive come from the photodetection mould
The current signal of block output is converted into voltage signal；
The D/A converter module, including at least one digital analog converter, for receiving the control of control module output
Signal processed is to adjust the voltage at the photoelectric detection module both ends；
The control module, including at least one control circuit, at least one described control circuit are examined based on the temperature
The temperature signal for surveying module output generates at least one control signal.
Specifically, the circuit includes at least one photodetector and at least one signal processing circuit, the signal
Processing circuit includes D/A converting circuit, temperature sensing circuit, across resistance amplifying circuit and control module；
The D/A converting circuit, temperature sensing circuit are connected with control module with across resistance amplifying circuit, the photoelectricity
One end of detector connects supply voltage, and the other end of the photodetector is equal with D/A converting circuit and across resistance amplifying circuit
Connection.
The D/A converting circuit includes at least one digital analog converter, and the D/A converting circuit is used for digital signal
Analog signal is converted to, the control of control module is received, exports bias to adjust the voltage at photodetector both ends.
The temperature sensing circuit includes at least one temperature detecting module, and the temperature sensing circuit is used for environment temperature
Degree is detected, and control module will be sent on temperature signal, and the control circuit can obtain corresponding according to temperature signal
Signal is controlled, logarithm analog conversion circuit is controlled, and the control module calculates after obtaining temperature signal and carries out electric current at this time
When detection, voltage required for photodetector both ends, and calculate therefore bias value that D/A converting circuit needs to export.
Described across resistance amplifying circuit includes at least one trans-impedance amplifier, described to be used for across resistance amplifying circuit by photodetection
The current pulse signal formed after device conversion is converted to voltage signal.The control module is also used to will be across resistance amplifying circuit input
Voltage signal handled, formed have object to be detected range information data code flow.
Further, the control circuit, temperature detecting module, across resistance amplifying circuit and D/A converting circuit be integrated in together
On one piece of integrated circuit board.The control module can obtain temperature information, obtain the information of voltage across resistance amplifying circuit and control
The output of digital analog converter bias processed, the control module, which can be, is integrated with the integration module of above-mentioned function, is believed according to temperature
The output of breath adjustment digital analog converter bias, to obtain the information of voltage coincideing with target value.
Further, the receiving terminal circuit for laser radar further includes first resistor, the first resistor connection
Between photodetector and digital analog converter.
The receiving terminal circuit further includes first capacitor, and one end of the first capacitor is connected to photodetector and first
Between resistance, the other end connection of the first capacitor is across resistance amplifying unit.
The first resistor is isolation resistance, and the electric current that the first resistor can prevent photodetector from generating flows through number
Mode converter guarantees that the electric current that photodetector generates all passes through first capacitor inflow across resistance amplifying unit.First electricity
Hold for input capacitance, when the electric current that photodetector generates flows through first capacitor, isolated DC, so that alternating current is defeated
Enter in across resistance amplifying unit.
Further, the cathode of the photodetector connects positive supply voltage, and the anode of the photodetector connects
First resistor is connect, the first resistor connects digital analog converter.
Alternatively, the anode of the photodetector connects negative sense supply voltage, and the cathode of the photodetector connects
First resistor is connect, the first resistor connects digital analog converter.
Further, the control module includes the first output end, and first output end connects digital analog converter.
Further, the control module includes the first control information input terminal and second controls information input terminal, described
Control module first controls information input terminal and connects temperature detecting module, and the control module second controls information input terminal connection
Across resistance amplifying unit.
Further, described across resistance amplifying unit further includes the second capacitor, second resistance and operational amplifier, and described second
Resistance is connected to the both ends of operational amplifier, and second capacitor is in parallel with second resistance.
The second aspect of the utility model proposes a kind of reception device, and the reception device includes a kind of use
In the receiving terminal circuit of laser radar.The receiving terminal circuit has temperature detecting module, and temperature detecting module obtains environment temperature
It is sent to control module after degree information, control module judges whether current environmental temperature can be to receiving terminal circuit according to environment temperature
On electric current have an impact, and be adjusted, so that the electric current on receiving terminal circuit is consistent with desired value.
A kind of laser radar is proposed in terms of the third of the utility model, the laser radar includes described for laser
A kind of reception device of the receiving terminal circuit of radar.The reception device includes a kind of connecing for laser radar described above
Receiving end circuit.The receiving terminal circuit is sent to after there is temperature detecting module, temperature detecting module to obtain ambient temperature information
Control module, control module judge whether current environmental temperature can have an impact receiving terminal circuit according to environment temperature, go forward side by side
Row is adjusted, so that the electric current on receiving terminal circuit is consistent with desired value.
By adopting the above technical scheme, a kind of receiving terminal circuit for laser radar described in the utility model, reception dress
It sets and laser radar, has the following beneficial effects:
1) a kind of receiving terminal circuit for laser radar described in the utility model has temperature detecting module, the temperature
Degree detection module exports bias for acquiring ambient temperature information, and by digital analog converter to adjust photodetector both ends electricity
It is flat, the detection to adapt to different batches, at a temperature of varying environment.After the complete photodetector of initial calibration, it is with 27 degree of room temperature
Datum mark, when variation of ambient temperature, control unit controls digital analog converter, changes bias, and then the shadow of compensation temperature variation
It rings, ensure that under condition of different temperatures, the stabilization of current detecting；
2) it is directed to the current gain deviation of different APD individuals, initial calibration link is added.Different APD is emitted
Identical light energy signal, and set the target value of centralized control unit final output.When deviation occurs in APD individual gain characteristic
When, centralized control unit controls DAC and changes voltage bias VB IAS.So that the both ends APD bias and then changes, until finally obtaining
Data and target value coincide until.Also it can according to need and high-voltage end voltage be adjusted；
3) a kind of receiving terminal circuit for laser radar described in the utility model also with regard to have isolation resistance and input every
Straight capacitor, the isolation resistance can be realized the isolation of the electric current of photodetector, so that the electric current that photodetector generates is all
Flow direction input capacitance avoids electric current from flowing through analog-digital converter so that the flow direction of electric current is fixed.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of positive high voltage control of receiving terminal circuit for laser radar provided by the embodiment of the utility model
Structural schematic diagram；
Fig. 2 is a kind of negative high voltage control of receiving terminal circuit for laser radar provided by the embodiment of the utility model
Structural schematic diagram.
Fig. 3 is a kind of temperature detecting module of the receiving terminal circuit for laser radar provided by the embodiment of the utility model
Structural schematic diagram.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe.Obviously, the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are in the premise for not making creative work
Under every other embodiment obtained, fall within the protection scope of the utility model.
It is in the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", " perpendicular
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " the
One ", " second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
The concrete meaning of language in the present invention.
Embodiment 1:
A kind of receiving terminal circuit for laser radar, the receiving terminal circuit packet are provided in the utility model embodiment
Include: photoelectric detection module and signal processing integrated circuit, the signal processing integrated circuit include temperature detecting module, put across resistance
Big module, D/A converter module and control module；
The photoelectric detection module, including at least one photodetector, the photodetector are two pole of avalanche optoelectronic
Pipe can be used for detecting the optical signal received, and the optical signal be converted into current signal and is exported to across resistance amplification module；
The temperature detecting module, for detecting the operating ambient temperature of the photoelectric detection module, and by the work
Environment temperature is converted into temperature signal and exports to control module, and the temperature detecting module can be the electricity being made of thermistor
Road is also possible to the integrated circuit device such as the circuit being made of temperature sensor, or integrated temperature detector；
It is described across resistance amplification module, including at least one across resistance amplifying unit, for receive come from the photodetection mould
The current signal of block output is converted into voltage signal；
The D/A converter module, including at least one digital analog converter, for receiving the control of control module output
Signal processed is to adjust the voltage at the photoelectric detection module both ends；
The control module, including at least one control circuit, at least one described control circuit are examined based on the temperature
The temperature signal for surveying module output generates at least one control signal.
Specifically, the circuit includes at least one photodetector and at least one signal processing circuit, the signal
Processing circuit includes D/A converting circuit, temperature sensing circuit, across resistance amplifying circuit and control module；
The D/A converting circuit, temperature sensing circuit are connected with control module with across resistance amplifying circuit, the photoelectricity
Detector connects supply voltage, and the other end of the photodetector is all connected with D/A converting circuit and across resistance amplifying circuit.
The D/A converting circuit includes at least one digital analog converter, and the D/A converting circuit is used for digital signal
Analog signal is converted to, the control of control module is received, exports bias to adjust the voltage at photodetector both ends.
The temperature sensing circuit includes at least one temperature detecting module, and the temperature sensing circuit is used for environment temperature
Degree is detected, and control module will be sent on temperature signal, and the control circuit can obtain corresponding according to temperature signal
Signal is controlled, logarithm analog conversion circuit is controlled, and the control module calculates after obtaining temperature signal and carries out electric current at this time
When detection, voltage required for photodetector both ends, and calculate therefore bias value that D/A converting circuit needs to export.
Described across resistance amplifying circuit includes at least one trans-impedance amplifier, described to be used for across resistance amplifying circuit by photodetection
The current pulse signal formed after device conversion is converted to voltage signal.The control module is also used to will be across resistance amplifying circuit input
Voltage signal handled, formed have object to be detected range information data code flow.
Further, the photodetector is located on one piece of integrated circuit board, the control module, temperature detection mould
Block is integrated on another piece of integrated circuit board across resistance amplifying circuit and D/A converting circuit.The control module can be from temperature
Detection module obtains temperature information, and can obtain the information of voltage across resistance amplifying circuit and control digital analog converter bias
Output, the control module, which can be, is integrated with the integration module of above-mentioned function, and it is inclined to adjust digital analog converter according to temperature information
The output of pressure, to obtain the information of voltage coincideing with target value.
Alternatively, the photodetector, control module, temperature detecting module, across resistance amplification module and digital-to-analogue conversion
Module can be combined with each other, and be integrated on different circuit boards, and the photodetector can individually be located at one piece of circuit board
On, it can also be integrated with other modules.The control module can individually be located on one piece of circuit board, can also be with other modules
It is integrated.The temperature detecting module can individually be located on one piece of circuit board, can also be integrated with other modules.It is described to be put across resistance
Big module can individually be located on one piece of circuit board, can also be integrated with other modules.The D/A converter module can be independent
It, can also be integrated with other modules on one piece of circuit board.Above-mentioned all modules also can integrate in same circuit board
On.
Specifically, the photodetector can be avalanche photodide, and the receiving end of laser radar is used at one
In circuit, the receiving terminal circuit include: avalanche photodide, D/A converting circuit, controller, temperature sensing circuit and across
Hinder amplifying circuit；
Further, the receiving terminal circuit further includes first resistor, the first resistor be connected to photodetector and
Between digital analog converter.The receiving terminal circuit further includes first capacitor, and one end of the first capacitor is connected to photodetection
Between device and first resistor, the other end connection of the first capacitor is across resistance amplifying unit.The first resistor is isolation resistance,
The electric current that the first resistor can prevent photodetector from generating flows through digital analog converter, guarantees the electricity that photodetector generates
Stream is all flowed by first capacitor across resistance amplifying unit.The first capacitor is input capacitance, is produced in photodetector
When raw electric current flows through first capacitor, isolated DC, so that alternating current is input to across in resistance amplifying unit.
As shown in Figure 1, when it is described for receiving terminal circuit be positive high pressure receive circuit when, the cathode of the photodetector
Positive supply voltage is connected, the anode of the photodetector connects first resistor, and the first resistor connects digital analog converter.
As shown in Fig. 2, when it is described for receiving terminal circuit be negative high-voltage control circuit when, the anode of the photodetector
Negative sense supply voltage is connected, the cathode of the photodetector connects first resistor, and the first resistor connects digital analog converter.
Further, the temperature detecting module basic circuit is as shown in Figure 3.The temperature detecting module includes that operation is put
Big device, metal-oxide-semiconductor, transistor, resistance and analog-digital converter.The transistor includes the first transistor
Q1 and the second transistor Q2.The metal-oxide-semiconductor includes the first metal-oxide-semiconductor Q3, the second metal-oxide-semiconductor Q4 and third metal-oxide-semiconductor Q5.First
Metal-oxide-semiconductor Q3, the second metal-oxide-semiconductor Q4 and third metal-oxide-semiconductor Q5 are in parallel.The second metal-oxide-semiconductor Q4 grid and the first metal-oxide-semiconductor Q3 grid connect
The output end of operational amplifier is connect, the operational amplifier has first input end and the second input terminal, the operational amplifier
First input end connect the drain electrode of the second metal-oxide-semiconductor Q4, the second input terminal of the operational amplifier connects the first metal-oxide-semiconductor Q3's
Drain electrode.
The operational amplifier first input end connects the first transistor Q1 emitter, the operational amplifier the
Two input terminals connect the second transistor Q2 emitter, the first transistor Q1 collector and the second semiconductor
Triode Q2 grounded collector.Have between the operational amplifier first input end and the first transistor Q1 emitter
Resistance R1.The connection of the output end of the third metal-oxide-semiconductor Q5 grid and operational amplifier, the third metal-oxide-semiconductor Q5 source electrode connect mould
Number converter, the analog-digital converter link control module.The third metal-oxide-semiconductor Q5 source electrode and analog-digital converter are all connected with resistance
R2, third metal-oxide-semiconductor Q5 connect with R2, and analog-digital converter is in parallel with R2, the R2 ground connection.
By operational amplifier, clamper is carried out to the voltage at X, Y two, so that Vx=Vy.Q3, Q4, Q5 are p-type MOS
Pipe, and breadth length ratio having the same, Q5 is used for current mirror, that is, keeps identical with Q3 current value.Available Z point
Voltage Vz=K*T*l nN*R2/R1, wherein K is constant, and N is constant, and T is absolute temperature.So Vz is to can reflect temperature
Spend the voltage of variation.Again by analog to digital conversion circuit, the voltage signal of Z point is converted into data code flow and is input to control module.
To which control module can accurately carry out the real-time monitoring of temperature very much.The principle of the temperature detecting module thermometric is base
In the temperature effect of triode.
Further, the control module includes the first output end, and first output end connects digital analog converter.It is described
Control module includes the first control information input terminal and the second control information input terminal, and it is defeated that the control module first controls information
Enter end connection temperature detecting module, the control module second controls information input terminal connection across resistance amplifying unit.It is described across resistance
Amplifying unit further includes the second capacitor, second resistance and operational amplifier, and the second resistance is connected to the two of operational amplifier
End, second capacitor are in parallel with second resistance.
Specifically, for the current gain deviation of different avalanche photodide individuals, initial calibration link is added.Into
When row initial calibration, identical light energy signal is all emitted for different avalanche photodides, and set control module most
The target value exported eventually.Light energy signal is converted to current signal by avalanche photodide, and the current signal is by the
One capacitor enters across resistance amplification module, after amplifying processing across resistance amplification module, is converted to voltage signal and is input to control
Module, control module judge this data obtained according to preset target value.When avalanche photodide individual increases
When deviation occurs in beneficial characteristic, control module output order controls digital analog converter, changes the bias of digital analog converter output, from
And avalanche photodide both ends bias is and then changed, until finally obtained data and identical target value.It is described
Receiving terminal circuit, which also can according to need, is adjusted high-voltage end voltage.
The case where for variation of ambient temperature, the point on the basis of 27 degree of room temperature, in extraneous variation of ambient temperature, for ring
The case where border temperature change, temperature detecting module obtain extraneous temperature information, are sent to control module, and control module obtains outer
The temperature information of boundary's environment.In addition, control module can also be obtained normally by avalanche diode and be obtained across resistance amplification module
Voltage signal.Light energy signal is converted to current signal by avalanche photodide, and the current signal is by the first electricity
Hold and enter across resistance amplification module, after amplifying processing across resistance amplification module, is converted to voltage signal and is input to control module.
The voltage signal and temperature information that control module obtains this judge, judge under current environment temperature, if meeting
Influence photoelectricity avalanche diode accuracy and stability.When environment temperature judges to have an impact photoelectricity avalanche diode,
Control module control digital analog converter, change digital analog converter output bias so that avalanche photodide both ends bias with
Variation, until obtaining expected numerical value, until judging that the influence of temperature change has been cancelled.The receiving terminal circuit avoids
Ambient temperature variation and the problem of the current drift formed.
A kind of receiving terminal circuit for laser radar that the present embodiment proposes, the receiving terminal circuit have temperature detection
Module can detect environment temperature.The control module of the receiving terminal circuit can be controlled according to ambient temperature information
The voltage at photodetector both ends, compensation temperature variation are influenced caused by receiving terminal circuit.
Embodiment 2:
A kind of reception device is provided in one feasible embodiment of the utility model, the reception device includes the use
In the receiving terminal circuit of laser radar, the receiving terminal circuit has temperature detecting module, can obtain environment temperature letter in real time
Breath.The receiving terminal circuit is sent to control mould after there is temperature detecting module, temperature detecting module to obtain ambient temperature information
Block, control module judge whether current environmental temperature can have an impact the electric current on receiving terminal circuit according to environment temperature, and
It controls digital analog converter and changes bias, offsetting environment temperature bring influences, so that electric current and desired value on receiving terminal circuit
It is consistent.It ensure that under condition of different temperatures, the stabilization of current detecting.
Embodiment 3:
A kind of laser radar is provided in another feasible embodiment of the utility model.The laser radar includes above-mentioned
Reception device and receiving terminal circuit.The receiving terminal circuit has temperature detecting module, and temperature detecting module obtains environment temperature
Control module is sent to after information, control module judges whether current environmental temperature can be on receiving terminal circuit according to environment temperature
Electric current have an impact, and control digital analog converter change bias, offset environment temperature bring influence so that receiving terminal circuit
On electric current be consistent with desired value.It ensure that under condition of different temperatures, the stabilization of current detecting.
The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (10)
1. a kind of receiving terminal circuit for laser radar, which is characterized in that the receiving terminal circuit includes: photoelectric detection module
And signal processing integrated circuit, the signal processing integrated circuit include temperature detecting module, across resistance amplification module, digital-to-analogue conversion
Module and control module；
The photoelectric detection module, including at least one photodetector, for detecting the optical signal received, and by the light
Signal is converted into current signal and exports to across resistance amplification module；
The temperature detecting module, for detecting the operating ambient temperature of the photoelectric detection module, and by the working environment
Temperature transition is exported at temperature signal to control module；
It is described across resistance amplification module, including at least one across resistance amplifying unit, for receive from the photoelectric detection module it is defeated
Current signal out is converted into voltage signal；
The D/A converter module, including at least one digital analog converter, for receive control module output control signal with
Adjust the voltage at the photoelectric detection module both ends；
The control module, including at least one control circuit, at least one described control circuit are based on the temperature detection mould
The temperature signal of block output generates at least one control signal.
2. a kind of receiving terminal circuit for laser radar according to claim 1, which is characterized in that the receiving end electricity
Road further includes first resistor, and the first resistor is connected between photodetector and digital analog converter.
3. a kind of receiving terminal circuit for laser radar according to claim 2, which is characterized in that the receiving end electricity
Road further includes first capacitor, and one end of the first capacitor is connected between photodetector and first resistor, first electricity
The other end connection of appearance is across resistance amplifying unit.
4. a kind of receiving terminal circuit for laser radar according to claim 2, which is characterized in that the photodetection
The cathode of device connects positive supply voltage, and the anode of the photodetector connects first resistor, the first resistor connection number
Mode converter.
5. a kind of receiving terminal circuit for laser radar according to claim 2, which is characterized in that the photodetection
The anode of device connects negative sense supply voltage, and the cathode of the photodetector connects first resistor, the first resistor connection number
Mode converter.
6. a kind of receiving terminal circuit for laser radar according to claim 1, which is characterized in that the control module
Including the first output end, first output end connects digital analog converter.
7. a kind of receiving terminal circuit for laser radar according to claim 1, which is characterized in that the control module
Including the first control information input terminal and the second control information input terminal, the control module first controls information input terminal connection
Temperature detecting module, the control module second control information input terminal connection across resistance amplifying unit.
8. a kind of receiving terminal circuit for laser radar according to claim 1, which is characterized in that described to amplify across resistance
Unit further includes the second capacitor, second resistance and operational amplifier, and the second resistance is connected to the both ends of operational amplifier, institute
It is in parallel with second resistance to state the second capacitor.
9. a kind of reception device, which is characterized in that the reception device includes one kind described in claims 1 to 8 any one
Receiving terminal circuit for laser radar.
10. a kind of laser radar, which is characterized in that the laser radar includes reception device as claimed in claim 9.
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| CN201821677733.9U CN209280923U (en) | 2018-10-16 | 2018-10-16 | It is a kind of for the receiving terminal circuit of laser radar, reception device and laser radar |
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| CN201821677733.9U CN209280923U (en) | 2018-10-16 | 2018-10-16 | It is a kind of for the receiving terminal circuit of laser radar, reception device and laser radar |
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