WO2020061969A1 - Dispositif d'émission laser et dispositif de télémétrie - Google Patents

Dispositif d'émission laser et dispositif de télémétrie Download PDF

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Publication number
WO2020061969A1
WO2020061969A1 PCT/CN2018/108151 CN2018108151W WO2020061969A1 WO 2020061969 A1 WO2020061969 A1 WO 2020061969A1 CN 2018108151 W CN2018108151 W CN 2018108151W WO 2020061969 A1 WO2020061969 A1 WO 2020061969A1
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WO
WIPO (PCT)
Prior art keywords
circuit
operational amplifier
diode
emitting device
laser
Prior art date
Application number
PCT/CN2018/108151
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English (en)
Chinese (zh)
Inventor
黄森洪
刘祥
蒲文进
洪小平
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/108151 priority Critical patent/WO2020061969A1/fr
Priority to CN201890000569.XU priority patent/CN211505895U/zh
Publication of WO2020061969A1 publication Critical patent/WO2020061969A1/fr

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01S—DEVICES USING THE PROCESS OF LIGHT AMPLIFICATION BY STIMULATED EMISSION OF RADIATION [LASER] TO AMPLIFY OR GENERATE LIGHT; DEVICES USING STIMULATED EMISSION OF ELECTROMAGNETIC RADIATION IN WAVE RANGES OTHER THAN OPTICAL
    • H01S3/00—Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
    • H01S3/09—Processes or apparatus for excitation, e.g. pumping

Definitions

  • the invention relates to the technical field of circuits, and in particular, to a laser emitting device and a distance measuring device.
  • laser diodes are used as signal sources, and according to specific applications, they emit laser signals with a specific range of wavelengths and optical power. In order to ensure good system performance, the characteristics of the laser must remain stable. However, under the premise that the laser driving circuit does not change, the laser diode optical power shifts with the change of the ambient temperature; in addition, the laser diode or the driving circuit may fail during use.
  • the present invention provides a laser emitting device, including: a transmitting circuit, a self-test circuit, and a control circuit:
  • the transmitting circuit includes a laser transmitter and a driver, and the laser transmitter is configured to transmit a laser pulse signal under the driving of the driver;
  • the self-test circuit is configured to detect a transmission energy or a transmission power of a laser pulse signal transmitted by the transmission circuit
  • the control circuit is configured to adjust the transmission power of the transmission circuit when the transmission energy or transmission power of the laser pulse signal is changed according to the detection result of the self-test circuit, so that the laser pulse signal transmitted by the transmission circuit The power is kept within a preset range; or, the control circuit is configured to determine whether to turn off the transmitting circuit according to a detection result of the self-test circuit.
  • the self-test circuit includes:
  • a photoelectric conversion circuit configured to receive a portion of a laser pulse signal emitted by the transmitting circuit, and convert the portion of the laser pulse signal into an electrical pulse signal;
  • a pulse stretching circuit for performing stretching processing on the electrical pulse signal
  • the sampling circuit is configured to sample the electric signal after the stretching process.
  • the stretched electrical signal is an electric pulse signal
  • the duty cycle of the stretched electrical pulse signal is greater than at least 3 times the duty cycle of the stretched electrical pulse signal
  • the stretched electrical signal is a level signal.
  • the pulse stretching circuit includes an RC filter circuit.
  • the RC filter circuit includes:
  • a first-order RC filter circuit includes a first resistor and a first capacitor. One end of the first resistor receives an electric signal from a photoelectric conversion circuit, the other end is connected to one end of the first capacitor, and the other end of the first capacitor is grounded. .
  • the RC filter circuit includes a high-order filter circuit.
  • the self-test circuit further includes:
  • An amplifying circuit configured to amplify a signal output by the RC filter circuit.
  • the amplification circuit includes:
  • a proportional amplifier circuit includes a first operational amplifier, a second resistor, and a third resistor; one end of the second resistor is connected to the filter circuit, and the other end is connected to the negative input terminal of the first operational amplifier; the first operational amplifier The positive input terminal is connected to the first reference power source, the output terminal is connected to the sampling circuit; one end of the third resistor is connected to the negative input terminal of the first operational amplifier, and the other end is connected to the input terminal of the first operational amplifier.
  • the self-test circuit further includes:
  • a coupling circuit is used to decouple the photoelectric conversion circuit and the amplifier circuit.
  • the coupling circuit includes:
  • a second capacitor receives an electrical signal from the photoelectric conversion circuit, and the other end is connected to the RC filter circuit and a second reference power source.
  • the self-test circuit includes:
  • a photoelectric conversion circuit configured to receive a portion of a laser pulse signal emitted by the transmitting circuit, and convert the portion of the laser pulse signal into an electrical pulse signal;
  • a peak hold circuit for holding a peak value of the electrical pulse signal
  • the sampling circuit is configured to sample the peak value of the electric pulse signal held by the peak hold circuit.
  • the peak hold circuit includes:
  • a first diode, a fourth resistor, and a first energy storage circuit wherein one end of the first diode receives an electrical signal from a photoelectric conversion circuit, and the other end of the first diode is connected to the first diode
  • a second diode, a fifth resistor, and a second energy storage circuit wherein one end of the second diode receives an electrical signal from a photoelectric conversion circuit, and the other end of the second diode is in contact with the first diode
  • One end of the five resistors and outputs a signal to the sampling circuit the other end of the fifth resistor is connected to one end of the second energy storage circuit, and the other end of the second energy storage circuit is connected to a fourth reference power source.
  • the self-test circuit further includes:
  • a first decoupling circuit is located between the photoelectric conversion circuit and the peak hold circuit, and is configured to decouple the photoelectric conversion circuit and the peak hold circuit.
  • the first decoupling circuit includes:
  • a second operational amplifier a positive input of the second operational amplifier receives an electrical signal from a photoelectric conversion circuit, a negative input of the second operational amplifier is connected to an output of the second operational amplifier, An output terminal of the amplifier is connected to the peak hold circuit.
  • the first decoupling circuit includes:
  • a third operational amplifier a positive input of the third operational amplifier receives an electrical signal of the photoelectric conversion circuit, a negative input of the third operational amplifier is connected to the second diode and the fifth resistor is connected One end of the third operational amplifier is connected to the other end of the second diode.
  • the peak hold circuit further includes:
  • a positive input terminal of the third operational amplifier is further connected to a fifth reference power source.
  • the self-test circuit includes:
  • a second decoupling circuit is connected between the sampling circuit and the peak hold circuit, or after the sampling circuit, and is used to decouple circuits before and after the second decoupling circuit.
  • the second decoupling circuit includes:
  • a fourth operational amplifier, a sixth resistor, and a third diode wherein a positive input terminal of the fourth operational amplifier is connected to the peak hold circuit or the sampling circuit; a negative input terminal of the fourth operational amplifier is connected One end of the sixth resistor and the positive electrode of the third diode; the other end of the sixth resistor is connected to a sixth reference power source, and the negative electrode of the third diode is connected to the fourth operational amplifier. Output; or
  • a fifth operational amplifier a positive input terminal of the fifth operational amplifier is connected to the peak hold circuit or the sampling circuit; a negative input terminal of the fifth operational amplifier is connected to an output terminal of the fifth operational amplifier.
  • the self-test circuit further includes a reset circuit for resetting the peak hold circuit.
  • the reset circuit includes:
  • a first switch, a second switch, and an inverter wherein one end of the switch receives an electrical signal of the photoelectric conversion circuit, and the other end of the first switch is connected to the peak hold circuit or the first decoupling circuit
  • the second switch is connected to both ends of the first energy storage circuit or the second energy storage circuit; the first switch control signal controls the on and off of the first switch, and generates a first Two switch control signals control the on and off of the second switch, so that the on and off states of the first switch and the second switch are opposite.
  • the photoelectric conversion circuit further includes:
  • a seventh resistor one end of which is connected to the positive electrode of the photodiode, and the other end is grounded;
  • the negative pole of the photodiode is connected to a working power source VCC.
  • the sampling circuit includes: a low-speed ADC sampling circuit.
  • control circuit is configured to adjust the transmitting power of the transmitting circuit or turn off the transmitting circuit according to a sampling voltage value of the sampling circuit.
  • control circuit is configured to adjust the transmission power of the transmitting circuit according to a detection result of the self-test circuit, so that the power of the laser pulse signal transmitted by the transmitting circuit is maintained within a preset range.
  • the control circuit when the sampling voltage value exceeds the preset upper voltage limit, the control circuit reduces the gain of the transmitting circuit; and / or,
  • the control circuit increases the gain of the transmitting circuit; and / or,
  • the transmitting circuit When the sampling voltage value is 0 or almost 0, the transmitting circuit is turned off.
  • a correspondence relationship between the transmission power of the transmission circuit and the sampling value of the sampling circuit is stored in the laser emitting device, and the control circuit is configured to adjust the transmission power of the transmission circuit according to the correspondence relationship.
  • the present invention also provides a peak hold circuit, including:
  • a first diode, a fourth resistor, and a first energy storage circuit wherein one end of the first diode receives an electrical signal from a photoelectric conversion circuit, and the other end of the first diode is connected to the first diode
  • a second diode, a fifth resistor, and a second energy storage circuit wherein one end of the second diode receives an electrical signal from a photoelectric conversion circuit, and the other end of the second diode is in contact with the first diode
  • One end of the five resistors and outputs a signal to the sampling circuit the other end of the fifth resistor is connected to one end of the second energy storage circuit, and the other end of the second energy storage circuit is connected to a fourth reference power source.
  • the peak hold circuit further includes:
  • the first decoupling circuit is located before the peak hold circuit, and is configured to decouple the peak hold circuit from a circuit before the peak hold circuit.
  • the first decoupling circuit includes:
  • a second operational amplifier a positive input of the second operational amplifier receives an input signal, a negative input of the second operational amplifier is connected to an output of the second operational amplifier, and an output of the second operational amplifier is connected One end of the first diode or one end of the second diode.
  • the first decoupling circuit includes:
  • a third operational amplifier a positive input of the third operational amplifier receives an input signal, a negative input of the third operational amplifier is connected to the second diode and one end of the fifth resistor, and the third An output terminal of the operational amplifier is connected to the other terminal of the second diode.
  • the peak hold circuit further includes:
  • a positive input terminal of the third operational amplifier is further connected to a fifth reference power source.
  • the peak hold circuit includes:
  • the second decoupling circuit is connected to the peak-hold circuit and is used for decoupling the peak-hold circuit and the subsequent circuits.
  • the second decoupling circuit includes:
  • a fourth operational amplifier, a sixth resistor, and a third diode wherein a positive input terminal of the fourth operational amplifier is connected to the peak hold circuit; a negative input terminal of the fourth operational amplifier is connected to the sixth resistor One end of the third diode, and the positive end of the third diode; the other end of the sixth resistor is connected to a sixth reference power source, and the negative end of the third diode is connected to the output terminal of the fourth operational amplifier; or
  • a fifth operational amplifier a positive input terminal of the fifth operational amplifier is connected to the peak hold circuit; a negative input terminal of the fifth operational amplifier is connected to an output terminal of the fifth operational amplifier.
  • the present invention further provides a laser ranging device, including the laser emitting device according to any one of the first aspects.
  • the present invention further provides a laser ranging device, including a laser receiving device, and the laser receiving device includes the peak hold circuit of any one of the second aspect.
  • the present invention further provides a laser ranging device, including the laser emitting circuit according to any one of the first aspects, and the laser receiving device including the peak holding circuit according to the second aspect.
  • FIG. 1 is a schematic block diagram of a laser emitting device according to an embodiment of the present invention
  • FIG. 2 is a wiring diagram of a self-test circuit according to an embodiment of the present invention.
  • FIG. 3 is a waveform diagram before and after filtering in a self-test circuit according to an embodiment of the present invention
  • FIG. 4 is a waveform diagram before and after amplification in a self-test circuit according to an embodiment of the present invention
  • FIG. 5 is a first wiring diagram of a peak hold circuit provided by an embodiment of the present invention.
  • FIG. 6 is a second wiring diagram of a peak hold circuit according to an embodiment of the present invention.
  • FIG. 7 is a signal waveform of a positive input terminal and a negative input terminal of an operational amplifier according to an embodiment of the present invention.
  • FIG. 8 is a schematic block diagram of a ranging device according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of an embodiment of a ranging device using a coaxial optical path according to an embodiment of the present invention.
  • FIG. 1 is a schematic frame diagram of a laser emitting device according to an embodiment of the present invention.
  • the laser emitting device 1 may include a transmitting circuit 11, a self-test circuit 12, and a control circuit 13.
  • the transmitting circuit 11 includes a laser transmitter 111 and a driver 112.
  • the laser transmitter 111 is configured to transmit a laser pulse signal under the driving of the driver 112.
  • the self-test circuit 12 is configured to detect a laser emitted by the transmitting circuit.
  • control circuit 13 is configured to adjust the transmission power of the transmission circuit when the transmission energy or transmission power of the laser pulse signal is changed according to the detection result of the self-test circuit, so that The power of the laser pulse signal emitted by the circuit is maintained within a preset range; or, the control circuit is configured to determine whether to close the transmitting circuit according to a detection result of the self-test circuit.
  • the self-test circuit detects the emission energy or transmission power of the laser pulse signal includes: detecting the emission energy of the laser pulse signal and then converting it into the transmission power, or detecting the transmission power of the laser pulse signal and then converting it into the transmission energy, and then Adjust the transmit power of the transmit circuit according to the change of transmit power or transmit energy.
  • FIG. 2 is a wiring diagram of a self-test circuit provided by an embodiment of the present invention. As shown in Figure 2, the self-test circuit 2 includes:
  • the photoelectric conversion circuit 21 is configured to receive a part of a laser pulse signal emitted by the transmitting circuit, and convert the part of the laser pulse signal into an electric pulse signal;
  • the sampling circuit 23 is configured to sample the electric signal after the stretching process.
  • the stretched electrical signal is an electrical pulse signal or a level signal.
  • the electric signal after the stretching process is an electric pulse signal
  • the duty cycle of the electric pulse signal after the stretching process is greater than at least 3 times the duty cycle of the electric pulse signal before the stretching process. Times.
  • the pulse stretching circuit 22 includes an RC filter circuit.
  • the RC filter circuit includes:
  • the first-order RC filter circuit includes a first resistor R2 and a first capacitor C2. One end of the first resistor R2 receives an electric signal from the photoelectric conversion circuit, and the other end is connected to one end of the first capacitor C2. The other end of C2 is grounded.
  • receiving an electrical signal from the photoelectric conversion circuit includes an RC filter circuit directly connected to the photoelectric conversion circuit; or other circuits may be provided between the RC filter circuit and the photoelectric conversion circuit.
  • the RC filter circuit includes a high-order filter circuit.
  • the self-test circuit 2 further includes:
  • the amplifying circuit 24 is configured to amplify a signal output by the RC filter circuit.
  • the amplification circuit 24 includes:
  • a proportional amplifier circuit includes a first operational amplifier U1, a second resistor R3, and a third resistor R4; one end of the second resistor R3 is connected to the RC filter circuit, and the other end is connected to a negative input terminal of the first operational amplifier U1; A positive input terminal of the first operational amplifier U1 is connected to a first reference power source, and an output terminal is connected to the sampling circuit; one end of the third resistor R4 is connected to a negative input terminal of the first operational amplifier U1, and the other end is connected to the An input terminal of the first operational amplifier U1.
  • the self-test circuit 2 further includes:
  • the coupling circuit 25 is configured to decouple the photoelectric conversion circuit 21 and the amplifier circuit 24.
  • the coupling circuit 25 includes:
  • a second capacitor C1 One end of the second capacitor C1 receives an electric signal from the photoelectric conversion circuit 21, and the other end is connected to the RC filter circuit and a second reference power source.
  • the photoelectric conversion circuit 21 includes:
  • a seventh resistor R1 one end of which is connected to the positive electrode of the photodiode, and the other end is grounded;
  • the negative pole of the photodiode is connected to a working power source VCC.
  • the photodiode of the photoelectric conversion circuit 21 receives the light pulse signal emitted by the laser diode in the laser transmitter, the photodiode is turned on; the connection point between the photodiode and the resistor R1 generates an electrical signal, that is, the photoelectric conversion circuit converts light The pulse signal is converted into the electric signal;
  • the filtered electric signal is amplified by a proportional amplifier.
  • the ratio of the resistors R3 and R4 in the proportional amplifier can be used to adjust the amplification factor.
  • the specific amplification factor depends on the design needs and actual conditions.
  • the amplified electrical signal ( That is, the electrical signal for sampling is shown in FIG. 4;
  • the present invention uses RC filtering to stretch high-frequency narrow pulses into low-frequency or even near-DC signals. After amplification by an amplifier, a low-sampling rate ADC is used for sampling, thereby greatly reducing the cost of power detection.
  • the output of the photoelectric conversion circuit can also be selected
  • the electric signal is AC-coupled to the second reference power source through the capacitor C1 in the coupling circuit 25, and then amplified by the amplifier, so as to realize a low-speed ADC sampling signal value.
  • the capacitor C1 also functions as an isolation circuit. It should be noted that the coupling circuit can be set or not set as required.
  • the self-test circuit includes:
  • a photoelectric conversion circuit configured to receive a portion of a laser pulse signal emitted by the transmitting circuit, and convert the portion of the laser pulse signal into an electrical pulse signal;
  • a peak hold circuit for holding a peak value of the electrical pulse signal
  • the sampling circuit is configured to sample the peak value of the electric pulse signal held by the peak hold circuit.
  • the self-test circuit in this embodiment differs from the self-test circuit described in FIG. 2 in that a sampling peak hold circuit replaces the pulse stretching circuit described in FIG. 2.
  • FIG. 5 is a first wiring diagram of a peak hold circuit according to an embodiment of the present invention. As shown in FIG. 5, the peak hold circuit includes:
  • FIG. 6 is a second wiring diagram of a peak hold circuit provided by an embodiment of the present invention. As shown in FIG. 6, the peak hold circuit includes:
  • the other end of the fifth resistor R7 is connected to one end of the second energy storage circuit C4. Connect the other end to the fourth reference power supply.
  • the self-test circuit further includes:
  • a first decoupling circuit is located between the photoelectric conversion circuit and the peak hold circuit, and is configured to decouple the photoelectric conversion circuit and the peak hold circuit.
  • the first decoupling circuit includes:
  • a second operational amplifier U2 a positive input terminal of the second operational amplifier U2 receives an electric signal from a photoelectric conversion circuit, a negative input terminal of the second operational amplifier U2 is connected to an output terminal of the second operational amplifier, and An output terminal of the second operational amplifier U2 is connected to the peak hold circuit.
  • the first decoupling circuit includes:
  • a third operational amplifier U4 a positive input terminal of the third operational amplifier U4 receives an electrical signal of the photoelectric conversion circuit, and a negative input terminal of the third operational amplifier U4 is connected to the second diode and the first One end connected with five resistors, and the output end of the third operational amplifier U4 is connected to the other end of the second diode.
  • the peak hold circuit further includes:
  • a positive input terminal of the third operational amplifier U4 is also connected to a fifth reference power source.
  • the self-test circuit includes:
  • a second decoupling circuit is connected between the sampling circuit and the peak hold circuit, or after the sampling circuit, and is used to decouple circuits before and after the second decoupling circuit.
  • the second decoupling circuit includes:
  • a fifth operational amplifier U5 a positive input terminal of the fifth operational amplifier U5 is connected to the peak hold circuit or the sampling circuit; a negative input terminal of the fifth operational amplifier U5 is connected to an output of the fifth operational amplifier U5 end.
  • the output signal Singal_in of the photoelectric conversion circuit is input to the positive input terminal of the operational amplifier U2, and the negative input terminal of the operational amplifier U2 is connected to the output terminal of the operational amplifier U2 to form a voltage follower to maintain the photoelectric conversion circuit and the peak value.
  • the circuit is decoupled, and the signal output from the output terminal of the operational amplifier U2 is the same as the output signal Singal_in of the photoelectric conversion circuit;
  • the signal output from the output terminal of the operational amplifier U2 when the signal rises or falls, so that the voltage across the diode exceeds the threshold voltage of the diode D1, the diode D1 is turned on, and the output signal of the operational amplifier U2 passes through the diode D1 and the resistor R5 Charge the capacitor C3.
  • the voltage waveform of the capacitor C3 changes with the output signal of the operational amplifier U2, and then drops or rises after the peak.
  • the diode D1 is turned off.
  • the capacitor C3 is further charged; in this process, the peak value of the output signal of the operational amplifier U2 is detected and maintained through the voltage waveform of the capacitor C3.
  • the electric signal of the capacitor C3 is output to the positive input terminal of the operational amplifier U3.
  • the negative input terminal of the operational amplifier U3 is connected to one end of the resistor R6 and one end of the diode D2, and the other end of the resistor R6 is connected to the sixth reference power source.
  • the other end of D2 is connected to the output of an operational amplifier U3.
  • the operational amplifier U3, the resistor R6, and the diode D2 constitute a second decoupling circuit, that is, another voltage follower, to decouple the peak hold circuit and other circuits. Couple. It can be understood that the second decoupling circuit located after the peak hold circuit may also be located after the sampling circuit.
  • the diode D2 in FIG. 5 is located outside the feedback path of the operational amplifier U1. There is a voltage drop between the peak value held by the capacitor C1 and Signal_in. In order to eliminate this voltage drop, the voltage of the diode D2 must be the same as the voltage drop of the diode D1. That is, the diodes D2 and D1 must be the same to ensure that the peak value of Signal_out is consistent with Signal_in. Under the condition that the accuracy requirements are met, the above-mentioned peak hold circuit has no problem, but when the accuracy requirements are very high, in fact, there are individual differences in electronic components, and it is basically impossible to ensure that the voltages on the diodes D2 and D1 are completely equal.
  • an embodiment of the present invention provides another peak detection circuit.
  • the working principle of the peak detection circuit shown in FIG. 6 is as follows:
  • the output signal Singal_In of the photoelectric conversion circuit is input to the positive input terminal of the operational amplifier U4, the negative input terminal of the operational amplifier U4 is connected to one end of the diode D3, and the other end of the diode D3 is connected to the output terminal of the operational amplifier U2, so that Decoupling the photoelectric conversion circuit and the peak hold circuit;
  • the diode D3 is turned on, and the output signal of the operational amplifier U4 charges the capacitor C4 through the diode D3 and the resistor R7.
  • the voltage waveform of the capacitor C4 changes with the output signal of the operational amplifier U4, and then drops or Rise, when the voltage across the diode is less than the threshold voltage of the diode D3, the diode D3 is turned off, and the capacitor C4 is no longer charged; in this process, the voltage waveform of the capacitor C4 is used to detect and maintain the operational amplifier U2. The peak value of the output signal;
  • the diode D3 is placed in the feedback loop of the operational amplifier U4, then the positive input terminal of the operational amplifier U5 and the negative input terminal of the operational amplifier U4 have the same voltage, so as to ensure that the peak value of the signal Signal_Out of the output terminal of the operational amplifier U5 and the photoelectricity are maintained.
  • the peak value of the output signal Signal_In of the conversion circuit is consistent, which improves the problem of the diode mismatch of the peak-hold circuit in the previous embodiment. Therefore, in the second decoupling circuit after the peak-hold circuit, a diode or the same as the previous The diodes in a decoupling circuit are the same.
  • connection terminal of the diode D3 and the resistor R7 outputs a signal to the second decoupling circuit
  • the second decoupling circuit may adopt the circuit structure of the first or second decoupling circuit in the previous embodiment, which is not repeated here.
  • the second decoupling circuit located after the peak hold circuit may also be located after the sampling circuit.
  • the first decoupling circuit, the peak detection circuit, and the second decoupling circuit all include at least one form. It can be understood that the three can be based on design requirements and practical applications. In some cases, the use or non-use is selected, and the settings are coordinated with each other. Therefore, in addition to the circuit settings described in the figure of the present invention, other variations of the above three coordinated settings also belong to the scope of the present invention.
  • the present invention adds a switch S1 to the positive input terminal of the operational amplifier U4 to prevent interference from other signals.
  • the self-test circuit further includes a reset circuit for resetting the peak hold circuit.
  • the reset circuit includes:
  • a first switch, a second switch, and an inverter wherein one end of the switch receives an electrical signal of the photoelectric conversion circuit, and the other end of the first switch is connected to the peak hold circuit or the first decoupling circuit
  • the second switch is connected to both ends of the first energy storage circuit or the second energy storage circuit; the first switch control signal controls the on and off of the first switch, and generates a first Two switch control signals control the on and off of the second switch, so that the on and off states of the first switch and the second switch are opposite.
  • the reset circuit includes switches S1, S2, and an inverter; the switch S2 is connected in series between the input signal and the positive input terminal of the operational amplifier U4, and the switch S2 is connected in parallel with both ends of the capacitor C4 to be controlled by the switching signal Switch S1, and control switch S2 after passing the inverter.
  • This can ensure that switches S1 and S2 are opened and closed in opposite states.
  • S2 is closed, the capacitor C4 is discharged, and S1 is opened at this time to ensure that the weak interference signal cannot be Enter the non-inverting input of U1.
  • S2 opens and S1 closes. At this time, the system can normally respond to the input pulse signal.
  • control circuit 13 is configured to adjust the transmission power of the transmitting circuit according to the detection result of the self-test circuit, so that the power of the laser pulse signal transmitted by the transmitting circuit is maintained within a preset range.
  • control circuit 13 is configured to adjust the transmitting power of the transmitting circuit or turn off the transmitting circuit according to the sampling voltage value of the sampling circuit.
  • the control circuit when the sampling voltage value exceeds the preset upper voltage limit, the control circuit reduces the gain of the transmitting circuit; and / or,
  • the control circuit increases the gain of the transmitting circuit; and / or,
  • the transmitting circuit When the sampling voltage value is 0 or almost 0, the transmitting circuit is turned off.
  • a correspondence relationship between the transmission power of the transmission circuit and the sampling value of the sampling circuit is stored in the laser emitting device, and the control circuit is configured to adjust the transmission power of the transmission circuit according to the correspondence relationship.
  • the correspondence between the stored transmission power of the transmitting circuit and the sampling value of the sampling circuit can be the correspondence between the voltage of the transmitting circuit and the sampling value, or the correspondence between the gain and the sampling value, or other adjustments to it. Correspondence between the parameters that can affect the transmit power of the transmit circuit and the sampled values.
  • the laser emission frequency is at a constant value within a certain time.
  • the peak value of the stretched pulse corresponds to the peak value of the narrow pulse; if the stretch circuit directly stretches the pulse width to a DC signal, the amplitude of the DC signal corresponds to the energy value of the narrow pulse.
  • the transmit power can be deduced according to the ADC sampling voltage value. For example, when the ambient temperature rises, the transmit power decreases accordingly.
  • the power detection circuit finds that the power drops, it feeds back to the system to increase the transmit voltage, and finally maintains the stability of the transmit power.
  • the first reference power source to the sixth reference power source are used to distinguish the reference power source, and the levels of the first reference power source to the sixth reference power source may be the same or different.
  • the first to seventh resistors include at least one resistor and its series-parallel form
  • the first capacitor to the second energy storage circuit include at least one capacitor and its series-parallel form
  • the polarity connection of the first diode to the third diode is set according to a positive pulse signal or a negative pulse signal of the laser.
  • the laser emitting device provided by the present invention can detect the power of the emitted laser pulse signal through a self-test circuit, timely feedback the relative change of the power or the failure of the laser emission, and determine the adjustment according to the feedback detection result. Or turning off the laser pulse signal, thereby ensuring that the laser wave transmission power is kept constant in different scenarios, and realizing the function of the system failure self-check.
  • the laser emitting device provided by each embodiment of the present invention can be applied to a ranging device, and the ranging device can be a laser radar (such as a mechanical lidar or a solid-state lidar, which is not limited here), an electronic device such as a laser ranging device .
  • the ranging device is configured to sense external environmental information, such as distance information, azimuth information, reflection intensity information, velocity information, and the like of environmental targets.
  • the distance measuring device can detect the distance between the detection object and the distance measuring device by measuring a time of light propagation between the distance measuring device and the detection object, that is, a time-of-flight (TOF).
  • TOF time-of-flight
  • the ranging device can also detect the distance from the probe to the ranging device by other techniques, such as a ranging method based on phase shift measurement, or a ranging method based on frequency shift measurement. There are no restrictions.
  • the ranging device 100 may include a transmitting circuit 110, a receiving circuit 120, a sampling circuit 130, and an operation circuit 140.
  • the transmitting circuit 110 may transmit a light pulse sequence (for example, a laser pulse sequence).
  • the receiving circuit 120 may receive a light pulse sequence reflected by the detected object, and perform photoelectric conversion on the light pulse sequence to obtain an electric signal.
  • the electric signal may be processed and then output to the sampling circuit 130.
  • the sampling circuit 130 may sample the electrical signal to obtain a sampling result.
  • the arithmetic circuit 140 may determine the distance between the distance measuring device 100 and the detected object based on the sampling result of the sampling circuit 130.
  • the transmitting circuit 110 may include any one of the laser emitting devices in the foregoing embodiments; the receiving circuit 120 may also include the photoelectric conversion circuit, the pulse stretching circuit, the reset circuit, the first coupling circuit, At least one of the second coupling circuit, or at least one of a photoelectric conversion circuit, a peak hold circuit, a reset circuit, a first coupling circuit, and a second coupling circuit.
  • the distance measuring device 100 may further include a control circuit 150.
  • the control circuit 150 may control other circuits, for example, may control the working time of each circuit and / or set parameters of each circuit.
  • the ranging device shown in FIG. 8 includes a transmitting circuit, a receiving circuit, a sampling circuit, and an arithmetic circuit
  • the embodiments of the present application are not limited thereto.
  • the transmitting circuit, the receiving circuit, the sampling circuit, and the arithmetic The number of any one of the circuits may be at least two.
  • the ranging device 100 may further include a scanning module 160 configured to change a laser pulse sequence emitted by the transmitting circuit and emit the laser pulse sequence.
  • the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, and the arithmetic circuit 140, or the module including the transmitting circuit 110, the receiving circuit 120, the sampling circuit 130, the arithmetic circuit 140, and the control circuit 150 may be referred to as a measurement.
  • the distance measuring module 150 may be independent of other modules, such as the scanning module 160.
  • the distance measuring device may use a coaxial optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam share at least part of the optical path in the distance measuring device.
  • the distance measuring device may also use an off-axis optical path, that is, the light beam emitted by the distance measuring device and the reflected light beam are transmitted along different optical paths in the distance measuring device, respectively.
  • FIG. 9 shows a schematic diagram of an embodiment of the distance measuring device of the present invention using a coaxial optical path.
  • the ranging device 100 includes a light transmitting and receiving device 110, and the light transmitting and receiving device 110 includes a light source 103 (including the above-mentioned transmitting circuit), a collimating element 104, a detector 105 (may include the above-mentioned receiving circuit, sampling circuit, and arithmetic circuit) and an optical path change Element 106.
  • the optical transceiver device 110 is configured to transmit a light beam, receive the returned light, and convert the returned light into an electrical signal.
  • the light source 103 is used to emit a light beam. In one embodiment, the light source 103 may emit a laser beam.
  • the laser beam emitted by the light source 103 is a narrow-bandwidth beam with a wavelength outside the visible light range.
  • the collimating element 104 is disposed on the exit light path of the light source, and is used to collimate the light beam emitted from the light source 103 and collimate the light beam emitted from the light source 103 into parallel light.
  • the collimating element is also used to focus at least a portion of the reflected light reflected by the probe.
  • the collimating element 104 may be a collimating lens or other elements capable of collimating a light beam.
  • the transmitting light path and the receiving light path in the ranging device are combined before the collimating element 104 through the optical path changing element 106, so that the transmitting light path and the receiving light path can share the same collimating element, so that the optical path More compact.
  • the light source 103 and the detector 105 may also use respective collimating elements, and the optical path changing element 106 may be disposed behind the collimating elements.
  • the light path changing element may use a small area mirror to Combine the transmitting and receiving optical paths.
  • the light path changing element may also be a reflector with a through hole, wherein the through hole is used to transmit the light emitted from the light source 103, and the reflector is used to reflect the returned light to the detector 105. This can reduce the situation that the bracket of the small mirror can block the return light in the case of using a small mirror.
  • the optical path changing element is offset from the optical axis of the collimating element 104.
  • the light path changing element may also be located on the optical axis of the collimating element 104.
  • the ranging device 100 further includes a scanning module 102.
  • the scanning module 102 is placed on the outgoing light path of the optical transceiver 110.
  • the scanning module 102 is used to change the transmission direction of the collimated light beam 119 emitted by the collimating element 104 and project it to the external environment, and project the return light onto the collimating element 104 .
  • the returned light is focused on the detector 105 via the collimating element 104.
  • the scanning module 102 may include one or more optical elements, such as a lens, a mirror, a prism, a grating, an optical phased array, or any combination thereof.
  • multiple optical elements of the scanning module 102 can rotate around a common axis 109, and each rotating optical element is used to continuously change the propagation direction of the incident light beam.
  • multiple optical elements of the scanning module 102 can be rotated at different rotation speeds.
  • multiple optical elements of the scan module 102 may be rotated at substantially the same rotation speed.
  • multiple optical elements of the scanning module may also rotate around different axes. In some embodiments, multiple optical elements of the scanning module may also rotate in the same direction, or rotate in different directions; or vibrate in the same direction, or vibrate in different directions, which is not limited herein.
  • the scanning module 102 includes a first optical element 114 and a driver 116 connected to the first optical element 114.
  • the driver 116 is configured to drive the first optical element 114 to rotate about the rotation axis 109, so that the first optical element 114 is changed.
  • the first optical element 114 projects the collimated light beam 119 to different directions.
  • the angle between the direction of the collimated light beam 119 after being changed by the first optical element and the rotation axis 109 changes with the rotation of the first optical element 114.
  • the first optical element 114 includes a pair of opposing non-parallel surfaces through which a collimated light beam 119 passes.
  • the first optical element 114 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the first optical element 114 includes a wedge-shaped prism, which is directed toward the straight beam 119 for refraction. In one embodiment, the first optical element 114 is coated with an antireflection coating, and the thickness of the antireflection coating is equal to the wavelength of the light beam emitted from the light source 103, which can increase the intensity of the transmitted light beam.
  • the scanning module 102 further includes a second optical element 115 that rotates around the rotation axis 109.
  • the rotation speed of the second optical element 115 is different from the rotation speed of the first optical element 114.
  • the second optical element 115 is used to change the direction of the light beam projected by the first optical element 114.
  • the second optical element 115 is connected to another driver 117, and the driver 117 drives the second optical element 115 to rotate.
  • the first optical element 114 and the second optical element 115 can be driven by different drivers, so that the rotation speeds of the first optical element 114 and the second optical element 115 are different, so that the collimated light beam 119 is projected into different directions of the external space and can be scanned Large spatial range.
  • the controller 118 controls the drivers 116 and 117 to drive the first optical element 114 and the second optical element 115, respectively.
  • the rotation speeds of the first optical element 114 and the second optical element 115 can be determined according to the area and pattern expected to be scanned in practical applications.
  • Drivers 116 and 117 may include motors or other driving devices.
  • the second optical element 115 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 115 includes a prism whose thickness varies in at least one radial direction. In one embodiment, the second optical element 115 includes a wedge-shaped prism. In one embodiment, the second optical element 115 is coated with an antireflection coating, which can increase the intensity of the transmitted light beam.
  • the rotation of the scanning module 102 can project light into different directions, such as directions 111 and 113, so as to scan the space around the ranging device 100.
  • directions 111 and 113 are directions that are projected by the scanning module 102.
  • the scanning module 102 receives the return light 112 reflected by the detection object 101 and projects the return light 112 onto the collimating element 104.
  • the collimating element 104 condenses at least a part of the return light 112 reflected by the probe 101.
  • the collimating element 104 is coated with an antireflection coating, which can increase the intensity of the transmitted light beam.
  • the detector 105 and the light source 103 are placed on the same side of the collimating element 104. The detector 105 is used to convert at least a part of the returned light passing through the collimating element 104 into an electrical signal.
  • the light source 103 may include a laser diode through which laser light in the nanosecond range is emitted.
  • the laser pulse emitted by the light source 103 lasts for 10 ns.
  • the laser pulse receiving time may be determined, for example, the laser pulse receiving time is determined by detecting a rising edge time and / or a falling edge time of an electrical signal pulse. In this way, the ranging device 100 can calculate the TOF by using the pulse reception time information and the pulse transmission time information, thereby determining the distance between the detection object 101 and the distance measurement device 100.
  • the distance and orientation detected by the ranging device 100 can be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like.
  • the ranging device according to the embodiment of the present invention can be applied to a mobile platform, and the ranging device can be installed on the platform body of the mobile platform.
  • a mobile platform with a ranging device can measure the external environment, for example, measuring the distance between the mobile platform and an obstacle for obstacle avoidance and other purposes, and performing two-dimensional or three-dimensional mapping on the external environment.
  • the mobile platform includes at least one of an unmanned aerial vehicle, a car, a remotely controlled vehicle, a robot, and a camera.
  • the platform body is the fuselage of the unmanned aerial vehicle.
  • the ranging device is applied to a car
  • the platform body is the body of the car.
  • the car may be a self-driving car or a semi-autonomous car, and there is no limitation here.
  • the platform body is the body of the remote control car.
  • the platform body is a robot.
  • the ranging device is applied to a camera, the platform body is the camera itself.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Semiconductor Lasers (AREA)
  • Optical Communication System (AREA)

Abstract

L'invention concerne un dispositif d'émission laser (1) et un dispositif de télémétrie (100). Le dispositif d'émission laser (1) comprend : un circuit d'émission (11), un circuit d'auto-vérification (12), et un circuit de commande (13), le circuit d'émission (11) comprend un émetteur laser (111) et un pilote (112), et l'émetteur laser (111) est configuré pour émettre un signal d'impulsion laser lorsqu'il est entraîné par le pilote (112). Le circuit d'auto-vérification (12) est configuré pour détecter l'énergie d'émission ou la puissance d'émission du signal d'impulsion laser émis par le circuit d'émission (11). Le circuit de commande (13) est configuré pour ajuster la puissance d'émission du circuit d'émission (11) lorsqu'il est déterminé, en fonction d'un résultat de test du circuit d'auto-vérification (12), que l'énergie d'émission ou la puissance d'émission du signal d'impulsion laser a changé, de telle sorte que la puissance du signal d'impulsion laser émis par le circuit d'émission (11) reste dans une plage prédéfinie ; ou le circuit de commande (13) est configuré pour déterminer, selon un résultat de test du circuit d'auto-vérification (12), s'il faut éteindre le circuit d'émission (11). Le dispositif d'émission laser (1) peut être utilisé pour détecter la puissance d'émission d'un laser, et pour ajuster un signal d'impulsion laser, garantissant ainsi que la puissance d'émission d'ondes laser reste constante dans différents scénarios.
PCT/CN2018/108151 2018-09-27 2018-09-27 Dispositif d'émission laser et dispositif de télémétrie WO2020061969A1 (fr)

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CN201890000569.XU CN211505895U (zh) 2018-09-27 2018-09-27 激光发射装置、峰值保持电路、测距装置和移动平台

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WO2022061656A1 (fr) * 2020-09-24 2022-03-31 深圳市大疆创新科技有限公司 Dispositif de télémétrie laser
CN112363148A (zh) * 2020-11-09 2021-02-12 广东博智林机器人有限公司 光电检测电路及光电探测器
CN116250810A (zh) * 2023-05-15 2023-06-13 广东工业大学 用于显微成像系统的信号保持电路和双模式显微成像系统

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