CN111684300B - Signal amplification method and device and distance measuring device - Google Patents
Signal amplification method and device and distance measuring device Download PDFInfo
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- CN111684300B CN111684300B CN201980005485.4A CN201980005485A CN111684300B CN 111684300 B CN111684300 B CN 111684300B CN 201980005485 A CN201980005485 A CN 201980005485A CN 111684300 B CN111684300 B CN 111684300B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/489—Gain of receiver varied automatically during pulse-recurrence period
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
A signal amplification method (100) and apparatus, the method (100) comprising: emitting an optical pulse signal (S110); receiving the optical pulse signal reflected by the object through the optical conversion module, and converting the optical pulse signal into an electrical pulse signal (S120); amplifying the electric pulse signal by an amplifying module (S130); wherein the amplification gain of the optical conversion module differs at least in part between the moment of emission of the optical pulse and the moment of reception of the reflected optical pulse signal and/or the amplification gain of the amplification module differs at least in part. By amplifying the reflected light pulse signals by different multiples, the problem that information is lost or still cannot be detected after the reflected light pulse signals are amplified is solved, and the method is beneficial to improving the effectiveness and reliability of subsequent signal processing.
Description
Technical Field
The present invention relates to the field of circuit technologies, and in particular, to a signal amplifying method and apparatus.
Background
The laser radar and the laser ranging are sensing systems to the outside, and can acquire the space distance information in the transmitting direction. The principle is that the laser pulse signal is actively emitted to the outside, the reflected pulse signal is detected, and the distance of the measured object is judged according to the time difference between the emission and the receiving. In the ranging process for measuring the relative distance of the target by measuring the round trip time of the optical pulse train, the power of the optical pulse train reflected by the target varies drastically, for example, in the vicinity of 0.1m and 5, due to the variation of the target distance and reflection characteristics of the measured target within a large dynamic range Far from 0m, the difference of the reflected signal intensity can reach 10 4 -10 5 The level, if all reflected light pulse signals are amplified with the same amplification factor, may result in a partial loss of information of some signals and some signals may not be detected.
Disclosure of Invention
The embodiment of the invention provides a signal amplifying method, which aims to solve the problem that information is lost or still cannot be detected after a reflected light pulse signal is amplified.
In a first aspect, an embodiment of the present invention provides a signal amplifying method, including:
emitting an optical pulse signal;
receiving an optical pulse signal reflected by an object through an optical conversion module, and converting the optical pulse signal into an electric pulse signal;
amplifying the electric pulse signal through an amplifying module;
wherein the amplification gain of the optical conversion module is different at least in part between the transmission instant of the optical pulse and the reception instant of the reflected optical pulse signal and/or the amplification gain of the amplification module is different at least in part.
In another aspect, an embodiment of the present invention provides a signal amplifying apparatus, including:
the transmitting module is used for transmitting the optical pulse signals;
The optical conversion module is used for receiving the optical pulse signals reflected by the object and converting the optical pulse signals into electric pulse signals;
the amplifying module is used for amplifying the electric pulse signal;
wherein the amplification gain of the optical conversion module is different at least in part between the transmission instant of the optical pulse and the reception instant of the reflected optical pulse signal and/or the amplification gain of the amplification module is different at least in part.
In another aspect, an embodiment of the present invention provides a ranging device, where the ranging device is configured to determine a distance between the object and the ranging device according to the transmitted light pulse signal and the received light pulse signal reflected by the object; the distance measuring device comprises the signal amplifying device.
According to the signal amplifying method, the reflected light pulse signals are amplified according to different flight times of the reflected light pulse signals, so that the problem that information is lost or still cannot be detected after the reflected light pulse signals are amplified is solved, the reflected light pulse signals are ensured to be amplified by proper amplification times, and the effectiveness and reliability of subsequent signal processing are improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a signal amplification method according to an embodiment of the invention;
FIG. 2 is an example of the amplification gain of an optical conversion module and/or the amplification gain of the amplification module over time according to an embodiment of the present invention;
FIG. 3 is a further example of the amplification gain of an optical conversion module and/or the amplification gain of the amplification module over time according to an embodiment of the present invention;
FIG. 4 is an example of an RC integrating circuit of an embodiment of the present invention;
fig. 5 is an example of controlling the feedback resistance of a variable gain amplifier according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a sequence of emitted light pulses according to an embodiment of the invention;
FIG. 7 is a schematic functional block diagram of a signal amplification method of an embodiment of the present invention;
FIG. 8 is a schematic block diagram of a ranging apparatus of an embodiment of the present invention;
Fig. 9 is a schematic diagram of an embodiment of a range finder of the present invention employing coaxial light paths.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In order to realize detection with wide dynamic range, the optical pulse signal reflected by the near target object can be amplified with smaller amplification factor so as not to be limited and lose part of information; for the light pulse signal reflected by the far target object, the light pulse signal is small, so that the light pulse signal can be amplified by a large amplification factor, and the weak photoelectric signal is amplified to be large enough to prevent the weak photoelectric signal from being undetected, so that the light pulse signal can be successfully digitized.
Based on the above consideration, the embodiment of the present invention provides a signal amplifying method, referring to fig. 1, and fig. 1 shows a signal amplifying method according to an embodiment of the present invention. The method 100 includes:
In step S110, an optical pulse signal is emitted;
in step S120, receiving, by an optical conversion module, an optical pulse signal reflected by an object, and converting the optical pulse signal into an electrical pulse signal;
in step S130, amplifying the electric pulse signal by an amplifying module;
wherein the amplification gain of the optical conversion module is different at least in part between the transmission instant of the optical pulse and the reception instant of the reflected optical pulse signal and/or the amplification gain of the amplification module is different at least in part.
When the target object is located nearby, the light pulse signal reaches the target object soon after being transmitted and is reflected, the time from the transmission to the reception of the light pulse signal is relatively short, the loss of the light pulse signal in the flight time is relatively small, the light pulse signal intensity of the light pulse signal reflected by the target object is relatively large, and only the relatively large light pulse signal is amplified by a relatively small gain; when the target object is located at a distance, the time from transmitting to receiving the optical pulse signal is longer, the loss of the optical pulse signal in the flight time is larger, the intensity of the optical pulse signal reflected by the target object received by the optical conversion module is smaller, and the larger optical pulse signal needs to be amplified with larger gain; it can be seen that the intensity of the light pulse signal reflected by the object decreases with increasing time of flight, and that a corresponding different amplification gain is required to amplify the reflected light pulse signal, said amplification gain varying with the time of flight of the light pulse signal. Therefore, the reflected optical pulse signal can be ensured to be amplified to a proper multiple, and the accuracy of the digital processing of the subsequent signals is improved.
It should be noted that, the optical conversion module may convert the optical pulse signal into the electrical pulse signal, and may have an amplifying function, that is, may amplify the converted electrical pulse signal, and whether the optical pulse signal reflected by the object is amplified by the optical conversion module is not limited herein.
Optionally, the method 100 further comprises: and controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module so that the amplification gain of the optical conversion module and/or the amplification module at a first moment is larger than the amplification gain at a second moment, wherein the first moment and the second moment are both positioned between the transmitting moment of the optical pulse and the receiving moment of the reflected optical pulse signal, and the first moment is later than the second moment.
Wherein the intensity of the reflected light pulse signal varies with the time of flight, and thus, the amplification gain of the reflected light pulse signal (including the amplification gain of the light conversion module and/or the amplification gain of the amplification module) can be controlled according to the time of flight of the light pulse signal, and the reflected light pulse signal received at different times can be amplified with an appropriate amplification gain.
Optionally, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module includes:
and controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to gradually increase between the transmitting time of the optical pulse and the receiving time of the reflected optical pulse signal.
Since the intensity of the light pulse signal reflected in general is inversely proportional to the flight time, the amplification gain of the light pulse signal can be controlled to be gradually increased as the light pulse signal flies from the emission of the light pulse signal. For example, the distance L between the target object A and the position of the emitted light pulse signal A Distance L from the position of the emitted light pulse signal to the target object B B Then the amplification gain of the optical pulse signal reflected by the target object a is smaller than the amplification gain of the optical pulse signal reflected by the target object B.
The amplification gain of the light conversion module and/or the amplification gain of the amplification module may be linear or non-linear with respect to time of flight and distance of the target object.
Optionally, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module includes:
The amplification gain of the optical conversion module and/or the amplification gain of the amplification module is controlled to linearly increase between the transmission time of the optical pulse and the reception time of the reflected optical pulse signal.
Referring to fig. 2, fig. 2 illustrates an example of an amplification gain of an optical conversion module and/or an amplification gain of the amplification module according to an embodiment of the present invention over time. As shown in fig. 2, the amplification gain has an initial value at the time of emission of the light pulse, which increases linearly with time/distance.
Optionally, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module includes:
the amplification gain of the optical conversion module and/or the amplification gain of the amplification module is controlled to increase between the transmitting time of the optical pulse and the receiving time of the reflected optical pulse signal, and the increasing speed is gradually increased.
Referring to fig. 3, fig. 3 illustrates still another example of the amplification gain of the optical conversion module and/or the amplification gain of the amplification module according to an embodiment of the present invention over time. In general, the intensity of the light pulse signal reflected by the target object is inversely proportional to L 2 L is the distance of the target object from the position where the light pulse signal is emitted. As shown in fig. 3, the amplification gain has an initial value at the emission time of the light pulse, and increases exponentially with time/distance, with a gradually increasing speed.
Optionally, the amplifying module includes a variable gain amplifier, and the controlling the amplifying gain of the amplifying module includes:
the voltage of the variable gain amplifier is controlled by an RC integrating circuit so that the voltage of the variable gain amplifier is gradually increased.
Referring to fig. 4, fig. 4 shows an example of an RC integrating circuit of an embodiment of the present invention. As shown in fig. 4, the RC integrating circuit includes: the trigger Signal Start Signal is received by one end of the resistor R, one end of the resistor R is connected with one end of the capacitor C, the other end of the resistor R outputs a gain control Signal Gain Control Signal, and the other end of the capacitor C is grounded. The working principle comprises the following steps: the trigger Signal Start Signal and the emitted light pulse Signal can be a step Signal, and when the RC integrating circuit receives the trigger Signal Start Signal, the RC integrating circuit starts integrating and outputs a gain control Signal Gain Control Signal to control the voltage of the variable gain amplifier to be gradually increased; when receiving the optical pulse signal reflected by the object, the reflected optical pulse signal is amplified with an amplification gain at that time.
Optionally, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module includes:
And starting from the transmitting time of the optical pulse signal, controlling the amplification gain of the optical conversion module and/or the amplification module to be increased from an initial value.
The initial value of the amplification gain may be 0 or a certain value, which is not limited herein.
Optionally, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module includes:
controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to be increased stepwise between the emission time of the optical pulse and the reception time of the reflected optical pulse signal.
In some embodiments, after the light pulse signal is transmitted, a plurality of time periods are included, in each same time period, the intensity of the received reflected light pulse signal is not greatly different, the amplification gain changing at the moment is not needed, the amplification gain in the same time period can be the same through stepwise increase, the amplification gains in different time periods are different, thus the realization of amplification gain control is facilitated, the operation efficiency is improved, and the light pulse signal is rapidly and accurately amplified.
The amplification gain of the optical conversion module and/or the variation of the amplification gain of the amplification module are not limited to the above-mentioned cases, but may be other cases where at least part of the time is different between the transmission time and the reception time of the optical pulse signal, such as a gradual decrease in the growth rate, and the like, and are not limited thereto.
Optionally, the amplifying module comprises a variable gain amplifier or a programmable gain amplifier.
Optionally, the amplifying module includes a variable gain amplifier, and the method further includes:
and controlling a feedback resistance of the variable gain amplifier to change an amplification gain of the variable gain amplifier.
When the amplifying module includes a variable gain amplifier (VGA, variable gain amplifiers), the output voltage of the variable gain amplifier is controlled to realize the control of the amplifying gain of the variable gain amplifier, which may be the integrating RC circuit provided by the embodiment of the present invention, or may control the DAC (digital-to-analog converter, digital to analog converter), or may control the amplifying gain of the variable gain amplifier by controlling the feedback resistor of the variable gain amplifier.
In one embodiment, referring to fig. 5, fig. 5 shows an example of controlling the feedback resistance of a variable gain amplifier according to an embodiment of the present invention. As shown in fig. 5, the variable gain amplifier includes: the digital potentiometer comprises a resistor R1, an operational amplifier U1 and a digital potentiometer, wherein one end of the resistor R1 receives an input Signal-IN, the other end of the resistor R1 is connected with an inverted input end-IN of the operational amplifier U1, a forward input end +IN of the operational amplifier U1 is connected with a reference voltage AMP-REF, an output end OUT of the operational amplifier U1 outputs an amplified Signal OUT-Signal, and the digital potentiometer is connected between the inverted input end-IN of the operational amplifier U1 and the output end OUT of the operational amplifier U1. The resistance of the digital potentiometer can be adjusted, and the amplification gain of the variable gain amplifier can be controlled by controlling the resistance of the digital potentiometer; the digital potentiometer can also be other adjustable resistor devices, such as MOS tubes working in a linear region.
Optionally, the method further comprises:
and transmitting the light pulse sequence, wherein the transmission time interval of two adjacent light pulses is at least 10 times longer than the longest detection time, and the longest detection time is the interval between the detection time of the smallest detectable light pulse signal reflected by the object and the corresponding light pulse transmission time.
The light pulse sequence may be emitted by an emission light source, and the laser pulse sequence emitted by the emission light source is changed in an outgoing path by a scanning module (such as a rotating prism), so as to form laser pulse sequences of multiple outgoing paths at different moments. The light pulse sequence may also be emitted by a plurality of emission light sources along different emission paths, respectively, which may be different positions of emission and/or directions of emission. The multiple laser pulse sequences respectively emitted by the multiple emission light sources can be parallel or non-parallel. The laser pulse sequences respectively emitted by the plurality of emitting light sources can be emitted after the propagation direction is changed by a scanning module (such as a rotating prism).
The light pulse sequence needs to be long in a working period from the emission of the light pulse to the calculation of the distance between the target object and the position of the emission of the light pulse signal. The specific size of t depends on the distance of the object detected by the light pulse from the position where the light pulse signal is emitted, the further the distance, the larger t. The further the target object is from the location from which the light pulse signal is emitted, the weaker the light signal reflected back by the object. When the reflected light signal is weak to some extent, it will not be detected. Therefore, the distance between the object corresponding to the weakest light signal that can be detected and the position where the light pulse signal is emitted is called the farthest detection distance. For convenience of description, the value of t corresponding to the furthest detection distance is called t0. In the embodiment of the invention, the working period is larger than t0. In some implementations, the duty cycle is at least 5 times greater than t0. In some implementations, the duty cycle is at least 10 times greater than t0. In some implementations, the duty cycle is greater than 15 times t0. In some implementations, t0 is on the order of nanoseconds and the duty cycle is on the order of microseconds.
In one embodiment, referring to fig. 6, fig. 6 shows a schematic diagram of a sequence of emitted light pulses according to an embodiment of the invention. As shown in fig. 6, the transmitting circuit transmits an optical pulse sequence at a time a1, and the optical pulse sequence is processed by the receiving circuit, the sampling circuit and the operation circuit in sequence, and then the operation result is obtained at a time b1, and the duration between the time a1 and the time b1 is t1; then, the transmitting circuit transmits an optical pulse sequence at a time a2, and the optical pulse sequence is processed by the receiving circuit, the sampling circuit and the operation circuit in sequence, and then an operation result is obtained at a time b2, wherein the duration between the time a2 and the time b2 is t2; then, the transmitting circuit transmits an optical pulse sequence at a time a3, and the optical pulse sequence is processed by the receiving circuit, the sampling circuit and the operation circuit in sequence, and then the operation result is obtained at a time b3, and the time between the time a3 and the time b3 is t3. It will be appreciated that the durations of t1, t2 and t3 are less than or equal to t0, respectively, described above. In the example shown in fig. 6, a2 is later than b1, a3 is later than b2; the duration between a1 and a2 is the same duration P as the duration between a2 and a3, and the duration P is the above-mentioned working period.
Optionally, the method further comprises:
respectively starting to control the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to increase from an initial value at the transmitting moment of at least part of the optical pulses in the optical pulse sequence;
And respectively controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to stop increasing after the emission time of the at least partial optical pulse reaches the longest detection time.
Wherein for the light pulse sequence, the transmission interval between the light pulses is far longer than the time from the transmission to the return of the farthest detection distance, the amplification gain of the light conversion module and/or the amplification gain of the amplification module can be controlled to increase from an initial value at the light pulse transmission moment; since the furthest distance that the light pulse can detect is known, that is, the time from the emission of the light pulse to the return of the furthest detection distance is also known, after the light pulse is emitted until the furthest detection distance is calculated for the required time t0, the light pulse must have returned and processed by the receiving circuit, the sampling circuit and the operation circuit, so as to obtain an operation result, and at this time, the increase of the amplification gain can be stopped. When the next light pulse is transmitted, the amplification gain of the light conversion module and/or the amplification gain of the amplification module are/is controlled to be increased from an initial value again, and the like, so that all the light pulses of the light pulse sequence can be amplified with proper amplification gain.
In addition, the amplification gain of the optical conversion module and/or the amplification gain of the amplification module may be controlled to stop increasing at the receiving time of the at least part of the optical pulses, respectively.
In one embodiment, referring to fig. 7, fig. 7 shows a functional block diagram of a signal amplification method according to an embodiment of the present invention. The signal amplifying method according to the embodiment of the present invention will be further described with reference to fig. 6 and 7 by way of specific examples.
As shown in fig. 7, the transmitting circuit 710 is configured to transmit an optical pulse signal; the optical conversion module includes a photoelectric sensor 720 for receiving an optical pulse signal reflected by an object and converting the optical pulse signal into an electrical pulse signal; the amplifying circuit 730 amplifies the electric pulse signal; wherein the amplification gain of the photosensor 720 is different at least in part between the transmission time of the optical pulse and the reception time of the reflected optical pulse signal, and/or the amplification gain of the amplification circuit 730 is different at least in part;
the central control circuit 740 is configured to send a transmission control signal to the transmitting circuit 710, and control the transmitting circuit 710 to transmit an optical pulse signal; and controls the amplification gain of the photosensor 720 and/or amplification circuit 730;
The digitizing circuit 750 is configured to digitize the output signal of the amplifying circuit 730, and provide a data basis for subsequently calculating the distance of the target object.
Referring to fig. 6 and 7, it is assumed that the central control circuit 740 transmits a transmission control signal to the transmission circuit 710, and the transmission circuit 710 transmits a first optical pulse signal at time a1, and at the same time, the central control circuit 740 controls the amplification gain of the photosensor 720 and/or the amplification circuit 730 to increase from an initial value; the first optical pulse signal returns after being reflected by an object, the photoelectric sensor 720 receives the first optical pulse signal after being reflected by the object and converts the first optical pulse signal into a first electric pulse signal, and the photoelectric sensor 720 and/or the amplifying circuit 730 amplify the first electric pulse signal with an amplification gain increased from an initial value to the moment; the digitizing circuit 750 digitizes and samples the output signal of the amplifying circuit 730, and then sends the digitized and sampled result to the operation circuit for calculation, the operation circuit obtains the operation result at the time b1 after operation, and the duration between the time a1 and the time b1 is t1; after a time period t0 from the transmission of the first electric pulse signal to the calculation of the farthest detection distance of the first electric pulse signal is elapsed from the time a1, the central control circuit 740 stops controlling the increase of the amplification gain of the photoelectric sensor 720 and/or the amplification circuit 730; wherein t0 is greater than or equal to t1.
If the emission time interval (i.e. the working period P) of two adjacent light pulses is at least 10 times longer than the longest detection duration t0, then when the light pulse is emitted for the second time, the first light pulse signal reaches the target object and returns, the calculation result is obtained through calculation, and the light pulse emitted for the second time and the first light pulse cannot influence each other. After the working period P passes from the time a1, the central control circuit 740 sends a transmission control signal to the transmitting circuit 710, and the transmitting circuit 710 transmits a second optical pulse signal at the time a2, and at the same time, the central control circuit 740 controls the amplification gain of the photoelectric sensor 720 and/or the amplification circuit 730 to increase from the initial value again; similarly, the second optical pulse signal is reflected by the object and returns, and is converted into a second electrical pulse signal by the photoelectric sensor 720, and the photoelectric sensor 720 and/or the amplifying circuit 730 amplify the second electrical pulse signal with an amplifying gain from the initial value to the time; further, after digitization, sampling and operation, an operation result is obtained at a time b2, and the duration between the time a2 and the time b2 is t2; after the time period t0 from the transmission of the first electric pulse signal to the calculation of the maximum detection distance of the first electric pulse signal has elapsed from the time a2, the central control circuit 740 stops controlling the increase of the amplification gain of the photosensor 720 and/or the amplification circuit 730.
And similarly, each optical pulse signal can be amplified through proper amplification gain after being reflected by an object, so that the accuracy of the subsequent calculation process is improved.
Optionally, the method is applied to a ranging device, the method further comprising:
and determining the distance between the object and the distance measuring device according to the transmitted light pulse signal and the received light pulse signal reflected by the object.
Optionally, the method further comprises:
emitting a sequence of light pulses;
and changing the emergent direction of the light pulse sequence by using a scanning module, so that each light pulse in the light pulse sequence is sequentially emergent to different directions.
Optionally, the scanning module comprises at least 2 rotating light refracting elements having non-parallel exit and entrance faces.
The signal amplification method provided by the embodiments of the invention can be applied to a distance measuring device, and the distance measuring device can be electronic equipment such as a laser radar, a laser distance measuring device and the like. In one embodiment, the ranging device is used to sense external environmental information, such as distance information, bearing information, reflected intensity information, speed information, etc., of an environmental target. In one implementation, the distance measuring device may detect the distance of the probe to the distance measuring device by measuring the Time of light propagation between the distance measuring device and the probe, i.e., the Time-of-Flight (TOF). Alternatively, the distance measuring device may detect the distance of the object to the distance measuring device by other techniques, such as a distance measuring method based on phase shift (phase shift) measurement or a distance measuring method based on frequency shift (frequency shift) measurement, which is not limited herein.
For ease of understanding, the ranging workflow will be described below by way of example in connection with the ranging apparatus 800 shown in fig. 8.
As shown in fig. 8, ranging device 800 may include a transmitting circuit 810, a receiving circuit 820, a sampling circuit 830, and an arithmetic circuit 840.
The transmit circuit 810 may transmit a sequence of light pulses (e.g., a sequence of laser pulses). The receiving circuit 820 may receive the optical pulse train reflected by the object to be detected, and perform photoelectric conversion on the optical pulse train to obtain an electrical signal, and then process the electrical signal and output the electrical signal to the sampling circuit 830. The sampling circuit 830 may sample the electrical signal to obtain a sampling result. The operation circuit 840 may determine a distance between the ranging device 800 and the object to be detected based on the sampling result of the sampling circuit 830.
Optionally, the ranging device 800 may further include a control circuit 850, where the control circuit 850 may implement control over other circuits, for example, may control the operation time of each circuit and/or set parameters of each circuit, etc.
It should be understood that, although fig. 8 shows the ranging device including one transmitting circuit, one receiving circuit, one sampling circuit and one calculating circuit, for emitting one beam for detection, embodiments of the present application are not limited thereto, and the number of any one of the transmitting circuit, the receiving circuit, the sampling circuit and the calculating circuit may be at least two, for emitting at least two beams in the same direction or in different directions respectively; the at least two light paths may exit at the same time or at different times. In one example, the light emitting chips in the at least two emission circuits are packaged in the same module. For example, each emission circuit includes a laser emission chip, and die in the laser emission chips in the at least two emission circuits are packaged together and accommodated in the same packaging space.
In some implementations, in addition to the circuit shown in fig. 8, the ranging device 800 may further include a scanning module 860 for emitting at least one laser pulse train emitted by the emission circuit with a direction of propagation changed.
Among them, a module including the transmitting circuit 810, the receiving circuit 820, the sampling circuit 830, and the operation circuit 840, or a module including the transmitting circuit 810, the receiving circuit 820, the sampling circuit 8830, the operation circuit 840, and the control circuit 850 may be referred to as a ranging module, which may be independent of other modules, for example, the scanning module 860.
The distance measuring device can adopt an on-axis light path, namely, the light beam emitted by the distance measuring device and the light beam reflected by the distance measuring device share at least part of the light path in the distance measuring device. For example, after the propagation direction of at least one path of laser pulse sequence emitted by the emission circuit is changed by the scanning module, the laser pulse sequence reflected by the detection object is incident to the receiving circuit after passing through the scanning module. Alternatively, the ranging device may also use different axis light paths, that is, the light beam emitted from the ranging device and the light beam reflected from the ranging device are respectively transmitted along different light paths in the ranging device. Fig. 9 shows a schematic view of an embodiment of the distance measuring device of the present invention employing coaxial light paths.
The ranging apparatus 900 includes a ranging module 910, the ranging module 910 including an emitter 903 (which may include a transmitting circuit as described above), a collimating element 904, a detector 905 (which may include a receiving circuit, a sampling circuit, and an arithmetic circuit as described above), and an optical path changing element 906. The ranging module 910 is configured to emit a light beam, and receive return light, and convert the return light into an electrical signal. Wherein the transmitter 903 may be used to transmit a sequence of light pulses. In one embodiment, the transmitter 903 may transmit a sequence of laser pulses. Alternatively, the laser beam emitted from the emitter 903 is a narrow bandwidth beam having a wavelength outside the visible light range. The collimating element 904 is disposed on the outgoing light path of the emitter, and is used for collimating the light beam emitted from the emitter 903, and collimating the light beam emitted from the emitter 903 into parallel light and outputting the parallel light to the scanning module. The collimating element is also configured to converge at least a portion of the return light reflected by the probe. The collimating element 904 may be a collimating lens or other element capable of collimating the light beam.
In the embodiment shown in fig. 9, the transmit optical path and the receive optical path in the ranging device are combined by the optical path changing element 906 before the collimating element 904, so that the transmit optical path and the receive optical path may share the same collimating element, making the optical path more compact. In other implementations, the emitter 903 and the detector 905 may use separate collimating elements, respectively, and the optical path changing element 906 may be disposed on the optical path after the collimating elements.
In the embodiment shown in fig. 9, since the beam aperture of the beam emitted from the emitter 903 is small and the beam aperture of the return light received by the ranging device is large, the optical path changing element may use a small-area mirror to combine the emission optical path and the reception optical path. In other implementations, the light path altering element may also employ a mirror with a through hole for transmitting the outgoing light from the emitter 903 and a mirror for reflecting the return light to the detector 905. Thus, the shielding of the back light caused by the support of the small reflector in the case of adopting the small reflector can be reduced.
In the embodiment shown in fig. 9, the optical path changing element is offset from the optical axis of the collimating element 904. In other implementations, the optical path changing element may also be located on the optical axis of the collimating element 904.
Ranging device 900 also includes a scanning module 902. The scanning module 902 is disposed on the outgoing light path of the ranging module 910, and the scanning module 902 is configured to change the transmission direction of the collimated beam 919 outgoing from the collimating element 904 and project the collimated beam to the external environment, and to project return light to the collimating element 904. The return light is focused onto a detector 905 by a collimating element 904.
In one embodiment, the scanning module 902 may include at least one optical element for changing the propagation path of the light beam, wherein the optical element may change the propagation path of the light beam by reflecting, refracting, diffracting, or the like the light beam. For example, the scanning module 902 includes a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array (Optical Phased Array), or any combination of the above optical elements. In one example, at least part of the optical elements are moved, for example by a drive module, which may reflect, refract or diffract the light beam in different directions at different times. In some embodiments, multiple optical elements of the scanning module 902 may rotate or vibrate about a common axis 909, each rotating or vibrating optical element being used to constantly change the direction of propagation of the incident light beam. In one embodiment, the plurality of optical elements of the scanning module 902 may rotate at different rotational speeds or vibrate at different speeds. In another embodiment, at least a portion of the optical elements of the scanning module 902 may rotate at substantially the same rotational speed. In some embodiments, the plurality of optical elements of the scanning module may also be rotated about different axes. In some embodiments, the plurality of optical elements of the scanning module may also be rotated in the same direction, or rotated in different directions; either in the same direction or in different directions, without limitation.
In one embodiment, the scanning module 902 includes a first optical element 914 and a driver 916 coupled to the first optical element 914, the driver 916 configured to drive the first optical element 914 to rotate about a rotation axis 909 such that the first optical element 914 changes the direction of the collimated light beam 919. The first optical element 914 projects the collimated beam 919 in different directions. In one embodiment, the angle between the direction of the collimated beam 919 after being changed by the first optical element and the axis of rotation 909 varies with the rotation of the first optical element 914. In one embodiment, the first optical element 914 includes an opposing non-parallel pair of surfaces through which the collimated light beam 919 passes. In one embodiment, the first optical element 914 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, the first optical element 914 includes a wedge prism that refracts the collimated light beam 919.
In one embodiment, the scanning module 902 further includes a second optical element 915, the second optical element 915 rotating about a rotation axis 909, the second optical element 915 rotating at a different speed than the first optical element 914. The second optical element 915 is used to change the direction of the light beam projected by the first optical element 914. In one embodiment, the second optical element 915 is coupled to another driver 917, the driver 917 driving the second optical element 915 to rotate. The first optical element 914 and the second optical element 915 may be driven by the same or different drivers, so that the rotation speed and/or the rotation direction of the first optical element 914 and the second optical element 915 are different, and thus the collimated light beam 919 is projected to different directions of the external space, and a larger space range may be scanned. In one embodiment, controller 918 controls drivers 916 and 917 to drive first optical element 914 and second optical element 915, respectively. The rotational speed of the first optical element 914 and the second optical element 915 may be determined according to the area and pattern of intended scanning in actual use. Drives 916 and 917 may include motors or other drives.
In one embodiment, the second optical element 915 includes an opposing non-parallel pair of surfaces through which the light beam passes. In one embodiment, the second optical element 915 includes a prism having a thickness that varies along at least one radial direction. In one embodiment, the second optical element 915 includes a wedge angle prism.
In one embodiment, the scanning module 902 further includes a third optical element (not shown) and a driver for driving the third optical element into motion. Optionally, the third optical element comprises an opposing non-parallel pair of surfaces through which the light beam passes. In one embodiment, the third optical element comprises a prism having a thickness that varies along at least one radial direction. In one embodiment, the third optical element comprises a wedge prism. At least two of the first, second and third optical elements are rotated at different rotational speeds and/or directions.
Rotation of the various optical elements in scanning module 902 may project light in different directions, such as the directions of light 911 and 913, thus scanning the space surrounding ranging device 900. When the light 911 projected by the scanning module 902 strikes the object 901, a portion of the light is reflected by the object 901 in a direction opposite to the projected light 911 to the distance measuring device 900. The return light 912 reflected by the object 901 passes through the scanning module 902 and then enters the collimating element 904.
A detector 905 is placed on the same side of the collimating element 904 as the emitter 903, the detector 905 being adapted to convert at least part of the return light passing through the collimating element 904 into an electrical signal.
In one embodiment, each optical element is coated with an anti-reflection film. Alternatively, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted from the emitter 103, and the intensity of the transmitted light beam can be increased.
In one embodiment, a surface of one element of the ranging device, which is located on the beam propagation path, is plated with a filter layer, or a filter is disposed on the beam propagation path, so as to transmit at least a band of a beam emitted by the emitter, and reflect other bands, so as to reduce noise caused by ambient light to the receiver.
In some embodiments, the emitter 903 may include a laser diode through which laser pulses on the order of nanoseconds are emitted. Further, the laser pulse reception time may be determined, for example, by detecting a rising edge time and/or a falling edge time of the electric signal pulse. In this manner, ranging device 900 may calculate TOF using the pulse receive time information and the pulse transmit time information to determine the distance of object 901 to ranging device 900.
The distance and orientation detected by ranging device 900 may be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In one embodiment, the ranging device of the embodiment of the invention can be applied to a mobile platform and can be installed on a platform body of the mobile platform. A mobile platform with a ranging device may measure external environments, for example, measuring the distance of the mobile platform from an obstacle for obstacle avoidance purposes, and two-or three-dimensional mapping of the external environment. In certain embodiments, the mobile platform comprises at least one of an unmanned aerial vehicle, an automobile, a remote control car, a robot, a camera. When the ranging device is applied to the unmanned aerial vehicle, the platform body is the body of the unmanned aerial vehicle. When the distance measuring device is applied to an automobile, the platform body is the body of the automobile. The vehicle may be an autonomous vehicle or a semi-autonomous vehicle, without limitation. When the distance measuring device is applied to a remote control car, the platform body is a car body of the remote control car. When the ranging device is applied to a robot, the platform body is the robot. When the distance measuring device is applied to a camera, the platform body is the camera itself.
According to an embodiment of the present invention, there is provided a signal amplifying apparatus including:
The transmitting module is used for transmitting the optical pulse signals;
the optical conversion module is used for receiving the optical pulse signals reflected by the object and converting the optical pulse signals into electric pulse signals;
the amplifying module is used for amplifying the electric pulse signal;
wherein the amplification gain of the optical conversion module is different at least in part between the transmission instant of the optical pulse and the reception instant of the reflected optical pulse signal and/or the amplification gain of the amplification module is different at least in part.
Optionally, the apparatus further comprises:
the control module is used for controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module so that the amplification gain of the optical conversion module and/or the amplification module at a first moment is larger than the amplification gain at a second moment, wherein the first moment and the second moment are both positioned between the transmitting moment of the optical pulse and the receiving moment of the reflected optical pulse signal, and the first moment is later than the second moment.
Optionally, the control module is further configured to: and controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to gradually increase between the transmitting time of the optical pulse and the receiving time of the reflected optical pulse signal.
Optionally, the control module is further configured to: the amplification gain of the optical conversion module and/or the amplification gain of the amplification module is controlled to linearly increase between the transmission time of the optical pulse and the reception time of the reflected optical pulse signal.
Optionally, the control module is further configured to: the amplification gain of the optical conversion module and/or the amplification gain of the amplification module is controlled to increase between the transmitting time of the optical pulse and the receiving time of the reflected optical pulse signal, and the increasing speed is gradually increased.
Optionally, the apparatus further comprises an RC integration circuit, wherein the control module controls the voltage of the variable gain amplifier through the RC integration circuit such that the voltage of the variable gain amplifier gradually increases.
Optionally, the control module is further configured to:
and starting from the transmitting time of the optical pulse signal, controlling the amplification gain of the optical conversion module and/or the amplification module to be increased from an initial value.
Optionally, the control module is further configured to: controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to be increased stepwise between the emission time of the optical pulse and the reception time of the reflected optical pulse signal.
Optionally, the amplifying module comprises a variable gain amplifier or a programmable gain amplifier.
Optionally, the amplifying module includes a variable gain amplifier, and the control module controls a feedback resistance of the variable gain amplifier to change an amplification gain of the variable gain amplifier.
Optionally, the transmitting module is further configured to: and transmitting the light pulse sequence, wherein the transmission time interval of two adjacent light pulses is at least 10 times longer than the longest detection time length, and the longest detection time length is the interval between the detection time of the smallest detectable light pulse signal reflected by the object and the corresponding light pulse transmission time.
Optionally, the control module is further configured to:
respectively starting to control the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to increase from an initial value at the transmitting moment of at least part of the optical pulses in the optical pulse sequence;
and respectively controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to stop increasing after the emission time of the at least partial optical pulse reaches the longest detection time.
According to the distance measuring device provided by the embodiment of the invention, the distance measuring device is used for determining the distance between the object and the distance measuring device according to the transmitted light pulse signal and the received light pulse signal reflected by the object; the distance measuring device comprises the signal amplifying device.
Optionally, the ranging device further comprises:
and the scanning module is used for changing the emergent direction of the light pulse sequence, so that each light pulse in the light pulse sequence is sequentially emergent to different directions.
Optionally, the scanning module includes: at least 2 rotating light refracting elements having non-parallel exit and entrance faces.
The invention provides the signal amplifying method, the device and the distance measuring device, and amplifies the reflected light pulse signals by different times according to different flight times of the reflected light pulse signals, so as to solve the problem that information is lost or still cannot be detected after the reflected light pulse signals are amplified, ensure that the reflected light pulse signals are amplified by proper amplification times, and be beneficial to improving the effectiveness and the reliability of signal processing.
The technical terms used in the embodiments of the present invention are only used to illustrate specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, as used in the specification, the terms "comprises" and/or "comprising" mean that there is a stated feature, integer, step, operation, element, and/or component, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, and/or components.
The corresponding structures, materials, acts, and equivalents of all means or step plus function elements, if any, in the claims below are intended to include any structure, material, or act for performing the function in combination with other specifically claimed elements. The description of the present invention has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. The embodiments described herein are presented to best explain the principles of the invention and its practical application and to enable others of ordinary skill in the art to understand the invention for various embodiments and with various modifications as are suited to the particular use contemplated.
The flow chart described in the present invention is merely one embodiment, and many modifications may be made to this illustration or the steps in the present invention without departing from the spirit of the invention. For example, the steps may be performed in a differing order, or steps may be added, deleted or modified. Those skilled in the art will recognize that the invention can be practiced with modification within the spirit and scope of the appended claims.
Claims (28)
1. A method of signal amplification, the method comprising:
emitting an optical pulse signal;
receiving an optical pulse signal reflected by an object through an optical conversion module, and converting the optical pulse signal into an electric pulse signal;
amplifying the electric pulse signal through an amplifying module;
wherein between the emission time of the light pulse and the receiving time of the reflected light pulse signal, the amplification gain of the light conversion module is different at least in part time, and/or the amplification gain of the amplification module is different at least in part time;
the method further comprises the steps of:
and controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module so that the amplification gain of the optical conversion module and/or the amplification module at a first moment is larger than the amplification gain at a second moment, wherein the first moment and the second moment are both positioned between the transmitting moment of the optical pulse and the receiving moment of the reflected optical pulse signal, and the first moment is later than the second moment.
2. The method of claim 1, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module comprising:
And controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to gradually increase between the transmitting time of the optical pulse and the receiving time of the reflected optical pulse signal.
3. The method of claim 2, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module comprising:
the amplification gain of the optical conversion module and/or the amplification gain of the amplification module is controlled to linearly increase between the transmission time of the optical pulse and the reception time of the reflected optical pulse signal.
4. The method of claim 2, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module comprising:
the amplification gain of the optical conversion module and/or the amplification gain of the amplification module is controlled to increase between the transmitting time of the optical pulse and the receiving time of the reflected optical pulse signal, and the increasing speed is gradually increased.
5. The method of claim 2, wherein the amplification module comprises a variable gain amplifier, the controlling the amplification gain of the amplification module comprising:
the voltage of the variable gain amplifier is controlled by an RC integrating circuit so that the voltage of the variable gain amplifier is gradually increased.
6. The method of claim 2, wherein the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module comprises:
and starting from the transmitting time of the optical pulse signal, controlling the amplification gain of the optical conversion module and/or the amplification module to be increased from an initial value.
7. The method of claim 1, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module comprising:
controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to be increased stepwise between the emission time of the optical pulse and the reception time of the reflected optical pulse signal.
8. The method of claim 1, wherein the amplification module comprises a variable gain amplifier or a programmable gain amplifier.
9. The method of claim 8, wherein the amplification module comprises a variable gain amplifier, the method further comprising:
and controlling a feedback resistance of the variable gain amplifier to change an amplification gain of the variable gain amplifier.
10. The method of any one of claims 1 to 9, wherein the method further comprises:
And transmitting the light pulse sequence, wherein the transmission time interval of two adjacent light pulses is at least 10 times longer than the longest detection time length, and the longest detection time length is the interval between the detection time of the smallest detectable light pulse signal reflected by the object and the corresponding light pulse transmission time.
11. The method of claim 10, wherein the method further comprises:
respectively starting to control the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to increase from an initial value at the transmitting moment of at least part of the optical pulses in the optical pulse sequence;
and respectively controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to stop increasing after the emission time of the at least partial optical pulse reaches the longest detection time.
12. The method of any one of claims 1 to 9, wherein the method is applied to a ranging device, the method further comprising:
and determining the distance between the object and the distance measuring device according to the transmitted light pulse signal and the received light pulse signal reflected by the object.
13. The method of claim 12, wherein the method further comprises:
Emitting a sequence of light pulses;
and changing the emergent direction of the light pulse sequence by using a scanning module, so that each light pulse in the light pulse sequence is sequentially emergent to different directions.
14. The method of claim 13, wherein the scanning module comprises at least 2 rotating light refracting elements having non-parallel exit and entrance facets.
15. A signal amplifying apparatus, comprising:
the transmitting module is used for transmitting the optical pulse signals;
the optical conversion module is used for receiving the optical pulse signals reflected by the object and converting the optical pulse signals into electric pulse signals;
the amplifying module is used for amplifying the electric pulse signal;
wherein between the emission time of the light pulse and the receiving time of the reflected light pulse signal, the amplification gain of the light conversion module is different at least in part time, and/or the amplification gain of the amplification module is different at least in part time;
the apparatus further comprises:
the control module is used for controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module so that the amplification gain of the optical conversion module and/or the amplification module at a first moment is larger than the amplification gain at a second moment, wherein the first moment and the second moment are both positioned between the transmitting moment of the optical pulse and the receiving moment of the reflected optical pulse signal, and the first moment is later than the second moment.
16. The apparatus of claim 15, wherein the control module is further to: and controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to gradually increase between the transmitting time of the optical pulse and the receiving time of the reflected optical pulse signal.
17. The apparatus of claim 16, wherein the control module is further to: the amplification gain of the optical conversion module and/or the amplification gain of the amplification module is controlled to linearly increase between the transmission time of the optical pulse and the reception time of the reflected optical pulse signal.
18. The apparatus of claim 16, wherein the control module is further to: the amplification gain of the optical conversion module and/or the amplification gain of the amplification module is controlled to increase between the transmitting time of the optical pulse and the receiving time of the reflected optical pulse signal, and the increasing speed is gradually increased.
19. The apparatus of claim 16, wherein the amplification module comprises a variable gain amplifier, the apparatus further comprising an RC integration circuit, wherein the control module controls the voltage of the variable gain amplifier through the RC integration circuit such that the voltage of the variable gain amplifier gradually increases.
20. The apparatus of claim 16, wherein the control module is further to:
and starting from the transmitting time of the optical pulse signal, controlling the amplification gain of the optical conversion module and/or the amplification module to be increased from an initial value.
21. The apparatus of claim 15, wherein the control module is further to: controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to be increased stepwise between the emission time of the optical pulse and the reception time of the reflected optical pulse signal.
22. The apparatus of claim 15, wherein the amplification module comprises a variable gain amplifier or a programmable gain amplifier.
23. The apparatus of claim 22, wherein the amplification module comprises a variable gain amplifier, the control module controlling a feedback resistance of the variable gain amplifier to vary an amplification gain of the variable gain amplifier.
24. The apparatus of any of claims 15 to 23, wherein the transmitting module is further to: and transmitting the light pulse sequence, wherein the transmission time interval of two adjacent light pulses is at least 10 times longer than the longest detection time length, and the longest detection time length is the interval between the detection time of the smallest detectable light pulse signal reflected by the object and the corresponding light pulse transmission time.
25. The apparatus of claim 24, wherein the control module is further to:
respectively starting to control the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to increase from an initial value at the transmitting moment of at least part of the optical pulses in the optical pulse sequence;
and respectively controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to stop increasing after the emission time of the at least partial optical pulse reaches the longest detection time.
26. A ranging device, wherein the ranging device is configured to determine a distance between the object and the ranging device based on the transmitted light pulse signal and the received light pulse signal reflected by the object; the distance measuring device comprising a signal amplifying device according to any of claims 15 to 25.
27. The ranging apparatus of claim 26, wherein the ranging apparatus further comprises:
and the scanning module is used for changing the emergent direction of the light pulse sequence, so that each light pulse in the light pulse sequence is sequentially emergent to different directions.
28. The ranging apparatus of claim 27, wherein the scanning module comprises: at least 2 rotating light refracting elements having non-parallel exit and entrance faces.
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| PCT/CN2019/070956 WO2020142920A1 (en) | 2019-01-09 | 2019-01-09 | Signal amplification method and device, distance measuring device |
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