CN111684300A - 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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- CN111684300A CN111684300A CN201980005485.4A CN201980005485A CN111684300A CN 111684300 A CN111684300 A CN 111684300A CN 201980005485 A CN201980005485 A CN 201980005485A CN 111684300 A CN111684300 A CN 111684300A
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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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Abstract
A method (100) and apparatus for signal amplification, the method (100) comprising: emitting a light 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 electrical pulse signal by the amplification module (S130); wherein the amplification gain of the optical conversion module differs at least partially between the emission time of the optical pulse and the reception time of the reflected optical pulse signal, and/or the amplification gain of the amplification module differs at least partially. The reflected optical pulse signals are amplified by different times, so that the problem that the information is lost or still cannot be detected after the reflected optical pulse signals are amplified is solved, and the effectiveness and the reliability of subsequent signal processing are favorably improved.
Description
The present invention relates to the field of circuit technologies, and in particular, to a signal amplification method and apparatus.
Laser radar and laser ranging are sensing systems for the outside world, and spatial distance information in the transmitting direction can be obtained. The principle is that laser pulse signals are actively emitted outwards, reflected pulse signals are detected, and the distance of a measured object is judged according to the time difference between emission and reception. In the ranging process for measuring the relative distance of a target by measuring the round trip time of an optical pulse train, the power of the optical pulse train reflected by the target varies drastically due to the wide dynamic range of the target distance and the reflection characteristics of the target, and the difference in the reflected signal intensity may reach 10 m, for example, between near 0.1m and far 50m4ˉ105In order, if all the reflected light pulse signals are amplified with the same amplification factor, some information of some signals is lost and some signals cannot be detected.
Disclosure of Invention
The embodiment of the invention provides a signal amplification 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 amplification method, including:
emitting a light pulse signal;
receiving an optical pulse signal reflected by an object through an optical conversion module, and converting the optical pulse signal into an electrical pulse signal;
amplifying the electric pulse signal through an amplifying module;
wherein the amplification gain of the optical conversion module differs at least partially between the emission instants of the optical pulses and the reception instants of the reflected optical pulse signals, and/or the amplification gain of the amplification module differs at least partially.
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 signal;
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 signals;
wherein the amplification gain of the optical conversion module differs at least partially between the emission instants of the optical pulses and the reception instants of the reflected optical pulse signals, and/or the amplification gain of the amplification module differs at least partially.
In another aspect, embodiments of the present invention provide a distance measuring device, where the distance measuring device is configured to determine a distance between an object and the distance measuring device according to the transmitted optical pulse signal and the received optical pulse signal reflected by the object; the distance measuring device comprises the signal amplifying device.
According to the signal amplification method provided by the embodiment of the invention, the reflected optical pulse signals are amplified by different times according to different flight times of the reflected optical pulse signals, so that the problem that the information of the amplified reflected optical pulse signals is lost or still cannot be detected is solved, the reflected optical pulse signals are amplified by proper amplification times, and the effectiveness and the reliability of subsequent signal processing are favorably improved.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram of a signal amplification method of an embodiment of the present 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 of an embodiment of the present invention;
fig. 3 is a further example of the amplification gain of the optical conversion module and/or the amplification gain of the amplification module over time of 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 of an embodiment of the present invention;
FIG. 6 is a schematic diagram of a transmitted optical pulse train in accordance with an embodiment of the present invention;
FIG. 7 is a schematic block diagram of a signal amplification method of an embodiment of the present invention;
FIG. 8 is a schematic block diagram of a distance measuring device according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of one embodiment of the distance measuring device of the present invention employing coaxial optical paths.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to realize the detection of a wide dynamic range, the optical pulse signal reflected by a target object passing close can be amplified by a smaller amplification factor so as to avoid being limited and losing part of information; for the optical pulse signal reflected by the target object at a far position, the optical pulse signal is small, so that the optical pulse signal can be amplified by a large amplification factor, the weak photoelectric signal is amplified to be large enough to prevent the optical pulse signal from being undetected, and the digitization can be smoothly carried out.
In view of the above, the embodiment of the present invention provides a signal amplification method, and referring to fig. 1, fig. 1 illustrates a signal amplification method according to an embodiment of the present invention. The method 100 comprises:
in step S110, a light 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 electrical pulse signal by an amplifying module;
wherein the amplification gain of the optical conversion module differs at least partially between the emission instants of the optical pulses and the reception instants of the reflected optical pulse signals, and/or the amplification gain of the amplification module differs at least partially.
When the target object is located at a close position, the optical pulse signal reaches the target object and is reflected back quickly after being transmitted, the time from transmitting to receiving the optical pulse signal is short, the loss of the optical pulse signal in the flight time is less, the intensity of the optical pulse signal which is received by the optical conversion module and is reflected by the target object is high, and the large optical pulse signal only needs to be amplified by a small gain; when the target object is located far away, 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 received by the optical conversion module and reflected by the target object is smaller, and the larger optical pulse signal needs to be amplified by larger gain; it can thus be seen that the intensity of the optical pulse signal reflected by the object decreases with increasing time of flight, and that a correspondingly different amplification gain is required to amplify the reflected optical pulse signal, the amplification gain varying with the time of flight of the optical pulse signal. Therefore, the reflected optical pulse signals can be amplified to proper times, and the accuracy of digital processing of subsequent signals is improved.
It should be noted that the optical conversion module may convert the optical pulse signal into an electrical pulse signal, and the optical conversion module may also have an amplification function, that is, may also 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 between the emission 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.
Since the intensity of the reflected optical pulse signal varies with the flight time, the amplification gain of the reflected optical pulse signal (including the amplification gain of the optical conversion module and/or the amplification gain of the amplification module) may be controlled according to the flight time of the optical pulse signal, and the reflected optical pulse signal received at different times may 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:
controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to gradually increase between a transmission timing of the optical pulse and a reception timing of the reflected optical pulse signal.
Since the intensity of the reflected optical pulse signal is generally inversely proportional to the flight time, the amplification gain can be controlled to gradually increase as the intensity of the optical pulse signal gradually decreases from the start of emitting the optical pulse signal and as the optical pulse signal flies. For example, the distance L between the target object A and the position of the emitted light pulse signalAA distance L from the target object B to the position of the emitted light pulse signalBThen 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.
Then, the amplification gain of the optical conversion module and/or the amplification gain of the amplification module may be linear or non-linear with respect to the time of flight and the 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:
controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to increase linearly between a time of transmission of the optical pulse and a time of reception of the reflected optical pulse signal.
Referring to fig. 2, fig. 2 shows an example of the amplification gain of the optical conversion module and/or the amplification gain of the amplification module of the embodiment of the present invention as a function of time. As shown in fig. 2, the amplification gain has an initial value at the time of transmission of the optical pulse, increasing 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:
and controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to increase between the transmitting moment of the optical pulse and the receiving moment of the reflected optical pulse signal, wherein the increasing speed is gradually increased.
Referring to fig. 3, fig. 3 shows still another example of the amplification gain of the optical conversion module and/or the amplification gain of the amplification module according to the embodiment of the present invention as a function of time. In general, the signal intensity of the optical pulse reflected back through the target object is inversely proportional to L2And L is the distance of the target object from the position of the emitted light pulse signal. As shown in fig. 3, the amplification gain has an initial value at the time of emission of the optical pulse, and increases exponentially with time/distance at a gradually increasing rate.
Optionally, the amplifying module includes a variable gain amplifier, and the controlling the amplification 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 integration 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, the other end of the resistor R is connected with one end of the capacitor C and outputs a Gain Control Signal, and the other end of the capacitor C is grounded. The working principle comprises: when the trigger Signal Start Signal and the emission light pulse Signal are the same, the trigger Signal Start Signal and the emission 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, so that the voltage of the variable Gain amplifier is controlled to be gradually increased; when an optical pulse signal reflected by an object is received, the reflected optical pulse signal is amplified with the 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 controlling the amplification gain of the optical conversion module and/or the amplification module to increase from an initial value from the emission time of the optical pulse signal.
The initial value of the amplification gain may be 0 or a certain numerical 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 an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to increase stepwise between a transmission time of the optical pulse and a reception time of the reflected optical pulse signal.
In some embodiments, a plurality of time periods are included after the optical pulse signal is emitted, and in each same time period, the received reflected optical pulse signal has a small difference in intensity, and an amplification gain that changes from moment to moment is not required, and a stepwise increase may be adopted to achieve the same amplification gain in the same time period and different amplification gains between different time periods, which is beneficial to achieving amplification gain control, and improving operation efficiency, and achieving rapid and accurate amplification of the optical pulse signal.
It should be noted that 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, and may also be other cases where at least some of the time between the transmission time and the reception time of the optical pulse signal are different, such as the increasing speed gradually becomes slower, and the like, and the invention is not limited thereto.
Optionally, the amplification module comprises a variable gain amplifier or a programmable gain amplifier.
Optionally, the amplifying module comprises a variable gain amplifier, and the method further comprises:
controlling a feedback resistance of the variable gain amplifier to vary an amplification gain of the variable gain amplifier.
When the amplifying module includes a Variable Gain Amplifier (VGA), the amplifying gain of the variable gain amplifier is controlled by controlling the output voltage of the variable gain amplifier, the integrating RC circuit provided by the embodiment of the present invention may be adopted, the DAC (Digital to analog converter) may be controlled, and the amplifying gain of the variable gain amplifier may be controlled by controlling the feedback resistor of the variable gain amplifier.
In one embodiment, referring to fig. 5, fig. 5 illustrates an example of controlling the feedback resistance of a variable gain amplifier of an embodiment of the present invention. As shown in fig. 5, the variable gain amplifier includes: the operational amplifier 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 inverting 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 inverting 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 resistance devices, such as MOS tubes working in a linear region and the like.
Optionally, the method further comprises:
and emitting a light pulse sequence, wherein the emission time interval of two adjacent light pulses is at least 10 times longer than the longest detection time, wherein 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 emission time.
The optical pulse train may be emitted by one emission light source, and the emission path of the laser pulse train emitted by the emission light source is changed by a scanning module (e.g., a rotating prism), so as to form a plurality of emission path laser pulse trains at different time instants. The light pulse sequence may also be emitted by a plurality of emission light sources along different emission paths, which may be different in emission position and/or emission direction. The multiple laser pulse sequences emitted by the multiple emission light sources respectively can be parallel or non-parallel. The laser pulse sequences emitted by the plurality of emission 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 a time length t from the emitted light pulse to the calculation of the distance between the target object and the position of the emitted light pulse signal in one working cycle. The specific magnitude of t depends on the distance of the target object detected by the light pulse from the position from which the light pulse signal is emitted, the greater the distance, the greater t. The farther the target object is from the location from which the optical pulse signal is emitted, the weaker the optical signal reflected back through 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 optical signal that can be detected and the position from which the optical pulse signal is emitted is referred to as the farthest detection distance. For convenience of description, the t value corresponding to the farthest detection distance is referred to as t 0. In the embodiment of the invention, the work period is larger than t 0. In some implementations, the duty cycle is greater than at least 5 times t 0. In some implementations, the duty cycle is greater than at least 10 times t 0. In some implementations, the duty cycle is greater than 15 times t 0. 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 transmitted optical pulse train in accordance with an embodiment of the present invention. As shown in fig. 6, the transmitting circuit transmits a light pulse train at a time a1, and after the light pulse train is sequentially processed by the receiving circuit, the sampling circuit and the arithmetic circuit, an arithmetic result is obtained at a time b1, and the time duration between the time a1 and the time b1 is t 1; then, the transmitting circuit transmits a light pulse train at a time a2, the light pulse train is processed by the receiving circuit, the sampling circuit and the arithmetic circuit in sequence, and an arithmetic result is obtained at a time b2, wherein the time duration between the time a2 and the time b2 is t 2; then, the transmitting circuit transmits a light pulse train at a time a3, and the light pulse train is processed by the receiving circuit, the sampling circuit and the arithmetic circuit in sequence, and then an arithmetic result is obtained at a time b3, and the time duration between the time a3 and the time b3 is t 3. It is understood that the time lengths of t1, t2, and t3 are respectively less than or equal to the above-mentioned t 0. In the example shown in fig. 6, a2 is later than b1, a3 is later than b 2; the time length between a1 and a2 is the same time length P as the time length between a2 and a3, and the time length P is the above-mentioned work cycle.
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 emission time 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 longest detection time length is reached from the emission time of at least part of the optical pulses.
Wherein, for the emission interval between the light pulses in the light pulse sequence to be much longer than the time from the emission of the light pulses to the return of the farthest detection distance, the amplification gain of the optical conversion module and/or the amplification gain of the amplification module may be controlled to increase from an initial value at the time of the emission of the light pulses; since the farthest distance that the optical pulse can detect is known, that is, the time from the emission of the optical pulse to the return of the farthest detection distance is also known, after the time t0 required by the optical pulse from the emission of the optical pulse to the calculation of the farthest detection distance, the optical pulse must have returned and be processed by the receiving circuit, the sampling circuit, and the arithmetic circuit to obtain the arithmetic result, at this time, the increase of the amplification gain can be stopped. And when the next optical pulse is transmitted, controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module to increase from the initial value again, and so on, namely amplifying all the optical pulses of the optical pulse sequence with proper amplification gain.
Furthermore, 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 time of reception of the at least part of the optical pulse, respectively.
In one embodiment, referring to fig. 7, fig. 7 illustrates a functional block diagram of a signal amplification method of an embodiment of the present invention. The signal amplification method according to the embodiment of the present invention is further described with specific examples in conjunction with fig. 6 and 7.
As shown in fig. 7, the transmitting circuit 710 is used for transmitting the optical pulse signal; the optical conversion module comprises a photoelectric sensor 720, which is used for receiving the optical pulse signal reflected by the object and converting the optical pulse signal into an electric pulse signal; the amplification circuit 730 amplifies the electric pulse signal; wherein the amplification gain of the photosensor 720 differs at least in part between the instant of transmission of the light pulse and the instant of reception of the reflected light pulse signal, and/or the amplification gain of the amplification circuit 730 differs 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 a light pulse signal; and controls the amplification gain of the photosensor 720 and/or the amplification circuit 730;
the digitizing circuit 750 is used for digitizing the output signal of the amplifying circuit 730, and providing a data base for the subsequent calculation of the distance of the target object.
Referring to fig. 6 and 7, assuming that the central control circuit 740 sends a transmission control signal to the transmitting circuit 710, the transmitting circuit 710 transmits a first optical pulse signal at a time a1, and at the same time, the central control circuit 740 controls the amplification gain of the photosensor 720 and/or the amplifying 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 amplifies the first electric pulse signal by 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 arithmetic circuit for calculation, the arithmetic circuit obtains the arithmetic result at the time b1 after operation, and the time length between the time a1 and the time b1 is t 1; after the time t0 required for calculating the farthest detection distance of the first electric pulse signal is transmitted from the first electric pulse signal to the time a1, the central control circuit 740 stops controlling the increase of the amplification gain of the photosensor 720 and/or the amplification circuit 730; wherein t0 is greater than or equal to t 1.
If the emission time interval (i.e., the duty cycle P) of two adjacent light pulses is greater than at least 10 times of the longest detection time period t0, when the light pulses are emitted for the second time, the first light pulse signal reaches the target object and returns, and the calculation result is obtained through calculation, so that the light pulses emitted for the second time and the first light pulse signal do not affect each other. After the working period P from the time a1, the central control circuit 740 sends an emission control signal to the emission circuit 710, the emission circuit 710 emits a second optical pulse signal at a time a2, 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 the initial value again; similarly, the second optical pulse signal returns after being reflected by the object, and after being converted into a second electrical pulse signal by the photosensor 720, the photosensor 720 and/or the amplifying circuit 730 amplifies the second electrical pulse signal by an amplification gain increased from an initial value to the current time; further, after digitization, sampling and operation, an operation result is obtained at a time b2, and the time length between the time a2 and the time b2 is t 2; after the time period t0 required for calculating the farthest detection distance of the first electric pulse signal from the transmission of the first electric pulse signal is 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.
By analogy, each optical pulse signal can be amplified through proper amplification gain after being reflected by an object, and the accuracy of the subsequent calculation process is favorably improved.
Optionally, the method is applied to a ranging device, and the method further includes:
determining a distance of the object from the ranging device from the transmitted optical pulse signal and the received optical pulse signal reflected by the object.
Optionally, the method further comprises:
emitting a sequence of light pulses;
and changing the emitting direction of the optical pulse sequence by using a scanning module so that each optical pulse in the optical pulse sequence is emitted to different directions in sequence.
Optionally, the scanning module comprises at least 2 rotating photorefractive elements having non-parallel exit and entrance faces.
The signal amplification method provided by each embodiment 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, laser distance measuring equipment and the like. In one embodiment, the ranging device is used to sense external environmental information, such as distance information, orientation information, reflected intensity information, velocity information, etc. of environmental targets. In one implementation, the ranging device may detect the distance of the probe to the ranging device by measuring the Time of Flight (TOF), which is the Time-of-Flight Time, of light traveling between the ranging device and the probe. Alternatively, the distance measuring device may detect the distance from the probe 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 following describes an example of a ranging operation with reference to the ranging apparatus 800 shown in fig. 8.
As shown in fig. 8, the ranging apparatus 800 may include a transmitting circuit 810, a receiving circuit 820, a sampling circuit 830, and an operation circuit 840.
The transmit circuitry 810 can 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 detected object, perform photoelectric conversion on the optical pulse train to obtain an electrical signal, 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 the distance between the distance measuring device 800 and the detected object based on the sampling result of the sampling circuit 830.
Optionally, the distance measuring apparatus 800 may further include a control circuit 850, and the control circuit 850 may implement control of other circuits, for example, may control an operating time of each circuit and/or perform parameter setting on each circuit, and the like.
It should be understood that, although the distance measuring device shown in fig. 8 includes a transmitting circuit, a receiving circuit, a sampling circuit and an arithmetic circuit for emitting a light beam to detect, the 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 arithmetic circuit may be at least two, and the at least two light beams are emitted in the same direction or in different directions respectively; the at least two light paths may be emitted simultaneously or at different times. In one example, the light emitting chips in the at least two transmitting circuits are packaged in the same module. For example, each transmitting circuit comprises a laser emitting chip, and die of the laser emitting chips in the at least two transmitting circuits are packaged together and accommodated in the same packaging space.
In some implementations, in addition to the circuit shown in fig. 8, the distance measuring device 800 may further include a scanning module 860 for emitting at least one laser pulse sequence emitted from the emitting circuit with a changed propagation direction.
The module including the transmitting circuit 810, the receiving circuit 820, the sampling circuit 830, and the operation circuit 840, or the 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 a coaxial light path, namely the light beam emitted by the distance measuring device and the reflected light beam share at least part of the light path in the distance measuring device. For example, at least one path of laser pulse sequence emitted by the emitting circuit is emitted by the scanning module after the propagation direction is changed, and the laser pulse sequence reflected by the detector is emitted to the receiving circuit after passing through the scanning module. Alternatively, the distance measuring device may also adopt 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. FIG. 9 shows a schematic diagram of one embodiment of the ranging device of the present invention using coaxial optical paths.
Ranging device 900 includes a ranging module 910, ranging module 910 including a transmitter 903 (which may include the transmit circuitry described above), a collimating element 904, a detector 905 (which may include the receive circuitry, sampling circuitry, and arithmetic circuitry described above), and a path-altering element 906. The distance measurement module 910 is configured to emit a light beam, 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 emit a sequence of laser pulses. Alternatively, the emitter 903 emits a laser beam that is a narrow bandwidth beam having a wavelength outside the visible range. The collimating element 904 is disposed on an emitting light path of the emitter, and is configured to collimate the light beam emitted from the emitter 903, and collimate the light beam emitted from the emitter 903 into parallel light to be emitted to the scanning module. The collimating element is also for converging at least a portion of the return light reflected by the detector. The collimating element 904 may be a collimating lens or other element capable of collimating a light beam.
In the embodiment shown in fig. 9, the transmit and receive optical paths within the ranging apparatus are combined by the optical path altering element 906 before the collimating element 904, so that the transmit and receive optical paths may share the same collimating element, making the optical path more compact. In other implementations, the emitter 903 and the detector 905 may use respective collimating elements, and the optical path changing element 906 may be disposed in the optical path after the collimating elements.
In the embodiment shown in fig. 9, since the beam aperture of the light beam emitted from the emitter 903 is small and the beam aperture of the return light received by the distance measuring device is large, the optical path changing element can adopt a small-area mirror to combine the emission optical path and the reception optical path. In other implementations, the optical path changing element may also be 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. Therefore, the shielding of the bracket of the small reflector to the return light can be reduced in the case of adopting the small reflector.
In the embodiment shown in fig. 9, the optical path altering element is offset from the optical axis of the collimating element 904. In other implementations, the optical path altering 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 an exit light path of the distance measuring module 910, and the scanning module 902 is configured to change a transmission direction of the collimated light beam 919 exiting from the collimating element 904, project the collimated light beam to an external environment, and project return light to the collimating element 904. The return light is focused by a collimating element 904 onto a detector 905.
In one embodiment, scanning module 902 may include at least one optical element for altering the propagation path of the light beam, wherein the optical element may alter the propagation path of the light beam by reflecting, refracting, diffracting, etc., the light beam. For example, scanning module 902 includes a lens, mirror, prism, galvanometer, grating, liquid crystal, Optical Phased Array (Optical Phased Array), or any combination thereof. In one example, at least a portion of the optical element is moved, for example, by a driving module, and the moved optical element can reflect, refract, or diffract the light beam to different directions at different times. In some embodiments, multiple optical elements of the scanning module 902 may rotate or oscillate about a common axis 909, with each rotating or oscillating optical element serving to constantly change the direction of propagation of an incident beam. In one embodiment, the multiple optical elements of the scanning module 902 may rotate at different rotational speeds or oscillate at different speeds. In another embodiment, at least some of the optical elements of the scanning module 902 may rotate at substantially the same rotational speed. In some embodiments, the multiple optical elements of the scanning module may also be rotated about different axes. In some embodiments, the multiple optical elements of the scanning module may also rotate in the same direction, or in different directions; or 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 drive 916 coupled to the first optical element 914, the drive 916 being configured to drive the first optical element 914 to rotate about a rotation axis 909, causing the first optical element 914 to change the direction of the collimated light beam 919. The first optical element 914 projects the collimated light beams 919 to different directions. In one embodiment, the angle between the direction of the collimated light beam 919 as it is altered by the first optical element and the rotational axis 909 changes as the first optical element 914 rotates. In one embodiment, the first optical element 914 includes a pair of opposing non-parallel 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, first optical element 914 comprises a wedge angle prism that refracts collimated beam 919.
In one embodiment, the scanning module 902 further includes a second optical element 915, the second optical element 915 rotates about a rotation axis 909, and the rotation speed of the second optical element 915 is different from the rotation speed of 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 drive 917, and the drive 917 drives 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 to rotate and/or steer the first optical element 914 and the second optical element 915 differently, thereby projecting the collimated light beams 919 in different directions in the ambient space, allowing a larger spatial range to be scanned. In one embodiment, the controller 918 controls the drivers 916 and 917 to drive the first optical element 914 and the 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 expected to be scanned in an actual application. The drives 916 and 917 may comprise motors or other drives.
In one embodiment, the second optical element 915 includes a pair of opposing non-parallel surfaces through which the light beam passes. In one embodiment, the second optical element 915 includes prisms 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 scan module 902 further comprises a third optical element (not shown) and a driver for driving the third optical element in motion. Optionally, the third optical element comprises a pair of opposed non-parallel 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 angle prism. At least two of the first, second and third optical elements rotate at different rotational speeds and/or rotational directions.
Rotation of the optical elements in scanning module 902 may project light in different directions, such as the directions of lights 911 and 913, thus scanning the space around ranging device 900. When the light 911 projected by the scanning module 902 strikes the detected object 901, a part of the light detected object 901 is reflected to the distance measuring device 900 in the opposite direction to the projected light 911. The return light 912 reflected by the detected object 901 is incident on the collimating element 904 after passing through the scanning module 902.
A detector 905 is placed on the same side of the collimating element 904 as the emitter 903, the detector 905 being used 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 antireflection coating. Optionally, the thickness of the antireflection film is equal to or close to the wavelength of the light beam emitted by the emitter 103, which can increase the intensity of the transmitted light beam.
In one embodiment, a filter layer is coated on a surface of a component in the distance measuring device, which is located on the light beam propagation path, or a filter is arranged on the light beam propagation path, and is used for transmitting at least a wave band in which the light beam emitted by the emitter is located and reflecting other wave bands, so as to reduce noise brought to the receiver by ambient light.
In some embodiments, the transmitter 903 may include a laser diode through which laser pulses in the order of nanoseconds are emitted. Further, the laser pulse reception time may be determined, for example, by detecting the rising edge time and/or the falling edge time of the electrical signal pulse. In this manner, the ranging apparatus 900 can calculate TOF using the pulse reception time information and the pulse emission time information, thereby determining the distance of the object to be detected 901 from the ranging apparatus 900.
The distance and orientation detected by rangefinder 900 may be used for remote sensing, obstacle avoidance, mapping, modeling, navigation, and the like. In an embodiment, the distance measuring device of the embodiment of the invention can be applied to a mobile platform, and the distance measuring device can be installed on a platform body of the mobile platform. The mobile platform with the distance measuring device can measure the external environment, for example, the distance between the mobile platform and an obstacle is measured for the purpose of avoiding the obstacle, and the external environment is mapped in two dimensions or three dimensions. 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 distance measuring device is applied to the unmanned aerial vehicle, the platform body is a fuselage of the unmanned aerial vehicle. When the distance measuring device is applied to an automobile, the platform body is the automobile 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 the remote control car, the platform body is the car body of the remote control car. When the distance measuring 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 signal;
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 signals;
wherein the amplification gain of the optical conversion module differs at least partially between the emission instants of the optical pulses and the reception instants of the reflected optical pulse signals, and/or the amplification gain of the amplification module differs at least partially.
Optionally, the apparatus further comprises:
and 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 between the emission 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: controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to gradually increase between a transmission timing of the optical pulse and a reception timing of the reflected optical pulse signal.
Optionally, the control module is further configured to: controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to increase linearly between a transmission time of the optical pulse and a reception time of the reflected optical pulse signal.
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 increase between the transmitting moment of the optical pulse and the receiving moment of the reflected optical pulse signal, wherein the increasing speed is gradually increased.
Optionally, the apparatus further comprises an RC integrating circuit, wherein the control module controls the voltage of the variable gain amplifier through the RC integrating circuit, so that the voltage of the variable gain amplifier is gradually increased.
Optionally, the control module is further configured to:
and controlling the amplification gain of the optical conversion module and/or the amplification module to increase from an initial value from the emission time of the optical pulse signal.
Optionally, the control module is further configured to: controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to increase stepwise between a transmission time of the optical pulse and a reception time of the reflected optical pulse signal.
Optionally, the amplification 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: a sequence of emitted light pulses, wherein the emission time interval of two adjacent light pulses is at least 10 times greater than the longest detection time interval, wherein the longest detection time interval is the interval between the detection time of the smallest detectable light pulse signal reflected by the object and the corresponding emission time of the light pulses.
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 emission time 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 longest detection time length is reached from the emission time of at least part of the optical pulses.
According to the ranging device provided by the embodiment of the invention, the ranging device is used for determining the distance between the object and the ranging device according to the transmitted optical pulse signal and the received optical pulse signal reflected by the object; the distance measuring device comprises the signal amplifying device.
Optionally, the distance measuring apparatus further includes:
and the scanning module is used for changing the emitting direction of the optical pulse sequence so that each optical pulse in the optical pulse sequence is emitted to different directions in sequence.
Optionally, the scanning module comprises: at least 2 rotating light refracting elements having non-parallel exit and entrance faces.
According to the signal amplification method, the signal amplification device and the distance measurement device, the reflected optical pulse signals are amplified by different times according to different flight times of the reflected optical pulse signals, so that the problem that the information of the amplified reflected optical pulse signals is lost or cannot be detected is solved, the reflected optical pulse signals are amplified by proper amplification times, and the effectiveness and the reliability of signal processing are improved.
Technical terms used in the embodiments of the present invention are only used for illustrating 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, the use of "including" and/or "comprising" in the specification is intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, 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 in the claims below, if any, are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. 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. Various modifications and alterations to this invention will become apparent to those skilled in the art without departing from the scope and spirit of this invention. The embodiments described herein are further intended to explain the principles of the invention and its practical application and to enable others skilled in the art to understand the invention.
The flow chart described in the present invention is only an example, and various modifications can be made to the diagram or the steps in the present invention without departing from the spirit of the present invention. For instance, the steps may be performed in a differing order, or steps may be added, deleted or modified. It will be understood by those skilled in the art that all or a portion of the above-described embodiments may be practiced and equivalents thereof may be resorted to as falling within the scope of the invention as claimed.
Claims (30)
- A method of signal amplification, the method comprising:emitting a light pulse signal;receiving an optical pulse signal reflected by an object through an optical conversion module, and converting the optical pulse signal into an electrical pulse signal;amplifying the electric pulse signal through an amplifying module;wherein the amplification gain of the optical conversion module differs at least partially between the emission instants of the optical pulses and the reception instants of the reflected optical pulse signals, and/or the amplification gain of the amplification module differs at least partially.
- The method of claim 1, further comprising: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 between the emission 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.
- 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:controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to gradually increase between a transmission timing of the optical pulse and a reception timing of the reflected optical pulse signal.
- The method of claim 3, the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module comprising:controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to increase linearly between a transmission time of the optical pulse and a reception time of the reflected optical pulse signal.
- The method of claim 3, 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 increase between the transmitting moment of the optical pulse and the receiving moment of the reflected optical pulse signal, wherein the increasing speed is gradually increased.
- The method of claim 3, wherein the amplification module comprises a variable gain amplifier, and wherein controlling the amplification gain of the amplification module comprises: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.
- The method of claim 3, wherein the controlling the amplification gain of the optical conversion module and/or the amplification gain of the amplification module comprises:and controlling the amplification gain of the optical conversion module and/or the amplification module to increase from an initial value from the emission time of the optical pulse signal.
- 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:controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to increase stepwise between a transmission time of the optical pulse and a reception time of the reflected optical pulse signal.
- The method of any of claims 1-5, 7-8, wherein the amplification module comprises a variable gain amplifier or a programmable gain amplifier.
- The method of claim 9, wherein the amplification module comprises a variable gain amplifier, the method further comprising:controlling a feedback resistance of the variable gain amplifier to vary an amplification gain of the variable gain amplifier.
- The method of any one of claims 1 to 10, further comprising:a sequence of emitted light pulses, wherein the emission time interval of two adjacent light pulses is at least 10 times greater than the longest detection time interval, wherein the longest detection time interval is the interval between the detection time of the smallest detectable light pulse signal reflected by the object and the corresponding emission time of the light pulses.
- The method of claim 11, 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 emission time 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 longest detection time length is reached from the emission time of at least part of the optical pulses.
- The method of any one of claims 1 to 10, applied to a ranging device, further comprising:determining a distance of the object from the ranging device from the transmitted optical pulse signal and the received optical pulse signal reflected by the object.
- The method of claim 13, wherein the method further comprises:emitting a sequence of light pulses;and changing the emitting direction of the optical pulse sequence by using a scanning module so that each optical pulse in the optical pulse sequence is emitted to different directions in sequence.
- The method of claim 13, wherein the scanning module comprises at least 2 rotating photorefractive elements having non-parallel exit and entrance faces.
- A signal amplification device, comprising:the transmitting module is used for transmitting the optical pulse signal;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 signals;wherein the amplification gain of the optical conversion module differs at least partially between the emission instants of the optical pulses and the reception instants of the reflected optical pulse signals, and/or the amplification gain of the amplification module differs at least partially.
- The apparatus of claim 16, wherein the apparatus further comprises:and 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 between the emission 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.
- The apparatus of claim 17, wherein the control module is further to: controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to gradually increase between a transmission timing of the optical pulse and a reception timing of the reflected optical pulse signal.
- The apparatus of claim 18, wherein the control module is further to: controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to increase linearly between a transmission time of the optical pulse and a reception time of the reflected optical pulse signal.
- The apparatus of claim 18, 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 increase between the transmitting moment of the optical pulse and the receiving moment of the reflected optical pulse signal, wherein the increasing speed is gradually increased.
- The apparatus of claim 18, further comprising an RC integration circuit, wherein the control module controls the voltage of the variable gain amplifier via the RC integration circuit such that the voltage of the variable gain amplifier is gradually increased.
- The apparatus of claim 18, wherein the control module is further to:and controlling the amplification gain of the optical conversion module and/or the amplification module to increase from an initial value from the emission time of the optical pulse signal.
- The apparatus of claim 17, wherein the control module is further to: controlling an amplification gain of the optical conversion module and/or an amplification gain of the amplification module to increase stepwise between a transmission time of the optical pulse and a reception time of the reflected optical pulse signal.
- The apparatus of any of claims 16 to 20, 22 to 23, wherein the amplification module comprises a variable gain amplifier or a programmable gain amplifier.
- The apparatus of claim 24, the amplification module comprising 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.
- The apparatus of any of claims 16 to 25, wherein the transmitting module is further configured to: a sequence of emitted light pulses, wherein the emission time interval of two adjacent light pulses is at least 10 times greater than the longest detection time interval, wherein the longest detection time interval is the interval between the detection time of the smallest detectable light pulse signal reflected by the object and the corresponding emission time of the light pulses.
- The apparatus of claim 26, wherein 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 emission time 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 longest detection time length is reached from the emission time of at least part of the optical pulses.
- A ranging device for determining a distance of an object from the ranging device based on the transmitted optical pulse signal and the received optical pulse signal reflected by the object; the ranging apparatus comprising a signal amplification apparatus as claimed in any one of claims 17 to 27.
- The ranging apparatus of claim 28, wherein the ranging apparatus further comprises:and the scanning module is used for changing the emitting direction of the optical pulse sequence so that each optical pulse in the optical pulse sequence is emitted to different directions in sequence.
- The range finder device of claim 28, wherein the scanning module comprises: at least 2 rotating light refracting elements having non-parallel exit and entrance faces.
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| Application Number | Priority Date | Filing Date | Title |
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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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